Vehicle control method and vehicle

Abstract

The invention discloses a vehicle control method and a vehicle, and relates to the field of vehicles. The method comprises the steps that in response to the situation that a loading vehicle meets an excavator matching condition, based on excavator information of multiple excavators, it is determined that a target excavator is matched with the loading vehicle in the multiple excavators, and the performance index of the target excavator is higher than that of the excavators except the target excavator in the multiple excavators; the performance indexes are used for representing the performance of the corresponding excavator for executing the loading task; and controlling the loading vehicle to run to the target excavator to execute the loading task. The technical problem that the control efficiency of the vehicle is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular, to a control method for a vehicle and a vehicle. Background Art

[0002] Currently, when controlling a loading vehicle to perform a loading task, the loading vehicle can be matched with a corresponding excavator so that the loading vehicle moves to the currently matched excavator to perform the loading task.

[0003] When the excavator currently matched with the loading vehicle fails or changes its position, the already matched loading vehicle can only wait passively, resulting in a decrease in the efficiency of the loading vehicle and an increase in manual takeover, thus there is a problem of low control efficiency of the vehicle.

[0004] In view of the above-mentioned problem of low control efficiency of the vehicle, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a control method for a vehicle and a vehicle, so as to at least solve the technical problem of low control efficiency of the vehicle.

[0006] According to one aspect of the embodiments of the present invention, a control method for a vehicle is provided. The method may include: in response to the loading vehicle meeting the excavator matching condition, determining a target excavator to be matched with the loading vehicle from multiple excavators based on the excavator information of the multiple excavators, where the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task; controlling the loading vehicle to travel to the target excavator to perform the loading task.

[0007] Optionally, the excavator matching condition includes: the currently matched excavator is in an abnormal working state; or there is no currently matched excavator.

[0008] Optionally, the abnormal working state includes an offline working state. Responding to the loading vehicle meeting the excavator matching condition includes: in response to the currently matched excavator of the loading vehicle being in an offline working state and the waiting duration of the loading vehicle at the loading position of the currently matched excavator exceeding a set threshold.

[0009] Optionally, the abnormal working state includes a fault working state and / or a working state of changing the operation position. Responding to the loading vehicle meeting the excavator matching condition includes: in response to the currently matched excavator of the loading vehicle being in a fault working state and / or a working state of changing the operation position.

[0010] Optionally, there are multiple types of excavator information. In response to the currently matched excavator of the loading vehicle being in an abnormal working state, based on the excavator information of multiple excavators, determining a target excavator that matches the loading vehicle among the multiple excavators includes: performing a weighted sum of the multiple types of excavator information according to the weight of each type of excavator information to obtain a performance index of the excavator; and determining a target excavator that matches the loading vehicle according to the performance indexes of the excavators.

[0011] Optionally, the multiple types of excavator information include at least two of the following: the resource quantity corresponding to the excavator, the distance between the excavator and the loading vehicle, and the loading efficiency of the excavator.

[0012] Optionally, in response to the loading vehicle currently having no matched excavator, based on the excavator information of multiple excavators, determining a target excavator that matches the loading vehicle among the multiple excavators includes: determining the performance indexes of the excavators based on the resource quantities of the excavators; and determining a target excavator that matches the loading vehicle according to the performance indexes of the excavators.

[0013] Optionally, the method further includes: in response to the unupdated duration of the excavator timestamp of the excavator exceeding a duration threshold, updating the current working state of the excavator to an offline working state; and / or updating the distance between the excavator and the loading vehicle in the excavator information according to the change result of the excavator position.

[0014] According to another aspect of the embodiments of the present invention, there is also provided a control method for a vehicle. The method may include: on an operation interface, displaying the excavator information of multiple excavators and / or displaying the performance indexes of multiple excavators, where the performance indexes are used to represent the performance of the corresponding excavator for performing a loading task; in response to the loading vehicle meeting the excavator matching condition, displaying on the operation interface the result of determining a target excavator that matches the loading vehicle based on the excavator information and / or performance indexes of multiple excavators, where the performance index of the target excavator is higher than the performance indexes of the excavators other than the target excavator among the multiple excavators; and displaying on the operation interface that the loading vehicle travels to the target excavator to perform a loading task.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a control device for a vehicle. The device may include: a determination unit, configured to, in response to the loading vehicle meeting the excavator matching condition, determine a target excavator that matches the loading vehicle among multiple excavators based on the excavator information of the multiple excavators, where the performance index of the target excavator is higher than the performance indexes of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing a loading task; and a control unit, configured to control the loading vehicle to travel to the target excavator to perform a loading task.

[0016] According to another aspect of the embodiments of the present invention, there is also provided a control device for a vehicle. The device may include: a first display unit configured to display, on an operation interface, the excavator information of multiple excavators and / or display the performance indicators of multiple excavators, where the performance indicators are used to represent the performance of the corresponding excavator for performing loading tasks; a second display unit configured to, in response to the loading vehicle meeting the excavator matching condition, display, on the operation interface, based on the excavator information and / or performance indicators of multiple excavators, and determine the result of the matching between the target excavator and the loading vehicle among the multiple excavators, where the performance indicator of the target excavator is higher than the performance indicators of the excavators other than the target excavator among the multiple excavators; a third display unit configured to display, on the operation interface, the loading vehicle traveling to the target excavator to perform a loading task.

[0017] According to another aspect of the embodiments of the present invention, there is also provided a vehicle, including: a memory and a processor, where the memory is used to store an executable program; the processor is used to run the program, and when the program runs, it executes the methods in the various embodiments of the present invention.

[0018] According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a memory storing an executable program; a processor configured to run the program, where when the program runs, it executes the methods in the various embodiments of the present invention.

