CN112124326A - Automatic driving method, device, electronic equipment and storage medium - Google Patents
Automatic driving method, device, electronic equipment and storage medium Download PDFInfo
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- CN112124326A CN112124326A CN202011025568.0A CN202011025568A CN112124326A CN 112124326 A CN112124326 A CN 112124326A CN 202011025568 A CN202011025568 A CN 202011025568A CN 112124326 A CN112124326 A CN 112124326A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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Abstract
The application provides an automatic driving method, an automatic driving device, electronic equipment and a storage medium, wherein the method comprises the steps that a cloud control device of an automatic driving vehicle receives driving guide information input by a safety guard of the automatic driving, and the driving guide information comprises a driving guide strategy; transmitting the driving instruction information to a vehicle-mounted terminal; the method comprises the steps that a vehicle-mounted terminal receives driving instruction information from an automatic driving safety driver, wherein the driving instruction information comprises a driving instruction strategy; determining an automatic driving algorithm corresponding to the automatic driving strategy; the vehicle where the vehicle-mounted terminal is located is driven to the destination by using the automatic driving algorithm, the problem of high labor cost caused by the fact that each vehicle needs to be equipped with a safety guard in automatic driving is solved, the problem of low safety caused by the fact that the safety guard directly controls the vehicle in an extreme or specific environment is also solved, the requirement on the safety guard in automatic driving is reduced, and the safety of automatic driving is improved.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to an automatic driving method, an automatic driving device, an electronic device, and a storage medium.
Background
The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human. The core of the realization of safe driving of the automatic driving automobile is the improvement and perfection of the vehicle control technology.
The existing automatic driving scheme is equipped with a cloud security officer. The cloud security officer controls devices on vehicles such as an accelerator, a brake and a steering wheel of the vehicle in the cloud under extreme environments or specific conditions, so that the vehicle is directly controlled.
However, for the way of providing the cloud security officer, on one hand, each vehicle needs to be provided with the security officer, which will generate high labor cost. On the other hand, the cloud security officer directly controls the vehicle in an extreme environment or under a specific condition, which puts high requirements on network infrastructure, and needs a long time to adapt to remote driving of different vehicle types, and the safety accidents may be caused by factors such as slow response speed and network delay of the security officer in case of emergency. Therefore, the safety of the existing automatic driving scheme is low.
Disclosure of Invention
The application provides an automatic driving method, an automatic driving device, electronic equipment and a storage medium, so that the requirement of a safety worker in automatic driving is reduced, and the safety of automatic driving is improved.
A first aspect of the present application provides an automatic driving method applied to a vehicle-mounted terminal, the method including:
receiving driving instruction information from a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;
determining an automatic driving algorithm corresponding to the automatic driving strategy;
and using the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to a destination.
In an alternative embodiment, the driving coaching strategy includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an alternative embodiment, prior to said receiving driving coaching information from a safer for autonomous driving, the method further comprises:
acquiring environmental information of the vehicle;
and determining whether the vehicle can travel to the destination according to the environment information of the vehicle.
If not, sending a guidance request to the automatic driving safety personnel, wherein the guidance request is used for requesting the automatic driving safety personnel to input the driving guidance information.
In an alternative embodiment, the receiving driving guidance information from a safer for autonomous driving includes:
and receiving driving guide information sent by the automatic driving safety personnel through cloud control equipment.
In an alternative embodiment, the guidance request includes environmental information of the vehicle.
A second aspect of the present application provides an automatic driving method, which is applied to a cloud control device, and the method includes:
receiving driving instruction information input by a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;
and sending the driving instruction information to a vehicle-mounted terminal.
In an alternative embodiment, the driving coaching strategy includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an alternative embodiment, prior to the receiving driving coaching information input by a safer for automated driving, the method further comprises:
and receiving the guidance request sent by the vehicle-mounted terminal, wherein the guidance request is used for requesting a security officer in the automatic driving to input the driving guidance information.
In an alternative embodiment, the guidance request includes environmental information of the vehicle.
In an optional implementation manner, after the receiving the guidance request sent by the in-vehicle terminal, the method further includes:
displaying the guidance request and the environmental information of the vehicle on a display component of the cloud control device.
A third aspect of the present application provides an automatic driving apparatus, the apparatus comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information from a safety driver of automatic driving, and the driving instruction information comprises a driving instruction strategy;
the processing module is used for determining an automatic driving algorithm corresponding to the automatic driving strategy; and driving the vehicle where the automatic driving device is located to the destination by using the automatic driving algorithm.
In an alternative embodiment, the driving coaching strategy includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an optional embodiment, the processing module is further configured to obtain environmental information of the vehicle; and determining whether the vehicle can travel to the destination according to the environment information of the vehicle.
The device further comprises a sending module, which is used for sending a guidance request to the safety personnel of the automatic driving if the safety personnel of the automatic driving does not enter the driving guidance information, wherein the guidance request is used for requesting the safety personnel of the automatic driving to input the driving guidance information.
In an optional implementation manner, the receiving module is specifically configured to receive driving guidance information sent by the automated driving safer through a cloud control device.
In an alternative embodiment, the guidance request includes environmental information of the vehicle.
