Driving control system and method and unmanned vehicle

Abstract

The invention provides a driving control system and method and an unmanned vehicle. The driving control system comprises a control signal sending device and at least one unmanned vehicle, the unmanned vehicle is provided with a driving controller for controlling the driving state of the vehicle; the control signal sending device is used for sending a first control signal to at least one unmanned vehicle in a first range under the condition that a preset condition is met; wherein the first range is related to the position of the control signal sending device; the driving controller is used for controlling the unmanned vehicle in the first range to execute a first driving strategy under the condition that the first control signal is received; wherein the first driving strategy comprises one of the following steps: keeping a current state, stopping, decelerating and bypassing. The problems of low manual intervention efficiency and untimely response in traditional unmanned vehicle management are solved. The centralized control of a plurality of unmanned vehicles in a specific area is realized, and the potential safety hazard and time cost of manual on-site processing are reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned vehicles, and in particular to a driving control system, method, and an unmanned vehicle. Background Art

[0002] With the development of intelligent transportation technology, autonomous vehicles are gaining widespread application in logistics and distribution, ride-sharing, mining operations, and other fields. However, existing technologies present significant safety risks when autonomous vehicles encounter unusual situations such as extreme weather, complex road conditions, or system failures, requiring manual takeover. Traditional solutions require a safety officer to arrive at the vehicle and manually take over. This process exposes the safety officer to the risk of traffic accidents while approaching the vehicle. Especially in dangerous scenarios like highways, manual on-site takeover is difficult to ensure in a timely and safe manner. Summary of the Invention

[0003] The embodiments of the present disclosure provide a driving control system, method, and unmanned vehicle to solve the related problems existing in existing technical solutions.

[0004] Based on the above problems, in a first aspect, a driving control system is provided, comprising: a control signal sending device and at least one unmanned vehicle; the unmanned vehicle is provided with a driving controller for controlling the driving state of the vehicle;

[0005] The control signal sending device is configured to send a first control signal to at least one unmanned vehicle within a first range when a preset condition is met; wherein the first range is related to the location of the control signal sending device;

[0006] The driving controller is used to control the unmanned vehicle within the first range to execute a first driving strategy upon receiving the first control signal; wherein the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

[0007] In conjunction with the first aspect, in one possible implementation, the preset condition includes one of the following:

[0008] receiving a start instruction, wherein the start instruction is used to instruct the control signal sending device to enter a control signal sending mode;

[0009] receiving a target signal from an associated device of the control signal sending device;

[0010] The position of the control signal sending device meets the target conditions.

[0011] In combination with the first aspect, in a possible implementation manner, the control signal sending device is further configured to determine the first range;

[0012] The control signal sending device is used to determine the current moving direction; with the current position as the center and based on the current moving direction, determine in real time during the movement a forward range representing the current orientation and a backward range representing the current departure direction; wherein the first range includes the forward range and the backward range; the backward range is greater than or equal to the forward range; and / or

[0013] The control signal sending device is used to determine the current moving speed; and determine the first range in real time according to the current moving speed; wherein, the greater the current moving speed, the larger the first range.

[0014] In combination with the first aspect, in a possible implementation manner, the control signal sending device is further used to determine at least one unmanned vehicle within the first range;

[0015] The control signal sending device is used to obtain a first planned path of the unmanned vehicle within the first range; determine a first planned path that may conflict with the second planned path based on the first planned path and the second planned path of the control signal sending device itself; and determine the unmanned vehicle corresponding to the first planned path that may conflict and / or the unmanned vehicle at any position within the first range that is less than a preset distance from the unmanned vehicle as at least one unmanned vehicle within the first range; and / or

[0016] The control signal sending device is also used to determine at least one unmanned vehicle and its vehicle type within a first range; determine the first driving strategy corresponding to the at least one unmanned vehicle according to the vehicle type; and send a first control signal representing the corresponding first driving strategy to at least one unmanned vehicle within the first range.

[0017] In combination with the first aspect, in a possible implementation manner, the first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range;

[0018] In the case where at least one unmanned vehicle within the first range is also provided with a V2V communication module, at least one unmanned vehicle within the first sub-range is configured to control the V2V communication module of the unmanned vehicle to broadcast a second control signal when the driving controller receives the first control signal; at least one unmanned vehicle within the second sub-range is configured to determine the position information of the corresponding unmanned vehicle according to the received second control signal when any second control signal is received through the V2V communication module of the unmanned vehicle; and control the unmanned vehicle to execute a second driving strategy when the position information indicates that the distance between the unmanned vehicle and the corresponding unmanned vehicle satisfies a preset distance range; and / or,

[0019] In the case where at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first sub-range is configured to control the remote communication module of the unmanned vehicle to send a first control request signal to the cloud platform when the driving controller receives the first control signal; wherein the cloud platform is configured to determine the location information of the corresponding unmanned vehicle based on the received first control request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control signal to at least one unmanned vehicle within the second sub-range, and at least one unmanned vehicle within the second sub-range is configured to control the unmanned vehicle to execute the second driving strategy when the remote communication module of the unmanned vehicle receives the second control signal;

[0020] The second driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

[0021] In combination with the first aspect, in one possible implementation, when the first driving strategy adopts deceleration and the second driving strategy adopts deceleration, the target speed to which at least one unmanned vehicle in the first sub-range is reduced is lower than the target speed to which at least one unmanned vehicle in the second sub-range is reduced; or

[0022] When the first driving strategy adopts parking and the second driving strategy adopts stopping, the time taken by at least one unmanned vehicle in the first sub-range to complete parking is less than the time taken by at least one unmanned vehicle in the second sub-range to complete parking; or

[0023] In the case where the first driving strategy adopts parking, the second driving strategy adopts parking, deceleration or detour; or,

[0024] In the case where the first driving strategy adopts deceleration, the second driving strategy adopts deceleration or detour; or,

[0025] In the case where the first driving strategy adopts detour, the second driving strategy adopts deceleration or detour; or,

[0026] When the type of the corresponding unmanned vehicle is a preset vehicle type, the first driving strategy and / or the second driving strategy adopts maintaining the current state.

[0027] In conjunction with the first aspect, in one possible implementation, the control signal sending device is further configured to, upon receiving a control instruction, send a first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target area, send the first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target vehicle and the target vehicle has started driving normally, send the first control release signal to at least one unmanned vehicle within the first range;

[0028] The driving controller is further configured to trigger the first unmanned vehicle under control to stop executing the first driving strategy upon receiving the first control release signal.

[0029] In combination with the first aspect, in a possible implementation manner, the first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range;

[0030] In a case where at least one unmanned vehicle within the first range is further provided with a V2V communication module, the at least one unmanned vehicle within the first range is configured to, upon the driving controller receiving the first control release signal, control the V2V communication module of the first unmanned vehicle to broadcast a second control release signal; and the at least one unmanned vehicle within the second sub-range is configured to, upon the V2V communication module of the unmanned vehicle receiving any second control release signal, control the second unmanned vehicle to cancel the execution of the second driving strategy;

[0031] and / or,

[0032] In the case where at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first range is configured to control the remote communication module of the unmanned vehicle to send a first control release request signal to the cloud platform when the driving controller receives the first control release signal, and the cloud platform is configured to determine the location information of the corresponding unmanned vehicle based on the received first control release request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control release signal to at least one unmanned vehicle within the second sub-range; at least one unmanned vehicle within the second sub-range is configured to control the unmanned vehicle to cancel the execution of the second driving strategy when the remote communication module of the unmanned vehicle receives the second control release signal.

[0033] With reference to the first aspect, in a possible implementation manner, both the first control signal and the first control release signal carry identification information of the control signal sending device;

[0034] The driving controller is used to, when receiving the first control release signal, determine the received first control signal carrying the same identification information based on the identification information carried by the first control release signal, and release the driving control for the first control signal; and when all the received first control signals have completed the driving control release, trigger the control of the first unmanned vehicle to stop executing the first driving strategy.

[0035] In conjunction with the first aspect, in one possible implementation, when the first control signal is a short-range communication signal in a preset frequency band, the control signal sending device is configured to, when a preset condition is met, broadcast the first control signal through the preset frequency band; and broadcast the first control release signal through the preset frequency band to at least one unmanned vehicle within a first range; wherein the first range is the communication range of the control signal sending device;

[0036] and / or,

[0037] In the case where the first control signal is a remote communication signal, the control signal sending device is used to send a second control request signal to the cloud platform when a preset condition is met, and the cloud platform is used to determine the position information of the control signal sending device according to the second control request signal, determine the first range according to the position information, and send the first control signal to at least one unmanned vehicle within the first range; and the control signal sending device is used to send a second control release request signal to the cloud platform, and the cloud platform is used to determine the position information of the control signal sending device according to the second control release request signal, determine the first range according to the position information, and send the first control release signal to at least one unmanned vehicle within the first range.

