Control method and apparatus for work vehicle, and electronic device and storage medium

Abstract

A control method and apparatus for a work vehicle, and an electronic device and a storage medium. The method is applied to a driverless device, and comprises: acquiring an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination (S301); determining a replaced work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replaced work destination, the replaced work destination being a work destination obtained by changing the initial work destination (S302); when it is determined, on the basis of the initial operation data and the target operation data, that the initial work destination is changed to the replaced work destination, determining whether the replaced work destination is rational (S303); when it is determined that the replaced work destination is rational, sending a destination change instruction to the work vehicle (S304); and controlling the work vehicle to travel towards the replaced work destination (S305). Therefore, the operation efficiency of the work vehicle can be improved.

Description

Control method and device for working vehicle, electronic device and storage medium

[0001] This application claims priority to Chinese patent application No. 2023107770745 filed with the China Patent Office on June 29, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of unmanned driving technology, and in particular to a control method and device for a work vehicle, an electronic device, and a computer-readable storage medium. Background Art

[0003] With the development of autonomous driving technology and the advancement of industrial automation, the application of autonomous driving in mining vehicles has emerged. Mining areas, as one of the practical application scenarios of autonomous driving technology, are gradually becoming digitalized, intelligent, and automated. Currently, operations such as loading, transporting, and dumping are mainly performed by autonomous mining vehicles.

[0004] In related technologies, when selecting a driving route for an unmanned work vehicle, the management system typically analyzes the overall operating conditions of the mine and, based on the analysis results, assigns a work destination to each work vehicle at the work site. Furthermore, the management system periodically or regularly calculates the overall operating efficiency of the mine and, based on the calculation results and any abnormal conditions in the mine, determines whether to trigger a change in the work destination. If the management system changes the work vehicle's work destination while the work vehicle is traveling to the work destination, the work vehicle may be unable to switch destinations due to road or network issues, and thus unable to reach the changed work destination. Alternatively, after switching destinations, the work vehicle may need to take detours, such as by detour, to reach the changed work destination. Consequently, there is the issue of an unreasonable changed work destination.

[0005] Summary of the Invention

[0006] In view of this, the embodiments of the present disclosure provide a control method and device for a work vehicle, an electronic device, and a computer-readable storage medium to solve the problem in the related art that the work vehicle cannot reach the changed work destination or the changed work destination is unreasonable.

[0007] In a first aspect of an embodiment of the present disclosure, a control method for a work vehicle is provided, comprising: obtaining an initial work destination of the work vehicle, and calculating initial operating data for the work vehicle traveling from a current position of the work vehicle to the initial work destination; determining a successor work destination of the work vehicle, and calculating target operating data for the work vehicle traveling from the current position of the work vehicle to the successor work destination, wherein the successor work destination is a work destination after the initial work destination is changed; in a case where it is determined based on the initial operating data and the target operating data that the initial work destination is changed to the successor work destination, judging whether the successor work destination is reasonable based on the current position of the work vehicle and the road topology; in a case where it is determined that the successor work destination is reasonable, sending a destination change instruction to the work vehicle, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the successor work destination; and controlling the work vehicle to travel from the current position of the work vehicle to the successor work destination.

[0008] According to a second aspect of an embodiment of the present disclosure, a control device for a work vehicle is provided, comprising: an acquisition module configured to acquire an initial work destination of the work vehicle and calculate initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination; a determination module configured to determine a successor work destination of the work vehicle and calculate target operation data of the work vehicle traveling from the current position of the work vehicle to the successor work destination, wherein the successor work destination is a work destination after the initial work destination is changed; a judgment module configured to, when determining based on the initial operation data and the target operation data to change the initial work destination to the successor work destination, determine whether the successor work destination is reasonable based on the current position of the work vehicle and the road topology; a sending module configured to, when determining that the successor work destination is reasonable, send a destination change instruction to the work vehicle, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the successor work destination; and a control module configured to control the work vehicle to travel from the current position of the work vehicle to the successor work destination.

[0009] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising at least one processor; and a memory for storing instructions executable by at least one processor; wherein the at least one processor is configured to execute instructions to implement the steps of the above method.

[0010] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the steps of the above method.

[0011] At least one of the above-mentioned technical solutions adopted in the embodiments of the present disclosure can achieve the following beneficial effects: by obtaining the initial work destination of the work vehicle and calculating the initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination; determining the replacement work destination of the work vehicle and calculating the target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is the work destination after the initial work destination is changed; when it is determined based on the initial operation data and the target operation data that the initial work destination is changed to the replacement work destination, judging whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology; when it is determined that the replacement work destination is reasonable, sending a destination change instruction to the work vehicle to instruct the work vehicle to change the initial work destination to the replacement work destination; controlling the work vehicle to travel from the current position of the work vehicle to the replacement work destination, determining whether to change the work destination based on the vehicle data before and after the work destination is changed, and judging whether the changed work destination is reasonable based on the current position of the work vehicle and the road topology, thereby improving the rationality of the changed work destination, improving the flexibility of the work vehicle control, and improving the operating efficiency of the work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] FIG1 is a schematic diagram of a control method for a work vehicle in related art in an actual application scenario.