A fourth aspect of the present application provides an autopilot device, the device comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information input by a safety guard of automatic driving, and the driving instruction information comprises a driving instruction strategy;
and the sending module is used for sending the driving instruction information to the vehicle-mounted terminal.
In an alternative embodiment, the driving coaching strategy includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an optional implementation manner, the receiving module is further configured to receive the guidance request sent by the vehicle-mounted terminal, where the guidance request is used to request a safer for the automatic driving to input the driving guidance information.
In an alternative embodiment, the guidance request includes environmental information of the vehicle.
In an alternative embodiment, the apparatus further comprises:
a processing module to display the coaching request and the environmental information of the vehicle on a display component of the autonomous device.
A fifth aspect of the present application provides a terminal device, comprising: a processor, a memory, a transmitter, and a receiver;
the memory is used for storing a computer program, and the processor is used for calling and running the computer program stored in the memory to execute the method according to the first aspect or the second aspect;
the sender is used for executing the sending action of the server, and the receiver is used for executing the receiving action of the server.
A sixth aspect of the present application provides a chip comprising: a processor for calling and running the computer program from the memory so that the device on which the chip is installed performs the method according to the first aspect or the second aspect.
A seventh aspect of the present application provides a computer readable storage medium for storing a computer program for causing a computer to perform the method according to the first or second aspect.
An eighth aspect of the present application provides a computer program product comprising computer program information for causing a computer to perform the method according to the first or second aspect.
A ninth aspect of the present application provides a computer program for causing a computer to perform the method according to the first or second aspect.
The application provides an automatic driving method, an automatic driving device, electronic equipment and a storage medium, which are applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal receives driving instruction information from a safety driver of automatic driving, the driving instruction information comprises a driving instruction strategy, a corresponding automatic driving algorithm is determined according to the automatic driving strategy, and then the vehicle is driven to a destination by the vehicle-mounted terminal through the automatic driving algorithm. Compared with the prior art, the vehicle-mounted terminal only receives the driving guide information from the safety personnel for automatic driving instead of directly controlling the vehicle by the safety personnel, so that the influence of the reaction speed of the safety personnel and the network delay on the safety of automatic driving in case of emergency is greatly reduced, and the safety of automatic driving can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of a remote driving system of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a control method for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another control method for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 4 is a signaling interaction diagram of a control method for intelligent cooperative automatic driving of a vehicle-mounted terminal and a cloud control device according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a control method for intelligent cooperative automatic driving of a vehicle-mounted terminal and a cloud control device according to an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating another control method for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an automatic steering device according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of an automatic steering apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The automatic driving automobile receives the relevant information of the external driving environment through the vehicle-mounted sensor, inputs the detected information into the CPU of the vehicle-mounted computer for logical reasoning and operation, outputs a result instruction to the actuator, and controls the running of the automobile by changing the steering, the speed and the like of the automobile. The automatic driving of the automobile aims to realize the safe and reliable driving of the automobile partially automatically or fully automatically instead of a human driver under the limited or non-limited conditions. The automatic driving technology mainly relates to a hardware system and a software system, wherein the hardware system comprises a power supply module, a sensing module, a decision-making module and a control module, the software system comprises four aspects of sensing, fusion, decision-making and control, the sensing is environment understanding, the sensing is extremely dependent on an artificial intelligence technology based on deep learning, and the decision-making is gradually changed to the direction combining the rule and the deep learning based on the pure rule. The automatic driving scheme can generally be equipped with high in the clouds securer, and high in the clouds securer controls the equipment on the vehicle such as the throttle of vehicle, brake and steering wheel in the high in the clouds under extreme environment or specific conditions to directly control the vehicle.
However, for the way of providing the cloud security officer, on one hand, each vehicle needs to be provided with the cloud security officer, which will generate high labor cost. On the other hand, the cloud security officer directly controls the vehicle in an extreme or specific environment, which puts high requirements on network infrastructure and the quality of the security officer, the security officer needs to work in a highly mental and concentrated environment for a long time to easily generate mental fatigue, the cloud security officer needs to adapt to the driving of different vehicle types, and the reaction speed, network delay and the like of the cloud security officer can cause the problem of low automatic driving safety in emergency situations.
In order to solve the above problems, an embodiment of the present application provides a remote control system and a control method thereof for automatically driving a vehicle under an intelligent synergistic effect of a cloud control device and a vehicle-mounted terminal, and the inventive concept of the present application is as follows: the vehicle-mounted terminal sends a guidance request to a safety driver of automatic driving, the safety driver inputs driving guidance information, the vehicle-mounted terminal generates an automatic driving algorithm according to a received driving awareness strategy contained in the driving guidance information, and the automatic driving algorithm controls the vehicle to run to a destination. Under the condition that a safety driver of automatic driving intervenes, the vehicle is also controlled by a vehicle-end automatic driving algorithm, so that the problem of low safety caused by the reaction speed of the safety driver and network delay in an extreme environment or a specific condition is solved.
