CN112256004A - Remote driving control device and method for unmanned vehicle and unmanned vehicle - Google Patents
Remote driving control device and method for unmanned vehicle and unmanned vehicle Download PDFInfo
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Abstract
Disclosed are a remote driving control device, a remote driving control method and an unmanned vehicle, relating to the technical field of unmanned vehicles. Wherein the device includes: the receiver is used for receiving a remote driving control instruction carrying a time mark, wherein the time mark is the moment when the remote driving platform server sends the remote driving control instruction to the unmanned vehicle; the filter is used for monitoring whether the difference between the current moment and the time mark exceeds a first threshold value or not, if so, the time mark is determined to be invalid, the remote driving control instruction is discarded, and the current moment is the moment when the unmanned vehicle receives the remote driving control instruction; and the driving control engine is used for executing the remote driving control instruction on the premise that the remote driving control instruction is still output after being filtered by the filter. The embodiment of the invention reduces the risk of safety accidents of the unmanned vehicle in the unmanned process and improves the safety and reliability of the unmanned vehicle in the remote automatic driving process.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a remote driving control device and method for an unmanned vehicle and the unmanned vehicle.
Background
In a remote driving control scene, the remote driving platform server receives a video picture of the unmanned vehicle site and sends a remote driving control instruction to the unmanned vehicle according to the video picture, and the unmanned vehicle carries out remote driving according to the remote driving control instruction. The video picture and the remote driving control command are transmitted through the wireless communication network, the time when the unmanned vehicle receives the remote driving control command is far delayed from the sending time due to data communication time delay, and the remote driving control command is not matched with the real-time operation requirement of the unmanned vehicle at the receiving time, so that the risk of safety accidents of the unmanned vehicle is increased, and the safety and the reliability of the remote driving unmanned vehicle are reduced.
Disclosure of Invention
In order to overcome the problems in the related art, embodiments of the present invention provide a remote driving control apparatus and method, and an unmanned vehicle, which reduce the risk of safety accidents of the unmanned vehicle, and improve the safety and reliability of the remote driving unmanned vehicle.
According to a first aspect of embodiments of the present invention, there is provided a remote driving control apparatus of an unmanned vehicle, including:
the remote driving control system comprises a receiver and a control module, wherein the receiver is used for receiving a remote driving control instruction carrying a time mark, and the time mark is the moment when a remote driving platform server sends the remote driving control instruction to an unmanned vehicle;
a filter for monitoring whether a difference between a current time and the time stamp exceeds a first threshold, and if so, determining that the time stamp is invalid and discarding the remote driving control instruction, the current time being a time at which the unmanned vehicle receives the remote driving control instruction;
and the driving control engine is used for executing the remote driving control instruction on the premise that the remote driving control instruction is still output after the filtering of the filter.
Optionally, the remote driving control device further includes:
and the timer is used for determining the current time according to the synchronous clock of the clock synchronization source.
Optionally, the receiver is further configured to stop receiving the remote driving control command if a predetermined number of remote driving control commands received by the filter consecutively satisfy a first condition.
Optionally, the remote driving control device further includes:
a brake for braking the unmanned vehicle in the event that a predetermined number of remote driving control commands received by the filter in succession satisfy a first condition.
Optionally, the first condition comprises at least one of:
the time stamps in the predetermined number of remote driving control commands are all invalid;
the time stamp of more than a predetermined proportion of the predetermined number of remote driving control commands is disabled.
Optionally, the remote driving control instructions comprise first instructions and second instructions, the filter monitoring only whether a time stamp of the first instructions is expired, and if the time stamp is expired, discarding the first instructions, and for the second instructions, transmitting to the driving control engine.
Optionally, if the time stamp is invalid, the filter determines whether to discard the remote driving control instruction according to a current environment of the unmanned vehicle, wherein the remote driving control instruction is discarded if the current environment meets a predetermined environmental condition.
Optionally, the remote driving control device and the remote driving platform server receive a synchronous clock of the same clock synchronization source.