[0014] FIG2 is a schematic diagram of another control method for a work vehicle in related art in an actual application scenario.

[0015] FIG3 is a flow chart of a control method for a work vehicle provided by an exemplary embodiment of the present disclosure.

[0016] FIG4 is a flow chart of another method for controlling a work vehicle provided by an exemplary embodiment of the present disclosure.

[0017] FIG5 is a schematic structural diagram of a control device for a work vehicle provided by an exemplary embodiment of the present disclosure.

[0018] FIG6 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure.

[0019] FIG7 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0021] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0022] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0025] Autonomous driving technology uses a variety of on-board sensors, such as cameras, lidar, millimeter-wave radar, the Global Positioning System (GPS), and inertial sensors, to identify the vehicle's surrounding environment and state. Based on this information, the vehicle autonomously analyzes and judges the surrounding environment, including road topology, traffic information, vehicle position, and obstacle information, thereby autonomously controlling vehicle movement and ultimately achieving autonomous driving. Autonomous driving technology encompasses multi-sensor fusion, signal processing, communications, artificial intelligence, and computer technology.

[0026] With the development of autonomous driving technology and the advancement of industrial automation, the application of autonomous driving in mining vehicles has emerged. Mining areas, as one of the practical application scenarios of autonomous driving technology, are also gradually achieving digitalization, intelligence, and automation. In the application of autonomous driving in mining areas, it is crucial to rationally plan the driving routes of working vehicles. Currently, when selecting driving routes for autonomous working vehicles, the management system typically analyzes the overall operating conditions of the mine and, based on the results, assigns a destination to each working vehicle at the work site. Furthermore, the management system periodically or periodically calculates the overall operating efficiency of the mine and, based on the calculation results and any abnormal conditions in the mine, determines whether to trigger a change in the working destination. As the working vehicle travels to the working destination, the management system determines whether a new working destination is necessary based on the working vehicle's real-time location, mission status, and working destination.

[0027] The following describes the actual application scenarios of the control methods for work vehicles in the related art with reference to the accompanying drawings. Figure 1 is a schematic diagram of a control method for a work vehicle in the related art in an actual application scenario, and Figure 2 is a schematic diagram of another control method for a work vehicle in the related art in an actual application scenario. In Figures 1 and 2, T represents the work vehicle, LA1, LA2, and LA3 represent the first loading area, the second loading area, and the third loading area, respectively, UA1 and UA2 represent the first unloading area and the second unloading area, respectively, J1 and J2 represent the first intersection area and the second intersection area, respectively, and the connecting lines between the various areas represent the travel paths of the work vehicles.

[0028] Specifically, assuming that the destination of a work vehicle T is the first loading area LA1, while the work vehicle T is traveling from the first unloading area UA1 to the first loading area LA1, if the management system determines that the work vehicle T's destination needs to be adjusted due to efficiency or an abnormality, for example, to change the work vehicle T's destination to the third loading area LA3, the management system sends a destination change command to the work vehicle T. As shown in Figure 1, after receiving the destination change command, if the work vehicle T is unable to switch its destination to the third loading area LA3 before reaching the second intersection area J2 due to road or network issues, the work vehicle T will miss the second intersection area J2 and be unable to reach the third loading area LA3. As shown in Figure 2, after receiving the destination change command, if the work vehicle T has already passed the second intersection area J2, the work vehicle T can only continue to the first intersection area J1 or the first loading area LA1, then make a U-turn and return to the second intersection area J2 to reach the third loading area LA3.

[0029] It can be seen that when the management system changes the work destination of the work vehicle, the existing control method of the work vehicle has the problem that the work vehicle cannot reach the changed work destination; or the problem that the changed work destination is unreasonable.

[0030] A control method and device for a work vehicle according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0031] FIG3 is a flow chart of a control method for a work vehicle provided by an exemplary embodiment of the present disclosure. The control method for the work vehicle in FIG3 can be executed by a server or electronic device in a management system. As shown in FIG3 , the control method for the work vehicle includes:

[0032] S301, obtaining an initial working destination of a working vehicle and calculating initial operation data of the working vehicle traveling from a current position of the working vehicle to the initial working destination, wherein the working vehicle is an automatic driving vehicle or an unmanned vehicle;

[0033] S302, determining a replacement work destination of the work vehicle and calculating target operation data for the work vehicle to travel from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a timed trigger of the management system or by changing the work destination based on an abnormality trigger;

[0034] S303, when it is determined based on the initial operation data and the target operation data that the initial operation destination is to be changed to a replacement operation destination, determining whether the replacement operation destination is reasonable based on the current position of the operation vehicle and the road topology;

[0035] S304, if it is determined that the replacement operation destination is reasonable, sending a destination change instruction to the operation vehicle, wherein the destination change instruction is used to instruct the operation vehicle to change the initial operation destination to the replacement operation destination;

[0036] S305: Control the work vehicle to travel from the current position of the work vehicle to the destination of the succeeding work.

