CN118192575A - Vehicle driving method, device, computer device and storage medium - Google Patents
Vehicle driving method, device, computer device and storage medium Download PDFInfo
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Abstract
The present application relates to the field of vehicle control technology, and in particular, to a vehicle driving method, apparatus, computer device, and storage medium. The method comprises the following steps: acquiring an aerial scanning map fed back by the unmanned aerial vehicle; determining a task running track corresponding to the ground vehicle from the aerial scanning map; and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track. According to the application, the aerial scanning map is acquired, so that the task running track corresponding to the ground vehicle can be determined according to the aerial scanning map, and the unmanned aerial vehicle can avoid the obstacle existing in the aerial scanning map when the task running track is determined in the aerial scanning map because the aerial scanning map enables the unmanned aerial vehicle to scan the acquired environment map, so that the ground vehicle can avoid the obstacle when the subsequent ground vehicle runs to the task end point according to the task running track, and the ground vehicle can smoothly run to the task end point according to the task running track.
Description
Technical Field
The present application relates to the field of vehicle control technology, and in particular, to a vehicle driving method, apparatus, computer device, and storage medium.
Background
With the continuous development of unmanned vehicle technology, more and more transportation tasks can entrust unmanned vehicles to finish the transportation of articles, and the unmanned vehicles are used for carrying out the transportation of articles, so that the smooth completion of the transportation tasks can be ensured, and the labor cost required by the transportation tasks is reduced.
However, in the course of the transportation of the article, there may be an obstacle in the travel path that affects the travel of the unmanned vehicle due to the unknown environment, so that the unmanned vehicle may stop the transportation while being blocked by the obstacle.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle running method, apparatus, computer device, and storage medium that can ensure that an unmanned vehicle can smoothly complete a transportation task.
In a first aspect, the present application provides a vehicle driving method. The method comprises the following steps:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
Determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In one embodiment, the determining, from the aerial scan map, a task driving track corresponding to the ground vehicle includes:
determining at least one task track point in the aerial scanning map;
And determining a task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment, the determining at least one task trajectory point in the aerial scan map includes:
Determining an obstacle region in the aerial scan map;
And determining at least one task track point in the aerial scanning map according to the vehicle duration of the ground vehicle and the obstacle region.
In one embodiment, the sending the task travel track to the ground vehicle includes:
and sending the task running track to a data transmission radio station so that the data transmission radio station sends the task running track to the ground vehicle.
In one embodiment, the method further comprises:
receiving rescue request information fed back by the ground vehicle;
performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track;
And sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
In one embodiment, the rescue request message is sent after the ground vehicle recognizes an obstacle through a lidar.
In a second aspect, the application also provides a vehicle running device. The device comprises:
the acquisition module is used for acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
the determining module is used for determining a task running track corresponding to the ground vehicle from the aerial scanning map;
And the sending module is used for sending the task running track to the ground vehicle so that the ground vehicle can run to a task end point according to the task running track.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
Determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
Determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
Determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
The vehicle driving method, the vehicle driving device, the computer equipment and the storage medium acquire the aerial scanning map, determine the task driving track corresponding to the ground vehicle in the aerial scanning map, and further send the task driving track to the ground vehicle so that the ground vehicle can drive to a task terminal point according to the task driving track. According to the method, the aerial scanning map is acquired, so that the task running track corresponding to the ground vehicle can be determined according to the aerial scanning map, and the unmanned aerial vehicle can avoid the obstacle existing in the aerial scanning map when the task running track is determined in the aerial scanning map because the aerial scanning map enables the unmanned aerial vehicle to scan the acquired environment map, so that the ground vehicle can avoid the obstacle when the ground vehicle runs to the task end point according to the task running track, and the ground vehicle can smoothly run to the task end point according to the task running track.
