Control method and device of unmanned vehicle, electronic equipment and storage medium

Abstract

Embodiments of the present disclosure provide a control method and device of an unmanned vehicle, electronic equipment and a storage medium, and relate to the technical field of unmanned driving. The method comprises: receiving an operation and maintenance instruction sent by a remote control system, moving to a target area based on the operation and maintenance instruction; if it is determined that a target vehicle has successfully parked in the target area, switching a driving mode of the target vehicle from an automatic mode to a manual mode, and controlling the target vehicle to power off; in response to a no-entry switch starting instruction, cutting off a high-voltage power supply of the target vehicle; the no-entry switch starting instruction is triggered by a physical operation based on a control right switching completion instruction; and the control right switching completion instruction is used to indicate that the system has cut off the control right of the target vehicle. Embodiments of the present disclosure strictly ensure the safety of the on-site operator when manually intervening in the unmanned vehicle through a multi-layer safety protection strategy.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a control method, apparatus, electronic device, and storage medium for an autonomous vehicle. Background Technology

[0002] Autonomous vehicles are intelligent cars that use sensors, algorithms, and control systems to perceive the environment, make decisions, and perform driving operations, thereby enabling them to autonomously complete driving tasks in specific or all environments.

[0003] In the practical application of autonomous vehicles, some human intervention (such as refueling, inspection, or maintenance) is required to ensure the normal operation of the vehicles. However, there are potential safety risks when operators approach autonomous vehicles to perform operations, especially for larger autonomous vehicles (such as autonomous mining trucks). Therefore, there is an urgent need for a control method for autonomous vehicles to ensure the safety of operators when performing manual intervention. Summary of the Invention

[0004] This disclosure provides a control method, apparatus, electronic device, and storage medium for an unmanned vehicle, which can solve the problem of ensuring the safety of on-site operators in the prior art. The technical solution provided by this disclosure is as follows:

[0005] According to one aspect of the present disclosure, a control method for an autonomous vehicle is provided, applied to a target vehicle, the method comprising:

[0006] The system receives maintenance instructions sent by the remote control system and moves to the target area based on the maintenance instructions; the maintenance instructions include the location information of the target area corresponding to the maintenance task for the target vehicle.

[0007] If it is determined that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle is switched from automatic mode to manual mode, and the power to the target vehicle is turned off.

[0008] In response to a disengagement switch activation command, the high-voltage power supply to the target vehicle is cut off; the disengagement switch activation command is triggered by a physical operation based on a control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0009] Optionally, in response to the inaccessibility switch activation command, the high-voltage power supply is cut off, and then the process further includes:

[0010] In response to the command to close the access restriction switch, the high-voltage power supply to the target vehicle is restored; the command to close the access restriction switch is triggered by physical operation after the maintenance task is completed.

[0011] Power on the target vehicle and switch its driving mode from manual mode to automatic mode.

[0012] Optionally, the step of switching the driving mode of the target vehicle from automatic mode to manual mode and controlling the power off of the target vehicle further includes:

[0013] The first state switching notification is sent to the remote control system so that after receiving the first state switching notification, the remote control system updates the vehicle status information of the target vehicle to a waiting-to-process state.

[0014] Specifically, when the remote control system determines that the target vehicle is in a waiting state, it stops sending control commands to the target vehicle.

[0015] According to one aspect of the present disclosure, a control method for an unmanned vehicle is provided, applied to a remote control system, the method comprising:

[0016] Identify the target vehicle for the maintenance task to be performed;

[0017] A maintenance instruction is sent to the target vehicle to move it to the target area; the maintenance instruction includes the location information of the target area corresponding to the maintenance task.

[0018] If a first state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to a waiting-to-process state.

[0019] The first state switching notification is sent by the target vehicle after it determines that it has successfully parked in the target area, switches its driving mode from automatic to manual, and controls the power off of the target vehicle; the target vehicle responds to the no-entry switch activation command by cutting off its high-voltage power supply; the no-entry switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0020] Optionally, after updating the vehicle status information of the target vehicle to a waiting-to-process state, the process further includes:

[0021] If a task execution start command is received from the operation and maintenance terminal, the vehicle status information of the target vehicle is updated to be in a processing state; the task execution start command is triggered after the no-entry switch activation command;

[0022] If a second state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to the processing completed state; the second state switching notification is sent by the target vehicle after it is powered on and the driving mode of the target vehicle is switched from manual mode to automatic mode.

[0023] Optionally, if the maintenance task is a manual takeover task, and the manual takeover task involves manually moving vehicles, the method further includes:

[0024] Determine the scope of the control area;

[0025] Send a first control instruction to at least one first vehicle within the control area, and send a second control instruction to at least one second vehicle outside the control area;

[0026] The first control command is used to instruct the vehicle to slow down and leave the controlled area; the second control command is used to instruct the vehicle to be prohibited from entering the controlled area.

[0027] Optionally, the remote control system includes a vehicle status display interface; the vehicle status display interface is used to display the visual components corresponding to the target vehicle.

[0028] The method further includes:

[0029] Based on the vehicle status information and vehicle status display strategy of the target vehicle, the target display method of the visualization component corresponding to the target vehicle is determined; the vehicle status display strategy includes the correspondence between vehicle status information and display method;

[0030] Based on the target display method, determine the configuration information of the visualization components corresponding to the target vehicle;

[0031] Based on the configuration information, the visualization components corresponding to the target vehicle are displayed.

[0032] According to another aspect of the present disclosure, a control device for an unmanned vehicle is provided, applied to a target vehicle, the device comprising:

[0033] The operation and maintenance interaction module is used to receive operation and maintenance instructions sent by the remote control system, and move to the target area based on the operation and maintenance instructions; the operation and maintenance instructions include the location information of the target area corresponding to the operation and maintenance task for the target vehicle;

[0034] The first safety protection module is used to switch the driving mode of the target vehicle from automatic mode to manual mode and control the target vehicle to power off if it is determined that the target vehicle has successfully parked in the target area.