The following explains an application scenario of the present application. Fig. 1 is a schematic diagram of a remote driving system of an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the remote driving system of the autonomous vehicle includes: vehicle-mounted terminal 001, server 002 and cloud control equipment 003. The vehicle-mounted terminal 001 sends a guidance request to the server 002 and the cloud control device 003, the server 002 and the cloud control device 003 receive the guidance request of the vehicle-mounted terminal 001 and then send driving guidance information to the vehicle-mounted terminal 001, and the vehicle-mounted terminal 001 receives the driving guidance information sent by the server 002 and the cloud control device 003. After receiving the guidance request transmitted from the in-vehicle terminal 001, if the situation at that time cannot be handled, the server 002 further transmits the guidance request to the cloud control device 003, inputs the driving guidance information from the cloud control device 003, and transmits the driving guidance information to the in-vehicle terminal 001.
It should be noted that, the application scenarios in the embodiment of the present application are not limited, and the control method provided in the embodiment of the present application may also be applied to other systems having automatic driving and remote control functions. The control method provided by the embodiment of the application is also suitable for the situation of a security officer in the vehicle, the vehicle-mounted terminal requests guidance from the security officer in the vehicle, the security officer in the vehicle inputs driving guidance information through the vehicle-mounted terminal, the vehicle-mounted terminal generates an automatic driving guidance algorithm according to a driving guidance strategy contained in the driving guidance information, and the vehicle where the vehicle-mounted terminal is located is driven to a destination by using the automatic driving algorithm.
The following describes the technical solution of the embodiment of the present application in detail with specific embodiments, taking a vehicle-mounted terminal as an example. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flowchart of a control method for an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 2, the execution subject of the present embodiment is a vehicle-mounted terminal, and the method includes:
s101, receiving driving instruction information from a safety guard of automatic driving.
The driving guidance strategy comprises at least one of correcting a parking position, planning a driving route, clearing misjudged obstacles and adjusting a safety distance. The driving guidance information includes a driving guidance strategy.
The source of the driving guidance information is not limited, and the driving guidance information can be selected according to actual conditions. For example, the driving instruction information can be input by a security officer in the vehicle according to the seen specific conditions; the driving guidance information can be input by a cloud security officer, the cloud security officer inputs the driving guidance information through the cloud control equipment, the cloud security officer has higher authority relatively, and the input driving guidance information is more professional.
For example, if the driver is in the vehicle, the driver operates according to the prompt on the vehicle-mounted terminal, and after receiving the guidance request from the vehicle-mounted terminal, the driver may input the driving guidance information on the processing module on the vehicle-mounted terminal according to the specific situation.
For example, if the vehicle-mounted terminal is a cloud security officer, the cloud security officer analyzes and judges the environment information of the vehicle according to the environment information and the guidance request of the vehicle, which are sent by the vehicle-mounted terminal and received by the cloud control device, performs operations such as adjusting image parameters, correcting misrecognition and adjusting safety distance, inputs driving guidance information, sends the driving guidance information to the vehicle-mounted terminal through the cloud control device, and the vehicle-mounted terminal receives the driving guidance information.
In another optional implementation, the driving guidance information may also be determined by an algorithm model in the server, the server includes environment information of the vehicle according to a received guidance request sent by the vehicle-mounted terminal, and the server takes the environment information of the vehicle as an input of the algorithm model and obtains a driving guidance strategy output by the algorithm model. Subsequently, the server transmits the driving instruction information including the driving instruction policy to the in-vehicle terminal. The algorithm model is not limited in the present application, and may be a convolutional neural network model, a recurrent neural network model, or a cyclic neural network model.
And S102, determining an automatic driving algorithm corresponding to the automatic driving strategy.
In this step, after the in-vehicle terminal receives the driving guidance information from the automated driving safer, an automated driving algorithm is generated according to the driving guidance policy received by the in-vehicle terminal and the real-time environmental information of the vehicle.
The embodiment of the application does not limit the type of the driving guidance strategy, and for example, the driving guidance strategy can include lane changing and overtaking, drawing a parking line, drawing upper and lower limits of a parking space, planning a parking route and the like.
For example, when a situation that a highway wants to overtake is encountered, the automatic driving strategy can instruct the vehicle-mounted terminal to control the vehicle to carry out lane change and overtake. If the situation that a parking space exists during autonomous parking but a parking line is not drawn is met, the automatic driving strategy can guide the vehicle-mounted terminal to draw the parking line, draw the upper limit and the lower limit of the parking space, plan the parking route and the like.
In the embodiment of the application, the automatic driving algorithm makes a decision and plans according to the environmental information of the vehicle obtained by the vehicle-end sensor and controls the vehicle to execute the decision and plan.
Wherein the autonomous driving algorithm is generated according to an autonomous driving strategy. For example, when the input automatic driving strategy is a path planning, the corresponding algorithm may be an ant colony algorithm, a bidirectional search algorithm, or a Lee algorithm.
And S103, driving the vehicle where the vehicle-mounted terminal is located to the destination by using an automatic driving algorithm.
In this step, after the in-vehicle terminal receives the driving guidance information from the automated driving safer and determines the automated driving algorithm corresponding to the automated driving strategy, the vehicle in which the in-vehicle terminal is located may be driven to the destination using the automated driving algorithm.