[0019] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0020] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0021] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a non-volatile computer-readable storage medium storing a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0022] According to another aspect of the embodiments of the present invention, there is also provided a computer program, where when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0023] In an embodiment of the present invention, in response to the loading vehicle meeting the excavator matching condition, based on the excavator information of multiple excavators, a target excavator is determined from the multiple excavators to match with the loading vehicle. Among them, the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators. The performance index is used to represent the performance of the corresponding excavator for performing the loading task; the loading vehicle is controlled to drive to the target excavator to perform the loading task. That is to say, in the embodiment of the present invention, when the loading vehicle meets the excavator matching condition, based on the excavator information of multiple excavators, the target excavator with the optimal performance index is determined from the multiple excavators to match with the loading vehicle, and then the loading vehicle is controlled to drive to the target excavator to perform the loading task, avoiding the loading vehicle from stopping and waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle in performing the loading task is achieved, thereby realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0025] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0026] Figure 2 is a flowchart of another vehicle control method according to an embodiment of the present invention;

[0027] Figure 3 is a flowchart of a method for an unmanned mining truck to replace an excavator according to an embodiment of the present invention;

[0028] Figure 4 is a simplified schematic diagram of an unmanned mining truck replacing an excavator according to an embodiment of the present invention;

[0029] Figure 5 is a field schematic diagram of an unmanned mining truck replacing an excavator according to an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of a vehicle control device according to an embodiment of the present invention;

[0031] Figure 7 is a schematic diagram of another vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0034] According to an embodiment of the present invention, an embodiment of a control method for a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0035] Figure 1 is a flowchart of a control method for a vehicle according to an embodiment of the present invention. As Figure 1 shown, the method may include the following steps:

[0036] Step S101, in response to the loading vehicle satisfying the excavator matching condition, based on the excavator information of multiple excavators, determine a target excavator that matches the loading vehicle among the multiple excavators.

[0037] In the technical solution provided in step S101 of the present invention above, the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task.

[0038] In this embodiment, when the loading vehicle meets the excavator matching condition, the target excavator can be determined from multiple excavators based on the excavator information of the multiple excavators, and the target excavator matches the loading vehicle. Among them, the loading vehicle can be the vehicle to perform the loading task. For example, the loading vehicle can be an unmanned mining truck, which can be simply referred to as an unmanned mining truck. Here, it is only for illustration, and the type of the loading vehicle is not specifically limited. The excavator matching condition can be used to characterize the working state of the excavator, such as the normal working state, abnormal working state, offline working state, etc., and whether there is a matching excavator for the loading vehicle currently.

[0039] In this embodiment, the excavator information can be the information describing the operating state and characteristics of the excavator. The excavator information can include but is not limited to: the location where the excavator is located, the online state, the operation state, the resource occupancy state, the number of queuing vehicles, the loading efficiency, and other information. The performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators. This performance index can be used to represent the performance of the corresponding excavator for performing the loading task and can be calculated based on various excavator information.

[0040] It should be noted that when the loading vehicle has not been matched with an excavator yet, for example, when the loading vehicle is at the entrance of the loading area and has not been matched with an excavator yet, the excavator with more available resources can be preferentially selected for matching according to the available resource quantity of each excavator. If there are multiple excavators with the same available resource quantity, the excavator with the highest scheduling task priority is preferentially selected for matching according to the priority of the scheduling task. That is, the excavator currently matched with the loading vehicle can be matched only according to the available resource quantity of the excavator without considering factors such as distance and loading efficiency.

[0041] Optionally, when the excavator currently matched with the loading vehicle is in the normal working state or the delayed working state, at this time, the loading vehicle can move along the track to the excavator normally to perform the corresponding loading task.

[0042] Optionally, when the excavator currently matched with the loading vehicle is in an abnormal working state (which can at least include but is not limited to the offline working state, the fault working state, the working state of changing the operation position), at this time, the excavator matching condition can be that the currently matched excavator is in an abnormal working state. Then, in response to the loading vehicle meeting the excavator matching condition, that is, in response to the excavator currently matched with the loading vehicle being in an abnormal working state, the target excavator matching the loading vehicle can be determined from multiple excavators based on the excavator information of the multiple excavators. The target excavator can be the excavator with the optimal performance index among the multiple excavators and can also be called the optimal excavator.

[0043] For example, when the excavator currently matched with the loading vehicle is in an offline working state, the loading vehicle operates normally and reaches the position to be loaded. Further, when the duration of the excavator being in the offline working state exceeds 1 minute (min), it is necessary to automatically execute the adaptive excavator logic, that is, based on the excavator information, adaptively match the excavator and determine the target excavator that matches the loading vehicle from multiple excavators. It should be noted that the distance between the position to be loaded and the excavator is usually less than 100 meters (m).

[0044] For another example, when the excavator currently matched with the loading vehicle is in a faulty working state or a working state where the operation position is changed (i.e., the operation position of the excavator changes), it indicates that the excavator has stopped working. At this time, it is necessary to execute the adaptive excavator logic, that is, based on the excavator information, determine the target excavator that matches the loading vehicle from multiple excavators.

[0045] Optionally, when there is no excavator currently matched with the loading vehicle, the excavator matching condition can be that there is no currently matched excavator. Then, in response to the loading vehicle meeting the excavator matching condition, that is, in response to the loading vehicle having no currently matched excavator, the target excavator that matches the loading vehicle can be determined from multiple excavators based on the excavator information.

[0046] In this step, when the loading vehicle meets the excavator matching condition, it is necessary to execute the adaptive excavator logic, that is, based on the excavator information, determine the excavator that best matches the loading vehicle from multiple excavators, so that the loading vehicle can continue to perform the loading task, avoiding the loading vehicle from parking and waiting due to excavator abnormalities, thereby solving the problem of low efficiency of the loading vehicle in performing the loading task.

[0047] Step S102, control the loading vehicle to drive to the target excavator to perform the loading task.

[0048] In the technical solution provided in step S102 of the present invention above, after determining that the target excavator matches the loading vehicle from multiple excavators in response to the loading vehicle meeting the excavator matching condition based on the excavator information of multiple excavators, the loading vehicle can be controlled to drive to the target excavator to perform the loading task.

[0049] In this embodiment, after determining the target excavator that matches the loading vehicle from multiple excavators based on the excavator information, the loading vehicle can be controlled to reach the target excavator according to the planned path and perform the loading task.

[0050] Optionally, after determining the target excavator that matches the loading vehicle from multiple excavators based on the excavator information, the path of the loading vehicle to the new target excavator can be automatically planned. If the path planning is successful, the loading vehicle is controlled to reach the target excavator according to the planned path; if the path planning fails, the vehicle stops and reports the parking reason, and reminds the dispatcher to intervene and handle it.

[0051] After the above steps, after determining the target excavator matching the loading vehicle from multiple excavators based on the excavator information, the path of the loading vehicle and the new target excavator can be automatically planned to control the loading vehicle to reach the target excavator to perform a new loading task, avoiding the situation where the loading vehicle cannot be controlled to continue performing the new loading task due to excavator reasons, thus solving the technical problem of low control efficiency of the vehicle.