According to a second aspect of the embodiments of the present invention, there is provided a remote driving control method of an unmanned vehicle, including:
receiving a remote driving control instruction with a time stamp, wherein the time stamp is the moment when the remote driving platform server sends the remote driving control instruction to the unmanned vehicle;
monitoring whether the difference between the current time and the time stamp exceeds a first threshold value, if so, determining that the time stamp is invalid, and discarding the remote driving control instruction, wherein the current time is the time when the unmanned vehicle receives the remote driving control instruction;
executing the remote driving control instruction in a case where the remote driving control instruction is not discarded.
According to a third aspect of embodiments of the present invention, there is provided an unmanned vehicle having a remote driving control apparatus as described above.
According to a fourth aspect of the embodiments of the present invention, there is provided a remote driving control apparatus including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to perform the remote driving control method described above.
According to a fifth aspect of embodiments of the present invention, there is provided a computer-readable storage medium storing computer instructions that, when executed, implement the remote driving control method as described above.
According to a sixth aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program product, the computer program comprising program instructions which, when executed by a mobile terminal, cause the mobile terminal to perform the steps of the remote driving control method described above.
The invention has the following advantages or beneficial effects:
the method comprises the steps of receiving a remote driving control instruction carrying a time mark by a receiver, monitoring whether the time mark is invalid or not by a filter, discarding the remote driving control instruction if the time mark is invalid, and executing the remote driving control instruction by a driving control engine under the condition that the remote driving control instruction is not discarded. When the time when the unmanned vehicle receives the remote driving control command is delayed from the sending time due to the data communication time delay, the remote driving control command which is not matched with the real-time operation requirement of the unmanned vehicle is discarded by the filter, the risk of safety accidents of the unmanned vehicle is reduced, and the safety and the reliability of the remote driving unmanned vehicle are improved.
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The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
fig. 1 shows a schematic configuration of a remote driving control system of the present invention.
Fig. 2 is a schematic diagram showing the configuration of an execution environment of the remote driving control apparatus of the present invention.
Fig. 3 is a schematic structural diagram of a remote driving control apparatus according to the first, second, fourth, and fifth embodiments of the present invention.
Fig. 4 is a schematic configuration diagram of a remote driving control device according to a third embodiment of the present invention.
Fig. 5 is a flowchart illustrating a remote driving control method according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a remote driving control method according to a second embodiment of the present invention.
Fig. 7 is a flowchart illustrating a remote driving control method according to a third embodiment of the present invention.
Fig. 8 is a flowchart illustrating a remote driving control method according to a fourth embodiment of the present invention.
Fig. 9 is a flowchart illustrating a remote driving control method according to a fifth embodiment of the present invention.
Fig. 10 shows a schematic configuration diagram of the remote driving control apparatus of the present invention.
Detailed Description
The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, and procedures have not been described in detail so as not to obscure the present invention. The figures are not necessarily drawn to scale.
With the development of artificial intelligence and automatic control technology, unmanned technology has been gradually applied to life, and unmanned vehicles have become the development direction of future traffic. Fig. 1 shows a schematic configuration of a remote driving control system of the present invention. As shown in fig. 1, the remote driving control system includes: an unmanned vehicle 1000, a remote driving platform server 2000, and a time synchronization server 3000. The time synchronization server 3000 is, for example, a GPS time synchronization server or an NTP time synchronization server. The unmanned vehicle 1000 and the remote driving platform server 2000 receive the synchronization clock transmitted from the same clock synchronization source (time synchronization server 3000).
In the remote driving control scenario, the remote driving platform server 2000 receives a live video image of the unmanned vehicle 1000 and transmits a remote driving control instruction to the unmanned vehicle 1000 according to the video image, and the unmanned vehicle 1000 performs remote driving according to the remote driving control instruction. And the video pictures and the remote driving control commands are transmitted through a wireless communication network.