[0038] In combination with the first aspect, in one possible implementation, the unmanned vehicle within the first range is configured to start a timer when the driving controller receives the first control signal, and control the first unmanned vehicle to stop executing the first driving strategy after the timer reaches a preset safety time; or

[0039] The driving controller is used to continuously detect the first control signal when it receives the first control signal; and trigger the control of the first unmanned vehicle to stop executing the first driving strategy when the driving controller stops receiving the first control signal.

[0040] In conjunction with the first aspect, in one possible implementation, the control signal sending device includes: a vehicle control remote controller and / or roadside equipment;

[0041] In the case where the control signal sending device is a driving control remote controller, the driving control remote controller is used to send the first control signal when a preset condition is met;

[0042] In the case where the control signal sending device is a roadside device, the roadside device is used to receive a control signal sending instruction sent by the cloud platform and send the first control signal; the control signal sending instruction is sent to the roadside device when the cloud platform determines the first range and determines the roadside device that can communicate with the unmanned vehicle within the first range.

[0043] In combination with the first aspect, in one possible implementation, the driving controller includes: a power chip, a wireless communication module, a micro control unit, and an electromagnetic switch;

[0044] The power chip and the wireless communication module are respectively connected to the micro control unit; the micro control unit is connected to a preset pin of the vehicle controller of the unmanned vehicle through the electromagnetic switch;

[0045] The wireless communication module is used to receive the driving control related signal sent by the control signal sending device through the receiving antenna and send it to the micro control unit;

[0046] The micro control unit is used to control the electromagnetic switch to output a corresponding electrical signal to the vehicle controller when receiving the driving control related signal.

[0047] In a second aspect, a driving control method is provided, comprising:

[0048] receiving a first control signal through a driving controller; executing a first driving strategy;

[0049] Among them, the driving controller is set in the unmanned vehicle and is used to control the driving state of the vehicle; the first control signal is sent by the control signal sending device to at least one unmanned vehicle within the first range when the preset conditions are met; the first range is related to the position of the control signal sending device; the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

[0050] In a third aspect, an unmanned vehicle is provided for executing a driving control method as described in the second aspect.

[0051] The beneficial effects of the embodiments of the present disclosure include:

[0052] The disclosed embodiments provide a driving control system, method, and unmanned vehicle, which are applied in a variety of complex scenarios to manage and control one or more unmanned vehicles through a control signal sending device. The control signal sending device defines a first range based on its own position. When a preset condition is triggered, the control signal sending device sends a first control signal to the unmanned vehicle within the first range. Unified management of vehicles in a specific area is achieved, vehicle responses are accurately triggered, delays and omissions of manual intervention are avoided, and management efficiency is effectively improved. The driving controller equipped on the unmanned vehicle controls the unmanned vehicles within the first range to execute the first driving strategy after receiving the first control signal. The driving controller ensures that the vehicle responds accurately to the control signal, realizes dynamic adjustment of the vehicle's driving state, and ensures vehicle driving safety.

[0053] In summary, this system addresses the high risk of manual intervention and delayed response to emergencies in traditional unmanned vehicle management. By enabling the coordinated operation of a control signal transmitter and a vehicle controller, it enables centralized control of multiple unmanned vehicles within a specific area, reducing the safety hazards and time costs of manual on-site handling. It improves the efficiency and safety of unmanned vehicles in complex environments, enhancing the overall reliability and stability of unmanned vehicle operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A structural diagram of a vehicle driving control system provided by an embodiment of the present disclosure;

[0055] Figure 2 A first range division schematic diagram provided for an embodiment of the present disclosure;

[0056] Figure 3 A schematic structural diagram of a vehicle driving controller provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The present disclosure provides a driving control system, method, and unmanned vehicle. Preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are intended only to illustrate and explain the present disclosure and are not intended to limit the present disclosure. Furthermore, the embodiments and features of the embodiments may be combined with one another unless there is a conflict.

[0058] The embodiment of the present disclosure provides a driving control system, such as Figure 1 As shown, it includes: a control signal sending device 101 and at least one unmanned vehicle; the unmanned vehicle is provided with a driving controller 102 for controlling the driving state of the vehicle;

[0059] The control signal sending device 101 is configured to send a first control signal to at least one unmanned vehicle within a first range when a preset condition is met; wherein the first range is related to the location of the control signal sending device 101;

[0060] The driving controller 102 is used to control the unmanned vehicle within the first range to execute a first driving strategy when receiving a first control signal; wherein the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

[0061] In the disclosed embodiment, the control signal sending device 101 and the driving controller 102 within the system work together to establish an intelligent management mechanism for the unmanned vehicle. In actual operation scenarios, the system can effectively cope with various complex situations and ensure the safety and efficiency of the unmanned vehicle.

[0062] The control signal sending device 101 has monitoring and command sending functions. When a preset condition is triggered, it will send a first control signal to at least one unmanned vehicle within a defined first range based on its own location. For example, in a mining area, if an unmanned vehicle breaks down and requires manual takeover, or an emergency occurs and requires manual entry to the scene (for example, traffic jam, road collapse, etc.), its implementation method can be a hardware device deployed on a mobile management vehicle, or a separately portable device (such as a remote control); it can also be implemented without manual carrying, but automatically trigger the control signal sending device 101 to process according to the location of the target location. Its implementation method can be a hardware device fixedly installed at a key node on the road. The implementation form of the control signal sending device 101 is not limited here. The control signal sending device 101 can quickly send signals to the unmanned vehicle and vehicles in the surrounding area. The function of this device is to achieve unified scheduling of unmanned vehicles in a specific area, ensure that the staff or management vehicle carrying the control signal sending device 101 does not encounter danger when entering the accident vehicle or accident site, or ensure that surrounding vehicles can respond in time to avoid danger at the target location where the accident occurred.

[0063] After receiving the first control signal, the driving controller 102 controls the unmanned vehicle to execute the corresponding first driving strategy. If the signal instructs the vehicle to take a detour, the driving controller 102 replans the route to steer the vehicle away from the dangerous area. This controller can be a control module integrated into the vehicle's electronic control unit (ECU) or a standalone hardware unit connected to the vehicle's control system. By precisely executing control signals, the driving controller 102 ensures that the unmanned vehicle can respond safely and promptly to abnormal situations.

[0064] In summary, the driving control system provided by the disclosed embodiments achieves regional intelligent control of unmanned vehicles, transcending the independent control model of individual vehicles to establish a one-to-many linkage mechanism. Overall, the system effectively enhances the unmanned vehicle's ability to respond to emergencies, reduces the cost of manual intervention, and enhances safety and traffic efficiency in unmanned vehicle operation scenarios.

[0065] In another embodiment provided by the present disclosure, the preset condition includes one of the following:

[0066] Receiving a start instruction, the start instruction is used to instruct the control signal sending device 101 to enter a control signal sending mode;

[0067] Receiving a target signal from an associated device of the control signal sending device 101;

[0068] The position of the control signal sending device 101 meets the target condition.

[0069] In light of the above, the preset conditions are the key criteria for triggering the operation of the control signal sending device 101 and directly determine when the system will dispatch and manage the unmanned vehicle. In the disclosed embodiments, a variety of preset conditions are provided to accurately adapt to the complex and changing operating environment of the mining area and cooperate with different first-line driving strategies to ensure the safe operation of the unmanned vehicle in various conditions.

[0070] Optionally, when the preset condition is "receiving a start instruction, the start instruction is used to instruct the control signal sending device 101 to enter the control signal sending mode", if the control signal sending device 101 receives the start instruction, the control signal sending device 101 actively activates the management and control function and sends a first control signal to at least one unmanned vehicle within the first range. For example, when working in a mining area, due to a vehicle breakdown, the administrator presses the stop button on the handheld control signal sending device 101, and the control signal sending device 101 immediately enters the working state and begins to send a signal indicating the stop. At this time, the signal coverage range of the control signal sending device 101 is the first range, and the signal indicating the stop is the first control signal.

[0071] Optionally, when the preset condition is "receiving the target signal of the associated device of the control signal sending device 101", if the control signal sending device 101 meets the requirements of receiving the target signal of its associated device, the control signal sending device 101 sends a first control signal to at least one unmanned vehicle within the first range. The above-mentioned associated device may be a cloud platform. For example, when the control signal sending device 101 receives the target signal sent by the cloud platform, it is triggered to send the first control signal to the surrounding unmanned vehicles. The above-mentioned associated device may also be a preset device in the unmanned vehicle. For example, when the unmanned vehicle malfunctions, the preset device may automatically send a target signal to the control signal sending device 101, triggering the control signal sending device 101 to send the first control signal to the surrounding unmanned vehicles.