[0052] In the above steps S101 to S102, in response to the loading vehicle meeting the excavator matching condition, based on the excavator information of multiple excavators, it is determined that the target excavator matches the loading vehicle among multiple excavators. Among them, the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task; control the loading vehicle to drive to the target excavator to perform the loading task. That is to say, in the embodiment of the present invention, when the loading vehicle meets the excavator matching condition, based on the excavator information of multiple excavators, the target excavator with the optimal performance index is determined to match the loading vehicle among multiple excavators, and then the loading vehicle is controlled to drive to the target excavator to perform the loading task, avoiding the situation where the loading vehicle stops waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle performing the loading task is achieved, thus realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0053] The above excavator matching conditions are further introduced below.

[0054] As an optional implementation manner, the excavator matching condition includes: the currently matched excavator is in an abnormal working state; or there is no currently matched excavator.

[0055] In this embodiment, the excavator matching condition may include: the currently matched excavator is in an abnormal working state or there is no currently matched excavator. Among them, the abnormal working state may at least include an offline working state, a fault working state, a working state of changing the operation position, etc.

[0056] Optionally, in response to the currently matched excavator of the loading vehicle being in the above abnormal working state, or the loading vehicle having no currently matched excavator, the target excavator matching the loading vehicle is determined from multiple excavators based on the excavator information of the multiple excavators.

[0057] The above response to the loading vehicle meeting the excavator matching condition is further introduced below.

[0058] As an alternative embodiment, the abnormal working state includes an offline working state. In response to the loading vehicle meeting the excavator matching condition, it includes: in response to the currently matched excavator of the loading vehicle being in the offline working state and the waiting duration of the loading vehicle at the waiting position for loading of the currently matched excavator exceeding the set threshold.

[0059] In this embodiment, the abnormal working state of the excavator may include the offline working state. In response to the currently matched excavator of the loading vehicle being in the offline working state and the waiting duration of the loading vehicle at the waiting position for loading of the currently matched excavator exceeding the set threshold, the target excavator matching the loading vehicle is determined from multiple excavators based on the excavator information of the multiple excavators. Among them, the waiting position for loading can be the position where the loading vehicle waits for loading, and can also be called the waiting position for loading. The set threshold can be a critical value preset according to the actual situation for measuring the waiting duration of the loading vehicle at the waiting position for loading of the currently matched excavator. For example, the set threshold can be 1 minute. This is only an example and does not specifically limit the value of the set threshold.

[0060] Optionally, in response to the currently matched excavator of the loading vehicle being in the offline working state, the loading vehicle is controlled to run normally to the waiting position corresponding to the currently matched excavator. During the process of the loading vehicle running to the waiting position or when the waiting duration of the loading vehicle at the waiting position is within the set threshold, if the currently matched excavator recovers from the offline working state to the normal working state, the loading vehicle is controlled to perform the loading task at this waiting position.

[0061] Optionally, in response to the currently matched excavator of the loading vehicle being in the offline working state, after controlling the loading vehicle to run normally to the waiting position corresponding to the currently matched excavator, if the waiting duration of the loading vehicle at the waiting position exceeds the set threshold, the target excavator matching the loading vehicle is determined from multiple excavators based on the excavator information of the multiple excavators.

[0062] For example, in response to the currently matched excavator of the loading vehicle being in the offline working state, after controlling the loading vehicle to run normally to the waiting position corresponding to the currently matched excavator, if the waiting duration of the loading vehicle at the waiting position exceeds 1 minute, it indicates that the excavator has gone offline. Here, in order to avoid the loading vehicle parking and waiting at the waiting position and reducing the loading efficiency, the target excavator matching the loading vehicle can be determined from multiple excavators based on the excavator information of the multiple excavators, so that the loading vehicle is matched with the new target excavator, and the loading vehicle can reach the target excavator to continue to perform the loading task.

[0063] This step effectively controls the waiting time of loading vehicles at the loading station, avoiding long stops and waiting times due to excavator offline, and reducing the efficiency loss caused by ineffective waiting. Once the original matching excavator is detected as offline, a new target excavator with better performance is quickly matched to ensure that the loading vehicle can quickly complete the loading task, thereby improving overall loading rate and utilization.

[0064] The above response to the loading vehicle meeting the excavator matching condition is further described below.

[0065] As an optional embodiment, the abnormal working state includes a faulty working state and / or a working state of changing the working position, and in response to the loading vehicle satisfying the excavator matching conditions, it includes: in response to the excavator currently matched with the loading vehicle being in a faulty working state and / or a working state of changing the working position.

[0066] In this embodiment, the abnormal operating state of the excavator may also include a faulty operating state and / or a state where the working position has been changed. In response to the excavator currently matched with the loading vehicle being in a faulty operating state and / or a state where the working position has been changed, a target excavator matching the loading vehicle is determined from the multiple excavators based on the excavator information of the multiple excavators.

[0067] Alternatively, if the excavator currently matched to the loading vehicle is in a faulty working state or in a working state requiring a change of working position, or if the currently matched excavator fails during the process of changing working position, it indicates that the currently matched excavator is no longer working and a target excavator with better performance needs to be matched. Based on the excavator information of multiple excavators, a target excavator matching the loading vehicle can be determined from the multiple excavators.

[0068] This step allows for rapid response to excavator failures or position changes, preventing loading vehicles from waiting in vain and reducing unproductive downtime. By analyzing excavator information across multiple excavators, the system automatically re-matches the optimal excavator, ensuring continuous and efficient loading. This reduces the need for manual intervention due to excavator anomalies and improves the automation and stability of the entire operation system.

[0069] The following further introduces the method for matching a target excavator with a loading vehicle based on the excavator information of multiple excavators.

[0070] As an optional implementation, there are multiple types of excavator information. In response to the excavator currently matched with the loading vehicle being in an abnormal working state, based on the excavator information of multiple excavators, a target excavator is determined to be matched with the loading vehicle among the multiple excavators, including: according to the weight of each type of excavator information of the excavator, a weighted summation is performed on the multiple excavator information to obtain the performance index of the excavator; according to the performance index of each excavator, the target excavator is determined to be matched with the loading vehicle.

[0071] In this embodiment, the types of excavator information can be various. In response to the currently matched excavator of the loading vehicle being in an abnormal working state, according to the weights of each type of excavator information of the excavator, the various types of excavator information are weighted and summed to obtain the performance index of the excavator. Further, according to the determined performance indexes of each excavator, the target excavator matched with the loading vehicle is determined. Among them, the excavator information can at least include excavator identifier (Identifier, abbreviated as ID), timestamp, status information (normal working state, delayed working state, faulty working state, working state of changing operation position, offline working state), resource occupancy, position, loading efficiency, etc.