Fig. 2 is a schematic diagram showing the configuration of an execution environment of the remote driving control apparatus of the present invention. As shown in fig. 2, remote driving control device 100 is mounted on unmanned vehicle 1000. The unmanned vehicle 1000 is an intelligent vehicle that senses a road environment through a vehicle-mounted sensing system, and automatically plans a driving route and controls the steering and speed of the vehicle to reach a predetermined destination according to information such as a road, a vehicle position, and an obstacle obtained through sensing. The remote driving control device 100 of the unmanned vehicle 1000 and the remote driving platform server 2000 receive the synchronization clock transmitted from the same clock synchronization source (time synchronization server 3000). In the remote driving control scenario, the controller mounted on the unmanned vehicle 1000 controls the remote driving control device 100 according to the embodiment of the present invention to apply the remote driving control method according to the embodiment of the present invention, thereby controlling the unmanned vehicle to execute the remote driving control command or stop receiving the remote driving control command according to the validity of the remote driving control command carrying the time stamp.
The first implementation mode comprises the following steps:
fig. 5 shows a remote driving control method according to the present embodiment, which is applied to the remote driving control apparatus 100a shown in fig. 3. Referring to fig. 3, the remote driving control apparatus 100a of the present embodiment includes: receiver 110, timer 120, filter 130, and driving control engine 140. The remote driving control device 100a is mounted on the unmanned vehicle 1000.
The receiver 110 is configured to receive a remote driving control command C with a time stamp sent by the remote driving platform server 2000. The remote driving control instruction C is used to control the unmanned vehicle 1000 to perform a corresponding control operation after receiving the instruction. The remote driving control command C includes a steering control command, a speed control command, and the like. The time stamp records the transmission time of the remote driving platform server 2000 transmitting the remote driving control command C to the unmanned vehicle 1000. The time stamp is packaged with the remote driving control command C according to a predetermined protocol. The timer 120 is configured to determine the current time according to the synchronization clock of the time synchronization server 3000. The current time is the time when the unmanned vehicle 1000 receives the remote driving control instruction C. The filter 130 is used to monitor whether the time stamp is expired and if the time stamp is expired, the remote driving control command C is discarded. In the case of good network conditions, the time taken for the remote driving control instruction C to be transmitted between the remote driving platform server 2000 and the unmanned vehicle 1000 is in the order of milliseconds. In a special situation (such as the device signal is interfered or the network bandwidth is insufficient), when the wireless communication network has a network delay, the remote driving control command C received by the unmanned vehicle 1000 may be a control signaling sent by the remote driving platform server 2000 a long time ago. The filter 130 determines that the time stamp is invalid if the difference between the current time at which the unmanned vehicle 1000 receives the remote driving control command C and the time stamp exceeds a first threshold. The driving control engine 140 is configured to execute the remote driving control command C on the premise that the remote driving control command C is still output after being filtered by the filter 130.
Specifically, the remote driving control method provided by the present embodiment includes:
in step S510, a remote driving control instruction carrying a time stamp is received.
In this step, the controller mounted on the unmanned vehicle 1000 receives the remote driving control command C carrying the time stamp by the receiver 110. In some embodiments, the remote driving control command C includes: steering control commands, speed control commands, reversing control commands, whistling control commands, vehicle lamp control commands and the like. It should be noted that the above control commands are merely an example, and the remote driving control command covers all control commands required for the remote driving of the unmanned vehicle 1000.
In step S520, the current time is determined according to the synchronization clock of the clock synchronization source.
In this step, the controller mounted on the unmanned vehicle 1000 determines the current time from the synchronization clock of the time synchronization server 3000 by the timer 120.
In step S530, it is monitored whether the difference between the current time and the time stamp exceeds a first threshold, and if so, it is determined that the time stamp is invalid, and the remote driving control command is discarded.
In this step, the controller mounted on the unmanned vehicle 1000 monitors whether or not the difference between the current time and the time stamp exceeds the first threshold value using the filter 130, and if so, the time stamp is disabled and the remote driving control command C is discarded.
In step S540, in a case where the remote driving control command is not discarded, the remote driving control command is executed.