In some embodiments, after determining the automatic driving algorithm, the vehicle terminal may drive the vehicle where the vehicle-mounted terminal is located to the destination according to the path planned by the automatic driving algorithm.
For example, a path planning algorithm for a vehicle may be classified into a static path planning algorithm and a dynamic path algorithm. Static path planning seeks the shortest path with conditions such as physical geographic information and traffic regulations as constraints. The dynamic path planning is to combine real-time traffic information to timely adjust a pre-planned optimal driving route on the basis of static path planning until the optimal path is finally obtained when the optimal driving route reaches a destination.
According to the automatic driving control method provided by the embodiment of the application, the corresponding automatic driving algorithm is generated through the driving guide information received by the vehicle-mounted terminal, and the vehicle where the vehicle-mounted terminal is located is driven to the destination through the automatic driving algorithm. Compared with the prior art, the vehicle-mounted terminal generates the automatic driving algorithm according to the driving instruction information, potential safety hazards caused by network delay and the response speed of a cloud security officer are avoided, and the cloud security officer only can intervene guidance in an extreme environment or under a specific condition, so that the labor cost of each vehicle for being equipped with the security officer is reduced.
The following is a detailed description of how vehicle control is achieved by the control method of an autonomous vehicle. Fig. 3 is a schematic flowchart of another control method for an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the execution subject of the present embodiment is a vehicle-mounted terminal, and the method includes:
s201, obtaining environment information of the vehicle.
In this step, the environmental information of the vehicle is acquired by the vehicle-mounted sensor on the vehicle and displayed on the processing module of the vehicle-mounted terminal.
In the embodiment of the application, the vehicle-mounted sensor on the automatic driving vehicle is not limited. For example, in connection with automatic driving, there are a vehicle camera, a millimeter wave radar, an ultrasonic radar, an infrared sensor, a laser radar, and the like.
In the embodiment of the application, the environmental information of the vehicle may specifically include the state of the traffic lights, the position and the running track of the obstacle, the state of the pedestrian, the traffic information around, the number of vehicles, the distance between the vehicles, and the like.
S202, whether the vehicle can travel to the destination is determined according to the environment information of the vehicle.
In this step, after the vehicle-mounted terminal acquires the environment information of the vehicle, the vehicle-mounted terminal determines whether the environment in which the vehicle is located can be driven to the destination.
In the embodiment of the application, whether the vehicle can be driven to the destination comprises judging whether parking is available or not, whether the vehicle can be driven according to a planned route or not and the like.
For example, when the vehicle is driven to the vicinity of the parking space in the parking lot, an automatic driving algorithm is used to determine whether the parking space can be used for parking, for example, the size of the parking space, whether autonomous parking can be performed normally by obstacles and a planned route, and the like.
And S203, if not, sending a guidance request to a security officer for automatic driving.
In this step, after the in-vehicle terminal acquires the environmental information of the vehicle, the in-vehicle terminal may determine whether the vehicle can travel to the destination according to the environmental information of the vehicle. If not, the vehicle-mounted terminal can send a guidance request to a security officer who drives automatically. If yes, go to step S206.
The form of the instruction request is not limited, and can be set according to specific situations.
For example, the system can be prompted by voice, and a "request guidance" or an alarm signal can be displayed on a display device of the cloud control terminal.
And S204, receiving driving instruction information from a safety guard of automatic driving.
And S205, determining an automatic driving algorithm corresponding to the automatic driving strategy.
And S206, driving the vehicle where the vehicle-mounted terminal is located to the destination by using an automatic driving algorithm.
The technical terms, technical effects and technical features of S204-S206, and alternative embodiments, can be understood with reference to S101-S103 shown in fig. 2, and repeated descriptions will not be repeated here.
In the method and the device, the vehicle-mounted terminal receives the driving instruction information from the safety driver of automatic driving, the driving instruction information comprises a driving instruction strategy, the vehicle-mounted terminal determines a corresponding automatic driving algorithm according to the driving instruction strategy, and the vehicle where the vehicle-mounted terminal is located is driven to the destination by using the automatic driving algorithm, so that the safety problem caused by the reaction speed of network facilities and the safety driver at the cloud end is avoided, and the requirement on the safety driver in automatic driving is reduced.
In the embodiment of the application, the safety worker for automatic driving can be a cloud safety worker, the cloud safety worker sends driving instruction information containing a driving instruction strategy to the vehicle-mounted terminal through the cloud control device, the vehicle-mounted terminal determines a corresponding automatic driving algorithm according to the driving instruction strategy, and the vehicle where the vehicle-mounted terminal is located is driven to a destination through the automatic driving algorithm.
On the basis of the above embodiments, the embodiment of the application provides a control method for intelligent cooperative automatic driving of a vehicle-mounted terminal and a cloud control device. Fig. 4 is a signaling interaction diagram of a control method for intelligent cooperative automatic driving of a vehicle-mounted terminal and a cloud control device according to an embodiment of the present application.
S301, the vehicle-mounted terminal acquires environment information of the vehicle.
S302, the vehicle-mounted terminal determines whether the vehicle can travel to the destination or not according to the environment information of the vehicle.