[0072] Optionally, the excavator ID can be used to uniquely identify the excavator. The resource occupancy can be used to represent the number of loading vehicles currently bound to the excavator. For example, if the number of loading vehicles currently bound to the excavator is 5, it means that the excavator is fully equipped. It should be noted that the fully equipped number of the excavator can be adjusted according to the actual situation. The loading efficiency can be used to measure whether the excavator is loading at 100%. For example, the loading efficiency can be 0, 0.5, 1, etc. If the excavator is cleaning the working surface, the loading efficiency of the excavator is relatively low, and the maximum loading efficiency is 1.

[0073] Optionally, the timestamp can be the time when the excavator information is received. In this embodiment, the excavator information of all excavators under the platform is received based on Vehicle-to-Vehicle (V2V) communication and Vehicle-to-Network (V2N) communication between vehicles. Since the V2V range is limited, the V2N information needs to be received. However, the limitation of V2N lies in the network. Therefore, this embodiment combines V2V and V2N for use.

[0074] Optionally, the excavator information of all available excavators is obtained by means such as Vehicle-to-Everything (V2X) communication and querying the database. After obtaining the excavator information, the obtained excavator information can be preprocessed to obtain valid excavator information. For example, if the timestamp is not updated for a long time (such as more than 1 minute), the excavator information is deleted; after the position of the excavator changes, based on the ID of the excavator, the distance between the excavator and the loading vehicle can be updated.

[0075] Optionally, in response to the excavator currently matched with the loading vehicle being in an offline working state, and the waiting duration of the loading vehicle at the waiting position of the currently matched excavator exceeding the set threshold, or in response to the excavator currently matched with the loading vehicle being in a faulty working state and / or a working state of changing the operation position, the weight of each excavator information can be determined. For example, the higher the loading efficiency of the excavator, the higher the determined weight of the loading efficiency; the higher the resource occupancy of the excavator, that is, the more the number of loading vehicles currently bound to the excavator, the lower the determined weight of the resource occupancy. According to the weights of each excavator information, multiple excavator information is weighted and summed to obtain the performance index of the excavator, and this performance index is the result of the weighted sum, which can be represented by a score. Further, the excavator with the highest score is determined as the target excavator, and the target excavator is matched with the loading vehicle.

[0076] This step intelligently sorts the excavators based on the excavator information of the excavators to ensure the matching of the loading vehicle with the optimal excavator. Through the weight mechanism, excavators with high loading efficiency are given priority, while avoiding excavators with excessive resource concentration, balancing the operation burden, and improving the overall operation efficiency. Determining the target excavator according to the score of the excavator shortens the waiting time caused by improper matching, accelerates the material turnover, and improves the efficiency of the loading vehicle.

[0077] The following further introduces the above-mentioned multiple excavator information.

[0078] As an optional implementation manner, the multiple excavator information includes at least two of the following: the resource amount corresponding to the excavator, the distance between the excavator and the loading vehicle, and the loading efficiency of the excavator.

[0079] In this embodiment, the multiple excavator information includes at least two of the following: the resource amount corresponding to the excavator, the distance between the excavator and the loading vehicle, and the loading efficiency of the excavator. Optionally, based on the distance between the excavator and the loading vehicle, an excavator closer to the loading vehicle can be preferentially selected. Based on the resource amount corresponding to the excavator, an excavator with a larger resource amount can be preferentially selected. For example, the fewer the number of queuing loading vehicles, the more the resource amount of the excavator. Based on the loading efficiency of the excavator, an excavator with a higher loading efficiency can be preferentially selected.

[0080] Optionally, according to a preset scoring mechanism, the score of each excavator can be calculated, and this scoring mechanism can comprehensively consider various factors such as the above-mentioned resource amount, distance, and loading efficiency.

[0081] For example, the multiple excavator information can include the above-mentioned resource amount, loading efficiency, and distance between the excavator and the loading vehicle. The score of each excavator can be calculated through the following formula:

[0082] Score = a * (1 / distance) + b * (available resource amount / maximum resource amount) + c * (loading efficiency / highest loading efficiency)

[0083] Among them, the above coefficients a, b, and c can be used to represent weight coefficients. Based on the scores of each excavator, the excavator with the highest score can be selected from multiple excavators as the target excavator, and the target excavator is matched with the loading vehicle so that the loading vehicle runs to the target excavator to continue the loading task.

[0084] This step adopts a weighted summation scoring mechanism to dynamically evaluate the performance of the excavator according to distance, resource quantity, and loading efficiency, realizes the automatic matching of the loading vehicle to the target excavator, significantly improves the operation efficiency, reduces the ineffective waiting of the loading vehicle, optimizes the resource allocation, and at the same time enhances the adaptability to changes in the operation environment and reduces the need for manual intervention.

[0085] The method for determining the matching of the target excavator and the loading vehicle among multiple excavators based on the excavator information of the above multiple excavators will be further introduced below.

[0086] As an optional implementation manner, in response to the fact that the loading vehicle currently has no matched excavator, based on the excavator information of multiple excavators, determining the matching of the target excavator and the loading vehicle among multiple excavators includes: determining the performance indicators of each excavator based on the resource quantity of each excavator; determining the matching of the target excavator and the loading vehicle according to the performance indicators of each excavator.

[0087] In this embodiment, in response to the fact that the loading vehicle currently has no matched excavator, the performance indicators of each excavator can be determined based on the resource quantity of each excavator. Further, according to the performance indicators of each excavator, the target excavator matched with the loading vehicle is determined.

[0088] Optionally, when the loading vehicle currently has no matched excavator, at this time, factors such as distance and loading efficiency can be not considered, and the performance indicators of each excavator are determined only based on the resource quantity of each excavator. When the resource quantity of the excavator is large, that is, when there are fewer queuing loading vehicles, it can be determined that the performance indicator of the excavator is high, and this performance indicator can also be measured based on the score. For example, when the full load of the excavator is 5, when there is no queuing loading vehicle, the score can be determined to be 5; when there is one queuing loading vehicle, the score can be determined to be 4, and so on, the scores of each excavator can be obtained. Further, the excavator with the highest score is determined as the target excavator.