[0072] Optionally, when the preset condition is that "the position of the control signal sending device 101 meets the target condition", the system manages and controls the control signal sending device 101 at the target position. For example, when an unmanned vehicle breaks down, the location range of the failed unmanned vehicle is first determined. When the moving control signal sending device 101 enters the location range, it can be determined that the position of the control signal sending device 101 meets the target condition, and the control signal sending device 101 is triggered to automatically send the first control signal. The target condition can be determined by positioning the Qianqian Positioning System (GPS, Global Positioning System), Bluetooth beacon positioning, etc. This location-based triggering mechanism can achieve precise management of unmanned vehicles in different areas.

[0073] These diverse preset conditions constitute a flexible and intelligent triggering mechanism for the vehicle control system. Through multi-dimensional conditional assessment, dynamic and precise control of unmanned vehicles is achieved. Overall, the system can dispatch unmanned vehicles promptly and accurately based on actual needs and environmental changes, effectively improving the safety and efficiency of unmanned vehicle operations, reducing the cost of manual intervention, and providing reliable technical support for the large-scale deployment of unmanned vehicles.

[0074] In another embodiment provided by the present disclosure, the control signal sending device 101 is further configured to determine a first range;

[0075] The control signal sending device 101 is used to determine the current moving direction; with the current location as the center and based on the current moving direction, determine in real time during the movement a forward range representing the current heading and a backward range representing the current departure direction; wherein the first range includes a forward range and a backward range; the backward range is greater than or equal to the forward range; and / or

[0076] The control signal sending device 101 is used to determine the current moving speed; and determine the first range in real time according to the current moving speed; wherein, the greater the current moving speed, the larger the first range.

[0077] In the disclosed embodiment, the first range is related to the position of the control signal transmitting device 101. To ensure the safety of workers or vehicles entering the unmanned vehicle operating area, workers can hold or carry the control signal transmitting device 101 in their hands. The position of the vehicle-mounted control signal transmitting device 101 (i.e., representing the position of the worker or vehicle) can be used to determine the first range, thereby ensuring the safety of the worker or vehicle.

[0078] In the disclosed embodiment, the signal coverage area (i.e., the first range) is dynamically defined in combination with the moving direction and / or speed of the control signal sending device 101, and together with the preset conditions and the first driving strategy, a complete control system is formed.

[0079] Optionally, when determining the first range based on the current moving direction, the control signal sending device 101 can obtain the current moving direction in real time through a built-in direction sensor, such as an electronic compass or an inertial navigation system. Taking the control signal sending device 101 installed on a mining inspection vehicle as an example, when the inspection vehicle is moving forward, the device uses the current position as the center to determine the forward range in front (i.e., the direction of travel) and the backward range in the rear (i.e., the direction away from the direction of travel) in real time. Due to the limitation of the field of view, other unmanned vehicles behind the mining inspection vehicle are not easy to be observed, so the backward range can be set to be greater than or equal to the forward range. Such a setting can ensure that during the vehicle's forward movement, not only the unmanned vehicle operating in front can receive instructions in a timely manner, but also the vehicles following or approaching from behind can obtain information synchronously. For example, when the inspection vehicle finds that the road ahead has collapsed, the control signal sending device 101 can send a first control signal to the unmanned vehicles in the backward range and the unmanned vehicles in the forward range to avoid colliding with the inspection vehicle and also avoid being trapped in the collapsed road. And the first range can change in real time according to the change of the position of the control signal sending device 101, that is, the control signal sending device 101 can determine the first range in real time during the forward process, and send the control signal in real time for the first range determined in real time.

[0080] Optionally, when determining the first range based on the current moving speed, the control signal sending device 101 obtains the real-time moving speed through a speed sensor or data interaction with the vehicle speed control system. In a mining scenario, when a transport vehicle equipped with the control signal sending device 101 is traveling at high speed, the device determines the first range based on the speed so that control signals can be sent in advance to unmanned vehicles at a greater distance. For example, when the vehicle is traveling at a high speed, the control signal sending device 101 expands the signal coverage range, causing unmanned vehicles farther away to slow down or detour in advance, leaving sufficient reaction time. When the vehicle is traveling at a low speed, the first range can be narrowed to reduce unnecessary signal interference and improve control accuracy.

[0081] Optionally, the above two methods of determining the first range can also be applied simultaneously. For example, in a mining area, an inspection vehicle equipped with the control signal sending device 101 is traveling at a relatively high speed in the northeast direction. At this time, the control signal sending device 101 first obtains in real time through the built-in inertial navigation system and speed sensor that the current moving direction is northeast and the driving speed is 40km / h. Based on the moving direction, the control signal sending device 101 takes the current position as the center, demarcates the forward range as a northeastern fan-shaped area, and the back range as a southwest fan-shaped area, and the back range is larger than the forward range; at the same time, based on the high-speed driving state of 40km / h, the signal coverage distance is expanded on the default basis.

[0082] In summary, the control signal sending device 101 provided in this disclosure breaks the limitation of a fixed range and dynamically determines the first range by combining the direction of movement and / or speed. This mechanism enables the system to adapt to the complex working conditions within the mining area, where vehicles have variable driving directions and large speed differences, and achieves precise scheduling and efficient management of unmanned vehicles in emergency situations. Overall, this mechanism significantly improves the flexibility and timeliness of the system's control over unmanned vehicles, reduces the risk of vehicle collisions, and improves the safety and transportation efficiency of mining operations.

[0083] In another embodiment provided by the present disclosure, when the first control signal is a short-range communication signal of a preset frequency band, the control signal transmitting device 101 is configured to broadcast the first control signal through the preset frequency band when a preset condition is met; wherein the first range is the communication range of the control signal transmitting device 101; and / or,

[0084] In the case where the first control signal is a remote communication signal, the control signal sending device 101 is configured to send a second control request signal to the cloud platform when a preset condition is met. The cloud platform is configured to determine the location information of the control signal sending device 101 based on the second control request signal, determine the first range based on the location information, and send the first control signal to at least one unmanned vehicle within the first range.

[0085] In the disclosed embodiment, the control signal transmitting device 101 may broadcast the first control signal via a short-range communication channel in a preset frequency band, such as 433 MHz wireless radio frequency communication, if preset conditions are met. In this case, the control signal transmitting device 101 does not need to specifically determine the first range, but rather determines the propagation range of the first control signal as the first range.

[0086] The control signal sending device 101 may also send the first control signal through the cloud platform. That is, when triggered by a preset condition, the second request control signal is sent to the cloud platform, and the cloud platform determines the first range based on the position of the control signal sending device 101 and sends the first control signal.

[0087] In another embodiment provided by the present disclosure, the control signal sending device 101 is further configured to determine at least one unmanned vehicle within the first range;

[0088] The control signal sending device 101 is configured to obtain a first planned path of an unmanned vehicle within a first range; determine, based on the first planned path and the second planned path of the control signal sending device 101 itself, a first planned path that may conflict with the second planned path; and determine the unmanned vehicle corresponding to the first planned path that may conflict and / or an unmanned vehicle that is located at any position within the first range and is less than a preset distance from the unmanned vehicle as at least one unmanned vehicle within the first range; and / or

[0089] The control signal sending device 101 is also used to determine at least one unmanned vehicle and its vehicle type within the first range; determine the first driving strategy corresponding to at least one unmanned vehicle according to the vehicle type; and send a first control signal representing the corresponding first driving strategy to at least one unmanned vehicle within the first range.

[0090] In the driving control system provided by the embodiment of the present disclosure, the control signal sending device 101 can send a first control signal to all unmanned vehicles within the first range, or after determining the first range, determine some unmanned vehicles from the unmanned vehicles within the first range, that is, determine to execute different driving strategies according to the vehicle characteristics.

[0091] In the embodiment of the present disclosure, for the determination of unmanned vehicles within the first range, the above-mentioned control signal sending device 101 can obtain the first planned paths of other unmanned vehicles within the first range, and at the same time perform conflict prediction in combination with its own second planned path. For example, in a mining transportation scenario, a command vehicle equipped with a control signal sending device 101 travels along the main road. After the control signal sending device 101 obtains the planned paths of 10 unmanned transport vehicles within the first range, it finds that 3 of the unmanned vehicles are about to intersect with the command vehicle's driving path at the intersection ahead, and then determines these 3 unmanned vehicles as unmanned vehicles within the first range; at the same time, if it is detected that the distance between an unmanned vehicle and the command vehicle is less than a preset distance of 10 meters, it will also be determined as an unmanned vehicle within the first range. This method can effectively avoid the risk of collision caused by path conflicts.