The technical terms, technical effects, technical features, and alternative embodiments of S301 to S302 can be understood with reference to S201 to S202 shown in fig. 3, and repeated descriptions thereof will not be repeated here.
And S303, the vehicle-mounted terminal sends a guidance request to the cloud control equipment.
In the step, after the vehicle-mounted terminal acquires the environment information of the vehicle, whether the vehicle can travel to the destination or not is determined according to the environment information of the vehicle, and if not, a guidance request is sent to the cloud control device. If yes, go to step S308.
The request guidance includes environmental information of the vehicle.
S304, the cloud control equipment receives driving guide information input by a safety guard of automatic driving, and the driving guide information comprises a driving guide strategy.
In this step, before the cloud control device receives the driving guidance information input by the automatic driving safer, the safer equipped with the cloud control device forms the driving guidance information according to the environment information of the vehicle uploaded by the vehicle-mounted terminal.
S305, the cloud control equipment sends driving guide information to the vehicle-mounted terminal.
In the step, the cloud control device sends the driving instruction information input by the security guard to the vehicle-mounted terminal.
And S306, the vehicle-mounted terminal receives the driving instruction information from the automatic driving safety guard.
And S307, the vehicle-mounted terminal determines an automatic driving algorithm corresponding to the automatic driving strategy.
And S308, enabling the vehicle-mounted terminal to drive the vehicle where the vehicle-mounted terminal is located to the destination by using an automatic driving algorithm.
The technical terms, technical effects, technical features, and alternative embodiments of S306-S308 can be understood with reference to S101-S103 shown in fig. 2, and repeated descriptions thereof will not be repeated here.
In the embodiment of the application, after the vehicle-mounted terminal acquires the environment information of a vehicle, whether the vehicle can drive to the destination is determined according to the environment information of the vehicle, if so, the vehicle where the vehicle-mounted terminal is located is driven to the destination by using an automatic driving algorithm, if not, a guidance request is sent to the cloud control terminal, the cloud control device receives driving guidance information input by a safety operator of automatic driving and sends the driving guidance information to the vehicle-mounted terminal, the vehicle-mounted terminal receives the driving guidance information from the safety operator of automatic driving, the automatic driving algorithm corresponding to an automatic driving strategy is determined, and the vehicle where the vehicle-mounted terminal is located is driven to the destination by using the automatic driving algorithm. Compared with the prior art, the driving instruction information input by the security officer comprises a driving instruction strategy, the vehicle-mounted terminal generates an automatic driving algorithm according to the driving instruction strategy, and the vehicle-mounted terminal uses the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to the destination, so that the safety problem caused by network delay and the response speed of the security officer is avoided, and the safety of automatic driving is greatly improved.
The following specifically describes an embodiment of the present application, taking an example that the vehicle-mounted terminal and the cloud control device cooperate intelligently to realize autonomous parking. Fig. 5 is a schematic flow chart of a control method for intelligent cooperative automatic driving of a vehicle-mounted terminal and a cloud control device according to an embodiment of the present application. As shown in fig. 5, the method includes:
s401, the vehicle-mounted terminal acquires environment information of the vehicle.
The environmental information of the vehicle may specifically refer to a position of a parking space in the parking lot, a position of an obstacle, a position of a surrounding vehicle, and the like.
S402, the vehicle-mounted terminal determines whether the vehicle can park autonomously or not according to the environment information of the vehicle.
In this step, after the vehicle-mounted terminal acquires the environmental information of the vehicle, it is determined whether the vehicle can park autonomously according to the environmental information of the vehicle.
In the embodiment of the application, the algorithm of the vehicle end judges whether the vehicle can realize autonomous parking according to the environment information of the vehicle uploaded by the vehicle-mounted terminal. For example, when a parking space is shown in front of the vehicle in the environment information of the vehicle and an object similar to an obstacle is in the parking space, whether the obstacle has an effect on autonomous parking is determined according to an algorithm.
And S403, the vehicle-mounted terminal sends a guidance request to the server and uploads the vehicle environment information.
In the step, after the vehicle-mounted terminal acquires the environment information of the vehicle, whether the vehicle can park is determined according to the environment information of the vehicle, and if not, a guidance request is sent to the server and the environment information of the vehicle is uploaded. If yes, go to step S404.
In the embodiment of the present application, the manner in which the vehicle-mounted terminal sends the guidance request is not limited, and may be specifically described according to the situation.
For example, the instruction request button can be installed on the vehicle, an option on a display component of the vehicle-mounted terminal can be installed, and a voice instruction can be also used.
And S404, the vehicle-mounted terminal realizes autonomous parking by using an automatic driving algorithm.
In the step, after the vehicle-mounted terminal acquires the environment information of the vehicle, whether the vehicle can park autonomously is determined according to the environment information of the vehicle, if not, a guidance request is sent to the server, the environment information of the vehicle is uploaded, and if yes, autonomous parking is carried out through an automatic driving algorithm of the vehicle end.
In the embodiment of the application, the autonomous parking is realized by an automatic driving algorithm of a vehicle end, the algorithm of a server end generates driving guide information according to uploaded environment information of a vehicle, the driving guide information is sent to a vehicle-mounted terminal, the vehicle-mounted terminal detects the environment, an automatic driving algorithm is generated according to a driving guide strategy in the driving guide information, and the autonomous parking is realized by the automatic driving algorithm.
