CN114435352A - Automatic driving system of unmanned tourist coach for wild zoo stocking area - Google Patents

Abstract

The invention provides an automatic driving system for an unmanned tourist vehicle used in a wild zoo stocking area, comprising a driving module and a central control module. The driving module includes: a first sensor for detecting obstacles around the unmanned tourist vehicle; The sensing unit of the second sensor for detecting whether there is an obstacle under the vehicle before the unmanned sightseeing vehicle starts; the positioning unit for locating the current position of the unmanned sightseeing vehicle; planning the driving path of the unmanned sightseeing vehicle, and A driving control unit for controlling based on the situation detected by the sensing unit; and a communication unit for communicating with a central control module, the central control module includes: a receiving unit for receiving the location information and driving information of the unmanned tourist vehicle; and a monitoring unit for monitoring the situation outside the vehicle; and a remote control unit for remote control of the unmanned tour bus by an administrator.

Description

Self-driving system for unmanned tourist vehicles in safari stocking areas

technical field

The invention relates to the technical field of automatic driving in special scenarios, in particular to an automatic driving system of an unmanned tourist vehicle used in a wild zoo stocking area.

Background technique

With the development of the times, artificial intelligence and autonomous driving have become more and more popular, and their application directions have become more and more extensive. In the future, the application of technologies such as unmanned taxis, unmanned express vehicles, and autonomous parking will greatly improve people's lives, reduce traffic accidents, liberate labor, and make life more efficient and convenient.

With the improvement of people's living standards, people have begun to pay more and more attention to spiritual consumption. Every holiday and holiday, major tourist attractions are full of tourists, which also brings great pressure to the efficient operation and management of scenic spots, and the demand for sightseeing buses has also increased sharply. . Since most of the sightseeing cars are fixed routes, unmanned driving solutions can be used for efficient management and operation. Many existing technical patents focus on the concept and system design of unmanned sightseeing vehicles on pedestrian sightseeing roads in scenic spots, and most of the traffic participants are vehicles and pedestrians.

As a special area of the zoo, the stocking area of the wildlife park is generally closed and managed, and some wild animals such as tigers, lions, cheetahs, etc. are stocked in it. At present, the way of visiting this area is generally that the zoo uses a fully enclosed tour vehicle for tourists to go sightseeing along a fixed route, and stops at a specific place to allow tourists to feed the beasts. As a special application field of autonomous driving, this scenario also has huge market prospects, such as wildlife parks, special national forest parks, and nature reserves. Since its traffic participants are usually only animals, special animals may be very close to the car while the vehicle is running and interact with tourists. At this time, special perception, obstacle avoidance, and planning strategies need to be designed for this scenario. The autonomous driving system is different from the way ordinary unmanned sightseeing vehicles handle pedestrians.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic driving system of an unmanned tourist vehicle suitable for a wild zoo stocking area.

According to one aspect of the present invention, there is provided an automatic driving system for an unmanned tourist vehicle in a wild zoo stocking area, characterized in that it includes a driving module and a central control module, and the driving module includes: a sensing unit, the sensing unit having a first sensor for detecting obstacles around the unmanned tourist vehicle and a second sensor for detecting whether there are obstacles on the bottom of the unmanned tourist vehicle before the unmanned tourist vehicle starts; a positioning unit, which locates the current position of the unmanned tourist vehicle; a driving control unit, which plans the driving path of the unmanned tourist vehicle, and based on the situation detected by the sensing unit Controlling the unmanned tour bus; and a communication unit for communicating with the central control module, the central control module comprising: a receiving unit for receiving the position of the unmanned tour bus information and driving information; a monitoring unit, which monitors the interior and exterior conditions of the unmanned tour bus; and a remote control unit, which is used by an administrator to monitor the unmanned tour bus remote control.

Preferably, during the driving process of the unmanned tour bus, if the sensing unit detects that there is the obstacle at a second distance in front of the unmanned tour bus, the driving control unit controls the unmanned tour bus to control the unmanned tour bus. Before the unmanned tour bus starts, if the sensing unit detects that there is the obstacle on the bottom of the unmanned tour bus or is in If there is the obstacle within a range less than the second distance from the front of the unmanned tourist vehicle, the driving control unit does not start the unmanned tourist vehicle, and the communication unit notifies the situation to the Central control module.