[0037] Specifically, taking the server in the management system as an example, the management system usually takes into account the overall operation of the mining area (including equipment failure, closure of the operating area, etc.) and specifies an initial operating destination for each operating vehicle in the operating site; when the operating vehicle already has an initial operating destination, the server controls the operating vehicle to travel to the initial operating destination, and calculates the initial operating data of the operating vehicle from its current position to the initial operating destination, so as to analyze the operating efficiency of the entire transportation system based on the initial operating data; the management system periodically or regularly calculates the overall operating efficiency of the mining area, and determines whether to trigger a change in the operating destination based on the calculation results and the abnormal conditions of the mining area; when it is determined that the initial operating destination of the operating vehicle needs to be changed to a successor operating destination, the server calculates the target operating data of the operating vehicle from its current position to the successor operating destination.

[0038] Furthermore, the server compares the target operation data with the initial operation data, and determines whether to change the initial operation destination to the successor operation destination based on the comparison result; when it is determined that the initial operation destination is changed to the successor operation destination, the server judges whether the successor operation destination is reasonable based on the current position of the operation vehicle and the road topology; when it is determined that the successor operation destination is reasonable, the server sends a destination change instruction to the operation vehicle to instruct the operation vehicle to change the initial operation destination to the successor operation destination, and controls the operation vehicle to travel from the current position of the operation vehicle to the successor operation destination.

[0039] Here, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The embodiments of the present disclosure do not limit this.

[0040] The management system analyzes and processes data uploaded by operating vehicles to analyze, predict, and provide recommendations for the overall operation of the mining area, thereby improving operating efficiency, reducing energy consumption during operation, and minimizing the occurrence of production accidents. Furthermore, the management system can generate operating tasks and routes for operating vehicles and deploy them within the operating area based on these tasks and routes.

[0041] It should be noted that the management system can be set up in the cloud (for example, a cloud-based intelligent management system, a cloud scheduling platform, etc.) or on the vehicle side (for example, a vehicle-side system, a vehicle-side unmanned driving system, etc.), and the embodiments of the present disclosure do not limit this.

[0042] Operations can be any social activity that causes changes in the terrain, including but not limited to road construction (affecting the flatness of the ground, etc.), placing objects in a specific area (increasing the height of a certain area), removing objects from a specific area (decreasing the height of a certain area), and activities that cause changes in the road surface topography (concaving or convexing a certain area). For example, earthwork refers to the unloading of excavated materials such as earth and stone into a spoil dump.

[0043] The operating area refers to the area within a mining area where unmanned vehicles are located during operations such as loading, transporting, and dumping. Specifically, it encompasses the area visible to the vehicle along its travel direction. The operating area can be located in an enclosed or open space, or even in an unpaved space. For example, an enclosed space can be an open-pit mine. In the disclosed embodiments, the operating area refers to the area within an open-pit mine where unmanned vehicles are located during operations such as loading, transporting, and dumping.

[0044] Job tasks may include, but are not limited to, job sequence number, job type, and job content. Job types may include recurring jobs and temporary jobs. Recurring jobs are tasks that need to be performed repeatedly, while temporary jobs are tasks that need to be performed only once. Job content may include, but is not limited to, target loading area, target unloading area, and target load volume.

[0045] A work vehicle is a vehicle equipped with an autonomous driving system, i.e., an unmanned vehicle. It uses an onboard sensor system to sense the vehicle's surroundings and, based on the perceived information about the road, vehicle position, and obstacles, controls the vehicle's steering and speed, enabling safe and reliable road travel. In the disclosed embodiments, work vehicles may include, but are not limited to, wide-body trucks, large mining trucks, mining trucks, and forklifts equipped with data acquisition devices. These data acquisition devices may include, but are not limited to, lidar, millimeter-wave radar, ultrasonic radar, and cameras.

[0046] The current location refers to the current position of the work vehicle, that is, the real-time location of the work vehicle. The current location can be obtained using the positioning device installed on the work vehicle. The initial work destination refers to the pre-set work location that the work vehicle is to reach. The alternate work destination refers to the new work location after the initial work destination is modified according to actual needs.

[0047] Initial operational data may include, but is not limited to, driving data, efficiency data, and abnormality data. Driving data is used to characterize the real-time location, speed, and direction of the operating vehicle. Efficiency data is used to characterize the utilization of the operating vehicle in terms of time, mileage, speed, tonnage, and vehicle power. It is the primary basis for analyzing the efficiency and transportation costs of operating vehicles and is also an important basis for measuring the overall operating efficiency of the mining area. Abnormality data is used to characterize abnormalities within the operating area, such as excavator failures and closed loading areas. The degree of abnormality may include, but is not limited to, the number of abnormalities, the level of abnormalities, the number of equipment failures, and the level of equipment failures.