[0035] The second safety protection module is used to cut off the high-voltage power supply of the target vehicle in response to the prohibition switch activation command; the prohibition switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0036] According to another aspect of the present disclosure, a control device for an unmanned vehicle is provided, applied to a remote control system, the device comprising:

[0037] The target vehicle determination module is used to determine the target vehicle for the maintenance task to be performed.

[0038] The maintenance instruction sending module is used to send maintenance instructions to the target vehicle so that the target vehicle moves to the target area; the maintenance instruction includes the location information of the target area corresponding to the maintenance task.

[0039] The vehicle status update module is used to update the vehicle status information of the target vehicle to a waiting-to-process state if it receives a first status switching notification sent by the target vehicle.

[0040] The first state switching notification is sent by the target vehicle after it determines that it has successfully parked in the target area, switches its driving mode from automatic to manual, and controls the power off of the target vehicle; the target vehicle responds to the no-entry switch activation command by cutting off its high-voltage power supply; the no-entry switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0041] According to another aspect of the present disclosure, an electronic device is provided, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the above-described control methods for an autonomous vehicle.

[0042] According to another aspect of the present disclosure, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, implements the steps of any of the above-described control methods for an autonomous vehicle.

[0043] According to one aspect of the present disclosure, a computer program product is provided, which includes a computer program that, when executed by a processor, implements the steps of any of the above-described control methods for an autonomous vehicle.

[0044] The beneficial effects of the technical solutions provided in this disclosure are:

[0045] Once it is confirmed that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle is switched from automatic to manual mode, and the vehicle is powered down. This stops the movement of the vehicle's undercarriage components from responding, cutting off control of the target vehicle from the remote control system or the vehicle's autonomous driving system. This prevents the target vehicle's movement from posing a safety threat to the on-site operators due to system malfunctions. Furthermore, in response to the command to open the stop switch, the high-voltage power supply is cut off to ensure that the target vehicle cannot move. The vehicle is then actively locked via physical operation on the side, completely preventing the possibility of accidental recovery of control. Through multiple layers of safety protection strategies, the safety of on-site operators during manual intervention with the unmanned vehicle is strictly guaranteed, eliminating the safety hazards caused by the movement of the unmanned vehicle and ensuring the safety of the operators during manual intervention. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below.

[0047] Figure 1 A flowchart illustrating a control method for an unmanned vehicle provided in an embodiment of this disclosure;

[0048] Figure 2 A flowchart illustrating another control method for an unmanned vehicle provided in this embodiment of the present disclosure;

[0049] Figure 3 An interactive schematic diagram of a control method for an unmanned vehicle provided in an embodiment of this disclosure;

[0050] Figure 4 This is a schematic diagram illustrating a vehicle state switching method provided in an embodiment of this disclosure;

[0051] Figure 5 This is a schematic diagram of the structure of a control device for an unmanned vehicle provided in an embodiment of the present disclosure;

[0052] Figure 6 A schematic diagram of the structure of another control device for an unmanned vehicle provided in an embodiment of this disclosure;

[0053] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0054] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions of the embodiments of this disclosure.

[0055] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this disclosure mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element are connected through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term, for example, “A and / or B” or “A, B” indicates implementation as “A,” or implementation as “B,” or implementation as “A and B.”

[0056] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0057] The following description of several exemplary embodiments illustrates the technical solutions of this disclosure and the technical effects produced by these solutions. It should be noted that the following embodiments can be referenced, learned from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0058] Figure 1 This is a flowchart illustrating a control method for an unmanned vehicle provided in an embodiment of the present disclosure, as shown below. Figure 1 As shown, the method includes:

[0059] Step S110: Receive maintenance instructions sent by the remote control system, and move to the target area based on the maintenance instructions; the maintenance instructions include the location information of the target area corresponding to the maintenance task for the target vehicle.

[0060] Specifically, the control method for unmanned vehicles provided in this disclosure can be applied to a target vehicle, wherein the target vehicle can be an unmanned vehicle to be processed.

[0061] The target vehicle can be equipped with an onboard autonomous driving system and a remote control system. Maintenance personnel can control the autonomous driving system through the remote control system to achieve remote control of the driverless vehicle.

[0062] When a maintenance task needs to be performed on a target vehicle, the remote control system can send maintenance instructions corresponding to the task to the target vehicle. These maintenance tasks can include various human-machine interface tasks such as refueling, inspection, maintenance, fault repair, and manual takeover. The maintenance instructions can include the location information of the target area corresponding to the maintenance task to be performed. For example, when the maintenance task is refueling, the target area can be the designated area where the autonomous vehicle needs to stop during refueling.

[0063] After receiving the maintenance instructions, the target vehicle can move to the target area according to the location information corresponding to the target area in the maintenance instructions.

[0064] Step S120: If it is determined that the target vehicle has successfully parked in the target area, switch the driving mode of the target vehicle from automatic mode to manual mode and control the power off of the target vehicle.

[0065] Specifically, after the target vehicle arrives at the target area, it can detect whether the target vehicle has successfully parked in the target area. It can obtain the real-time location information of the target vehicle and the location information of the target area. By comparing the real-time location information of the target vehicle with the location information of the target area, it can be determined whether the target vehicle has successfully parked in the target area.

[0066] For example, based on the real-time location information of the target vehicle and the location information of the target area, the overlap between the detection bounding box of the target vehicle and the detection bounding box of the target area can be calculated. If the overlap is greater than a preset overlap, it is determined that the target vehicle has successfully parked in the target area. If the target vehicle has not successfully parked in the target area, an adjustment strategy for the target vehicle can be obtained based on the real-time location information of the target vehicle and the location information of the target area. This strategy allows the target vehicle to adjust its parking position until it successfully parks in the target area.

[0067] It should be noted that whether the target vehicle has successfully parked in the target area can be determined by the target vehicle's autonomous driving system or by the remote control system, and this disclosure does not limit this.