[0092] In another possible embodiment, after determining the unmanned vehicle within the first range, the control signal sending device 101 further identifies the vehicle type and matches the corresponding driving strategy for the vehicle type. There are various types of unmanned vehicles in the mining area, such as dump trucks, excavators, etc. The control signal sending device 101 determines that it executes different first driving strategies based on the vehicle type: for dump trucks, its first driving strategy may be to slow down or stop; for excavators that have a very low driving speed during operation, its first driving strategy may be to maintain the current state. The first driving strategy can be pre-configured in the corresponding unmanned vehicle, or it can be carried through the first control signal, which is not limited here.

[0093] In summary, the vehicle control system provided by the disclosed embodiments achieves differentiated and precise scheduling of unmanned vehicles through path conflict prediction and vehicle type adaptation. Overall, this mechanism improves the collaborative efficiency of unmanned vehicle operations in mining areas, ensures the safe and stable operation of mining transportation systems, and reduces the frequency of manual intervention and management costs.

[0094] In another embodiment provided by the present disclosure, the first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range;

[0095] When at least one unmanned vehicle within the first range is also provided with a vehicle-to-vehicle communication (V2V) communication module, at least one unmanned vehicle within the first sub-range is configured to control the V2V communication module of the unmanned vehicle to broadcast a second control signal when the driving controller 102 receives the first control signal; at least one unmanned vehicle within the second sub-range is configured to determine the position information of the corresponding unmanned vehicle according to the received second control signal when any second control signal is received through the V2V communication module of the unmanned vehicle; and control the unmanned vehicle to execute the second driving strategy when the position information indicates that the distance between the unmanned vehicle and the corresponding unmanned vehicle satisfies a preset distance range; and / or,

[0096] In a case where at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first sub-range is configured to, upon receipt of the first control signal by the driving controller 102, control the remote communication module of the unmanned vehicle to send a first control request signal to the cloud platform; wherein the cloud platform is configured to determine the location information of the corresponding unmanned vehicle based on the received first control request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control signal to at least one unmanned vehicle within the second sub-range, and at least one unmanned vehicle within the second sub-range is configured to, upon receipt of the second control signal by the remote communication module of the unmanned vehicle, control the unmanned vehicle to execute the second driving strategy;

[0097] The second driving strategy includes one of the following: maintaining the current state, stopping, slowing down, or detouring.

[0098] In the disclosed embodiment, the first range can be divided into a first sub-range and a second sub-range based on the distance from the control signal sending device 101. At least one unmanned vehicle within the first sub-range is closer to the control signal sending device 101 and can receive the first control signal. The unmanned vehicles within the first sub-range pose a greater threat to the safety of the holder of the control signal sending device 101, so the control of the unmanned vehicles within the first sub-range can be more urgent. The second sub-range can be a range that extends outward from the boundary of the first sub-range as the inner boundary. Unmanned vehicles within the second sub-range cannot receive the first control signal sent by the control signal sending device 101, but can receive the second control signal. Figure 2 FIG. 1 is a schematic diagram of dividing the first sub-range and the second sub-range in a possible implementation manner. Figure 2 In this example, a circular boundary represents the boundary of the first sub-range. The second sub-range can be a circular ring around the first sub-range. This allows for differentiated control of autonomous vehicles within different sub-ranges, enabling the system to more efficiently handle vehicle scheduling needs in complex mining scenarios.

[0099] When the unmanned vehicle within the first range is equipped with a V2V communication module, the unmanned vehicle within the first sub-range broadcasts the second control signal to the surrounding area through the V2V communication module after the driving controller 102 receives the first control signal. For example, in a transportation channel in a mining area, after the unmanned vehicle located in the first sub-range receives the first control signal, the unmanned vehicle spreads the second control signal to the surrounding second sub-range through the V2V module. After receiving the signal, the unmanned vehicle within the second sub-range will judge the distance from the sending vehicle based on the position information in the signal. If the distance is within a preset danger range (such as within 100 meters), the second driving strategy such as deceleration or parking is executed. This method quickly expands signal coverage through direct communication between vehicles, avoiding the command blind spot caused by the distance limit of the control signal sending device 101.

[0100] When the unmanned vehicles within the first range are equipped with a remote communication module, the cloud platform can be used for signal relay. After receiving the first control signal, the unmanned vehicles within the first sub-range can send a first control request signal to the cloud platform via the remote communication module. If there are multiple unmanned vehicles within the first sub-range, the cloud platform may receive the first control request signals from multiple unmanned vehicles. The cloud platform can estimate the first sub-range based on the vehicle position information of the multiple unmanned vehicles and determine the second sub-range by further expanding the first sub-range. The cloud platform directly sends the second control signal to the unmanned vehicles within the second sub-range. For example, the control signal sending device 101 sends the first control signal to the unmanned vehicles within the first sub-range. When the driving controller 102 of the unmanned vehicles within the first sub-range receives the first control signal, these unmanned vehicles will send the first control request signal to the cloud platform. Based on a global perspective, the cloud platform determines the first and second sub-ranges and sends the second control signal to the unmanned vehicles within the second sub-range. Subsequently, the remote communication modules of the unmanned vehicles within the second sub-range will receive the second control signal sent by the cloud platform. The unmanned vehicles that receive the second control signal will respond to the second control signal and implement the second driving strategy.

[0101] In addition, the unmanned vehicles in the first sub-range can also use their own V2V modules and remote communication modules at the same time, broadcasting the second control signal to the surrounding area through the V2V module and sending the first control request signal to the cloud platform through the remote communication module. Then the unmanned vehicles in the second sub-range may receive the second control signal through the V2V module and the remote communication module, providing double guarantee for the unmanned vehicles in the second sub-range to receive the second control signal.

[0102] The vehicle control system provided by the disclosed embodiments utilizes V2V or remote communication modules to build a multi-layered signal transmission network, overcoming the coverage limitations of a single device. Overall, this improves the timeliness and coverage of unmanned vehicle dispatch in mining areas, reducing the risk of accidents caused by signal transmission delays or blind spots. When utilizing the remote communication module, the global computing capabilities of the cloud platform are leveraged to achieve more scientific scope division and policy issuance, effectively improving the overall operational efficiency and safety of the mining area transportation system.

[0103] In another embodiment provided by the present disclosure, when the first driving strategy adopts deceleration and the second driving strategy adopts deceleration, the target speed to which at least one unmanned vehicle in the first sub-range is reduced is lower than the target speed to which at least one unmanned vehicle in the second sub-range is reduced; or

[0104] When the first driving strategy adopts parking and the second driving strategy adopts stopping, the time taken by at least one unmanned vehicle in the first sub-range to complete parking is less than the time taken by at least one unmanned vehicle in the second sub-range to complete parking; or

[0105] In the case where the first driving strategy adopts parking, the second driving strategy adopts parking, deceleration or detour; or,

[0106] In the case where the first driving strategy adopts deceleration, the second driving strategy adopts deceleration or detour; or,

[0107] In the case where the first driving strategy adopts detour, the second driving strategy adopts deceleration or detour; or,

[0108] When the type of the corresponding unmanned vehicle is a preset vehicle type, the first driving strategy and / or the second driving strategy adopts maintaining the current state.

[0109] In the disclosed embodiment, in combination with the above, the first driving strategy executed by the unmanned vehicles in the first sub-range and the second driving strategy executed by the unmanned vehicles in the second sub-range may both include one of the following: maintaining the current state, stopping, slowing down, or detouring. However, since the first sub-range is closer to the control signal sending device 101, the unmanned vehicles in the first sub-range are required to have a shorter response time and a greater change in their own state. However, the unmanned vehicles in the second sub-range are slightly farther away from the control signal sending device 101, and the response time required of the unmanned vehicles in the second sub-range is not as high as that of the unmanned vehicles in the first sub-range, and the change in their own state is not as great as that of the unmanned vehicles in the first sub-range.

[0110] Optionally, when both the first and second driving strategies involve deceleration, the unmanned vehicles within the first sub-range must be decelerated to a lower target speed than the unmanned vehicles within the second sub-range. For example, unmanned vehicles within the first sub-range must decelerate to 5 km / h, while unmanned vehicles within the second sub-range must decelerate to 10 km / h. By setting a speed gradient, unmanned vehicles approaching the signal transmitting device 101 can be ensured to decelerate to a lower speed, thereby ensuring the safety of the person holding the signal transmitting device 101 or the vehicle carrying the signal transmitting device 101.

[0111] Alternatively, if both the first and second driving strategies employ parking, the autonomous vehicle within the first sub-range can complete parking in a shorter time than the autonomous vehicle within the second sub-range. For example, vehicles within the first sub-range must complete braking within 10 seconds, while vehicles in the second sub-range can complete braking within 15 seconds. This ensures that vehicles in the core danger zone stop first, guaranteeing the safety of the person holding the signal transmitting device 101 or the vehicle carrying the signal transmitting device 101.