[0048] According to the technical solution provided by the embodiment of the present disclosure, an initial work destination of a work vehicle is obtained, and initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination is calculated; a replacement work destination of the work vehicle is determined, and target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination is calculated, wherein the replacement work destination is a work destination after the initial work destination is changed; when it is determined based on the initial operation data and the target operation data that the initial work destination is changed to the replacement work destination, whether the replacement work destination is reasonable is judged based on the current position of the work vehicle and the road topology; when it is determined that the replacement work destination is reasonable, a destination change instruction is sent to the work vehicle to instruct the work vehicle to change the initial work destination to the replacement work destination; the work vehicle is controlled to travel from the current position of the work vehicle to the replacement work destination, and whether the work destination is changed can be determined based on the vehicle data before and after the work destination is changed, and whether the changed work destination is reasonable can be judged based on the current position of the work vehicle and the road topology. Therefore, the rationality of the changed work destination is improved, the flexibility of the work vehicle control is improved, and the operation efficiency of the work vehicle is improved.

[0049] In some embodiments, the initial operating data includes initial efficiency data, the target operating data includes target efficiency data, and determining to change the initial job destination to the successor job destination based on the initial operating data and the target operating data includes: if the target efficiency data is greater than the initial efficiency data, determining to change the initial job destination to the successor job destination.

[0050] Specifically, the initial operation data may include initial efficiency data, and the target operation data may include target efficiency data. After obtaining the initial efficiency data and the target efficiency data, the server may compare the initial efficiency data with the target efficiency data. If the target efficiency data is greater than the initial efficiency data, it means that after the operation destination is adjusted from the initial operation destination to the replacement operation destination, the transportation efficiency of the operation vehicle is improved. Therefore, it can be determined that changing the operation destination to the replacement operation destination is a reasonable and more efficient solution, that is, the initial operation destination can be changed to the replacement operation destination; if the target efficiency data is equal to the initial efficiency data, it means that after the operation destination is adjusted from the initial operation destination to the replacement operation destination, the transportation efficiency of the operation vehicle has not changed at all. Therefore, there is little meaning in changing the operation destination; if the target efficiency data is less than the initial efficiency data, it means that after the operation destination is adjusted from the initial operation destination to the replacement operation destination, the transportation efficiency of the operation vehicle has not only not improved but has decreased. Therefore, the solution of changing the operation destination is unreasonable, that is, the initial operation destination cannot be changed to the replacement operation destination.

[0051] Here, the initial efficiency data and target efficiency data can reflect the use of work vehicles by measuring the degree of utilization in terms of time, mileage, speed, tonnage, and vehicle power. They are the primary basis for analyzing the efficiency and transportation costs of work vehicles and are also an important basis for measuring the overall operating efficiency of a mining area. In the disclosed embodiments, the initial efficiency data is used to represent the transportation volume per unit time, that is, the transportation efficiency of the work vehicle from its current location to the initial work destination, while the target efficiency data is used to represent the transportation efficiency of the work vehicle from its current location to the subsequent work destination.

[0052] It should be noted that the initial efficiency data and target efficiency data can also be used to characterize the mining efficiency, excavation efficiency, transportation time, queuing time, etc. of the operating vehicle, and the embodiments of the present disclosure do not limit this.

[0053] According to the technical solution provided by the embodiment of the present disclosure, by judging the rationality of the change of the work destination based on the vehicle data before and after the change of the work destination, it is possible to more accurately determine whether the changed work destination is reasonable and more efficient, thereby improving the accuracy and reliability of the data, improving the flexibility of the work vehicle control, and further improving the operating efficiency of the work vehicle.

[0054] In some embodiments, the initial operating data also includes initial abnormality data, and the target operating data also includes target abnormality data. Based on the initial operating data and the target operating data, it is determined to change the initial job destination to the successor job destination, including: when the target efficiency data is greater than the initial efficiency data, if the abnormality degree of the target abnormality data is less than or equal to the abnormality degree of the initial abnormality data, then it is determined to change the initial job destination to the successor job destination.

[0055] Specifically, the initial operation data may also include initial abnormality data, and the target operation data may also include target abnormality data. When the target efficiency data is greater than the initial efficiency data, considering that there may be abnormal conditions in the operation area, for example, the operation vehicle cannot operate due to equipment failure, the operation area is closed due to falling rocks, etc., the server may further obtain the initial abnormality data and target abnormality data of the operation vehicle, and compare the target abnormality data with the initial abnormality data. If the abnormality degree of the target abnormality data is less than the abnormality degree of the initial abnormality data, it means that after adjusting the operation destination from the initial operation destination to the replacement operation destination, it is possible to prevent abnormal conditions from occurring or reduce the probability of abnormal conditions occurring. Therefore, it can be determined to change the operation destination to the replacement operation destination. is a reasonable and more efficient solution, that is, the initial work destination can be changed to the successor work destination; if the abnormality degree of the target abnormal data is equal to the abnormality degree of the initial abnormal data, it means that the adjustment of the work destination will not improve the abnormal situation, but because the adjustment of the work destination can improve the transportation efficiency of the work vehicle, it can be determined that changing the work destination to the successor work destination is also a relatively reasonable and more efficient solution, that is, the initial work destination can be changed to the successor work destination; if the abnormality degree of the target abnormal data is greater than the abnormality degree of the initial abnormal data, it means that the adjustment of the work destination will cause more abnormal situations to occur, so the solution of changing the work destination is unreasonable, that is, the initial work destination cannot be changed to the successor work destination.