Drawings
Fig. 1 is a schematic flow chart of a first vehicle driving method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a second vehicle driving method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a third vehicle driving method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a fourth vehicle driving method according to an embodiment of the present application;
fig. 5 is a block diagram of a first vehicle running apparatus according to an embodiment of the present application;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, the method is applied to a terminal for illustration, and it is understood that the method can also be applied to a server, and can also be applied to a system including the terminal and the server, and implemented through interaction between the terminal and the server. The terminal can be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be smart speakers, smart televisions, smart air conditioners, smart vehicle-mounted equipment and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server may be implemented as a stand-alone server or as a server cluster composed of a plurality of servers.
In this embodiment, as shown in fig. 1, there is provided a vehicle running method including the steps of:
s101, acquiring an aerial scanning map fed back by the unmanned aerial vehicle.
The aerial scanning map can be a three-dimensional point cloud map or a planar live-action map, further, the map type of the aerial scanning map can be determined according to a map acquisition mode of the unmanned aerial vehicle, and the map type of the aerial scanning map is not limited.
In one embodiment of the application, an onboard camera is configured in the unmanned aerial vehicle, and the unmanned aerial vehicle can shoot a video of the environment through the onboard camera, so that video data of the surrounding environment is obtained, and image stitching and image processing are carried out on the video data, so that an air scanning map is obtained.
In another embodiment of the application, an organic laser radar can be configured in the unmanned aerial vehicle, the unmanned aerial vehicle can perform radar scanning on the environment where the unmanned aerial vehicle is located through the airborne laser radar, so that a three-dimensional point cloud image of the surrounding environment is obtained, and the three-dimensional point cloud image is subjected to point cloud processing, so that an air scanning map is obtained.
In yet another embodiment of the application, the unmanned aerial vehicle can be configured with an onboard camera and an onboard laser radar, and the unmanned aerial vehicle can acquire information of the environment through the onboard camera and the onboard laser radar, so that video data and a three-dimensional point cloud image of the surrounding environment are obtained, and image stitching and point cloud processing are carried out on the video data and the three-dimensional point cloud image, so that an aerial scan map is obtained.
Further, an unmanned aerial vehicle stand can be provided, and the unmanned aerial vehicle stand can realize electric energy supplementing operation for the unmanned aerial vehicle.
S102, determining a task running track corresponding to the ground vehicle from the aerial scanning map.
The task running track refers to a running track connecting a task starting point and a task ending point; the starting point of the task is the current position of the ground vehicle; the end point of the task is the target position which the ground vehicle needs to reach.
When the task travel track corresponding to the ground vehicle needs to be determined from the aerial scan map, the task travel track corresponding to the ground vehicle may be determined according to the map information in the aerial scan map.
Further, the task driving track corresponding to the ground vehicle can be determined according to the road distribution in the aerial scanning map.
In one embodiment of the present application, when a task driving track corresponding to a ground vehicle needs to be determined, a movable road in the air scan map may be identified, and further, a task driving track connecting a task start point to a task end point may be determined according to the movable road in the air scan map.
Further stated, the mission travel track corresponding to the ground vehicle may be determined based on road distribution in the aerial scan map and the available travel range of the ground vehicle.
In one embodiment of the application, when the task running track corresponding to the ground vehicle needs to be determined, a movable road in the air scanning map can be identified, and at least one candidate running track connecting the task starting point to the task ending point is determined; and taking the candidate running tracks with the available running mileage smaller than that of the ground vehicle as the corresponding task running tracks of the ground vehicle.
Further, the task running track corresponding to the ground vehicle can be determined according to the obstacle distribution in the aerial scanning map.
In one embodiment of the application, when the task running track corresponding to the ground vehicle needs to be determined, the obstacle distribution in the aerial scanning map can be identified, further, the task running track connecting the task starting point to the task ending point is determined according to the obstacle distribution in the aerial scanning map, and the task running track avoids the obstacles in all the aerial scanning maps.
And S103, transmitting the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In one embodiment, when the mission travel track needs to be transmitted to the ground vehicle, the mission travel track may be transmitted to the relay device, such that the relay device transmits the mission travel track to the ground vehicle.
In one embodiment of the present application, the transferring device may send the task running track to the data transfer station, so that the data transfer station sends the task running track to the ground vehicle.