And S405, the server side inputs driving guide information.
In this step, after the vehicle-mounted terminal sends a guidance request to the server and uploads the environmental information of the vehicle, the server inputs driving guidance information including a driving guidance strategy according to the environmental information of the vehicle.
Wherein the driving guidance strategy comprises at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
S406, the server determines whether the vehicle can park autonomously according to the algorithm model.
In the step, after the server inputs the driving guidance information according to the environment information of the vehicle uploaded by the vehicle-mounted terminal, the server judges whether the vehicle can park autonomously.
In the embodiment of the application, the algorithm complexity of the server side is higher, a more complex environment can be processed, the data size stored in the server side is more, and the environment scene capable of being processed is more.
Illustratively, when the environmental information of the vehicle acquired by the vehicle-mounted terminal is that the current position has no parking space but has a space and the space has an obstacle, the environmental information of the current vehicle is uploaded to the server, the detection is performed by an algorithm of the server, the server can further analyze the obstacle, illustratively, the judgment is that the obstacle is a paper sheet or a leaf, the autonomous parking is not influenced, the misjudgment obstacle is removed, the server further analyzes the current space, tries to reduce the safety distance, calculates the size of the current space, and judges whether the autonomous parking is possible.
S407, the server sends the driving instruction information to the vehicle-mounted terminal.
In this step, the algorithm of the server side determines whether the vehicle can park autonomously, and if so, sends driving guidance information to the vehicle-mounted terminal, and if not, executes step S408.
In the embodiment of the application, the server side judges whether the vehicle can park autonomously according to the environment information of the vehicle uploaded by the vehicle-mounted terminal, but the environment information of the vehicle may change during operation of the algorithm of the server side, and for safety, after the server sends the driving guidance information to the vehicle-mounted terminal, the vehicle-mounted terminal acquires the environment information again and judges whether the vehicle can park autonomously.
And S408, the server sends a guidance request to the cloud control equipment and uploads the vehicle environment information.
In this step, the algorithm of the server side judges whether the vehicle can park autonomously, if not, a guidance request is sent to the cloud control device, vehicle environment information is uploaded, and if yes, step S407 is executed.
And S409, the vehicle-mounted terminal sends a guidance request to the cloud control equipment and uploads the vehicle environment information.
In this step, the vehicle-mounted terminal determines whether autonomous parking is possible or not according to the driving guidance information sent by the server, and if not, sends a guidance request to the cloud control device and uploads vehicle environment information, and if so, step S404 is executed.
In steps S408 and S409, when neither the algorithm of the server side nor the vehicle-side automatic driving algorithm can solve the current environment of the vehicle, the server or the vehicle-mounted terminal sends a guidance request to the cloud control device and uploads the vehicle environment information.
The form of the instruction request is not limited, and can be set according to specific situations.
For example, the "request guidance" may be displayed on a display device of the cloud control device or an alarm signal may be issued by voice prompt.
In the embodiment of the application, a display module is arranged on the cloud control device and used for displaying the received environment information of the vehicle.
And S410, the cloud control equipment inputs driving guide information.
In this step, after the vehicle-mounted terminal and the server send the guidance request to the cloud control device and upload the environmental information of the vehicle, the security officer equipped with the cloud control device inputs the driving guidance information including the driving guidance strategy according to the environmental information of the vehicle.
The driving coaching strategy includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In the embodiment of the application, the professionalism and the adjusting mode of the driving guide information input by the safety personnel are different.
Illustratively, adjusting image parameters, adjusting scene parameters, correcting misrecognition, adjusting planning, and increasing safety distance.
S411, the cloud control equipment sends driving guide information to the vehicle-mounted terminal.
In this step, after a safer equipped with the cloud control device inputs driving guidance information including a driving guidance strategy, the driving guidance information is sent to the vehicle-mounted terminal through the cloud control device.
After receiving the driving instruction information, the vehicle-mounted terminal acquires the environmental information of the vehicle again, and determines whether the vehicle can travel to the destination according to the environmental information of the vehicle.
On the basis of the above embodiments, the present application further specifically describes a case where there is an in-vehicle security officer. Fig. 6 is a flowchart illustrating another control method for an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 6, the method includes:
s501, the vehicle-mounted safety worker drives the vehicle to be close to the parking position, and starts autonomous parking.
This step is applied to the case of an in-vehicle driver who drives a vehicle to the vicinity of a parking position and starts autonomous parking.
In the embodiment of the present application, the parking position is not limited, and may be specifically described according to the situation.
The parking lot can be exemplified, and the parking lot can also be a roadside temporary parking place.
In the embodiment of the application, the mode of starting the autonomous parking is not limited, and the mode can be specifically set according to actual conditions.
For example, an autonomous parking option may be set on a display panel of the in-vehicle terminal, an autonomous parking button may be set on the vehicle, or the autonomous parking button may be operated by a mobile phone connected to the vehicle.
And S502, the in-vehicle security officer sends a guidance request to the in-vehicle terminal.