[0068] Once it is confirmed that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle can be switched from automatic mode to manual mode. The bottom moving parts of the target vehicle are used to control the movement of the vehicle. When the driving mode of the target vehicle is in manual mode, the bottom moving parts stop responding. That is to say, when the driving mode of the target vehicle is in manual mode, even if the automatic driving system of the target vehicle sends driving commands to the bottom moving parts, the bottom moving parts will not respond to the received driving commands, that is, the target vehicle will not move. After switching the driving mode of the target vehicle to manual mode, the power of the target vehicle can also be controlled to keep the target vehicle in a parking brake state. For example, the high voltage of the target vehicle can be switched to low voltage and / or the engine of the target vehicle can be turned off. At this time, the automatic driving system and the remote control system of the target vehicle lose control of the target vehicle, thereby avoiding the safety hazards caused by the operation and maintenance personnel's misoperation of the remote control system, so that the on-site operators can approach the target vehicle to activate the no-entry switch.

[0069] Optionally, the different physical states of the vehicle can be indicated by changes in the vehicle's lights. For example, the target vehicle's hazard lights can be turned on to indicate that the target vehicle has successfully parked in the target area; the target vehicle's tri-color lights can be turned on solid yellow to indicate that the target vehicle has switched to manual mode; and the target vehicle's hazard lights can be turned on in conjunction with the tri-color lights flashing yellow to indicate that the target vehicle has completed the system handover.

[0070] Step S130: In response to the prohibition switch activation command, the high-voltage power supply to the target vehicle is cut off; the prohibition switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0071] Specifically, a stop switch can also be installed on the target vehicle. The stop switch is used to physically cut off the high-voltage power supply to ensure that the vehicle cannot move.

[0072] The command to open the restriction switch can be physically activated by on-site operators after receiving an instruction indicating that the control switch has been completed. The instruction indicating that the control switch has been completed can be used to indicate that the system has cut off control of the target vehicle. The system includes a remote control system and the vehicle's automatic driving system.

[0073] Optionally, the control handover completion indication can be provided by a change in the target vehicle's lights. When the target vehicle completes the series of operations—switching the driving mode to manual mode and powering off—the target vehicle's tri-color lights will flash yellow and the hazard lights will activate in conjunction with the lights to indicate to the on-site operator that the control handover has been completed and the vehicle is ready for operation. When the on-site operator sees the target vehicle's tri-color lights flashing yellow and the hazard lights activated, they can activate the stop switch. In response to the stop switch activation command, the target vehicle will cut off the high-voltage power supply to ensure that the vehicle cannot move.

[0074] Optionally, the control handover completion indication can also be sent by the remote control system to the corresponding maintenance terminal of the on-site operator. After the target vehicle switches to manual mode and is powered off, it sends the corresponding status switch notification to the remote control system. The remote control system updates the status information of the target vehicle and sends the control handover completion indication to the corresponding maintenance terminal of the on-site operator to remind the on-site operator that the control handover of the target vehicle has been completed, that is, the control handover is complete and the vehicle is ready for operation.

[0075] After receiving the instruction that the control switch has been completed, the on-site operator can physically open the stop switch on the target vehicle. In response to the stop switch opening command, the target vehicle cuts off the high-voltage power supply to ensure that the target vehicle cannot move. In other words, before carrying out the operation, the on-site operator must actively lock the vehicle through physical operation on the side of the vehicle to completely block the possibility of accidental recovery of control, eliminate the safety hazards caused by the movement of the unmanned vehicle to the on-site operator, and ensure the safety of the operator who needs to intervene manually.

[0076] In this embodiment, when it is determined that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle is switched from automatic mode to manual mode, and the target vehicle is powered off. This causes the moving parts at the bottom of the target vehicle to stop responding, cutting off the control of the remote control system or the vehicle's automatic driving system over the target vehicle, thus avoiding the safety threat to the on-site operators caused by the movement of the target vehicle due to system malfunction. On this basis, in response to the command to open the stop switch, the high-voltage power supply is cut off to ensure that the target vehicle cannot move. The vehicle is actively locked by physical operation on the side of the vehicle, completely blocking the possibility of accidental recovery of control. Through a multi-layered safety protection strategy, the safety of the on-site operators is strictly guaranteed when manually intervening in the unmanned vehicle, eliminating the safety hazards caused by the movement of the unmanned vehicle to the on-site operators, and ensuring the safety of the operators who manually intervene.

[0077] As an optional embodiment, in response to the start command of the stop switch, the high-voltage power supply is cut off, and then the following is further included:

[0078] In response to the command to close the access restriction switch, the high-voltage power supply to the target vehicle is restored; the command to close the access restriction switch is triggered by physical operation after the maintenance task is completed;

[0079] Power on the target vehicle and switch its driving mode from manual to automatic.

[0080] Specifically, after completing the maintenance tasks for the target vehicle, the on-site operators can physically close the restricted access switch. The target vehicle responds to the closed restricted access switch command, restores the high-voltage power supply to the target vehicle, and controls the target vehicle to power on, switching the driving mode of the target vehicle from manual mode to automatic mode, thereby restoring the system's control over the target vehicle.

[0081] After the remote control system determines that the operation and maintenance task has been completed, it can issue a new production task to the target vehicle. After receiving the new production task, the target vehicle can leave the target area and start executing the new task.

[0082] In this embodiment of the disclosure, the high-voltage power supply to the target vehicle is restored by the target vehicle responding to the command to close the restricted access switch. In other words, the restoration of control of the target vehicle by the system is also triggered by physical operation, thereby avoiding the safety risks caused by abnormal execution of software instructions.

[0083] As an optional embodiment, the driving mode of the target vehicle is switched from automatic mode to manual mode, the target vehicle is powered off, and then the following is also included:

[0084] Send the first state transition notification to the remote control system so that the remote control system updates the state of the target vehicle to the waiting-to-process state after receiving the first state transition notification.

[0085] Specifically, when the remote control system determines that the target vehicle is in a waiting state, it stops sending control commands to the target vehicle.

[0086] Specifically, after the target vehicle switches its driving mode from automatic to manual and then powers off, it can generate a first state transition notification and send it to the remote control system. The first state transition notification may include the target vehicle's vehicle identification information and the updated vehicle status information.

[0087] The remote control system can determine the target vehicle to be updated based on the first state switching notification, and update the vehicle status information of the target vehicle to the latest physical state in the first state switching notification, that is, update the vehicle status information of the target vehicle to the waiting-to-process state, so that the vehicle status information of the target vehicle stored in the remote control system is consistent with the real-time physical state of the target vehicle.