[0112] Optionally, if the first driving strategy is to stop, the second driving strategy can be to stop, slow down, or take a detour based on the actual situation. For example, if a vehicle stops in the first sub-range, vehicles in the second sub-range can choose to slow down and pass slowly or take another detour.

[0113] Similarly, if the first driving strategy is to slow down, the second driving strategy can choose to slow down or detour according to the actual situation. If the first driving strategy is to detour, the second driving strategy can choose to slow down or detour according to the actual situation.

[0114] Optionally, if the corresponding unmanned vehicle is of a preset type, the first driving strategy and / or the second driving strategy may be to maintain the current state. For example, an excavator, due to its inherently slow speed, does not pose a threat to the safety of the holder of the signal transmitting device 101 or the vehicle carrying the signal transmitting device 101. To ensure operational efficiency, its driving strategy may be to maintain the current state, reduce unnecessary interference, and ensure the continuity of critical operational processes.

[0115] In this disclosed embodiment, a differentiated policy response mechanism based on scope level and vehicle type has been constructed. By setting policy priorities and execution gradients, this mechanism improves the safety and flexibility of unmanned vehicle scheduling in mining areas, effectively reduces the frequency of manual intervention, and enhances the intelligent management of mining transportation systems.

[0116] In another embodiment provided by the present disclosure, the control signal sending device 101 is further configured to, upon receiving a control instruction, send a first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target area, send the first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target vehicle and the target vehicle has started driving normally, send the first control release signal to at least one unmanned vehicle within the first range;

[0117] The driving controller 102 is further configured to trigger the first unmanned vehicle under control to stop executing the first driving strategy when receiving the first control release signal.

[0118] During the operation of the unmanned vehicle, in addition to the need for active control of the unmanned vehicle, active control release is also possible. Therefore, the disclosed embodiment also provides a control release mechanism for the control signal sending device 101 and the driving controller 102. This ensures that the unmanned vehicle can quickly resume autonomous operation after the holder of the signal sending device 101 or the vehicle carrying the signal sending device 101 is safe, or after an accident at the target location is resolved, thereby avoiding the impact of excessive control on operating efficiency.

[0119] In one possible implementation of the disclosed embodiments, when the control signal transmitting device 101 receives a control instruction indicating release, the device transmits a first control release signal to the unmanned vehicles within the first range. For example, after the holder of the signal transmitting device 101 or the vehicle carrying the signal transmitting device 101 ensures safety, the holder can send a control instruction to the control signal transmitting device 101 (e.g., trigger a corresponding button), and the control signal transmitting device 101 will then transmit a release signal to the unmanned vehicles within the first range, causing them to resume normal driving.

[0120] In another possible implementation, the control signal transmitting device 101 can detect its own position using a built-in positioning module (such as Beidou positioning or UWB positioning), and trigger the first control release signal when the device enters a pre-set target area. For example, a safety island can be set. When the holder of the signal transmitting device 101 or the vehicle carrying the signal transmitting device 101 enters the safety range corresponding to the safety island, the holder of the signal transmitting device 101 or its carrying vehicle can be deemed safe, and the first control release signal can be triggered.

[0121] In another possible embodiment, the control signal sending device 101 will also send a release signal when it detects that it has entered the target vehicle and the vehicle has started and is moving normally. For example, when the holder is holding the control signal sending device 101 on the faulty vehicle, the device detects its own position and finds that it has arrived at the faulty vehicle (target vehicle) and the faulty vehicle has started and is moving normally, indicating that the faulty vehicle has been driven to the destination (such as the maintenance site) under the control of the staff (holder) and the staff is safe. The first control release signal is triggered to be sent to at least one unmanned vehicle within the first range, allowing vehicles that have previously stopped, slowed down, or detoured to resume their original speed and route, thereby improving transportation efficiency.

[0122] It should be noted here that the receiving range of the first control release signal may refer to the range of unmanned vehicles determined when the signal needs to be released. Due to the mobility of the vehicle, the first range here may be consistent with or slightly different from the unmanned vehicles within the first range covered by the first control signal.

[0123] After receiving the first control release signal, the driving controller 102 stops executing the corresponding first driving strategy. For example, an unmanned transport vehicle that has previously slowed down to 10 km / h due to a deceleration command will return to its normal speed of 20 km / h after receiving the release signal.

[0124] In the disclosed embodiments, a control release mechanism based on multi-dimensional trigger conditions enables dynamic management of the unmanned vehicle's control status. Control can be released proactively through manual intervention or automatically based on changes in the device's position, ensuring the system's flexibility in complex scenarios. Overall, this mechanism effectively balances safety management and operational efficiency, preventing the unmanned vehicle from experiencing reduced operating efficiency due to prolonged periods of control, and enhancing the intelligence and automation of unmanned vehicle operations management in mining areas.

[0125] In another embodiment provided by the present disclosure, the first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range;

[0126] When at least one unmanned vehicle within the first range is further provided with a V2V communication module, the at least one unmanned vehicle within the first range is configured to, upon receipt of the first control release signal by the driving controller 102, control the V2V communication module of the first unmanned vehicle to broadcast a second control release signal; and the at least one unmanned vehicle within the second sub-range is configured to, upon receipt of any second control release signal via the V2V communication module of the unmanned vehicle, control the second unmanned vehicle to cancel the execution of the second driving strategy;

[0127] and / or,

[0128] In the case that at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first range is used to control the remote communication module of the unmanned vehicle to send a first control release request signal to the cloud platform when the driving controller 102 receives the first control release signal, and the cloud platform is used to determine the location information of the corresponding unmanned vehicle based on the received first control release request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control release signal to at least one unmanned vehicle within the second sub-range; at least one unmanned vehicle within the second sub-range is used to control the unmanned vehicle to cancel the execution of the second driving strategy when the remote communication module of the unmanned vehicle receives the second control release signal.

[0129] In this disclosed embodiment, based on the division of the first and second sub-ranges, a multi-layered control release signal transmission mechanism is constructed by combining the V2V communication module and the remote communication module. The steps for sending the second control release signal to the unmanned vehicle in the second sub-range are similar to the process of sending the second control signal.

[0130] When the unmanned vehicles within the first range are equipped with a V2V communication module, a vehicle-to-vehicle release signal transmission method is adopted. If the driving controller 102 of the unmanned vehicle within the first sub-range receives the first control release signal, the vehicle will broadcast the second control release signal to the surrounding area through the V2V communication module. For example, due to temporary maintenance, traffic control is implemented on a certain road section in the mining area. The unmanned vehicles within the first sub-range implement a parking strategy, and the vehicles within the second sub-range slow down. When the maintenance is completed, the control signal sending device 101 sends a first control release signal. After the unmanned vehicles within the first sub-range receive the signal first, the release instruction (second control release signal) is spread to the second sub-range through the V2V module, so that the decelerated vehicles return to normal driving speed and traffic is quickly restored.

[0131] When the unmanned vehicle within the first range is equipped with a remote communication module, control release can be achieved through the cloud platform. After receiving the first control release signal, the unmanned vehicle within the first sub-range sends a first control release request signal to the cloud platform through the remote communication module. The cloud platform confirms the first sub-range and the second sub-range based on the vehicle position information, and then directly sends the second control release signal to the unmanned vehicle within the second sub-range. For example, the control signal sending device 101 sends a release instruction, and the unmanned vehicle within the first sub-range uploads the request to the cloud platform. The cloud platform accurately locates the vehicle that is still detouring within the second sub-range and directly sends a release signal to avoid continuous detours of vehicles due to signal transmission blind spots, thereby improving scheduling efficiency.

[0132] In this disclosed embodiment, a command transmission network combining hierarchical diffusion and centralized control is constructed through modular communication methods (V2V and remote communication). This overcomes the coverage limitations of a single device and ensures that control release commands can quickly and accurately reach all affected vehicles. Overall, this mechanism improves the system's recovery efficiency after emergencies, reduces ineffective control caused by command delays or poor transmission, enhances the automation and intelligence level of unmanned vehicle operation and management in mining areas, and effectively balances the needs of safety control and operational continuity.

[0133] In another embodiment provided by the present disclosure, both the first control signal and the first control release signal carry identification information of the control signal sending device 101;

[0134] The driving controller 102 is used to, when receiving a first control release signal, determine the received first control signal carrying the same identification information based on the identification information carried by the first control release signal, and release the driving control for the first control signal; and when all the received first control signals have completed the driving control release, trigger the control of the first unmanned vehicle to stop executing the first driving strategy.