[0056] According to the technical solution provided by the embodiment of the present disclosure, by judging the rationality of the change of the work destination based on the initial abnormal data and the target abnormal data when the target efficiency data is greater than the initial efficiency data, it is possible to more accurately determine whether the changed work destination is reasonable and more efficient. Therefore, the accuracy and reliability of the data are improved, the flexibility of the control of the work vehicle is improved, and the operating efficiency of the work vehicle is further improved.

[0057] In some embodiments, whether the successor work destination is reasonable is judged based on the current position of the work vehicle and the road topology structure, including: if the work vehicle has entered a preset range from the intersection, the successor work destination is determined to be unreasonable; or if a driving path from the current position to the successor work destination cannot be generated based on the current position of the work vehicle and the road topology structure, the successor work destination is determined to be unreasonable; or if the efficiency loss is greater than the efficiency difference between the target efficiency data and the initial efficiency data, the successor work destination is determined to be unreasonable; wherein, the efficiency loss is caused by the presence of U-turn sections, detour sections and / or return sections in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology structure.

[0058] Specifically, when determining to change the initial work destination to an alternate work destination, the server can determine the rationality of the alternate work destination based on the current location of the work vehicle and the road topology. The rationality judgment conditions can be designed according to actual needs and are not limited in this embodiment of the present disclosure. In actual applications, methods for determining that the alternate work destination is unreasonable may include, but are not limited to, the following examples.

[0059] Example 1

[0060] If the work vehicle has already entered the preset range from the intersection, that is, the current position of the work vehicle is inside or near the intersection, since it is uncertain whether changing the initial work destination to the successive work destination at this time can ensure that the work vehicle can switch the driving path to the successive work destination in time, it can be considered unreasonable to change the successive work destination.

[0061] Here, the preset range can be a distance threshold pre-set based on empirical data, or a distance threshold obtained by adjusting the preset distance threshold based on actual needs, and the present disclosure does not limit this. For example, the distance threshold can be any value between 500 meters and 2000 meters. Preferably, in the present disclosure embodiment, the distance threshold is 1000 meters, and the preset range can be a range with a radius of 1000 meters and a road intersection as the center.

[0062] A driving route refers to a trajectory from one destination to another or from a starting point to a destination. Furthermore, a route can be selected from multiple routes to determine as the optimal route. In the embodiment of the present disclosure, the optimal route refers to the shortest route.

[0063] Example 2

[0064] If a driving path from the current position to the successor work destination cannot be generated based on the current position of the work vehicle and the road topology, that is, a suitable driving path from the current position to the successor work destination cannot be found, it can be considered unreasonable to change the successor work destination.

[0065] Example 3

[0066] If the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology structure contains U-turn sections, detour sections and / or return sections, the work vehicle may incur additional efficiency losses due to U-turns, detours, and return trips, etc. If the efficiency loss is greater than the efficiency difference between the target efficiency data and the initial efficiency data, it indicates that the efficiency loss is greater than the expected efficiency improvement. Therefore, it can be considered unreasonable to change the successor work destination.

[0067] According to the technical solution provided by the embodiment of the present disclosure, by judging the rationality of the replacement work destination, it is possible to avoid the problem that the work vehicle cannot reach the replacement work destination or the operating efficiency of the work vehicle decreases due to unreasonable changes in the replacement work destination.

[0068] In some embodiments, the method also includes: in response to a destination change instruction, the work vehicle determines whether the successor work destination is reasonable based on the current position of the work vehicle and the road topology; if it is determined that the successor work destination is reasonable, the work vehicle changes the initial work destination to the successor work destination.

[0069] Specifically, considering that the communication and / or calculation delays between the management system and the work vehicle may cause the management system's judgment to fail, for example, during the high-speed operation of the work vehicle, due to the delay, there is a deviation between the position of the work vehicle when the management system performs calculations and the position of the work vehicle when the vehicle-side system performs calculations. Therefore, after receiving the destination change instruction, the work vehicle can make further judgments on the rationality of the replacement work destination based on the current position of the work vehicle and the road topology to determine whether to change the initial work destination to the replacement work destination; if it is determined that the replacement work destination is reasonable, the work vehicle can change the initial work destination to the replacement work destination. Here, the conditions for rationality judgment can be designed according to actual needs, and the embodiments of the present disclosure are not limited to this. In actual applications, the way in which the work vehicle determines that the replacement work destination is unreasonable may include but is not limited to the following examples.

[0070] Example 1

[0071] If a driving path from the current position to the successor work destination cannot be generated based on the current position of the work vehicle and the road topology, that is, a suitable driving path from the current position to the successor work destination cannot be found, it can be considered unreasonable to change the successor work destination.