[0088] For each vehicle to be managed, if the remote control system determines that the vehicle's status information is in a waiting state, it will stop sending control commands to that vehicle. These control commands can include various types such as remote emergency takeover, task cancellation, and new task assignment.

[0089] It should be noted that when the target vehicle is powered off, the target vehicle's autonomous driving system will not execute any control commands from the remote control system, but it can retain the function of status reporting.

[0090] Optionally, in response to the operation and maintenance personnel's task configuration operation for a certain vehicle, the remote control system can obtain the task configuration information and multiple vehicles waiting to be operated related to the task. If it detects that the vehicle status information of a vehicle waiting to be operated is in a waiting state, it can intercept the control command sent to the vehicle waiting to be operated, thereby cutting off the control of the vehicle in the waiting state or in the process state at the remote control system node, further ensuring the safety of on-site operators.

[0091] In this embodiment of the disclosure, the target vehicle reports its physical status to the remote control system in real time, so that the vehicle status information of the target vehicle stored in the remote control system is consistent with the real-time physical status of the target vehicle. This enables real-time monitoring of the physical status of each vehicle through the remote control system, better meeting the operation and maintenance needs.

[0092] Figure 2 This is a flowchart illustrating a control method for an unmanned vehicle provided in an embodiment of the present disclosure, as shown below. Figure 2 As shown, the method includes:

[0093] Step S210: Determine the target vehicle for the maintenance task to be performed;

[0094] Step S220: Send an operation and maintenance instruction to the target vehicle to move the target vehicle to the target area; the operation and maintenance instruction includes the location information of the target area corresponding to the operation and maintenance task;

[0095] Step S230: If a first state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to a waiting-to-process state.

[0096] The first state transition notification is sent after the target vehicle switches its driving mode from automatic to manual mode and controls the power off of the target vehicle, once it determines that the target vehicle has successfully parked in the target area. The target vehicle responds to the no-entry switch activation command by cutting off the high-voltage power supply to the target vehicle. The no-entry switch activation command is triggered by physical operation based on the control switch completion indication. The control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0097] Specifically, a remote control system is a system that enables remote control of driverless vehicles. Maintenance personnel can operate the remote control system to remotely control the driverless vehicles.

[0098] The remote control system can determine the maintenance task to be executed, as well as the target vehicle for the maintenance task, and send the corresponding maintenance instructions to the target vehicle.

[0099] The maintenance tasks can include various human-machine interaction tasks such as refueling, inspection, maintenance, fault repair, and manual takeover of autonomous vehicles. Maintenance instructions can include the location information of the target area corresponding to the maintenance task. For example, when the maintenance task is refueling, the target area can be the designated area where the autonomous vehicle needs to stop during refueling.

[0100] Optionally, the remote control system may also include a control interface, which, in response to the configuration operations of maintenance personnel on the control interface for maintenance tasks, generates maintenance instructions corresponding to the maintenance tasks and sends the maintenance instructions to the target vehicle.

[0101] Optionally, the remote control system obtains maintenance task configuration information based on configuration operations. This configuration information includes the vehicle identification information of the target vehicle and the task type of the maintenance task. Based on the task type, multiple candidate areas are determined, and the real-time location information of the target vehicle is obtained. Based on the real-time location information, the target area is selected from the multiple candidate areas. For example, the candidate area closest to the target vehicle can be used as the target area; alternatively, the candidate area with the shortest travel time for the target vehicle can be used as the target area. This embodiment of the present disclosure does not limit this selection.

[0102] For each autonomous vehicle to be managed, the remote control system can set corresponding vehicle status information to save the vehicle's real-time physical state. When the vehicle's physical state changes, the vehicle can report the status change notification to the remote control system. Based on the received status change notification, the remote control system updates the vehicle's status information to the latest physical state.

[0103] After receiving the maintenance instruction, the target vehicle can move to the target area according to the location information corresponding to the target area in the maintenance instruction. If it is confirmed that the target vehicle has successfully parked in the target area, the target vehicle will switch the driving mode from automatic mode to manual mode and send a first state switch notification to the remote control system. The first state switch notification may include the target vehicle's vehicle identification information and the updated vehicle status information.

[0104] After receiving the first state transition notification, the remote control system can determine the target vehicle to be updated based on the first state transition notification, and update the vehicle status information of the target vehicle to the latest physical status in the first state transition notification, that is, update the vehicle status information of the target vehicle to the waiting-to-process status.

[0105] Optionally, when the remote control system determines that the target vehicle's status information is in a waiting-for-processing state, it can generate a control handover completion indication and send the control handover completion indication to the maintenance terminal corresponding to the on-site operator to notify the on-site operator that the target vehicle has been handed over and is waiting for processing.

[0106] After receiving the instruction that the control of the target vehicle has been transferred, the on-site operator can physically open the vehicle's restricted access switch. In response to the restricted access switch opening command, the target vehicle will cut off the high-voltage power supply to ensure that the target vehicle cannot move.

[0107] In this embodiment, when it is determined that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle is switched from automatic mode to manual mode, and the target vehicle is powered off. This causes the moving parts at the bottom of the target vehicle to stop responding, cutting off the control of the remote control system or the vehicle's automatic driving system over the target vehicle, thus avoiding the safety threat to the on-site operators caused by the movement of the target vehicle due to system malfunction. On this basis, in response to the command to open the stop switch, the high-voltage power supply is cut off to ensure that the target vehicle cannot move. The vehicle is actively locked by physical operation on the side of the vehicle, completely blocking the possibility of accidental recovery of control. Through a multi-layered safety protection strategy, the safety of the on-site operators is strictly guaranteed when manually intervening in the unmanned vehicle, eliminating the safety hazards caused by the movement of the unmanned vehicle to the on-site operators, and ensuring the safety of the operators who manually intervene.

[0108] Furthermore, the target vehicle reports its physical status to the remote control system in real time, ensuring that the vehicle status information stored in the remote control system is consistent with the real-time physical status of the target vehicle. This enables real-time monitoring of the physical status of each vehicle through the remote control system, better meeting operational and maintenance needs.