[0135] To address interference and command conflicts from multiple control signals, the disclosed embodiment embeds unique identification information of the control signal transmitter 101 in the first control signal and the first control release signal, creating a hierarchical control release mechanism based on precise identification matching. This mechanism requires the unmanned vehicle to independently record and manage control signals from different sources, terminating the current first driving strategy only when all executed first control signals have been released.

[0136] When sending the first control signal, the control signal sending device 101 encapsulates its unique identifier (such as the device number and deployment coordinate code) in the signal. For example, if a roadside unit numbered "CTU-001" in a mining area sends a stop command, the signal carries the "CTU-001" identifier; at the same time, the vehicle control remote control numbered "CTU-002" sends a stop command, and the signal carries the "CTU-002" identifier. After receiving the signal, the unmanned vehicle's vehicle controller 102 creates an identifier-instruction mapping record, associating "CTU-001" with the deceleration strategy and "CTU-002" with the detour strategy.

[0137] When the control signal is released, the driving controller 102 performs a strict identification matching and full verification process. If the first control release signal carrying the "CTU-001" identification is received, only the stop command corresponding to the "CTU-001" identification is released, while the stop command corresponding to the "CTU-002" identification remains in effect. The system continuously monitors all recorded control signal identifications. Only when all release signals corresponding to both the "CTU-001" and "CTU-002" identifications are received will the vehicle be triggered to exit the current composite first driving strategy and resume normal operation mode.

[0138] In addition, when the first range includes the first sub-range and the second sub-range, the unmanned vehicle in the first sub-range needs to determine whether it can release the current state based on the pairing of the received first control release signal and the first control signal, while the unmanned vehicle in the second sub-range is not subject to this constraint, that is, as long as it receives the second control release signal, it can release the current controlled state.

[0139] In summary, the control release mechanism based on identifier matching provided in the embodiments of the present disclosure solves the problem of command confusion in a multi-signal environment. By binding the first control signal to the first control release signal at the source end, the system can accurately identify and cancel the first control signal that is consistent with the identifier of the first control release signal, avoiding the phenomenon of "mis-cancellation" or "missed release". It improves the reliability and flexibility of the execution of the unmanned vehicle control strategy, and is particularly suitable for multi-device collaborative control scenarios such as mining areas. It effectively reduces the risk of signal interference, ensures that the unmanned vehicle can quickly respond to control needs under complex working conditions, and can safely and accurately restore the autonomous operation state, thereby enhancing the overall stability and operating efficiency of the system.

[0140] In another embodiment provided by the present disclosure, when the first control signal is a short-range communication signal of a preset frequency band, the control signal sending device 101 is configured to broadcast a first control release signal to at least one unmanned vehicle within a first range through the preset frequency band; wherein the first range is within the communication range of the control signal sending device 101;

[0141] and / or,

[0142] When the first control signal is a remote communication signal, the control signal sending device 101 is used to send a second control release request signal to the cloud platform, and the cloud platform is used to determine the location information of the control signal sending device 101 based on the second control release request signal, determine the first range based on the location information, and send the first control release signal to at least one unmanned vehicle within the first range.

[0143] In practical applications, the transmission method of control signals directly affects the command coverage and transmission efficiency. To meet the control requirements of different distances and environments in complex scenarios such as mining areas, the disclosed embodiments provide two differentiated transmission mechanisms: short-range communication and long-range communication, based on the type of control signal. This ensures that control signals and control release signals can be accurately and efficiently transmitted to the unmanned vehicle.

[0144] When the first control signal is a short-range communication signal in a preset frequency band, the control signal sending device 101 adopts a direct broadcast mode. For example, in a certain operating area of ​​a mining area, the device broadcasts the first control signal directly to unmanned vehicles within the communication range (e.g., a radius of 500 meters) via a dedicated 433MHz frequency band; and when the danger is lifted, the first control release signal is also broadcast via the same frequency band. This method is suitable for rapid response in local areas. Its advantage is that the signal transmission delay is low and it can quickly activate the execution strategy of unmanned vehicles within the range.

[0145] When the first control signal is a remote communication signal, precise cross-regional management and control is achieved with the help of the cloud platform. For example, the control signal sending device 101 can send a second control request signal to the cloud platform through the 4G / 5G network. After receiving it, the cloud platform accurately defines the affected first range based on the location information of the device (such as obtained through Beidou positioning), and sends a first control signal to stop or detour to the unmanned vehicle within the range. When the danger is lifted, the control signal sending device 101 sends a second control release request signal to the cloud platform, and the cloud platform redefines the range and issues a release instruction. This method is suitable for large-scale, cross-regional unified scheduling, and is especially suitable for scenarios with complex mining terrain and uneven signal coverage.

[0146] When the first control signal is a short-range communication signal and a long-range communication signal in a preset frequency band, the unmanned vehicle receives both the short-range and long-range communication signals simultaneously. The system ensures accurate command execution through priority determination and information fusion mechanisms. For example, on a main road in a mining area, roadside equipment detects a small road collapse ahead, triggering the control signal transmitter 101 to broadcast a first control signal to slow down to all unmanned vehicles within 300 meters via the 433MHz frequency band. Simultaneously, because the collapse could trigger a chain reaction, the control signal transmitter 101 simultaneously transmits a second control request signal to the cloud platform via the 4G / 5G network. After analysis, the cloud platform transmits a remote second control signal to unmanned vehicles in the area and a wider range of surrounding areas. In this case, if the short-range and long-range signal instructions are consistent (such as both are to decelerate), the instructions will be executed and the response will be strengthened, for example, the vehicle speed will be further reduced from the conventional deceleration requirement of 15km / h to 10km / h; if there are differences in the instructions (such as the short-range signal requires deceleration, and the long-range signal requires detour), the driving controller 102 will give priority to executing the long-range signal strategy, and at the same time combine the local road condition information in the short-range signal (such as the collapse location) to optimize the detour path to avoid missing the appropriate turning node due to excessive speed.

[0147] In the disclosed embodiment, the vehicle control system constructs a dual-mode signal transmission architecture of short-range direct connection and long-distance transfer. By flexibly switching the communication mode or the collaborative operation of the two communication modes, it not only meets the requirements of local areas for real-time signals, but also solves the problem of large-scale, long-distance control. Overall, this mechanism significantly improves the flexibility and reliability of unmanned vehicle control, avoids command blind spots or delays caused by signal transmission limitations, ensures that unmanned vehicles in mining areas can respond promptly to various emergencies, effectively improves operational safety and overall operational efficiency, and provides more adaptable technical support for the large-scale application of unmanned vehicles.

[0148] In another embodiment provided by the present disclosure, the unmanned vehicle within the first range is configured to start a timer when the driving controller 102 receives a first control signal, and control the first unmanned vehicle to stop executing the first driving strategy after the timer reaches a preset safety time; or

[0149] The driving controller 102 is used to continuously detect the first control signal when receiving the first control signal; when the driving controller 102 stops receiving the first control signal, trigger the control of the first unmanned vehicle to stop executing the first driving strategy.

[0150] In the disclosed embodiment, the unmanned vehicle can be provided with a mechanism for autonomously releasing the control strategy to deal with emergencies such as abnormal signal transmission or failure of control instructions.

[0151] In one possible implementation, the autonomous release method is based on timer timing. When the unmanned vehicle driving controller 102 within the first range receives the first control signal, the built-in timer is immediately started. For example, the control signal sending device 101 sends the first control signal to the unmanned vehicles in the area, and the unmanned vehicles that receive the signal synchronously start the timer, and the preset safety time is set to 15 minutes. If the control release signal is not received within 15 minutes, the unmanned vehicle will automatically release the control and resume normal driving speed. This method is suitable for scenarios where the duration of the risk can be estimated, such as temporary road maintenance, short-term traffic control, etc. By setting a reasonable time length, it can not only ensure safety, but also avoid long-term vehicle stagnation due to failure of the control signal sending device 101.

[0152] In one possible implementation, based on continuous signal detection, the first control signal may be continuously transmitted by the control signal transmitting device 101. After receiving the first control signal, the driving controller 102 continuously monitors the signal reception status. If the first control signal stops being received, it can be assumed that the control signal transmitting device 101 has stopped transmitting the first control signal, and the control can be released.

[0153] In summary, when executing a driving strategy, the unmanned vehicle can restore its previous driving state by satisfying any of the aforementioned autonomous control release mechanisms. This eliminates the sole reliance on the control signal transmitter 101. Through timer timing and real-time signal detection, the system's fault tolerance in complex environments is improved. Overall, this enhances the autonomy and reliability of the unmanned vehicle's operation, reducing safety hazards caused by signal anomalies or control failures. This is particularly applicable in scenarios such as mining areas where signals are susceptible to interference and equipment failures, providing a double guarantee for the efficient and stable operation of the unmanned vehicle.