Preferably, the driving module further includes an obstacle driving unit for driving away the obstacle. During the driving of the unmanned tourist vehicle, if the sensing unit detects that the unmanned tourist vehicle is If there is the obstacle at a first distance ahead, the driving control unit uses the obstacle driving unit to drive away the obstacle while controlling the unmanned tourist vehicle to continue driving. If the obstacle is not successfully driven away from the obstacle at the second distance in front of the unmanned sightseeing vehicle, the driving control unit controls the unmanned sightseeing vehicle to bypass the obstacle, and then continues to follow the driving path. Driving, before the unmanned tour bus starts, if the sensing unit detects that the unmanned tour bus has the obstacle under the vehicle or is in a range less than the second distance in front of the unmanned tour bus If there is the obstacle inside, the driving control unit will not start the unmanned tour bus and use the obstacle driving unit to drive the obstacle away. If the obstacle is detected, the communication unit notifies the central control module of the situation, wherein the second distance is smaller than the first distance.

Preferably, the obstacle driving unit drives away the obstacle by whistling or playing animal sounds.

Preferably, the travel control unit plans the travel path of the unmanned tourist vehicle by means of tracking.

Preferably, there is also a tourist service module, the tourist service module includes: a voice prompt unit, the voice prompt unit combines the positioning information of the positioning unit and the body information of the unmanned tour bus to remind tourists to close/open the door , arrival site and precautions; and an intelligent scenic spot explanation unit, the intelligent scenic spot explanation unit obtains the current area where the unmanned sightseeing vehicle is located according to the positioning information of the positioning unit, and explains the relevant knowledge of the animals in the area.

Preferably, the sensing unit identifies what kind of animal the detected obstacle is, and the intelligent scenic spot explaining unit explains the relevant knowledge of the animal based on the animal identified by the sensing unit.

Preferably, the perception unit uses the YOLO deep learning algorithm to identify what kind of animal the obstacle is through training on animal data sets.

Preferably, the tourist service module includes a first communication unit, the central control module includes a second communication unit, and the first communication unit and the second communication unit communicate with each other, so that the tourists can communicate with the administrator.

Preferably, the first sensor includes a front-view camera and a surround-view camera, and the second sensor is a vehicle bottom camera.

According to the automatic driving system of the unmanned tourist vehicle used in the wild zoo stocking area provided by the present invention, not only the obstacles around the unmanned tourist vehicle can be sensed, but also the unmanned tourist vehicle can be sensed when it is in a parked state. The obstacle at the bottom of the unmanned tour bus will be driven away and the administrator will be notified according to the above-mentioned situation, so as to realize the automatic driving system suitable for the special scene of the stocking area of the safari park.

Description of drawings

FIG. 1 is a scene schematic diagram of an automatic driving system for an unmanned tourist vehicle in a wild zoo stocking area according to an embodiment of the present invention.

FIG. 2 is a schematic block diagram showing the structure of an automatic driving system for an unmanned tourist vehicle used in a wild zoo stocking area according to an embodiment of the present invention.

Detailed ways

Hereinafter, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

FIG. 1 is a scene schematic diagram of an automatic driving system for an unmanned tourist vehicle in a wild zoo stocking area according to an embodiment of the present invention. FIG. 2 is a schematic block diagram showing the structure of an automatic driving system for an unmanned tourist vehicle used in a wild zoo stocking area according to an embodiment of the present invention.

The automatic driving system 100 of an unmanned tourist vehicle according to an embodiment of the present invention is used in the enclosed wild zoo stocking area shown in FIG. 1 , and the unmanned tourist vehicle 1 travels from the starting point S to the end point along a fixed path in the enclosed area. E. During the entire tour and viewing process, the unmanned sightseeing vehicle 1 will also stop briefly to allow tourists to view animals in the nearby area on the vehicle.

As shown in FIG. 2 , the automatic driving system 100 for an unmanned tourist vehicle in a wild zoo stocking area provided by this embodiment includes a driving module 10 , a central control module 20 and a tourist service module 30 .

The driving module 10 is used to realize the automatic driving function of the unmanned tourist vehicle 1. Since the unmanned tourist vehicle 1 is used in the specific scene of the wild zoo stocking area, in addition to the conventional automatic driving function, it also has the special Scenario-related autopilot functions. In this embodiment, the driving module 10 includes: a sensing unit 11 , a positioning unit 12 , an obstacle driving unit 13 , a driving control unit 14 and a communication unit 15 .

The sensing unit 11 has a first sensor 110 that detects obstacles (animals) around the unmanned tourist vehicle 1 and detects whether there is an obstacle under the unmanned tourist vehicle 1 before the unmanned tourist vehicle 1 starts. the second sensor 111 .