In the step, when a security driver in the vehicle drives the vehicle to a position near a parking position and starts autonomous parking, a guidance request is sent to the vehicle-mounted terminal.
S503, the vehicle-mounted terminal acquires environment information of the vehicle.
And S504, the vehicle-mounted terminal determines whether the vehicle can park autonomously or not according to the environment information of the vehicle.
The technical terms, technical effects, technical features, and alternative embodiments of S503 to S504 can be understood with reference to S401 to S402 shown in fig. 5, and repeated descriptions thereof will not be repeated here.
And S505, prompting a security officer in the vehicle.
In this step, after the vehicle-mounted terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle, if not, a security officer in the vehicle is prompted through a display module of a control panel of the vehicle-mounted terminal, and if so, step S507 is executed.
In the embodiment of the application, the mode of prompting the safety personnel in the vehicle is not limited, and the mode can be specifically set according to the actual condition.
For example, an alarm signal may be displayed on a display module of a control panel of the vehicle-mounted terminal or a specific situation may be prompted to a security officer in the vehicle, and an alarm indicator lamp may be provided.
And S506, the safety personnel in the vehicle inputs the driving guide information.
In this step, after the in-vehicle security officer receives the prompt, the in-vehicle security officer inputs the driving guidance information.
In the embodiment of the application, the driving instruction information input by the safety personnel in the vehicle is explained according to the received specific prompt information.
For example, if the automatic driving algorithm at the vehicle end cannot successfully plan the route, the security officer in the vehicle is prompted to plan the route again, and the security officer in the vehicle plans the route on the display module of the vehicle-mounted terminal according to the situation.
Illustratively, after a route is planned by a security officer in the vehicle, the security officer in the vehicle is handed to the vehicle-mounted terminal for further obstacle evaluation, if the obstacle is evaluated to be unable to pass through, the security officer in the vehicle is prompted to clear the obstacle or clear the misjudgment obstacle, and according to the seen specific conditions, the security officer in the vehicle clears the obstacle, corrects the misidentification and adjusts the safety distance.
For example, after a security officer in the vehicle clears the obstacle, corrects the misidentification and adjusts the safety distance, the vehicle-mounted terminal judges whether the vehicle can park autonomously.
And S507, the vehicle-mounted terminal uses an automatic driving algorithm to park autonomously.
In this step, after the driver inputs the driving instruction information, the vehicle-mounted terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle, if so, the vehicle uses an automatic driving algorithm to park autonomously, and if not, step S505 is executed or the vehicle is restarted to find the parking space.
In the embodiment of the application, the driving instruction information input by the security personnel in the vehicle comprises a driving instruction strategy, the vehicle-mounted terminal generates an automatic driving algorithm according to the driving instruction strategy, and the vehicle-mounted terminal drives the vehicle where the vehicle-mounted terminal is located to park autonomously by using the automatic driving algorithm.
Fig. 7 is a schematic structural diagram of an automatic steering device according to an embodiment of the present application. The automatic driving apparatus may be implemented by software, hardware, or a combination of both to execute the control method of the automatic driving vehicle in-vehicle terminal in the above-described embodiment. As shown in fig. 7, the automatic driving apparatus 600 includes: a processing module 601, a sending module 602 and a receiving module 603.
The processing module 601 is configured to determine an automatic driving algorithm corresponding to an automatic driving strategy; using an automatic driving algorithm to drive the vehicle where the automatic driving device is located to a destination;
a sending module 602, configured to send a guidance request to a security officer in the automatic driving if the request is not received, where the guidance request is used to request the security officer in the automatic driving to input driving guidance information;
the receiving module 603 is configured to receive driving instruction information from an automated driving safer, where the driving instruction information includes a driving instruction policy.
In an alternative embodiment, the driving guidance information includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an alternative embodiment, the guidance request includes environmental information about the vehicle.
In an optional embodiment, the processing module is further configured to obtain environmental information of the vehicle; whether the vehicle can travel to the destination is determined according to the environment information of the vehicle.
In an optional implementation manner, the receiving module is specifically configured to receive driving guidance information sent by a security officer who performs automatic driving through the cloud control device.
The automatic driving device provided by the embodiment of the application can execute the actions of the vehicle-mounted terminal in the embodiment, the implementation principle and the technical effect are similar, and the implementation principle and the technical effect are not repeated.
Fig. 8 is a schematic structural diagram of an automatic steering device according to an embodiment of the present application. The automatic driving device can be realized by software, hardware or the combination of the software and the hardware so as to execute the control method of the automatic driving vehicle cloud control equipment in the embodiment. As shown in fig. 8, the communication apparatus 700 includes: a processing module 701, a sending module 702 and a receiving module 703.
A processing module 701 for displaying a guidance request and environmental information of the vehicle on a display component of the autonomous driving apparatus;
a sending module 702, configured to send driving instruction information to a vehicle-mounted terminal;
the receiving module 703 is configured to receive driving instruction information input by a security officer in automatic driving, where the driving instruction information includes a driving instruction strategy.
In an alternative embodiment, the driving guidance information includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
In an optional implementation manner, the receiving module is further configured to receive a guidance request sent by the vehicle-mounted terminal, where the guidance request is used for requesting a safer for automatic driving to input driving guidance information.