[0154] In another embodiment provided by the present disclosure, the control signal sending device 101 includes: a driving control remote controller and / or roadside equipment;

[0155] In the case where the control signal sending device 101 is a driving control remote controller, the driving control remote controller is used to send a first control signal when a preset condition is met;

[0156] In the case where the control signal sending device 101 is a roadside device, the roadside device is used to receive a control signal sending instruction sent by the cloud platform and send a first control signal; the control signal sending instruction is sent to the roadside device when the cloud platform determines the first range and determines the roadside device that can communicate with the unmanned vehicle within the first range.

[0157] In the embodiment of the present disclosure, the form and deployment method of the control signal sending device 101 can be implemented in the form of a driving control remote controller, a roadside device, a driving control remote controller and a roadside device, etc.

[0158] In one possible implementation, when the control signal sending device 101 is a driving control remote controller, its application is to achieve close-range manual active control. When the preset conditions are met, for example, after receiving the designated control instruction from the staff (such as the staff triggering the stop, deceleration, etc. buttons on the remote controller), the remote controller sends a first control signal. The preset conditions have been introduced in the relevant paragraphs above and will not be repeated here. In another possible implementation, when the control signal sending device 101 is a roadside device, remote centralized control is achieved based on the cloud platform. The roadside equipment (such as 5G base stations and dedicated communication terminals installed on both sides of the mining area road) establishes a communication connection with the cloud platform in advance. After the cloud platform determines the first range based on the unmanned vehicle location information and road condition data, it will screen out the roadside equipment that can communicate with the unmanned vehicle within the range and send a control signal sending instruction to it. This method is suitable for large-scale, normalized unmanned vehicle scheduling, and can achieve coverage of the entire mining area through fixedly deployed roadside equipment.

[0159] In the disclosed embodiment, the two forms of control signal sending devices 101 can act independently or in conjunction with each other. The driving control remote controller solves the flexibility requirements of on-site emergency intervention, while the roadside equipment meets the centralized scheduling requirements in large-scale scenarios. Overall, this composite mechanism improves the system's adaptability to complex working conditions in mining areas, allowing for rapid manual intervention in emergency situations while enabling intelligent and large-scale management and control through cloud platforms and roadside equipment. It effectively balances control accuracy and management efficiency, and provides diversified technical support for the reliable operation of unmanned vehicles in complex scenarios such as mining areas.

[0160] In another embodiment provided by the present disclosure, Figure 3 As shown, the driving controller 102 includes: a power chip 201, a wireless communication module 202, a micro control unit 203 and an electromagnetic switch 204;

[0161] The power chip 201 and the wireless communication module 202 are respectively connected to the micro control unit 203; the micro control unit 203 is connected to the preset pin of the vehicle control unit (VCU) of the unmanned vehicle through the electromagnetic switch 204;

[0162] The wireless communication module 202 is used to receive the driving control related signal sent by the control signal sending device 101 through the receiving antenna and send it to the micro control unit 203;

[0163] The micro control unit 203 is used to control the electromagnetic switch 204 to output a corresponding electrical signal to the vehicle controller when receiving a driving control related signal.

[0164] In the disclosed embodiment, the driving controller 102 serves as the core component for executing control commands for the unmanned vehicle. Its hardware architecture includes a power chip 201, a wireless communication module 202, a microcontroller unit 203, and an electromagnetic switch 204. This enables precise control of the unmanned vehicle's driving state and, together with the control signal transmitting device 101, forms a complete management system.

[0165] Power chip 201 provides stable power to vehicle controller 102, ensuring continuous operation of all components. For example, in complex mining environments, power chip 201 utilizes a wide input voltage design to accommodate vehicle power supplies of varying voltage levels. It also incorporates overvoltage and overcurrent protection to ensure stable operation despite voltage fluctuations and electromagnetic interference.

[0166] The wireless communication module 202 captures the driving control related signals (such as the first control signal, the first control release signal, etc.) sent by the control signal sending device 101 through the receiving antenna, and transmits it to the micro control unit 203. The module can use radio frequency communication such as a 433MHz wireless communication module (in this case, the receiving frequency band can be set to a unified frequency), or it can integrate multiple communication modules to support 5G, ultra-wideband technology (UWB, UltraWideBand), Bluetooth and other protocols to meet the signal transmission requirements in different scenarios in the mining area, which are not limited here. For example, in open areas with less signal obstruction, 5G is used to achieve long-distance high-speed transmission; in tunnels with dense equipment, switch to UWB for short-distance precision communication.

[0167] The micro control unit 203 analyzes and processes the received signal. When receiving a first control signal representing deceleration, parking, etc., the micro control unit 203 matches the corresponding first driving strategy according to a preset program.

[0168] Driven by the microcontroller unit 203, the electromagnetic switch 204 outputs an electrical signal to a preset pin of the vehicle controller, thereby controlling the vehicle to perform corresponding actions. For example, by closing or opening a circuit, the electromagnetic switch 204 triggers the vehicle controller to control the motor speed and start and stop the brake system, thereby achieving deceleration or parking.

[0169] In the disclosed embodiment, the driving controller 102 ensures the flexibility of the system and improves the reliability of control through a modular hardware architecture. The stable power supply of the power chip 201, the reception of control-related signals by the wireless communication module 202, the intelligent analysis of the microcontroller unit 203, and the precise execution of the electromagnetic switch 204 form an efficient and coordinated control link. Directly connecting the driving controller 102 to the VCU enables rapid control. Overall, the response speed and accuracy of the unmanned vehicle to the control signal are enhanced, providing technical support for the safe and stable operation of the unmanned vehicle in the mining area.

[0170] Based on the same disclosed concept, the embodiment of the present disclosure further provides a vehicle driving control method. Since the principle of the problem solved by this method is similar to that of the aforementioned vehicle driving control system, the implementation of this method can refer to the implementation of the aforementioned system, and the repeated parts will not be repeated.

[0171] With the above Figure 1 Corresponding to the method shown, the embodiment of the present disclosure further provides a driving control method, which may include:

[0172] receiving a first control signal through a driving controller; executing a first driving strategy;

[0173] Among them, the driving controller is set in the unmanned vehicle and is used to control the driving state of the vehicle; the first control signal is sent by the control signal sending device to at least one unmanned vehicle within the first range when the preset conditions are met; the first range is related to the location of the control signal sending device; the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

[0174] In the disclosed embodiment, the unmanned vehicle receives a first control signal through a driving controller and converts the first control signal into a first driving strategy for the unmanned vehicle, thereby ensuring that the unmanned vehicle can operate safely and efficiently in complex environments.

[0175] On the one hand, the driving controller, serving as the control center of the unmanned vehicle, scans the surrounding space in real time through the receiving antenna to capture the first control signal sent by the control signal sending device. For example, in a mining area, when a control signal sending device installed on the road (such as roadside equipment) determines that it meets the preset conditions, it will send the first control signal to the unmanned vehicle within a first range defined by itself as the center. At this time, the driving controller on the unmanned vehicle receives the signal.

[0176] The driving controller then interprets the received first control signal and invokes the corresponding first driving strategy based on it. If the first control signal indicates deceleration, the driving controller adjusts the autonomous vehicle's powertrain to reduce speed. If the command indicates a detour, the driving controller controls the vehicle's navigation system to replan the route. For example, if the autonomous vehicle receives a detour command in a narrow mining tunnel, it will automatically switch to an alternate route to avoid congestion.

[0177] In summary, the vehicle control method provided by the disclosed embodiments achieves precise regional scheduling of unmanned vehicles by binding control signals to preset conditions and specific areas, avoiding the waste of resources caused by indiscriminate control. Relying on the hardware coordination of the vehicle controller, it ensures the timeliness and accuracy of policy execution. Overall, this method improves the operational safety and management efficiency of unmanned vehicles in complex scenarios such as mining areas, reduces the frequency of manual intervention, and provides an effective technical solution for the large-scale application of unmanned vehicles.

[0178] The unmanned vehicle described in any of the above embodiments may be replaced with an ordinary vehicle and is not intended to limit the scope of application of the present driving control system and driving control method.

[0179] According to an embodiment of the present application, an unmanned vehicle is also provided for executing the steps described in any of the above embodiments.

[0180] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0181] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0182] Those skilled in the art will appreciate that the modules in the devices of the embodiments may be distributed in the devices of the embodiments as described in the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module or further split into multiple submodules.