The first sensor 110 generally includes a forward-view camera for detecting a relatively distant obstacle in front of the vehicle, and a surround-view camera for detecting a relatively short-distance obstacle around the vehicle. The second sensor 111 is usually an under-vehicle camera, which is used to detect whether there is an obstacle under the vehicle, especially in front of the wheel.

Since the unmanned sightseeing bus 1 is parked, when tourists are watching animals in the car, there may be animals walking into the car and lying in front of the wheels to rest. Therefore, it needs to be sensed and detected before starting again to prevent no After departure, the human tour bus 1 hits an animal under the vehicle. Therefore, in the present invention, an under-vehicle camera is provided to sense animals (obstacles) lying under the vehicle when the unmanned tourist vehicle 1 stops.

In addition, the sensing unit 11 of this embodiment also has a recognition function, for example, through the YOLO (you only lookonce) deep learning algorithm, the animal data set is trained to identify what kind of animal the obstacle around the vehicle is. The YOLO deep learning algorithm is a fast and simple target detection algorithm, and it is also the most popular image target detection algorithm at present, so I won't go into details here.

The positioning unit 12 locates the current position of the unmanned tourist vehicle 1, and can use GPS RTK differential positioning, SLAM (Simultaneous localization and mapping) positioning and other methods to achieve high-precision positioning. Since the scene is a closed and fixed scene, the SLAM method is used for positioning effect. Also good.

Among them, SLAM positioning means that the robot starts from an unknown location in an unknown environment, locates its own position and posture by repeatedly observing map features (such as corners, pillars, etc.) during the movement process, and then builds a map incrementally according to its own position. So as to achieve the purpose of simultaneous positioning and map construction.

The obstacle driving unit 13 is used for driving off obstacles. For the unmanned tourist vehicle 1 driving in the wild zoo stocking area, different from the way that the automatic driving vehicle on the ordinary road handles obstacles, in this scenario, the animals behind and on both sides of the driving direction of the unmanned tourist vehicle are not processed. During the traveling process of the tourist bus 1, only the obstacles in front of the traveling direction of the unmanned tourist vehicle are processed. Before the unmanned tourist vehicle 1 is in a stopped state and is about to start, it is necessary to drive away the obstacles located in front of the driving direction of the unmanned tourist vehicle and cannot be avoided and the obstacles under the unmanned tourist vehicle. When the obstacle needs to be driven away, the obstacle driving unit 13 drives away the obstacle by whistling or playing animal sounds.

The driving control unit 14 plans the driving path of the unmanned tourist vehicle 1 , and controls the driving of the unmanned tourist vehicle 1 based on the detection result of the sensing unit 1 , and calls the obstacle driving unit 13 to remove the obstacles.

First, the driving control unit 14 plans the driving route of the unmanned tourist vehicle 1. Since the wild zoo stocking area is a closed area and the driving route is fixed, it can be planned directly by tracing without using a map. That is, let the unmanned tourist vehicle 1 drive along a fixed route once, and record the longitude and latitude information of the path, and use the recorded longitude and latitude information as the planned path.

In addition, during the driving process of the unmanned tourist vehicle 1, if the sensing unit 11 detects a first distance in front of the driving direction of the unmanned tourist vehicle 1 (hereinafter referred to as “front”) 30m) with obstacles (animals), the driving control unit 14 uses the obstacle driving unit 13 to drive away the obstacles that affect the driving of the unmanned tourist vehicle 1 while controlling the unmanned tourist vehicle 1 to continue driving. If the obstacle is not successfully driven away from the obstacle at a second distance (set to 10m in this embodiment) in front of the unmanned tourist vehicle 1 , the driving control unit 14 controls the unmanned tourist vehicle 1 Avoid the obstacle and continue on the driving path.

When the unmanned sightseeing vehicle 1 is in a stopped state and is ready to depart, it is necessary to detect whether there is an obstacle that cannot be avoided in a relatively short distance in front of the unmanned sightseeing vehicle 1 and whether there is an obstacle at the bottom of the vehicle.

Specifically, if the sensing unit 11 detects that there is an obstacle on the bottom of the unmanned tourist vehicle 1 or there is an obstacle within a range less than the second distance (<10m) from the front of the unmanned tourist vehicle 1 open obstacle), the driving control unit 14 does not start the unmanned tourist vehicle 1 and calls the obstacle driving unit 13 to drive away the obstacle. If the obstacle is not successfully driven away after a certain period of time, use The communication unit 15 notifies the central control module 15 of this situation, and the administrator goes to deal with it.