According to the vehicle driving method, the aerial scanning map is obtained, the task driving track corresponding to the ground vehicle is determined in the aerial scanning map, and then the task driving track is sent to the ground vehicle, so that the ground vehicle can drive to the task terminal point according to the task driving track. According to the method, the aerial scanning map is acquired, so that the task running track corresponding to the ground vehicle can be determined according to the aerial scanning map, and the unmanned aerial vehicle can avoid the obstacle existing in the aerial scanning map when the task running track is determined in the aerial scanning map because the aerial scanning map enables the unmanned aerial vehicle to scan the acquired environment map, so that the ground vehicle can avoid the obstacle when the ground vehicle runs to the task end point according to the task running track, and the ground vehicle can smoothly run to the task end point according to the task running track.
In one embodiment, as shown in fig. 2, when the task driving track corresponding to the ground vehicle needs to be determined from the aerial scanning map, the following may be specifically included:
S201, determining at least one task track point in the aerial scanning map.
The task track points refer to position coordinates which need to be passed by a ground vehicle in the running process.
In one embodiment of the application, when at least one task track point in the air scan map needs to be determined, the position coordinate of the ground vehicle, which needs to pass through in the running process, can be determined based on the transportation task requirement, and then the mapping position of the position coordinate in the air scan map is used as the at least one task track point in the air scan map.
In another embodiment of the present application, when at least one task track point in the air scan map needs to be determined, the air scan map may also be fed back to a human-machine interaction HMI (human-machine interface), so as to indicate that an operator can determine at least one task track point in the air scan map according to the human-machine interaction HMI and in combination with an actual requirement, and each task track point selected by the operator is fed back to a terminal device executing the vehicle driving method through the human-machine interaction HMI.
It should be noted that, when at least one task track point in the air scan map needs to be determined, the following may be specifically included: determining an obstacle region in the aerial scan map; and determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
Further, in order to ensure that the ground vehicle can smoothly travel to the task end point, when determining each task track point, the vehicle endurance of the ground vehicle needs to be considered, so that the problem that the vehicle endurance of the ground vehicle cannot smoothly travel to the task end point when determining the task travel track corresponding to the ground vehicle according to the task track point is prevented.
Further, in order to ensure that the ground vehicle can smoothly travel to the task end point, the obstacle region needs to be considered when determining each task track point, so that the ground vehicle cannot smoothly travel to the task end point due to the obstacle region when determining the task travel track corresponding to the ground vehicle according to the task track point.
S202, determining a task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment of the application, when the task running track corresponding to the ground vehicle is required to be determined according to each task track point in the aerial scanning map, at least one map road capable of connecting each task track point can be selected by combining road distribution in the aerial scanning map, and the target road obtained by connecting each map road end to end is the task running track corresponding to the ground vehicle.
According to the vehicle driving method, the aerial scanning map is obtained, the task track points are determined, and the task driving track corresponding to the ground vehicle is determined according to the task track points. Therefore, the application determines the task running track corresponding to the ground vehicle according to the task track points, realizes avoiding the obstacles in the aerial scanning map, and further ensures that the obstacles can be avoided from blocking when the subsequent ground vehicle runs to the task end point according to the task running track, so as to ensure that the ground vehicle can smoothly run to the task end point according to the task running track.
In one embodiment, as shown in fig. 3, if the rescue request information fed back by the ground vehicle is received, the following may be specifically included:
S301, receiving rescue request information fed back by the ground vehicle.
The request rescue information is information sent after the ground vehicle recognizes an obstacle through the laser radar.
S302, carrying out track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track.
The waiting rescue position is a position where the ground vehicle cannot travel after encountering an obstacle, so that when the task travel track is modified, the waiting rescue position needs to be avoided, and the target travel track is redetermined.
At least one task track point and a task end point which are not passed by the ground vehicle are connected in the target running track.
In one embodiment of the present application, in order to ensure that the following ground vehicle can smoothly travel to the destination according to the target travel track, the ground vehicle may be retracted to the nearest bifurcation, so that a new route is selected at the bifurcation to form the target travel track.