[0072] Example 2

[0073] If there is a U-turn section (for example, a U-turn) in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology, the work vehicle may incur additional efficiency losses due to the U-turn that are greater than the expected efficiency improvement. Therefore, it can be considered unreasonable to change the successor work destination.

[0074] Example 3

[0075] If there is a turnaround section (for example, reversing) in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology, the work vehicle may incur additional efficiency losses due to the turnaround that are greater than the expected efficiency improvement. Therefore, it can be considered unreasonable to change the successor work destination.

[0076] Example 4

[0077] If there is a detour section in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology, the work vehicle may incur additional efficiency losses due to the detour that are greater than the expected efficiency improvement. Therefore, it can be considered unreasonable to change the successor work destination.

[0078] According to the technical solution provided by the embodiment of the present disclosure, by having the work vehicle make a secondary judgment on the rationality of the replacement work destination, the problem that the management system's judgment may fail due to communication and / or calculation delays between the management system and the work vehicle can be avoided. Therefore, the rationality of the changed work destination is improved, and the operating efficiency of the work vehicle is improved.

[0079] In some embodiments, the method further includes: when it is determined that the replacement work destination is unreasonable, recalculating initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and re-determining the initial work destination of the work vehicle.

[0080] Specifically, when it is determined that the replacement work destination is unreasonable, considering that the current position of the work vehicle changes in real time, in order to ensure the accuracy of the analysis results, the server needs to recalculate the initial operation data of the work vehicle from the current position of the work vehicle to the initial work destination, and re-determine the initial work destination of the work vehicle, that is, re-execute steps S301 to S305 as described above.

[0081] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present disclosure, and will not be described in detail here. In addition, the order of the sequence numbers of the steps in the above embodiments does not imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0082] FIG4 is a flow chart of another control method for a work vehicle provided by an exemplary embodiment of the present disclosure. The control method for the work vehicle in FIG4 can be executed by a server or electronic device in a management system. As shown in FIG4 , the control method for the work vehicle includes:

[0083] S401, obtaining an initial working destination of a working vehicle and calculating initial operation data of the working vehicle traveling from a current position of the working vehicle to the initial working destination, wherein the working vehicle is an autonomous vehicle or an unmanned vehicle;

[0084] S402, determining a replacement work destination of the work vehicle and calculating target operation data for the work vehicle to travel from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a timed trigger of the management system or by changing the work destination based on an abnormality trigger;

[0085] S403, determining whether to change the initial operation destination to a replacement operation destination based on the initial operation data and the target operation data, if yes, executing S404; otherwise, returning to S401;

[0086] S404: Based on the current position of the work vehicle and the road topology, determine whether the replacement work destination is reasonable. If so, execute S405; otherwise, return to S401;

[0087] S405, sending a destination change instruction to the working vehicle, wherein the destination change instruction is used to instruct the working vehicle to change the initial working destination to a subsequent working destination;

[0088] S406, in response to the destination change instruction, the working vehicle determines whether the alternative working destination is reasonable based on the current position of the working vehicle and the road topology. If so, execute S407; otherwise, return to S401;

[0089] S407, the working vehicle changes the initial working destination to a successor working destination;

[0090] S408: Control the work vehicle to travel from the current position of the work vehicle to the destination of the succeeding work.

[0091] According to the technical solution provided by the embodiment of the present disclosure, when determining to change the initial work destination to the second work destination based on the initial operation data and the target operation data, whether the successor work destination is reasonable is judged based on the current position of the work vehicle and the road topology structure, and when it is determined that the successor work destination is reasonable, a destination change instruction is sent to the work vehicle to instruct the work vehicle to change the initial work destination to the successor work destination; further, after receiving the destination change instruction, the work vehicle again judges whether the successor work destination is reasonable based on the current position of the work vehicle and the road topology structure, and when the successor work destination is reasonable, the work vehicle changes the initial work destination to the successor work destination. The rationality of the successor work destination can be judged by the management system and the work vehicle respectively, thereby avoiding the problem that the judgment of the management system may fail due to communication and / or calculation delays between the management system and the work vehicle, improving the rationality of the changed work destination, and improving the operation efficiency of the work vehicle.

[0092] In the case of dividing each functional module into corresponding functional modules, an embodiment of the present disclosure provides a control device for a work vehicle. The control device for the work vehicle can be a server or a chip used for a server. Figure 5 is a schematic diagram of the structure of a control device for a work vehicle provided by an exemplary embodiment of the present disclosure. As shown in Figure 5, the control device 500 of the work vehicle includes:

[0093] an acquisition module 501 configured to acquire an initial work destination of a work vehicle and calculate initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;

[0094] The determination module 502 is configured to determine a replacement work destination of the work vehicle and calculate target operation data for the work vehicle to travel from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a timed trigger of the management system or by changing the work destination based on an abnormal trigger;

[0095] A judgment module 503 is configured to, when it is determined based on the initial operation data and the target operation data that the initial operation destination is to be changed to the replacement operation destination, determine whether the replacement operation destination is reasonable based on the current position of the operation vehicle and the road topology;

[0096] The sending module 504 is configured to send a destination change instruction to the working vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the working vehicle to change the initial work destination to the replacement work destination;

[0097] The control module 505 is configured to control the work vehicle to travel from the current position of the work vehicle to the successor work destination.