If the obstacle is equal to the second distance in front of the unmanned tourist vehicle 1 , the driving control unit 14 starts the unmanned tourist vehicle 1 and controls the unmanned tourist vehicle 1 to avoid the obstacle, and then continues to travel according to the driving path.

If the obstacle is greater than the second distance from the front of the unmanned tour bus 1, the driving control unit 14 starts the unmanned tour bus 1 and calls the obstacle driving unit 13 to drive the obstacle away, and the subsequent processing is the same as the unmanned tour bus The driving process of 1 is the same, that is, if the obstacle is not successfully driven away from the obstacle at the second distance (10m) in front of the unmanned tour bus 1, the driving control unit 14 controls the unmanned tour. Vehicle 1 bypasses the obstacle and continues to follow the driving path.

The communication unit 15 is used to communicate with the central control module 20 .

The central control module 20 includes a receiving unit 21 , a monitoring unit 22 , a remote control unit 23 and a second communication unit 24 .

The receiving unit 21 is used for receiving the position information and driving information of the unmanned tourist vehicle 1 . The monitoring unit 22 includes an in-vehicle camera and an out-of-vehicle camera, and is used to monitor the scene inside and outside the vehicle of the unmanned tourist vehicle 1 . The remote control unit 23 is used to remotely control the vehicle by an administrator in an emergency. The second communication unit 24 is used to allow the administrator to communicate with the personnel in the unmanned tourist vehicle 1 under special circumstances.

The tourist service module 30 includes a voice prompt unit 31 , an intelligent scenic spot explanation unit 32 and a first communication unit 33 .

The voice prompting unit 31 combines the positioning information of the positioning unit 12 and the body information of the unmanned tourist vehicle 1 to remind the tourists of closing/opening of the door, arriving at the station and matters needing attention. For example, when the unmanned tour bus 1 departs from the starting point S, the tourists are reminded that the door of the car will be closed, and when entering the wild zoo stocking area, the tourists are reminded that they will enter the stocking area, pay attention to safety, and abide by the regulations of the park.

The intelligent scenic spot explanation unit 32 obtains the area where the unmanned tourist vehicle 1 is currently located according to the positioning information of the positioning unit 12, and explains the relevant knowledge of the animals in the area. For example, when the unmanned tourist vehicle 1 travels to the cheetah area shown in FIG. 1 , the intelligent scenic spot explanation unit 32 knows that the vehicle has entered the cheetah area through the positioning information at this time, and then will explain the relevant knowledge of the cheetah.

In addition, when the sensing unit 11 detects that there are obstacles in front of or on both sides of the unmanned tourist vehicle 1 and recognizes what kind of animal the obstacle is, the intelligent scenic spot explanation unit 32 can also use the animal information identified by the sensing unit 11. Tell visitors what animals are around. For example, when the unmanned tour bus 1 is driving in the lion area shown in FIG. 1 , a lion is walking on the right side of the unmanned tour bus 1 . At this time, the intelligent scenic spot explanation unit 32 can also identify according to the sensing unit 11 The information of "Lion" is called, and the corresponding voice explanation is called.

The first communication unit 33 communicates with the second communication unit 24 to allow the administrator to communicate with the personnel in the unmanned tourist vehicle 1 under special circumstances.

The automatic driving system of the unmanned tourist vehicle used in the wild zoo stocking area described in this embodiment includes the tourist service module 30, but the present invention is not limited to this, and the tourist service module 30 may not be provided, and only the driving module 10 and the The central control module 20 constitutes the automatic driving system of the unmanned tourist vehicle. In this case, the second communication unit 24 may not be provided in the central control module 20 .

In the automatic driving system of the unmanned tourist vehicle used in the wild zoo stocking area described in this embodiment, the driving module 10 is provided with an obstacle driving unit 13, and the unmanned tourist vehicle 1 is found to have obstacles around it that affect its driving. When the obstacle driving unit 13 is called to drive away the obstacle (animal), but the present invention is not limited to this, the obstacle driving unit 13 may not be set, and the unmanned tourist vehicle 1 is found around the When there is an obstacle that affects its driving, the obstacle is directly bypassed, and then continues to drive according to the driving path. If the obstacle cannot be bypassed, the situation is notified to the central control module 20 for processing by the administrator.