[0089] This step, when the loading vehicle has no matched excavator, selects the excavator with the fewest queues according to the resource quantity evaluation mechanism, effectively reduces the waiting time, accelerates the operation cycle, and improves the operation efficiency of the loading vehicle. This strategy simplifies the decision-making process, especially during busy periods, quickly locates the idle excavator, and realizes the efficient utilization of resources and the seamless connection of operations.

[0090] As an alternative embodiment, the method further includes: in response to the duration of the unupdated excavator timestamp exceeding a duration threshold, updating the current working state of the excavator to an offline working state; and / or, updating the distance between the excavator and the loading vehicle in the excavator information according to the change result of the excavator position.

[0091] In this embodiment, in response to the duration of the unupdated excavator timestamp exceeding a duration threshold, the current working state of the excavator can be updated to an offline working state. And / or, the distance between the excavator and the loading vehicle in the excavator information is updated according to the change result of the excavator position. Among them, the duration threshold can be a critical value of the duration of the unupdated excavator timestamp set in advance according to the actual situation. For example, the duration threshold can be 1 minute. This is only an example here and does not specifically limit the value of the duration threshold.

[0092] Optionally, in response to the duration of the unupdated excavator timestamp exceeding a duration threshold, this timestamp can be used to represent the time when the information was last updated. When the excavator timestamp exceeds the preset duration threshold (for example, 1 minute), the current working state of the excavator is automatically updated to an offline working state. Since no new timestamp of this excavator has been received for a long time, it indicates that this excavator may have temporarily stopped or cannot operate normally, so this excavator is temporarily removed from the available excavators until a valid timestamp is received again.

[0093] This step automatically updates the state of the excavator by setting a timestamp update threshold, which can effectively eliminate non-operating or faulty excavators, ensure real-time and accurate scheduling information, improve the quick response and self-repair ability for abnormal excavators, avoid ineffective scheduling, significantly enhance the operation continuity and efficiency, and at the same time reduce the pressure of manually monitoring the excavator state, realizing more intelligent and reliable autonomous operation management.

[0094] Optionally, the distance between the excavator and the loading vehicle in the excavator information can be updated according to the change result of the excavator position. When it is detected that the excavator position changes, for example, the excavator moves to a new resource point, the stored excavator information can be immediately updated, and the distances between all loading vehicles and this excavator are recalculated to determine the routes of the loading vehicles based on the latest position information, so as to effectively guide the loading vehicles to the correct target positions for operation.

[0095] This step tracks the change of the excavator position in real time, immediately updates the distance between the excavator and the loading vehicle, and ensures the scheduling of the loading vehicle based on the latest geographical information. This dynamic adjustment mechanism greatly improves the accuracy and flexibility of the loading vehicle operation, effectively avoids scheduling errors caused by lagging position information, significantly reduces the ineffective driving mileage, and speeds up the operation cycle.

[0096] Through this step, in response to the loading vehicle meeting the excavator matching condition, based on the excavator information of multiple excavators, a target excavator is determined to match the loading vehicle among the multiple excavators, where the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task; control the loading vehicle to drive to the target excavator to perform the loading task. That is to say, in the embodiment of the present invention, when the loading vehicle meets the excavator matching condition, based on the excavator information of multiple excavators, the target excavator with the optimal performance index is determined from the multiple excavators to match the loading vehicle, and then the loading vehicle is controlled to drive to the target excavator to perform the loading task, avoiding the loading vehicle from waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle performing the loading task is achieved, thereby realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0097] According to an embodiment of the present invention, there is also provided an embodiment of another control method for a vehicle. Figure 2 is a flowchart of another control method for a vehicle according to an embodiment of the present invention, as Figure 2 shown, the method includes the following steps:

[0098] Step S201, on the operation interface, display the excavator information of multiple excavators and / or display the performance indexes of multiple excavators.

[0099] In the technical solution provided in step S201 of the present invention above, the performance index can be used to represent the performance of the corresponding excavator for performing the loading task.

[0100] In this embodiment, on the operation interface, the excavator information of all excavators will be displayed first, including but not limited to excavator ID, location, online status, resource occupancy, number of queuing vehicles, and loading efficiency and other information. In addition, the performance indexes of multiple excavators will also be displayed on the operation interface. The performance index can intuitively reflect the loading capacity of the excavator through a comprehensive score. The performance index can be calculated based on the above various excavator information and can be used to measure the operation performance of the excavator.

[0101] Step S202, in response to the loading vehicle meeting the excavator matching condition, display on the operation interface the excavator information and / or performance indexes based on multiple excavators, and determine the result of matching the target excavator with the loading vehicle among the multiple excavators.

[0102] In the technical solution provided in step S202 of the present invention above, the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators.

[0103] In this embodiment, after the excavator information of multiple excavators and / or the performance indicators of multiple excavators are displayed on the operation interface, in response to the loading vehicle meeting the excavator matching conditions, the excavator information and / or performance indicators based on multiple excavators can be displayed on the operation interface, and the matching result of the target excavator and the loading vehicle can be determined among the multiple excavators.

[0104] Optionally, when the loading vehicle is ready to perform the loading operation, it can first be determined whether the loading vehicle meets the excavator matching conditions, which may include that the currently matched excavator is in an abnormal working state or there is no currently matched excavator. If the loading vehicle meets the above excavator matching conditions, the subsequent matching process will be triggered, that is, based on the excavator information and / or performance indicators of multiple excavators, the target excavator and the loading vehicle are matched among the multiple excavators.

[0105] Optionally, according to the excavator information and / or performance indicators of multiple excavators, the optimal target excavator is automatically calculated and selected, and the performance indicators of the target excavator are higher than those of other excavators. The determination mechanism of the target excavator can be based on a preset scoring rule. According to the weight of each type of excavator information of the excavator, the multiple types of excavator information are weighted and summed to obtain the performance indicators of the excavator. Further, the excavator with the highest score is determined as the target excavator, and the target excavator is matched with the loading vehicle. The matching result of the target excavator and the loading vehicle determined among the multiple excavators can be displayed on the operation interface.

[0106] Step S203, display on the operation interface that the loading vehicle travels to the target excavator to perform the loading task.

[0107] In the technical solution provided in step S203 of the present invention, after, in response to the loading vehicle meeting the excavator matching conditions, the excavator information and / or performance indicators based on multiple excavators are displayed on the operation interface, and the matching result of the target excavator and the loading vehicle is determined among the multiple excavators, it can be displayed on the operation interface that the loading vehicle travels to the target excavator to perform the loading task.