[0098] According to the technical solution provided by the embodiment of the present disclosure, an initial work destination of a work vehicle is obtained, and initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination is calculated; a replacement work destination of the work vehicle is determined, and target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination is calculated, wherein the replacement work destination is a work destination after the initial work destination is changed; when it is determined based on the initial operation data and the target operation data that the initial work destination is changed to the replacement work destination, whether the replacement work destination is reasonable is judged based on the current position of the work vehicle and the road topology; when it is determined that the replacement work destination is reasonable, a destination change instruction is sent to the work vehicle to instruct the work vehicle to change the initial work destination to the replacement work destination; the work vehicle is controlled to travel from the current position of the work vehicle to the replacement work destination, and whether the work destination is changed can be determined based on the vehicle data before and after the work destination is changed, and whether the changed work destination is reasonable can be judged based on the current position of the work vehicle and the road topology. Therefore, the rationality of the changed work destination is improved, the flexibility of the work vehicle control is improved, and the operation efficiency of the work vehicle is improved.

[0099] In some embodiments, the initial operation data includes initial efficiency data, and the target operation data includes target efficiency data. If the target efficiency data is greater than the initial efficiency data, the judgment module 503 of FIG5 determines to change the initial operation destination to the replacement operation destination.

[0100] In some embodiments, the initial operation data also includes initial abnormality data, and the target operation data also includes target abnormality data. When the target efficiency data is greater than the initial efficiency data, if the abnormality degree of the target abnormality data is less than or equal to the abnormality degree of the initial abnormality data, the judgment module 503 of Figure 5 determines to change the initial job destination to the replacement job destination.

[0101] In some embodiments, if the work vehicle has entered a preset range from the intersection, the judgment module 503 of Figure 5 determines that the replacement work destination is unreasonable; or, if a driving path from the current position to the replacement work destination cannot be generated based on the current position of the work vehicle and the road topology structure, the judgment module 503 of Figure 5 determines that the replacement work destination is unreasonable; or, if the efficiency loss is greater than the efficiency difference between the target efficiency data and the initial efficiency data, the judgment module 503 of Figure 5 determines that the replacement work destination is unreasonable, wherein the efficiency loss is caused by the presence of U-turn sections, detour sections and / or return sections in the driving path from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure.

[0102] In some embodiments, in response to a destination change instruction, the work vehicle determines whether the successor work destination is reasonable based on the current position of the work vehicle and the road topology; if it is determined that the successor work destination is reasonable, the work vehicle changes the initial work destination to the successor work destination.

[0103] In some embodiments, if a driving path from the current position to the successor work destination cannot be generated based on the current position of the work vehicle and the road topology, it is unreasonable for the work vehicle to determine that the successor work destination is unreasonable; or, if there is a U-turn section in the driving path from the current position to the successor work destination generated based on the current position of the work vehicle and the road topology, it is unreasonable for the work vehicle to determine that the successor work destination is unreasonable; or, if there is a return driving section in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology, it is unreasonable for the work vehicle to determine that the successor work destination is unreasonable.

[0104] In some embodiments, the method further includes: a calculation module 506. When it is determined that the replacement work destination is unreasonable, the calculation module 506 of Figure 5 is configured to recalculate the initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and the determination module 502 of Figure 5 re-determines the initial work destination of the work vehicle.

[0105] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0106] An embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; a memory for storing instructions executable by at least one processor; wherein the at least one processor is used to execute instructions to implement the steps of the control method of the above-mentioned work vehicle disclosed in the embodiment of the present disclosure.

[0107] Figure 6 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. As shown in Figure 6, the electronic device 600 includes at least one processor 601 and a memory 602 coupled to the processor 601. The processor 601 can execute the corresponding steps in the above method disclosed in the embodiment of the present disclosure.

[0108] The processor 601 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the above method disclosed in the embodiment of the present disclosure can be completed by the hardware integrated logic circuit in the processor 601 or by instructions in the form of software. The processor 601 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present disclosure can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in the memory 602, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or other mature storage media in the art. The processor 601 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0109] In addition, when various operations / processes according to the present disclosure are implemented via software and / or firmware, the programs constituting the software can be installed from a storage medium or a network to a computer system having a dedicated hardware structure, such as the computer system 700 shown in FIG7 . When the various programs are installed, the computer system can perform various functions, including those described above. FIG7 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure.

[0110] Computer system 700 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic equipment can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0111] As shown in FIG7 , a computer system 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the computer system 700 may also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0112] Multiple components within computer system 700 are connected to I / O interface 705, including an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. Input unit 706 can be any type of device capable of inputting information into computer system 700. Input unit 706 can receive input numeric or character information and generate key input signals related to user settings and / or function control of an electronic device. Output unit 707 can be any type of device capable of presenting information and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 708 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 709 allows computer system 700 to exchange information / data with other devices over a network, such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0113] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the above-mentioned method disclosed in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the above-mentioned method disclosed in the embodiments of the present disclosure by any other appropriate means (e.g., by means of firmware).