[0183] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0184] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A driving control system, characterized in that: include: Controlling a signal sending device and at least one unmanned vehicle; The unmanned vehicle is provided with a driving controller for controlling the driving state of the vehicle; The control signal sending device is configured to send a first control signal to at least one unmanned vehicle within a first range when a preset condition is met; wherein the first range is related to the location of the control signal sending device; The driving controller is used to control the unmanned vehicle within the first range to execute a first driving strategy upon receiving the first control signal; wherein the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

2. The system according to claim 1, wherein The preset condition includes one of the following: receiving a start instruction, wherein the start instruction is used to instruct the control signal sending device to enter a control signal sending mode; receiving a target signal from an associated device of the control signal sending device; The position of the control signal sending device meets the target conditions.

3. The system according to claim 1, wherein: The control signal sending device is further used to determine the first range; The control signal sending device is used to determine the current moving direction; with the current position as the center and based on the current moving direction, determine in real time during the movement a forward range representing the current orientation and a backward range representing the current departure direction; wherein the first range includes the forward range and the backward range; the backward range is greater than or equal to the forward range; and / or The control signal sending device is used to determine the current moving speed; and determine the first range in real time according to the current moving speed; wherein, the greater the current moving speed, the larger the first range.

4. The system according to any one of claims 1 to 3, wherein: The control signal sending device is further used to determine at least one unmanned vehicle within the first range; The control signal sending device is configured to obtain a first planned path of the unmanned vehicle within the first range; and determine, based on the first planned path and the second planned path of the control signal sending device itself, a first planned path that may conflict with the second planned path; Determine an unmanned vehicle corresponding to a first planned path that may conflict and / or an unmanned vehicle within the first range that is less than a preset distance from the unmanned vehicle as at least one unmanned vehicle within the first range; and / or The control signal sending device is also used to determine at least one unmanned vehicle and its vehicle type within a first range; determine the first driving strategy corresponding to the at least one unmanned vehicle according to the vehicle type; and send a first control signal representing the corresponding first driving strategy to at least one unmanned vehicle within the first range.

5. The system according to claim 1, wherein: The first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range; In the case where at least one unmanned vehicle within the first range is also provided with a V2V communication module, at least one unmanned vehicle within the first sub-range is configured to control the V2V communication module of the unmanned vehicle to broadcast a second control signal when the driving controller receives the first control signal; at least one unmanned vehicle within the second sub-range is configured to determine the position information of the corresponding unmanned vehicle according to the received second control signal when any second control signal is received through the V2V communication module of the unmanned vehicle; and control the unmanned vehicle to execute a second driving strategy when the position information indicates that the distance between the unmanned vehicle and the corresponding unmanned vehicle satisfies a preset distance range; and / or, In the case where at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first sub-range is configured to control the remote communication module of the unmanned vehicle to send a first control request signal to the cloud platform when the driving controller receives the first control signal; wherein the cloud platform is configured to determine the location information of the corresponding unmanned vehicle based on the received first control request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control signal to at least one unmanned vehicle within the second sub-range, and at least one unmanned vehicle within the second sub-range is configured to control the unmanned vehicle to execute the second driving strategy when the remote communication module of the unmanned vehicle receives the second control signal; The second driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

6. The system according to claim 5, wherein: When the first driving strategy adopts deceleration and the second driving strategy adopts deceleration, the target speed to which at least one unmanned vehicle in the first sub-range is reduced is lower than the target speed to which at least one unmanned vehicle in the second sub-range is reduced; or When the first driving strategy adopts parking and the second driving strategy adopts stopping, the time taken by at least one unmanned vehicle in the first sub-range to complete parking is less than the time taken by at least one unmanned vehicle in the second sub-range to complete parking; or In the case where the first driving strategy adopts parking, the second driving strategy adopts parking, deceleration or detour; or, In the case where the first driving strategy adopts deceleration, the second driving strategy adopts deceleration or detour; or, When the first driving strategy adopts detour, the second driving strategy adopts deceleration or detour; or, When the type of the corresponding unmanned vehicle is a preset vehicle type, the first driving strategy and / or the second driving strategy adopts maintaining the current state.

7. The system according to claim 1, wherein: The control signal sending device is further configured to, upon receiving a control instruction, send a first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target area, send the first control release signal to at least one unmanned vehicle within the first range; or, upon detecting its own position and, if its own position indicates that it has entered a target vehicle and the target vehicle has started and driven normally, send the first control release signal to at least one unmanned vehicle within the first range; The driving controller is further configured to trigger the first unmanned vehicle under control to stop executing the first driving strategy upon receiving the first control release signal.

8. The system according to claim 7, wherein: The first range includes a first sub-range and a second sub-range; the second sub-range is outside the first sub-range; In a case where at least one unmanned vehicle within the first range is further provided with a V2V communication module, the at least one unmanned vehicle within the first range is configured to, upon the driving controller receiving the first control release signal, control the V2V communication module of the first unmanned vehicle to broadcast a second control release signal; and the at least one unmanned vehicle within the second sub-range is configured to, upon the V2V communication module of the unmanned vehicle receiving any second control release signal, control the second unmanned vehicle to cancel the execution of the second driving strategy; and / or, In the case where at least one unmanned vehicle within the first range is also provided with a remote communication module, at least one unmanned vehicle within the first range is configured to control the remote communication module of the unmanned vehicle to send a first control release request signal to the cloud platform when the driving controller receives the first control release signal, and the cloud platform is configured to determine the location information of the corresponding unmanned vehicle based on the received first control release request signal; and determine the first sub-range and the second sub-range based on the location information; and send a second control release signal to at least one unmanned vehicle within the second sub-range; at least one unmanned vehicle within the second sub-range is configured to control the unmanned vehicle to cancel the execution of the second driving strategy when the remote communication module of the unmanned vehicle receives the second control release signal.

9. The system according to claim 7 or 8, characterized in that The first control signal and the first control release signal both carry identification information of the control signal sending device; The driving controller is used to, when receiving the first control release signal, determine the received first control signal carrying the same identification information based on the identification information carried by the first control release signal, and release the driving control for the first control signal; and when all the received first control signals have completed the driving control release, trigger the control of the first unmanned vehicle to stop executing the first driving strategy.

10. The system according to claim 7, wherein: In the case where the first control signal is a short-range communication signal of a preset frequency band, the control signal sending device is configured to broadcast the first control signal through the preset frequency band if a preset condition is met; and broadcasting the first control release signal to at least one unmanned vehicle within a first range via the preset frequency band; wherein the first range is the communication range of the control signal sending device; and / or, In the case where the first control signal is a remote communication signal, the control signal sending device is used to send a second control request signal to the cloud platform when a preset condition is met, and the cloud platform is used to determine the position information of the control signal sending device according to the second control request signal, determine the first range according to the position information, and send the first control signal to at least one unmanned vehicle within the first range; and the control signal sending device is used to send a second control release request signal to the cloud platform, and the cloud platform is used to determine the position information of the control signal sending device according to the second control release request signal, determine the first range according to the position information, and send the first control release signal to at least one unmanned vehicle within the first range.

11. The system according to claim 1, wherein: The unmanned vehicle within the first range is configured to start a timer when the driving controller receives the first control signal, and control the first unmanned vehicle to stop executing the first driving strategy after the timer reaches a preset safety time; or The driving controller is used to continuously detect the first control signal when it receives the first control signal; and trigger the control of the first unmanned vehicle to stop executing the first driving strategy when the driving controller stops receiving the first control signal.

12. The system according to claim 1, wherein The control signal sending device includes: a driving control remote controller and / or roadside equipment; In the case where the control signal sending device is a driving control remote controller, the driving control remote controller is used to send the first control signal when a preset condition is met; In the case where the control signal sending device is a roadside device, the roadside device is used to receive a control signal sending instruction sent by the cloud platform and send the first control signal; the control signal sending instruction is sent to the roadside device when the cloud platform determines the first range and determines the roadside device that can communicate with the unmanned vehicle within the first range.

13. The system of claim 1, wherein: The driving controller includes: a power chip, a wireless communication module, a micro control unit and an electromagnetic switch; The power chip and the wireless communication module are respectively connected to the micro control unit; the micro control unit is connected to a preset pin of the vehicle controller of the unmanned vehicle through the electromagnetic switch; The wireless communication module is used to receive the driving control related signal sent by the control signal sending device through the receiving antenna and send it to the micro control unit; The micro control unit is used to control the electromagnetic switch to output a corresponding electrical signal to the vehicle controller when receiving the driving control related signal.

14. A driving control method, characterized in that: include: receiving a first control signal through a driving controller; executing a first driving strategy; Among them, the driving controller is set in the unmanned vehicle and is used to control the driving state of the vehicle; the first control signal is sent by the control signal sending device to at least one unmanned vehicle within the first range when the preset conditions are met; the first range is related to the position of the control signal sending device; the first driving strategy includes one of the following: maintaining the current state, stopping, slowing down, and detouring.

15. An unmanned vehicle, characterized in that: Used to execute a driving control method as claimed in claim 14.

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