[0108] In this embodiment, the scene where the loading vehicle is traveling to the target excavator according to the planned route is displayed on the operation interface. For example, the dynamic travel trajectory, estimated arrival time, and information such as speed and direction of the loading vehicle can be displayed on the operation interface. At the same time, the whole process is continuously monitored based on the information displayed on the operation interface to ensure the safe and smooth arrival of the loading vehicle. Once the loading vehicle arrives, the loading task will start.

[0109] In the above steps S201 to S203, on the operation interface, the excavator information of multiple excavators and / or the performance indicators of multiple excavators are displayed, where the performance indicators are used to represent the performance of the corresponding excavator for performing the loading task; in response to the loading vehicle meeting the excavator matching condition, on the operation interface, based on the excavator information and / or performance indicators of multiple excavators, the result of matching the target excavator with the loading vehicle is determined among the multiple excavators, where the performance indicators of the target excavator are higher than those of the excavators other than the target excavator among the multiple excavators; on the operation interface, it is displayed that the loading vehicle travels to the target excavator to perform the loading task. That is to say, in the embodiment of the present invention, when the loading vehicle meets the excavator matching condition, on the operation interface, based on the excavator information and / or performance indicators of multiple excavators, the result of matching the target excavator with the best performance indicator among the multiple excavators with the loading vehicle is determined, and then on the operation interface, it is displayed that the loading vehicle travels to the target excavator to perform the loading task, avoiding the situation where the loading vehicle stops waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle performing the loading task is achieved, thereby realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0110] The technical solutions of the embodiments of the present invention will be illustrated by way of preferred embodiments below.

[0111] Currently, in open-pit mine transportation operations, the efficiency and flexibility of unmanned haul trucks (loading vehicles) directly affect the overall operation efficiency. Traditional unmanned haul truck scheduling systems usually bind the haul trucks to specific excavator resources. Once the excavator fails or its position moves, the already matched haul trucks can only wait passively, resulting in a decrease in the efficiency of the haul trucks and an increase in manual takeover. For example, when the position of the excavator changes, the unmanned haul truck that has been matched with the excavator and parked at the corresponding resource point needs to be taken over to be transferred to the resource point corresponding to the new position of the excavator. If the operator forgets to switch the working state of the excavator to the delayed state when the excavator's position changes, the subsequent unmanned haul trucks entering the loading area will still be matched to the original resource point of the excavator and need to be taken over to transfer these unmanned haul trucks to the resource point corresponding to the new position of the excavator. In addition, in the case of excavator failure or offline, the unmanned haul trucks that have been matched with the excavator can only park and wait at resource points such as the waiting-to-be-loaded position and the loading position, and need to be remotely taken over or manually taken over to transfer these unmanned haul trucks to other excavators, resulting in a decrease in efficiency.

[0112] To solve the above problems, the present invention proposes an automatic excavator selection method for driverless mining trucks based on the excavator status, so as to solve the technical problem of low control efficiency of vehicles. This method can automatically select the optimal excavator resources for driverless mining trucks according to the real-time status of the excavators, improve the transportation efficiency, and reduce the cost of manual intervention. In the present invention, the method of self-adaptively selecting an excavator based on the excavator status improves the operation efficiency and flexibility, reduces the invalid parking time of mining trucks caused by reasons such as excavator position change, and reduces operation takeover.

[0113] Figure 3 It is a flowchart of a method for a driverless mining truck to replace an excavator according to an embodiment of the present invention. As Figure 3 shown, the process of this method for a driverless mining truck to replace an excavator may include the following steps:

[0114] Step S301, obtain the excavator information of all excavators.

[0115] In the above step S301, obtain the excavator information of all excavators under the V2V and V2N receiving platforms. Since the V2V range is limited, it is necessary to receive the V2N information. However, the limitation of V2N lies in the network. Therefore, this embodiment combines the use of V2V and V2N. The obtained excavator information may include: ID, timestamp, status information, resource occupancy, location, loading efficiency, etc.

[0116] Step S302, preprocess the excavator information.

[0117] In the above step S302, preprocess the excavator information to obtain valid excavator information. For example, if the timestamp is not updated for a long time (such as, more than 1 minute), then delete the excavator information; after the excavator position changes, update the distance between the excavator and the driverless mining truck based on the excavator ID.

[0118] Step S303, determine whether the status of the excavator currently matched with the driverless mining truck is the normal working state or the delayed working state.

[0119] In the above step S303, adaptively change the behavior state according to the status of the excavator matched with the driverless mining truck (the vehicle itself). When it is determined that the status of the excavator currently matched with the driverless mining truck is the normal working state or the delayed working state, control the driverless mining truck to normally maintain the current behavior.

[0120] Step S304, control the driverless mining truck to move normally along the track to the currently matched excavator.

[0121] In the above step S304, when the status of the excavator currently matched with the driverless mining truck is the normal working state or the delayed working state, control the driverless mining truck to move normally along the track to the currently matched excavator.

[0122] Step S305: Determine that the status of the excavator currently matched with the driverless mining truck is the offline working status.

[0123] Step S306: Control the driverless mining truck to run normally to the waiting loading position, and determine the waiting time of the driverless mining truck at the waiting loading position.

[0124] In the above step S306, when it is determined that the status of the excavator currently matched with the driverless mining truck is the offline working status, the driverless mining truck can be controlled to run normally to the waiting loading position. At this time, the distance between the general waiting loading position and the excavator is less than 100m, and the offline status can be directly sent and updated according to V2V. After the offline status exceeds 1 minute, the adaptive excavator logic is automatically executed.

[0125] Step S307: Determine that the status of the excavator currently matched with the driverless mining truck is the fault working status and / or the working status of changing the operation position.

[0126] In the above step S307, when it is determined that the status of the excavator currently matched with the driverless mining truck is the fault working status and / or the working status of changing the operation position, it indicates that the excavator has stopped working and the adaptive excavator logic needs to be executed.

[0127] Step S308: Automatically match a new target excavator according to the received excavator information.

[0128] In the above step S308, the driverless mining truck obtains the excavator information of all available excavators through V2X communication, querying the database, etc., which can include excavator position, online status, operation status, resource occupancy status, number of queuing vehicles, loading efficiency, etc. Based on the distance between the driverless mining truck and the excavator, the excavator closer to the driverless mining truck is preferentially selected. Based on the available resources of the excavator, the excavator with more available resources is preferentially selected. For example, the excavator with fewer queuing vehicles has more available resources. Based on the loading efficiency of the excavator, the excavator with higher loading efficiency is preferentially selected.