[0114] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the embodiment of the present disclosure.

[0115] The computer-readable storage medium in the embodiments of the present disclosure can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The above-mentioned computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specifically, the above-mentioned computer-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0116] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0117] The embodiments of the present disclosure further provide a computer program product, including a computer program, wherein the computer program implements the above method disclosed in the embodiments of the present disclosure when executed by a processor.

[0118] In embodiments of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or hardware. The names of the modules, components, or units do not necessarily limit the modules, components, or units themselves.

[0121] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0122] The above descriptions are merely some embodiments of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0123] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A control method for a working vehicle, characterized in that: include: Acquiring an initial working destination of a working vehicle, and calculating initial operation data of the working vehicle traveling from a current position of the working vehicle to the initial working destination, wherein the working vehicle is an automatic driving vehicle or an unmanned vehicle; Determine a replacement work destination of the work vehicle, and calculate target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by changing the work destination based on a timed trigger of the management system or an abnormal trigger; In the case where it is determined based on the initial operation data and the target operation data to change the initial operation destination to the replacement operation destination, judging whether the replacement operation destination is reasonable based on the current position of the operation vehicle and the road topology; When it is determined that the replacement operation destination is reasonable, sending a destination change instruction to the operation vehicle, wherein the destination change instruction is used to instruct the operation vehicle to change the initial operation destination to the replacement operation destination; The work vehicle is controlled to travel from a current position of the work vehicle to the replacement work destination.

2. The method according to claim 1, characterized in that The initial operation data includes initial efficiency data, the target operation data includes target efficiency data, and determining to change the initial operation destination to the replacement operation destination based on the initial operation data and the target operation data includes: If the target efficiency data is greater than the initial efficiency data, it is determined to change the initial work destination to the replacement work destination.

3. The method according to claim 2, characterized in that The initial operation data further includes initial abnormality data, the target operation data further includes target abnormality data, and the determining to change the initial operation destination to the replacement operation destination based on the initial operation data and the target operation data includes: In a case where the target efficiency data is greater than the initial efficiency data, if the abnormality degree of the target abnormality data is less than or equal to the abnormality degree of the initial abnormality data, it is determined to change the initial work destination to the replacement work destination.

4. The method according to claim 2, characterized in that: The determining whether the destination of the replacement operation is reasonable based on the current position of the operation vehicle and the road topology structure includes: If the working vehicle has entered the preset range from the intersection, it is determined that the replacement working destination is unreasonable; or If it is not possible to generate a path from the current position to the road based on the current position of the work vehicle and the road topology structure, the driving path of the replacement operation destination, then it is determined that the replacement operation destination is unreasonable; or If the efficiency loss is greater than the efficiency difference between the target efficiency data and the initial efficiency data, it is determined that the successor work destination is unreasonable, wherein the efficiency loss is caused by the presence of a U-turn section, a detour section and / or a return section in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology structure.

5. The method according to claim 1, characterized in that The method further comprises: In response to the destination change instruction, the working vehicle determines whether the replacement working destination is reasonable based on the current position of the working vehicle and the road topology structure; When it is determined that the replacement work destination is reasonable, the work vehicle changes the initial work destination to the replacement work destination.

6. The method according to claim 5, characterized in that The determining by the working vehicle whether the replacement working destination is reasonable based on the current position of the working vehicle and the road topology structure includes: If a driving path from the current position to the alternate work destination cannot be generated based on the current position of the work vehicle and the road topology, it is unreasonable for the work vehicle to determine the alternate work destination; or If there is a U-turn section in the driving path from the current position to the alternative working destination generated based on the current position of the working vehicle and the road topology structure, it is unreasonable for the working vehicle to determine the alternative working destination; or If there is a turnaround section in the driving path from the current position of the work vehicle to the successor work destination generated based on the current position of the work vehicle and the road topology structure, it is unreasonable for the work vehicle to determine the successor work destination.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When it is determined that the replacement work destination is unreasonable, the initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination is recalculated, and the initial work destination of the work vehicle is re-determined.

8. A control device for a working vehicle, characterized in that: include: an acquisition module configured to acquire an initial operation destination of the operation vehicle and calculate initial operation data of the operation vehicle traveling from a current position of the operation vehicle to the initial operation destination; a determination module configured to determine a replacement work destination of the work vehicle and calculate target operation data of the work vehicle traveling from a current position of the work vehicle to the replacement work destination, wherein the replacement work destination is a work destination after the initial work destination is modified; a judgment module configured to judge whether the successor operation destination is reasonable based on the current position of the operation vehicle and the road topology structure when it is determined to change the initial operation destination to the successor operation destination based on the initial operation data and the target operation data; A sending module is configured to send a destination change instruction to the working vehicle when it is determined that the replacement working destination is reasonable, wherein the destination change instruction is used to instruct the working vehicle to change the initial working destination to the replacement working destination; The control module is configured to control the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

9. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 7.

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