[0109] As an optional embodiment, the vehicle status information of the target vehicle is updated to a pending processing state, and then the process further includes:

[0110] If a task execution start command is received from the operation and maintenance terminal, the vehicle status information of the target vehicle will be updated to "processing"; the task execution start command is triggered after the no-entry switch activation command.

[0111] If a second state switch notification is received from the target vehicle, the vehicle status information of the target vehicle will be updated to the processing completed state. The second state switch notification is sent by the target vehicle after it is powered on and the driving mode of the target vehicle is switched from manual mode to automatic mode.

[0112] Specifically, after the on-site operator activates the stop switch for the target vehicle, the operator can send the task execution start command to the remote control system through the maintenance terminal. The task execution start command can include the vehicle identification information of the target vehicle to be executed, the task type, the estimated execution time of the task, etc.

[0113] Upon receiving the task execution start command, the remote control system can determine the target vehicle to be updated based on the command and update the vehicle status information of the target vehicle to the "processing" status, thereby achieving real-time updates of the vehicle's latest physical status.

[0114] Once the maintenance task is completed, the on-site operator can physically close the restricted access switch. The target vehicle responds to the closed restricted access switch command, restores the high-voltage power supply to the target vehicle, and controls the target vehicle to power on, switching the target vehicle's driving mode from manual mode to automatic mode.

[0115] The target vehicle can generate a second state transition notification and send the second state transition notification to the remote control system. The second state transition notification may include the target vehicle's vehicle identification information and the updated vehicle status information.

[0116] The remote control system can determine the target vehicle to be updated based on the received second state transition notification, and update the vehicle status information of the target vehicle to the processing completed state.

[0117] Optionally, after receiving a status change notification reported by the vehicle, the remote control system can also store the vehicle's identification information and the timestamp information of the status change in the system database for further analysis.

[0118] The remote control system can generate new production tasks for the target vehicle and send the corresponding production control instructions to the target vehicle, so that the target vehicle can leave the target area and execute the new production task based on the received production control instructions.

[0119] Optionally, after the operation and maintenance task is completed, the on-site operator can send a vehicle departure confirmation notification to the remote control system through the operation and maintenance terminal after moving to a safe area. The remote control system will only send a new production control command to the target vehicle after receiving the second state transition notification sent by the target vehicle and the vehicle departure confirmation notification sent by the operation and maintenance terminal, so as to ensure the safety of the on-site operator during the process of the target vehicle leaving the target area.

[0120] As an optional embodiment, if the maintenance task is a manual takeover task, and the manual takeover task involves manually moving the vehicle, the method further includes:

[0121] Determine the scope of the control area;

[0122] Send a first control instruction to at least one first vehicle within the controlled area, and send a second control instruction to at least one second vehicle outside the controlled area;

[0123] The first control command is used to instruct the vehicle to slow down and leave the controlled area; the second control command is used to instruct the vehicle to be prohibited from entering the controlled area.

[0124] Specifically, different types of operation and maintenance tasks can be set. The task types of operation and maintenance tasks can include those that do not involve manual movement of vehicles (such as refueling, inspection, maintenance, etc.) and those that involve manual movement of vehicles. Manual takeover tasks are those that require manual movement of vehicles.

[0125] When the maintenance task is a manual takeover task, it is also necessary to control the unmanned vehicles around the target vehicle to ensure the safety of on-site operators driving the target vehicle.

[0126] When the remote control system determines that the maintenance task for the target vehicle is a manual takeover task, it can determine the control area range corresponding to the target vehicle. The control area range can be the range near the vehicle to be taken over. For example, the control area range is the circular area formed by taking the target vehicle as the center and a preset distance (such as 50 meters) as the radius.

[0127] The remote control system can acquire the real-time location information of each vehicle to be managed, and based on the real-time location information of each vehicle, filter out other vehicles moving near the target vehicle. Other vehicles within the controlled area can be designated as the first vehicle, and other vehicles outside the controlled area can be designated as the second vehicle.

[0128] Optionally, it can be determined whether a vehicle is within the control area based on the location information of the control area and the real-time location information of each vehicle; alternatively, it can be determined by calculating the distance between each vehicle and the target vehicle based on the real-time location information of the target vehicle and the real-time location information between each vehicle. If the distance is greater than a preset radius, it is determined that the vehicle is not within the control area; if the distance is not greater than the preset radius, it is determined that the vehicle is within the control area. This embodiment of the present disclosure does not limit the method of determining whether a vehicle is within the control area.

[0129] After identifying at least one first vehicle and at least one second vehicle, a first control instruction can be sent to each first vehicle to instruct it to slow down and leave the controlled area, and a second control instruction can be sent to each second vehicle to instruct it to be prohibited from entering the controlled area, thereby ensuring the safety of on-site operators when interacting with other vehicles while driving the target vehicle.

[0130] Optionally, when the maintenance task of the target vehicle is determined to be completed, the remote control system can release the area control, that is, stop sending control commands to each first vehicle and each second vehicle, so as to restore the normal operation of other affected driverless vehicles.

[0131] As an optional embodiment, the remote control system includes a vehicle status display interface; the vehicle status display interface is used to display the visual components corresponding to the target vehicle;

[0132] The method also includes:

[0133] Based on the vehicle status information and vehicle status display strategy of the target vehicle, the target display method of the visualization component corresponding to the target vehicle is determined; the vehicle status display strategy includes the correspondence between vehicle status information and display method;

[0134] Based on the target display method, determine the configuration information of the visualization components corresponding to the target vehicle;

[0135] Based on the configuration information, the visualization components corresponding to the target vehicle are displayed.

[0136] Specifically, the remote control system may also include a vehicle status display interface. For each vehicle to be managed, a corresponding visualization component, such as an icon, can be set for that vehicle. The remote control system can determine the target display method of the visualization component corresponding to the target vehicle based on the vehicle status information and vehicle status display strategy of the target vehicle, and configure the visualization component corresponding to the target vehicle based on the determined target display method to obtain the configuration information of the visualization component corresponding to the target vehicle. Based on the configuration information, the visualization component corresponding to the target vehicle is displayed, thereby displaying the real-time status of the target vehicle more intuitively through visualization.