[0129] Optionally, based on the above method, determine the weight of each excavator information, and according to the preset scoring mechanism, calculate the score of each excavator based on the weight. This scoring mechanism comprehensively considers factors such as distance, available resources, and loading efficiency. Further, select the excavator with the highest selection score as the target excavator.

[0130] Step S309: Plan the path for the driverless mining truck to move to the new target excavator.

[0131] In the above step S309, the driverless mining truck plans the path to the target excavator and executes the loading task.

[0132] Step S310: Determine whether the driverless mining truck can plan to a new target excavator.

[0133] In the above step S310, after matching the excavator, the path to the new target excavator is automatically planned. If the planning is successful, go to step S311; otherwise, go to step S312.

[0134] Step S311: Control the unmanned mining truck to move to the new target excavator according to the planned path.

[0135] In the above step S311, when the unmanned mining truck successfully plans to the new target excavator, control the unmanned mining truck to move to the new target excavator according to the planned path. The unmanned mining truck automatically travels along the planned trajectory to the new excavator for loading operations, and at the same time updates the excavator information and status.

[0136] Step S312: Report the reason for failure.

[0137] In the above step S312, when the unmanned mining truck fails to plan to the new target excavator, stop the vehicle and report the reason for stopping, reminding the dispatcher to intervene and handle it.

[0138] Figure 4 FIG. is a simplified schematic diagram of an unmanned mining truck replacing an excavator according to an embodiment of the present invention. As Figure 4 shown, the excavator currently matched with the unmanned mining truck 401 is the first excavator 402. Since the first excavator 402 needs to change the operation position, it is necessary to determine at this time whether the unmanned mining truck 401 is matched with the second excavator 403 or the third excavator 404. Since the resources at the second excavator 403 are temporarily occupied, that is, there is another unmanned mining truck 405 at the second excavator 403, and there is no unmanned mining truck queuing at the third excavator 404, the unmanned mining truck 401 is matched with the third excavator 404, and the unmanned mining truck 401 is controlled to move to the third excavator 404. Figure 4 The loading area entrance 406 is also shown in FIG.

[0139] Figure 5 FIG. is a site schematic diagram of an unmanned mining truck replacing an excavator according to an embodiment of the present invention. As Figure 5 shown, the original trajectory of the unmanned mining truck 501 to the first excavator 502 is shown, as well as the new trajectory of the unmanned mining truck 501 replacing to the third excavator 504 because the resources at the second excavator 503 are temporarily occupied by another unmanned mining truck 505.

[0140] This embodiment enables the dispatching system to flexibly adjust the loading target of the mining truck according to the actual situation, meet the on-site single loading (excavator replacement) requirements, and improve the business flexibility; reduce the invalid parking time of the mining truck, improve the utilization rate and transportation efficiency of the mining truck, and improve the unit efficiency of the mining truck; reduce the frequency of manual intervention, improve the automation degree of the unmanned driving system, and reduce the operation takeover.

[0141] Through this step, when the loading vehicle meets the excavator matching condition, based on the excavator information of multiple excavators, the target excavator with the optimal performance index is determined from the multiple excavators to be matched with the loading vehicle. Then, the loading vehicle is controlled to drive to the target excavator to perform the loading task, avoiding the situation where the loading vehicle stops waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle in performing the loading task is achieved, thus realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0142] According to an embodiment of the present invention, there is also provided a control device for a vehicle. It should be noted that this control device for a vehicle can be used to execute the control method for a vehicle in the embodiment of the present invention.

[0143] Figure 6 It is a schematic diagram of a control device for a vehicle according to an embodiment of the present invention. The control device 600 for the vehicle includes: a determination unit 601 and a control unit 602.

[0144] The determination unit 601 is configured to, in response to the loading vehicle meeting the excavator matching condition, based on the excavator information of multiple excavators, determine a target excavator to be matched with the loading vehicle among the multiple excavators, wherein the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task.

[0145] The control unit 602 is configured to control the loading vehicle to drive to the target excavator to perform the loading task.

[0146] Optionally, the excavator matching condition includes: the currently matched excavator is in an abnormal working state; or there is no currently matched excavator.

[0147] Optionally, the abnormal working state includes an offline working state. Responding to the loading vehicle meeting the excavator matching condition includes: responding to the currently matched excavator of the loading vehicle being in an offline working state and the waiting duration of the loading vehicle at the waiting position of the currently matched excavator exceeding a set threshold.

[0148] Optionally, the abnormal working state includes a fault working state and / or a working state of changing the operation position. Responding to the loading vehicle meeting the excavator matching condition includes: responding to the currently matched excavator of the loading vehicle being in a fault working state and / or a working state of changing the operation position.

[0149] Optionally, there are multiple types of excavator information. In response to the currently matched excavator of the loading vehicle being in an abnormal working state, the determination unit 601 includes: a calculation module, configured to perform weighted summation on the multiple types of excavator information according to the weight of each type of excavator information to obtain a performance index of the excavator; a first determination module, configured to determine that the target excavator matches the loading vehicle according to the performance indexes of the excavators.

[0150] Optionally, the multiple types of excavator information include at least two of the following: the resource quantity corresponding to the excavator, the distance between the excavator and the loading vehicle, and the loading efficiency of the excavator.

[0151] Optionally, in response to the loading vehicle having no currently matched excavator, the determination unit 601 includes: a second determination module, configured to determine the performance indexes of the excavators based on the resource quantities of the excavators; a third determination module, configured to determine that the target excavator matches the loading vehicle according to the performance indexes of the excavators.

[0152] Optionally, the device further includes: a first update unit, configured to update the current working state of the excavator to an offline working state in response to the unupdated duration of the excavator timestamp exceeding a duration threshold; and / or, a second update unit, configured to update the distance between the excavator and the loading vehicle in the excavator information according to the change result of the excavator position.

[0153] In this device, in response to the loading vehicle meeting the excavator matching condition, the determination unit 601 determines that the target excavator matches the loading vehicle based on the excavator information of multiple excavators. Among them, the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task. The control unit 602 controls the loading vehicle to drive to the target excavator to perform the loading task. That is to say, when the vehicle control device of this vehicle meets the excavator matching condition, based on the excavator information of multiple excavators, it determines the target excavator with the optimal performance index to match the loading vehicle from the multiple excavators, and then controls the loading vehicle to drive to the target excavator to perform the loading task, avoiding the loading vehicle from parking and waiting due to reasons such as the failure of the currently matched excavator of the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle performing the loading task is achieved, thereby realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0154] According to an embodiment of the present invention, there is also provided another vehicle control device. It should be noted that this vehicle control device can be used to execute the vehicle control method in the embodiment of the present invention.