In addition, in this embodiment, the first distance is set to 30 m and the second distance is set to 10 m, but the present invention is not limited to this, and the first distance and the second distance may be set to other values.

In this embodiment, the sensing unit uses the YOLO deep learning algorithm to identify what kind of animal the obstacle is, but the present invention is not limited to this, and other identification algorithms may also be used.

In this embodiment, the travel control unit plans the travel path of the unmanned tourist vehicle by tracing, but the present invention is not limited to this, and a map may also be used.

Although the present invention has been described with reference to the present specific embodiments, those of ordinary skill in the art will recognize that the above embodiments are only used to illustrate the present invention, and can be made without departing from the spirit of the present invention Various equivalent changes or substitutions, therefore, as long as the changes and modifications to the above-mentioned embodiments within the spirit and scope of the present invention will fall within the scope of the claims of the present application.

Claims (10)

1. An automatic driving system of an unmanned tourist coach for a wild zoo stocking area is characterized by comprising a driving module and a central control module,

the driving module includes:

a sensing unit having a first sensor for detecting an obstacle around the unmanned vehicle and a second sensor for detecting whether the obstacle is present at the bottom of the unmanned vehicle before the unmanned vehicle is started;

a positioning unit that positions a current position of the unmanned tourist car;

a driving control unit which plans a driving path of the unmanned tourist coach and controls the unmanned tourist coach based on the condition detected by the sensing unit; and

a communication unit for communicating with the central control module,

the central control module includes:

a receiving unit that receives the position information and the driving information of the unmanned tourist car;

the monitoring unit is used for monitoring the conditions inside and outside the unmanned tourist coach; and

a remote control unit for remote control of the unmanned tourist coach by an administrator.

2. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 1,

in the driving process of the unmanned tourist coach, if the sensing unit detects that the obstacle is arranged at a second distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to bypass the obstacle and then continue to drive according to the driving path,

before the unmanned tourist coach starts, if the sensing unit detects that the vehicle bottom of the unmanned tourist coach has the obstacle or the obstacle is in a range less than a second distance away from the front of the unmanned tourist coach, the driving control unit does not start the unmanned tourist coach, and the communication unit informs the central control module of the situation.

3. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 2,

the driving module further comprises an obstacle driving-off unit for driving off the obstacle,

in the driving process of the unmanned tourist coach, if the sensing unit detects that the obstacle is arranged at a first distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to continue driving and drives the obstacle away by using the obstacle away unit, if the unmanned tourist coach does not successfully drive away the obstacle at a second distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to bypass the obstacle, and then the unmanned tourist coach continues to drive according to the driving path,

before the unmanned sightseeing bus is started, if the sensing unit detects that the vehicle bottom of the unmanned sightseeing bus has the obstacle or the obstacle is in a range less than a second distance away from the front of the unmanned sightseeing bus, the driving control unit does not start the unmanned sightseeing bus and drives away the obstacle by the obstacle driving unit, if the unmanned sightseeing bus is not driven away from the obstacle successfully for a certain time, the communication unit informs the central control module of the situation,

wherein the second distance is less than the first distance.

4. The autopilot system for unmanned zoo aquariums of a wildlife habitat according to claim 3,

the barrier driving unit drives the barrier away in a whistling or animal sound playing mode.

5. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,

and the driving control unit plans the driving path of the unmanned tourist car in a tracking mode.

6. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,

also provided is a guest service module, comprising:

the voice prompt unit is used for reminding the closing/opening of the door of the tourist coach, the arrival of the tourist bus at a station and the notice by combining the positioning information of the positioning unit and the body information of the unmanned tourist bus; and

and the intelligent scenic spot explanation unit acquires the current region of the unmanned tourist coach according to the positioning information of the positioning unit and explains the relevant knowledge of animals in the region.

7. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 6,

the sensing unit identifies which animal the detected obstacle is,

the intelligent scenic spot explanation unit explains the relevant knowledge of the animal based on the animal identified by the sensing unit.

8. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 7,

the sensing unit adopts a YOLO deep learning algorithm to identify the animal which the obstacle is through training of an animal data set.

9. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 6,

the guest service module includes a first talk unit,

the central control module comprises a second talking unit,

the first communication unit and the second communication unit are communicated with each other, so that the tourists can communicate with the administrator.

10. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,

the first sensor comprises a forward looking camera and a look-around camera,

the second sensor is a vehicle bottom camera.

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