[0137] The vehicle status display strategy may include the correspondence between vehicle status information and display methods.

[0138] Optionally, the vehicle status display strategy may include a color display strategy, which may include a display color corresponding to each vehicle status. For example, the color display strategy may be: autonomous driving status—green; waiting to be processed—orange; processing status—yellow. Based on the vehicle status information of the target vehicle and the color display strategy, the target color of the visualization component corresponding to the target vehicle is determined, and the target color is configured as the color attribute of the visualization component corresponding to the target vehicle, so that the visualization component corresponding to the target vehicle is displayed in the target color.

[0139] Optionally, the visualization component may also include a text display area, and the vehicle status display strategy may include a text display strategy, which may include display text corresponding to each vehicle status. Based on the vehicle status information of the target vehicle and the text display strategy, the target text of the visualization component corresponding to the target vehicle is determined, and the target text is configured as the text to be displayed in the text display area of ​​the visualization component corresponding to the target vehicle, so that the visualization component corresponding to the target vehicle displays the target text in the text display area.

[0140] Optionally, the vehicle status display strategy may also include a color display strategy and a text display strategy. The visualization component corresponding to the target vehicle can display the target color and the target text simultaneously. This disclosure does not limit the specific settings of the vehicle status display strategy.

[0141] In this embodiment of the disclosure, by setting a vehicle status display interface in the remote control system and determining the configuration information of the visualization components of the target vehicle based on the vehicle status information of the target vehicle, the latest status of each vehicle can be understood through the visualization content, thereby better meeting the operation and maintenance needs.

[0142] Figure 3 This is an interactive schematic diagram of a control method for an unmanned vehicle provided in an embodiment of the present disclosure, such as... Figure 3 As shown, the method includes:

[0143] When a maintenance task needs to be performed on a target vehicle, the remote control system sends the maintenance instructions corresponding to the maintenance task to the target vehicle. After receiving the maintenance instructions, the target vehicle moves to the target area.

[0144] When it is confirmed that the target vehicle has successfully parked in the target area, the target vehicle will switch the driving mode from automatic mode to manual mode, control the target vehicle to shut down, and report the first state switch notification to the remote control system. The remote control system receives the first state switch notification and updates the vehicle status information of the target vehicle to the waiting status based on the first state switch notification.

[0145] After receiving the control switchover completion instruction, the on-site operator can physically open the stop switch on the target vehicle. In response to the stop switch opening command, the target vehicle cuts off the high-voltage power supply to ensure that the target vehicle does not move.

[0146] On-site operators send a task execution start notification to the remote control system via the maintenance terminal. Upon receiving the task execution start notification, the remote control system updates the target vehicle's status information to "processing in progress".

[0147] When the maintenance task is completed, the on-site operator physically shuts off the no-entry switch on the target vehicle. In response to the no-entry switch shutdown command, the target vehicle restores the high-voltage power supply, controls the vehicle to power on, and switches the driving mode from manual mode to automatic mode. The second state switch notification is sent to the remote control system. Upon receiving the second state switch notification, the remote control system updates the vehicle status information of the target vehicle to the processing completed state.

[0148] When on-site operators confirm that the target vehicle can leave, they can send a vehicle departure confirmation notification to the remote control system through the operation and maintenance terminal. Upon receiving the vehicle departure confirmation notification, the remote control system updates the vehicle status information of the target vehicle to automatic driving status and issues a new production task to the target vehicle.

[0149] Figure 4 This is a schematic diagram illustrating a vehicle state switching method provided in an embodiment of this disclosure, such as... Figure 4 As shown, the vehicle status switching process includes:

[0150] When the target vehicle is operating normally, the vehicle processing status stored in the remote control system is in automatic driving mode.

[0151] When the target vehicle has successfully parked in the target area, it remains braked and enters parking mode. The parking lights illuminate, and the hazard lights activate. This triggers the commands "Switch driving mode from automatic to manual" and "Remove high voltage / turn off the engine." The control of the automatic driving system is forcibly disconnected, and the vehicle remains braked and parked. The vehicle's tri-color lights turn yellow and flash, along with the hazard lights, serving as a clear visual signal to the on-site operators that "the vehicle has been handed over and is ready for operation." The vehicle status information on the remote control system switches to the corresponding waiting-for-processing status.

[0152] After the on-site operator confirms that the vehicle is ready, they operate the physical device "no entry switch" on the side of the vehicle and turn it off, physically cutting off the system's control over the vehicle and ensuring that the vehicle is completely locked. The vehicle status information of the target vehicle on the remote control system is then switched to the corresponding "processing" status.

[0153] Once the vehicle is fully locked, on-site operators can perform maintenance tasks. After the maintenance task is completed, the on-site operator operates the "restriction switch" on the side of the vehicle to unlock it, and then sends a task completion notification to the remote control system via the maintenance terminal. For example, the on-site operator can send a voice command to the remote control system saying "Work completed, operation can resume" via the maintenance terminal.

[0154] Upon receiving the physical instruction to "open the no-entry switch," the target vehicle's autonomous driving system automatically triggers the following actions after a 5-second delay: sequentially triggering the instructions to "connect high-voltage electricity / start the ignition" and "switch driving mode from manual to automatic," restoring control of the target vehicle's autonomous driving system. The vehicle status information on the remote control system is then switched to the "processed" state. Simultaneously, the vehicle's hazard lights are turned off, and the tri-color lights change to flashing green; the vehicle remains in a parking brake state throughout the entire process.

[0155] After receiving a vehicle departure confirmation notification sent by the on-site operator via the maintenance terminal, the remote control system switches the target vehicle's status information to automatic driving mode and issues a production task. Upon receiving the task, the target vehicle sounds a short horn to warn of its imminent departure, releases the parking brake after 5 seconds, drives away, and resumes operations.

[0156] Optionally, for different types of maintenance tasks, the vehicle status information in the remote control system can also include the type of maintenance task and the processing progress of the maintenance task. For example, "waiting to be processed status" can be further divided into "waiting to refuel / waiting to inspect / waiting to maintain / waiting to repair / waiting to take over"; "processing status" can be further divided into "refueling / inspection / maintenance / repair / take over"; "processing completed status" can be further divided into "refueling completed / inspection completed / maintenance completed / repair completed / take over completed".