Further, if the nearest bifurcation cannot be determined, determining a sub-path bypassing the obstacle by a laser radar arranged on the ground vehicle, and combining the sub-path with the task running track to obtain a target running track bypassing the obstacle.
S303, the target running track is sent to the ground vehicle, so that the ground vehicle runs to the task end point according to the target running track.
In one embodiment of the present application, when it is desired to transmit the target travel track to the ground vehicle, the illustrated target travel track may be transmitted to the data transfer station such that the data transfer station transmits the target travel track to the ground vehicle.
According to the vehicle running method, the target running track is determined, so that the barrier of the barrier can be avoided when the following ground vehicle runs to the task end point according to the target running track, and the ground vehicle can smoothly run to the task end point according to the target running track.
In one embodiment, as shown in fig. 4, when the ground vehicle needs to travel to the destination according to the task travel track, the following may be specifically included:
S401, acquiring an aerial scanning map fed back by the unmanned aerial vehicle.
S402, determining an obstacle region in the aerial scanning map.
S403, determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
S404, determining a task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
S405, the task running track is sent to the data transmission station, so that the data transmission station sends the task running track to the ground vehicle, and the ground vehicle runs to the task end point according to the task running track.
S406, receiving rescue request information fed back by the ground vehicle.
S407, carrying out track modification on the task running track according to the waiting rescue position in the request rescue information to obtain the target running track.
S408, the target running track is sent to the ground vehicle, so that the ground vehicle runs to the task end point according to the target running track.
According to the vehicle driving method, the aerial scanning map is obtained, the task driving track corresponding to the ground vehicle is determined in the aerial scanning map, and then the task driving track is sent to the ground vehicle, so that the ground vehicle can drive to the task terminal point according to the task driving track. According to the method, the aerial scanning map is acquired, so that the task running track corresponding to the ground vehicle can be determined according to the aerial scanning map, and the unmanned aerial vehicle can avoid the obstacle existing in the aerial scanning map when the task running track is determined in the aerial scanning map because the aerial scanning map enables the unmanned aerial vehicle to scan the acquired environment map, so that the ground vehicle can avoid the obstacle when the ground vehicle runs to the task end point according to the task running track, and the ground vehicle can smoothly run to the task end point according to the task running track.
It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a vehicle running device for realizing the vehicle running method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation of one or more embodiments of the vehicle driving device provided below may refer to the limitation of the vehicle driving method hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 5, there is provided a vehicle running apparatus including: an acquisition module 10, a determination module 20 and a transmission module 30, wherein:
And the acquisition module 10 is used for acquiring the aerial scanning map fed back by the unmanned aerial vehicle.
And the determining module 20 is used for determining the task running track corresponding to the ground vehicle from the aerial scanning map.
And the sending module 30 is used for sending the task running track to the ground vehicle so that the ground vehicle runs to the task end point according to the task running track.
In one embodiment, at least one mission trajectory point in an aerial scan map is determined; and determining the task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment, an obstacle region in an aerial scan map is determined; and determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
In one embodiment, the mission travel track is transmitted to the data transfer station such that the data transfer station transmits the mission travel track to the ground vehicle.
In one embodiment, receiving rescue request information fed back by a ground vehicle; performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track; and sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
In one embodiment, the request rescue information is information transmitted after the ground vehicle recognizes an obstacle through a lidar.
The vehicle running device acquires the aerial scanning map, determines the task running track corresponding to the ground vehicle in the aerial scanning map, and then sends the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track. According to the method, the aerial scanning map is acquired, so that the task running track corresponding to the ground vehicle can be determined according to the aerial scanning map, and the unmanned aerial vehicle can avoid the obstacle existing in the aerial scanning map when the task running track is determined in the aerial scanning map because the aerial scanning map enables the unmanned aerial vehicle to scan the acquired environment map, so that the ground vehicle can avoid the obstacle when the ground vehicle runs to the task end point according to the task running track, and the ground vehicle can smoothly run to the task end point according to the task running track.