In this step, the controller mounted on the unmanned vehicle 1000 executes the remote driving control command C by the driving control engine 140 when the remote driving control command C is not discarded.
Therefore, according to the present embodiment, a receiver receives a remote driving control command carrying a time stamp, a timer determines a current time according to a synchronization clock of a time synchronization server, a filter monitors whether the time stamp is invalid, if the time stamp is invalid, the remote driving control command is discarded, and a driving control engine executes the remote driving control command if the remote driving control command is not discarded. When the time when the unmanned vehicle receives the remote driving control command is delayed from the sending time due to the data communication time delay, the remote driving control command which is not matched with the real-time operation requirement of the unmanned vehicle is discarded by the filter, the risk of safety accidents of the unmanned vehicle is reduced, and the safety and the reliability of the remote driving unmanned vehicle are improved.
The second embodiment: fig. 6 shows a remote driving control method according to the present embodiment, which is applied to the remote driving control apparatus 100a shown in fig. 3. The remote driving control method of the present embodiment is different from the remote driving control method shown in the first embodiment in that the reception of the remote driving control command is stopped when a predetermined number of remote driving control commands C received in succession satisfy the first condition. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands C are all expired; the time stamps above a predetermined proportion of the predetermined number of remote driving control commands C are expired.
Specifically, the remote driving control method provided by the present embodiment includes:
in step S610, a remote driving control instruction carrying a time stamp is received.
In step S620, the current time is determined according to the synchronization clock of the clock synchronization source.
In step S630, it is monitored whether the difference between the current time and the time stamp exceeds a first threshold, and if so, it is determined that the time stamp is invalid, and the remote driving control command is discarded.
In this step, the controller mounted on the unmanned vehicle 1000 determines that the time stamp is invalid and discards the remote driving control command C by using whether the difference between the current time of the filter 130 and the time stamp exceeds a first threshold, and also monitors whether a predetermined number of remote driving control commands C received in succession satisfy a first condition by using the filter 130, and if so, executes step S650. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands C are all expired; the time stamps above a predetermined proportion of the predetermined number of remote driving control commands C are expired.
In step S640, in the case where the remote driving control instruction is not discarded, the remote driving control instruction is executed.
In step S650, in the case where a predetermined number of remote driving control instructions received in succession satisfy the first condition, the reception of the remote driving control instructions is stopped.
In this step, the controller mounted on the unmanned vehicle 1000 stops receiving the remote driving control command C, that is, disconnects the communication connection between the unmanned vehicle 1000 and the remote driving platform server 2000, when a predetermined number of remote driving control commands received in succession by the receiver 110 satisfy the first condition. In some embodiments, the filter 130 receives the remote driving control command C1, the remote driving control command C2, the remote driving control command C3, the remote driving control command C4, and the remote driving control command C5 in succession, and the receiver 120 stops receiving the remote driving control command C if all of the remote driving control commands C1 to C5 fail. In some embodiments, the filter 130 is continuously connected to remote ride control command C1, remote ride control command C2, remote ride control command C3, remote ride control command C4, and remote ride control command C5, wherein the time stamps for remote ride control command C2, remote ride control command C4, and remote ride control command C5 are disabled. The failure rate of the time stamp in the remote driving control command C1 to the remote driving control command C5 is 3/5. If the predetermined ratio is less than 3/5, the receiver 120 stops receiving the remote driving control command C.
Therefore, according to the present embodiment, in the case where a predetermined number of remote driving control commands received by the receiver in succession satisfy the first condition, the reception of the remote driving control commands is stopped. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands are all invalid; the time stamp of more than a predetermined proportion of the predetermined number of remote driving control commands is expired. The predetermined number of remote driving control instructions received by the filter continuously meet a first condition, which shows that the remote driving control instructions are not matched with the real-time operation requirement of the unmanned vehicle within a long period of time, and the receiver stops receiving the remote driving control instructions to reduce the interference of the subsequent delayed remote driving control instructions on the unmanned vehicle, so that the risk of safety accidents of the unmanned vehicle is reduced, and the safety and the reliability of the remote driving unmanned vehicle are improved.