[0157] Optionally, when the target vehicle needs maintenance, if the target vehicle can move to the maintenance area on its own, a corresponding maintenance instruction can be issued to the target vehicle; if the target vehicle cannot move to the maintenance area on its own, i.e., it needs to be moved to the maintenance area manually, the maintenance task can be set as a manual takeover task and processed according to the manual takeover task procedure.

[0158] In this embodiment, during various manual intervention operations such as refueling, maintenance, inspection, manual takeover, and fault repair of unmanned vehicles, a combined hardware and software locking mechanism involving the remote control system, the target vehicle's autonomous driving system, and the maintenance terminal completely eliminates the possibility of unmanned vehicle movement or platform malfunction, ensuring the absolute safety of on-site personnel. Simultaneously, the vehicle status is displayed accurately and in real-time on the remote control system, enabling intuitive presentation and visual monitoring of the operational status.

[0159] Figure 5 This is a schematic diagram of the structure of a control device for an unmanned vehicle provided in an embodiment of this disclosure. The device is applied to a target vehicle, such as... Figure 5 As shown, the apparatus of this embodiment may include:

[0160] The operation and maintenance interaction module 310 is used to receive operation and maintenance instructions sent by the remote control system, and move to the target area based on the operation and maintenance instructions; the operation and maintenance instructions include the location information of the target area corresponding to the operation and maintenance task for the target vehicle;

[0161] The first safety protection module 320 is used to switch the driving mode of the target vehicle from automatic mode to manual mode and control the target vehicle to power off if it is determined that the target vehicle has successfully parked in the target area.

[0162] The second safety protection module 330 is used to cut off the high-voltage power supply of the target vehicle in response to the prohibition switch activation command; the prohibition switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0163] As an optional embodiment, the device further includes:

[0164] The control restoration module is used to restore the high-voltage power supply to the target vehicle in response to a command to close the access restriction switch; the command to close the access restriction switch is triggered by physical operation after the maintenance task is completed.

[0165] Power on the target vehicle and switch its driving mode from manual mode to automatic mode.

[0166] As an optional embodiment, the device further includes:

[0167] The status reporting module is used to send a first status switching notification to the remote control system, so that after receiving the first status switching notification, the remote control system updates the vehicle status information of the target vehicle to a waiting-to-process status.

[0168] Specifically, when the remote control system determines that the target vehicle is in a waiting state, it stops sending control commands to the target vehicle.

[0169] Figure 6 This is a schematic diagram of the structure of a control device for an unmanned vehicle provided in an embodiment of this disclosure. This device is applied to a remote control system, such as... Figure 6 As shown, the apparatus of this embodiment may include:

[0170] The target vehicle determination module 410 is used to determine the target vehicle for the maintenance task to be performed.

[0171] The maintenance instruction sending module 420 is used to send maintenance instructions to the target vehicle so that the target vehicle moves to the target area; the maintenance instruction includes the location information of the target area corresponding to the maintenance task.

[0172] The vehicle status update module 430 is used to update the vehicle status information of the target vehicle to a waiting-to-process state if it receives a first status switching notification sent by the target vehicle.

[0173] The first state switching notification is sent by the target vehicle after it determines that it has successfully parked in the target area, switches its driving mode from automatic to manual, and controls the power off of the target vehicle; the target vehicle responds to the no-entry switch activation command by cutting off its high-voltage power supply; the no-entry switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

[0174] As an optional embodiment, the vehicle status update module is also used for:

[0175] If a task execution start command is received from the operation and maintenance terminal, the vehicle status information of the target vehicle is updated to be in a processing state; the task execution start command is triggered after the no-entry switch activation command;

[0176] If a second state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to the processing completed state; the second state switching notification is sent by the target vehicle after it is powered on and the driving mode of the target vehicle is switched from manual mode to automatic mode.

[0177] As an optional embodiment, if the maintenance task is a manual takeover task, and the manual takeover task involves manually moving vehicles, the device further includes an area control module for:

[0178] Determine the scope of the control area;

[0179] Send a first control instruction to at least one first vehicle within the control area, and send a second control instruction to at least one second vehicle outside the control area;

[0180] The first control command is used to instruct the vehicle to slow down and leave the controlled area; the second control command is used to instruct the vehicle to be prohibited from entering the controlled area.

[0181] As an optional embodiment, the remote control system includes a vehicle status display interface; the vehicle status display interface is used to display the visual components corresponding to the target vehicle;

[0182] The device also includes a display module for:

[0183] Based on the vehicle status information and vehicle status display strategy of the target vehicle, the target display method of the visualization component corresponding to the target vehicle is determined; the vehicle status display strategy includes the correspondence between vehicle status information and display method;

[0184] Based on the target display method, determine the configuration information of the visualization components corresponding to the target vehicle;

[0185] Based on the configuration information, the visualization components corresponding to the target vehicle are displayed.

[0186] The apparatus of this disclosure embodiment can execute the method provided in this disclosure embodiment, and its implementation principle is similar, and it has corresponding technical effects. The actions performed by each module in the apparatus of each embodiment of this disclosure correspond to the steps in the method of each embodiment of this disclosure. For a detailed functional description of each module of the apparatus, please refer to the description in the corresponding method shown above, and it will not be repeated here.

[0187] In this disclosure, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0188] This disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any optional embodiment of this disclosure. Compared with the prior art, it can achieve the following: when it is determined that the target vehicle has successfully parked in the target area, by switching the driving mode of the target vehicle from automatic mode to manual mode and controlling the target vehicle to power down, the moving parts at the bottom of the target vehicle stop responding, cutting off the control of the remote control system or the vehicle's automatic driving system over the target vehicle, and avoiding the safety threat to the on-site operator caused by the movement of the target vehicle due to system malfunction; on this basis, by responding to the command to open the no-entry switch, the high-voltage power supply is cut off to ensure that the target vehicle cannot move, and the vehicle is actively locked by physical operation on the side of the vehicle, completely blocking the possibility of accidental recovery of control. Through a multi-layered safety protection strategy, the safety of the on-site operator is strictly guaranteed when manually intervening in the unmanned vehicle, eliminating the safety hazards caused by the movement of the unmanned vehicle to the on-site operator, and ensuring the safety of the operator who intervenes manually.