Each of the modules in the vehicle running apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle driving method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In one embodiment, the processor when executing the computer program further performs the steps of:
Determining at least one task track point in an aerial scanning map;
and determining the task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment, the processor when executing the computer program further performs the steps of:
Determining an obstacle region in the aerial scan map;
And determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
In one embodiment, the processor when executing the computer program further performs the steps of:
And sending the task running track to the data transmission radio station so that the data transmission radio station sends the task running track to the ground vehicle.
In one embodiment, the processor when executing the computer program further performs the steps of:
receiving rescue request information fed back by a ground vehicle;
Performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track;
And sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
In one embodiment, the processor when executing the computer program further performs the steps of:
the request rescue information is information sent after the ground vehicle recognizes an obstacle through the laser radar.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining at least one task track point in an aerial scanning map;
and determining the task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining an obstacle region in the aerial scan map;
And determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
And sending the task running track to the data transmission radio station so that the data transmission radio station sends the task running track to the ground vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving rescue request information fed back by a ground vehicle;
Performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track;
And sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the request rescue information is information sent after the ground vehicle recognizes an obstacle through the laser radar.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining at least one task track point in an aerial scanning map;
and determining the task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Determining an obstacle region in the aerial scan map;
And determining at least one task track point in the aerial scanning map according to the vehicle endurance and the obstacle region of the ground vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
And sending the task running track to the data transmission radio station so that the data transmission radio station sends the task running track to the ground vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving rescue request information fed back by a ground vehicle;
Performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track;
And sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the request rescue information is information sent after the ground vehicle recognizes an obstacle through the laser radar.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A vehicle travel method, the method comprising:
acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
Determining a task running track corresponding to the ground vehicle from the aerial scanning map;
and sending the task running track to the ground vehicle so that the ground vehicle runs to a task end point according to the task running track.
2. The method of claim 1, wherein determining a mission travel track corresponding to a ground vehicle from the aerial scan map comprises:
determining at least one task track point in the aerial scanning map;
And determining a task running track corresponding to the ground vehicle according to each task track point in the aerial scanning map.
3. The method of claim 2, wherein the determining at least one task trajectory point in the aerial scan map comprises:
Determining an obstacle region in the aerial scan map;
And determining at least one task track point in the aerial scanning map according to the vehicle duration of the ground vehicle and the obstacle region.
4. The method of claim 1, wherein the transmitting the mission travel trajectory to the ground vehicle comprises:
and sending the task running track to a data transmission radio station so that the data transmission radio station sends the task running track to the ground vehicle.
5. The method according to claim 1, wherein the method further comprises:
receiving rescue request information fed back by the ground vehicle;
performing track modification on the task running track according to the waiting rescue position in the request rescue information to obtain a target running track;
And sending the target running track to the ground vehicle so that the ground vehicle runs to a task end point according to the target running track.
6. The method of claim 5, wherein the request rescue message is a message sent by the ground vehicle after the ground vehicle recognizes an obstacle by a lidar.
7. A vehicle running apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring an aerial scanning map fed back by the unmanned aerial vehicle;
the determining module is used for determining a task running track corresponding to the ground vehicle from the aerial scanning map;
And the sending module is used for sending the task running track to the ground vehicle so that the ground vehicle can run to a task end point according to the task running track.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410359871.6A CN118192575A (en) | 2024-03-27 | 2024-03-27 | Vehicle driving method, device, computer device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410359871.6A CN118192575A (en) | 2024-03-27 | 2024-03-27 | Vehicle driving method, device, computer device and storage medium |
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| Publication Number | Publication Date |
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| CN118192575A true CN118192575A (en) | 2024-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410359871.6A Pending CN118192575A (en) | 2024-03-27 | 2024-03-27 | Vehicle driving method, device, computer device and storage medium |
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| Country | Link |
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| CN (1) | CN118192575A (en) |
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- 2024-03-27 CN CN202410359871.6A patent/CN118192575A/en active Pending
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