The third embodiment is as follows:
fig. 7 shows a remote driving control method according to the present embodiment, which is applied to the remote driving control apparatus 100b shown in fig. 4. Referring to fig. 4, the remote driving control apparatus 100b of the present embodiment is different from the remote driving control apparatus 100a shown in fig. 3 in that the remote driving control apparatus 100b of the present embodiment further includes a brake 150. The brake 150 is used to brake the unmanned vehicle 1000 in the case where a predetermined number of remote driving control commands C received by the filter 130 in succession satisfy the first condition. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands C are all expired; the time stamps above a predetermined proportion of the predetermined number of remote driving control commands C are expired. The remote driving control method of the present embodiment is different from the remote driving control method shown in the first embodiment in that the unmanned vehicle 1000 is braked in the case where a predetermined number of remote driving control commands C received in succession satisfy the first condition. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands C are all expired; the time stamps above a predetermined proportion of the predetermined number of remote driving control commands C are expired.
Specifically, the remote driving control method provided by the present embodiment includes:
in step S710, a time-stamped remote driving control instruction is received.
In step S720, the current time is determined according to the synchronization clock of the clock synchronization source.
In step S730, it is monitored whether the difference between the current time and the time stamp exceeds a first threshold, and if so, it is determined that the time stamp is invalid, and the remote driving control command is discarded.
In this step, the controller mounted on the unmanned vehicle 1000 monitors whether or not the difference between the current time and the time stamp exceeds a first threshold value using the filter 130, and if so, determines that the time stamp is invalid, discards the remote driving control command C, and also monitors whether or not a predetermined number of remote driving control commands C received in succession satisfy a first condition using the filter 130, and if so, executes step S750. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands C are all expired; the time stamps above a predetermined proportion of the predetermined number of remote driving control commands C are expired.
In step S740, in the case where the remote driving control instruction is not discarded, the remote driving control instruction is executed.
Step S710, step S720 and step S740 are the same as step S510, step S520 and step S540 shown in fig. 5, and are not repeated here.
In step S750, the unmanned vehicle is braked under the condition that a predetermined number of remote driving control commands received in succession satisfy the first condition.
In this step, the controller mounted on the unmanned vehicle 1000 brakes the unmanned vehicle 1000 using the brake 150 when a predetermined number of remote driving control commands C consecutively received by the filter 130 satisfy the first condition. In some embodiments, the controller mounted on the unmanned vehicle 1000 determines whether to brake the unmanned vehicle 1000 based on the geographical location of the unmanned vehicle 1000 when a predetermined number of remote driving control commands C consecutively received by the filter 130 using the brake 150 satisfy the first condition. If the unmanned vehicle 1000 is located in a downtown area, the unmanned vehicle 1000 is braked, and if the unmanned vehicle 1000 is located in a suburban area, the unmanned vehicle 1000 is not braked.
Therefore, according to the present embodiment, the brake brakes the unmanned vehicle in the case where a predetermined number of remote driving control commands received by the filter in succession satisfy the first condition. The first condition includes at least one of: the time stamps in a predetermined number of remote driving control commands are all invalid; the time stamp of more than a predetermined proportion of the predetermined number of remote driving control commands is expired. The filter continuously receives a preset number of remote driving control instructions which meet a first condition, the remote driving control instructions are not matched with the real-time operation requirement of the unmanned vehicle within a long period of time, the unmanned vehicle is braked through the brake, the risk of safety accidents of the unmanned vehicle is reduced, and the safety and the reliability of the remote driving unmanned vehicle are improved.
The fourth embodiment:
fig. 8 shows a remote driving control method according to the present embodiment, which is applied to the remote driving control apparatus 100a shown in fig. 3. The remote driving control method of the present embodiment is different from the remote driving control method shown in the first embodiment in that the remote driving control command C includes a first command C1 and a second command C2, it is monitored only with the filter 130 whether the time stamp of the first command C1 is expired, and if the time stamp is expired, the first command C1 is discarded, and for the second command C2, it is transmitted to the driving control engine 140.