[0189] In one alternative embodiment, an electronic device is provided, such as Figure 7 As shown, Figure 7 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this disclosure.

[0190] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with this disclosure. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0191] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0192] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0193] The memory 4003 is used to store computer programs that execute embodiments of the present disclosure, and is controlled by the processor 4001 to execute them. The processor 4001 is used to execute the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0194] Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), wearable devices, etc., as well as fixed terminals such as digital TVs, desktop computers, etc.

[0195] This disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0196] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0197] It should be understood that although arrows indicate various operation steps in the flowcharts of the embodiments of this disclosure, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of the embodiments of this disclosure, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of this disclosure do not limit this.

[0198] The above description is only an optional implementation method for some implementation scenarios of this disclosure. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this disclosure without departing from the technical concept of this disclosure also fall within the protection scope of the embodiments of this disclosure.

Claims

1. A control method for an unmanned vehicle, characterized in that, Applied to a target vehicle, the method includes: The system receives maintenance instructions sent by the remote control system and moves to the target area based on the maintenance instructions; the maintenance instructions include the location information of the target area corresponding to the maintenance task for the target vehicle. If it is determined that the target vehicle has successfully parked in the target area, the driving mode of the target vehicle is switched from automatic mode to manual mode, and the power to the target vehicle is turned off. In response to a disengagement switch activation command, the high-voltage power supply to the target vehicle is cut off; the disengagement switch activation command is triggered by a physical operation based on a control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

2. The method according to claim 1, characterized in that, The response to the stop switch activation command cuts off the high-voltage power supply, and then further includes: In response to the command to close the access restriction switch, the high-voltage power supply to the target vehicle is restored; the command to close the access restriction switch is triggered by physical operation after the maintenance task is completed. Power on the target vehicle and switch its driving mode from manual mode to automatic mode.

3. The method according to claim 1, characterized in that, The step of switching the driving mode of the target vehicle from automatic mode to manual mode and controlling the power off of the target vehicle further includes: The first state switching notification is sent to the remote control system so that after receiving the first state switching notification, the remote control system updates the vehicle status information of the target vehicle to a waiting-to-process state. Specifically, when the remote control system determines that the target vehicle is in a waiting state, it stops sending control commands to the target vehicle.

4. The method according to claim 1, characterized in that, Applied to a remote control system, the method includes: Identify the target vehicle for the maintenance task to be performed; A maintenance instruction is sent to the target vehicle to move it to the target area; the maintenance instruction includes the location information of the target area corresponding to the maintenance task. If a first state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to a waiting-to-process state. The first state switching notification is sent by the target vehicle after it determines that it has successfully parked in the target area, switches its driving mode from automatic to manual, and controls the power off of the target vehicle; the target vehicle responds to the no-entry switch activation command by cutting off its high-voltage power supply; the no-entry switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

5. The method according to claim 4, characterized in that, The step of updating the vehicle status information of the target vehicle to a pending processing state further includes: If a task execution start command is received from the operation and maintenance terminal, the vehicle status information of the target vehicle is updated to be in a processing state; the task execution start command is triggered after the no-entry switch activation command; If a second state switching notification is received from the target vehicle, the vehicle status information of the target vehicle is updated to the processing completed state; the second state switching notification is sent by the target vehicle after it is powered on and the driving mode of the target vehicle is switched from manual mode to automatic mode.

6. The method according to claim 4, characterized in that, If the maintenance task is a manual takeover task, and the manual takeover task involves manually moving vehicles, the method further includes: Determine the scope of the control area; Send a first control instruction to at least one first vehicle within the control area, and send a second control instruction to at least one second vehicle outside the control area; The first control command is used to instruct the vehicle to slow down and leave the controlled area; the second control command is used to instruct the vehicle to be prohibited from entering the controlled area.

7. The method according to claim 4, characterized in that, The remote control system includes a vehicle status display interface; The vehicle status display interface is used to display the visual components corresponding to the target vehicle; The method further includes: Based on the vehicle status information and vehicle status display strategy of the target vehicle, the target display method of the visualization component corresponding to the target vehicle is determined; the vehicle status display strategy includes the correspondence between vehicle status information and display method; Based on the target display method, determine the configuration information of the visualization components corresponding to the target vehicle; Based on the configuration information, the visualization components corresponding to the target vehicle are displayed.

8. A control device for an unmanned vehicle, characterized in that, Applied to a target vehicle, the device includes: The operation and maintenance interaction module is used to receive operation and maintenance instructions sent by the remote control system, and move to the target area based on the operation and maintenance instructions; the operation and maintenance instructions include the location information of the target area corresponding to the operation and maintenance task for the target vehicle; The first safety protection module is used to switch the driving mode of the target vehicle from automatic mode to manual mode and control the target vehicle to power off if it is determined that the target vehicle has successfully parked in the target area. The second safety protection module is used to cut off the high-voltage power supply of the target vehicle in response to the prohibition switch activation command; the prohibition switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

9. A control device for an unmanned vehicle, characterized in that, The device, used in a remote control system, includes: The target vehicle determination module is used to determine the target vehicle for the maintenance task to be performed. The maintenance instruction sending module is used to send maintenance instructions to the target vehicle so that the target vehicle moves to the target area; the maintenance instruction includes the location information of the target area corresponding to the maintenance task. The vehicle status update module is used to update the vehicle status information of the target vehicle to a waiting-to-process state if it receives a first status switching notification sent by the target vehicle. The first state switching notification is sent by the target vehicle after it determines that it has successfully parked in the target area, switches its driving mode from automatic to manual, and controls the power off of the target vehicle; the target vehicle responds to the no-entry switch activation command by cutting off its high-voltage power supply; the no-entry switch activation command is triggered by physical operation based on the control switch completion indication; the control switch completion indication is used to indicate that the system's control over the target vehicle has been cut off.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.

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