[0155] Figure 7It is a schematic diagram of another vehicle control device according to an embodiment of the present invention. The vehicle control device 700 includes: a first display unit 701, a second display unit 702, and a third display unit 703.

[0156] The first display unit 701 is configured to display the excavator information of multiple excavators and / or display the performance indicators of multiple excavators on the operation interface, where the performance indicators are used to represent the performance of the corresponding excavator for performing loading tasks.

[0157] The second display unit 702 is configured to, in response to the loading vehicle meeting the excavator matching condition, display the excavator information and / or performance indicators based on multiple excavators on the operation interface, and determine the matching result of the target excavator and the loading vehicle among the multiple excavators, where the performance indicator of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators.

[0158] The third display unit 703 is configured to display on the operation interface that the loading vehicle travels to the target excavator to perform a loading task.

[0159] In this device, the first display unit 701 displays the excavator information of multiple excavators and / or the performance indicators of multiple excavators on the operation interface, where the performance indicators are used to represent the performance of the corresponding excavator for performing loading tasks. The second display unit 702, in response to the loading vehicle meeting the excavator matching condition, displays the excavator information and / or performance indicators based on multiple excavators on the operation interface, and determines the matching result of the target excavator and the loading vehicle among the multiple excavators, where the performance indicator of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators. The third display unit 703 displays on the operation interface that the loading vehicle travels to the target excavator to perform a loading task. That is to say, when the loading vehicle meets the excavator matching condition, the vehicle control device determines the target excavator with the optimal performance indicator among multiple excavators to match with the loading vehicle based on the excavator information of the multiple excavators, and then controls the loading vehicle to travel to the target excavator to perform a loading task, avoiding the loading vehicle from waiting due to reasons such as the failure of the excavator currently matched with the loading vehicle. By re-matching a new target excavator for the loading vehicle, the purpose of improving the efficiency of the loading vehicle performing loading tasks is achieved, thereby realizing the technical effect of improving the control efficiency of the vehicle and solving the technical problem of low control efficiency of the vehicle.

[0160] An embodiment of the present invention further provides an electronic device, including: a memory storing an executable program; a processor for running the program, where when the program runs, it executes the methods in the various embodiments of the present invention.

[0161] Embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium includes a stored executable program. When the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in various embodiments of the present invention.

[0162] Embodiments of the present invention also provide a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods in various embodiments of the present invention.

[0163] Embodiments of the present invention also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program. When the computer program is executed by a processor, it implements the methods in various embodiments of the present invention.

[0164] Embodiments of the present invention also provide a computer program. When the computer program is executed by a processor, it implements the methods in the above various embodiments of the present invention.

[0165] Embodiments of the present invention also provide a vehicle, including: a memory and a processor. The memory is used for storing an executable program; the processor is used for running the program, and when the program runs, it executes the methods in various embodiments of the present invention.

[0166] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0167] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0168] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0169] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, in each embodiment of the present invention, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0171] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0172] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a vehicle, characterized in that, Including: In response to the loading vehicle meeting the excavator matching condition, based on the excavator information of multiple excavators, determine a target excavator that matches the loading vehicle among the multiple excavators, wherein the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators, and the performance index is used to represent the performance of the corresponding excavator for performing the loading task; Control the loading vehicle to drive to the target excavator to perform the loading task.

2. The method according to claim 1, wherein The excavator matching condition includes: The currently matched excavator is in an abnormal working state; or There is no currently matched excavator.

3. The method according to claim 2, wherein The abnormal working state includes an offline working state. Responding to the loading vehicle meeting the excavator matching condition includes: In response to the currently matched excavator of the loading vehicle being in the offline working state and the waiting duration of the loading vehicle at the waiting position of the currently matched excavator exceeding the set threshold.

4. The method according to claim 2, wherein The abnormal working state includes a fault working state and / or a working state of changing the operation position. Responding to the loading vehicle meeting the excavator matching condition includes: In response to the currently matched excavator of the loading vehicle being in the fault working state and / or the working state of changing the operation position.

5. The method according to claim 2, wherein There are multiple types of the excavator information. In response to the currently matched excavator of the loading vehicle being in the abnormal working state, determining a target excavator that matches the loading vehicle among the multiple excavators based on the excavator information of the multiple excavators includes: According to the weight of each type of the excavator information of the excavator, perform weighted summation on the multiple types of the excavator information to obtain the performance index of the excavator; Determine that the target excavator matches the loading vehicle according to the performance indexes of the excavators.

6. The method according to claim 5, wherein The multiple types of the excavator information include at least two of the following: The resource amount corresponding to the excavator, the distance between the excavator and the loading vehicle, the loading efficiency of the excavator.

7. The method according to claim 2, characterized in that, In response to the loading vehicle having no currently matched excavator, determining a target excavator that matches the loading vehicle among the multiple excavators based on the excavator information of the multiple excavators includes: Based on the resource amounts of the excavators, determine the performance indexes of the excavators; Determine that the target excavator matches the loading vehicle according to the performance indexes of the excavators.

8. The method according to any one of claims 1 to 7, characterized in that, It also includes: In response to the unupdated duration of the excavator timestamp of the excavator exceeding the duration threshold, update the current working state of the excavator to the offline working state; And / or Update the distance between the excavator and the loading vehicle in the excavator information according to the change result of the excavator position of the excavator.

9. A control method for a vehicle, characterized in that, Including: On the operation interface, display the excavator information of multiple excavators and / or display the performance indexes of the multiple excavators, wherein the performance index is used to represent the performance of the corresponding excavator for performing the loading task; In response to the loading vehicle meeting the excavator matching condition, display on the operation interface the result of determining a target excavator that matches the loading vehicle among the multiple excavators based on the excavator information of the multiple excavators and / or the performance index, wherein the performance index of the target excavator is higher than that of the excavators other than the target excavator among the multiple excavators; Display on the operation interface that the loading vehicle travels to the target excavator to perform the loading task.

10. A vehicle, characterized in that, Comprising: A memory storing an executable program; A processor for running the program, wherein when the program runs, it executes the method according to any one of claims 1 to 9.

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