In an alternative embodiment, the guidance request includes environmental information about the vehicle.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 9, the electronic device may include: a processor 71 (e.g., a CPU), a memory 72, a receiver 73, and a transmitter 74; the receiver 73 and the transmitter 74 are coupled to the processor 71, the processor 71 controlling the receiving action of the receiver 73 and the processor 71 controlling the transmitting action of the transmitter 74. The memory 72 may comprise a high-speed RAM memory, and may also include a non-volatile memory NVM, such as at least one disk memory, in which various information may be stored for performing various processing functions and implementing the method steps of the embodiments of the present application. Optionally, the electronic device related to the embodiment of the present application may further include: a power supply 75, a communication bus 76, and a communication port 77. The receiver 73 and the transmitter 74 may be integrated in a transceiver of the electronic device or may be separate transceiving antennas on the electronic device. The communication bus 76 is used to enable communication connections between the elements. The communication port 77 is used for connection and communication between the electronic device and other peripherals.
The embodiment of the application also provides a chip which comprises a processor and an interface. Wherein the interface is used for inputting and outputting data or instructions processed by the processor. The processor is configured to perform the methods provided in the above method embodiments.
The present invention also provides a computer-readable storage medium, which may include: the vehicle control system includes a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing environment information and driving guidance information of a vehicle, and specifically, the computer readable storage medium stores the environment information and the driving guidance information of the vehicle and is used for updating the control method of the autonomous driving vehicle.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (22)
1. An automatic driving method is characterized by being applied to a vehicle-mounted terminal, and comprises the following steps:
receiving driving instruction information from a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;
determining an automatic driving algorithm corresponding to the automatic driving strategy;
and using the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to a destination.
2. The method of claim 1, wherein the driving coaching strategy comprises at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
3. The method of claim 1 or 2, wherein prior to said receiving driving coaching information from an automated driving safer, the method further comprises:
acquiring environmental information of the vehicle;
determining whether the vehicle can travel to a destination according to the environment information of the vehicle;
if not, sending a guidance request to the automatic driving safety personnel, wherein the guidance request is used for requesting the automatic driving safety personnel to input the driving guidance information.
4. The method of claim 3, wherein receiving driving coaching information from an automated driving safer comprises:
and receiving driving guide information sent by the automatic driving safety personnel through cloud control equipment.
5. The method of claim 3, wherein the guidance request includes environmental information of the vehicle.
6. An automatic driving method is applied to a cloud control device, and comprises the following steps:
receiving driving instruction information input by a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;
and sending the driving instruction information to a vehicle-mounted terminal.
7. The method of claim 6, wherein the driving guidance information includes at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
8. The method of claim 6, wherein prior to the receiving driving coaching information input by a safer for automated driving, the method further comprises:
and receiving the guidance request sent by the vehicle-mounted terminal, wherein the guidance request is used for requesting a security officer in the automatic driving to input the driving guidance information.
9. The method of claim 8, wherein the guidance request includes environmental information of the vehicle.
10. The method according to claim 9, wherein after the receiving the guidance request sent by the in-vehicle terminal, the method further comprises:
displaying the guidance request and the environmental information of the vehicle on a display component of the cloud control device.
11. An autopilot device, the device comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information from a safety driver of automatic driving, and the driving instruction information comprises a driving instruction strategy;
the processing module is used for determining an automatic driving algorithm corresponding to the automatic driving strategy; and driving the vehicle where the automatic driving device is located to the destination by using the automatic driving algorithm.
12. The apparatus of claim 11, wherein the driving guidance information comprises at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
13. The apparatus of claim 11 or 12, wherein the processing module is further configured to obtain environmental information of the vehicle; determining whether the vehicle can travel to a destination according to the environment information of the vehicle;
the device further comprises a sending module, which is used for sending a guidance request to the safety personnel of the automatic driving if the safety personnel of the automatic driving does not enter the driving guidance information, wherein the guidance request is used for requesting the safety personnel of the automatic driving to input the driving guidance information.
14. The apparatus according to claim 13, wherein the receiving module is specifically configured to receive driving instruction information sent by the automated driving safer via a cloud control device.
15. The apparatus of claim 13, wherein the guidance request includes environmental information of the vehicle.
16. An autopilot device, the device comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information input by a safety guard of automatic driving, and the driving instruction information comprises a driving instruction strategy;
and the sending module is used for sending the driving instruction information to the vehicle-mounted terminal.
17. The apparatus of claim 16, wherein the driving directions information comprises at least one of: correcting the parking position, planning the driving route, clearing misjudged barriers and adjusting the safety distance.
18. The apparatus according to claim 16, wherein the receiving module is further configured to receive the guidance request sent by the vehicle-mounted terminal, and the guidance request is used to request a safer for the automatic driving to input the driving guidance information.
19. The apparatus of claim 18, wherein the guidance request includes environmental information of the vehicle.
20. The apparatus of claim 19, further comprising:
a processing module to display the coaching request and the environmental information of the vehicle on a display component of the autonomous device.
21. An electronic device, comprising: a memory, a processor, and a transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method of any one of claims 1-10;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
22. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any one of claims 1-10.
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