Specifically, the remote driving control method provided by the present embodiment includes:
in step S810, a time-stamped remote driving control instruction is received.
In this step, the controller mounted on the unmanned vehicle 1000 receives the remote driving control command C carrying the time stamp by the receiver 110. The remote driving control command C includes a first command C1 and a second command C2. The importance level of the first instruction C1 and the second instruction C2 are different. For example, the importance level of the first instruction C1 is greater than the importance level of the second instruction C2. In some embodiments, the unmanned vehicle 1000 is in a remote-driven parking scenario, the first instruction C1 includes: a steering control command, a reverse control command, a speed control command, and the like, and the second command C2 includes: a whistling control command, a vehicle lamp control command, and the like. In some embodiments, the unmanned vehicle 1000 is in a remote driving scenario, the first instruction C1 includes: steering control instruction, speed control instruction, reverse control instruction, whistle control instruction etc. second instruction C2 includes: vehicle light control commands, and the like.
In step S820, the current time is determined according to the synchronization clock of the clock synchronization source.
In step S830, only the time stamp of the first instruction is monitored using the filter for failure, and if the time stamp fails, the first instruction is discarded, and for a second instruction, transmitted to the driving control engine.
In this step, the controller mounted on the unmanned vehicle 1000 monitors only whether the difference between the current time and the time stamp of the first command C1 exceeds the first threshold value using the filter 130, and if so, determines that the time stamp of the first command C1 is invalid, and discards the first command C1. And for the second instruction C2, the second instruction C2 is transmitted to the driving control engine 140 using the filter 130.
In step S840, in a case where the remote driving control instruction is not discarded, the remote driving control instruction is executed.
Steps S820 and S840 are identical to steps S520 and S540 shown in fig. 5, and are not described here again.
Thus, according to the present embodiment, a receiver is utilized to receive remote driving control instructions carrying a time stamp. The remote driving control command comprises a first command and a second command. The remote driving control instruction is divided into a first instruction and a second instruction according to the importance level of the instruction. The importance level of the first instruction is greater than the importance level of the second instruction. Only the time stamp of the first instruction is monitored with the filter for failure, and if the time stamp fails, the first instruction is discarded, and for the second instruction, the second instruction is transmitted to the driving control engine with the filter. In the case where the remote driving control instruction is not discarded, the remote driving control instruction is executed using the driving control engine. The effectiveness of the time mark of the first instruction with the higher importance level is monitored only within a period of time, the second instruction with the lower importance level is transmitted to the driving control engine by the filter, the matching degree of the importance level of the remote driving control instruction and the effectiveness monitoring of the time mark is improved, the workload of the filter for monitoring the effectiveness of the time mark of the remote driving control instruction is reduced, the efficiency of the filter for monitoring the effectiveness of the time mark of the remote driving control instruction is improved, the risk of safety accidents of the unmanned vehicle is reduced, and the safety and the reliability of the remote driving unmanned vehicle are improved.
The fifth embodiment:
fig. 9 shows a remote driving control method according to the present embodiment, which is applied to the remote driving control apparatus 100a shown in fig. 3. The remote driving control method of the present embodiment is different from the remote driving control method of the first embodiment in that, if the time stamp is expired, it is determined whether to discard the remote driving control command C according to the current environment of the unmanned vehicle 1000 using the filter 130, wherein, if the current environment satisfies a predetermined environmental condition, the remote driving control command C is discarded.
Specifically, the remote driving control method provided by the present embodiment includes:
in step S910, a remote driving control instruction carrying a time stamp is received.
This step is identical to step S510 shown in fig. 5, and will not be described here.
In step S920, the current time is determined according to the synchronization clock of the clock synchronization source.
In step S930, it is monitored whether the time stamp is expired, and if the time stamp is expired, it is determined whether to discard the remote driving control command according to a current environment of the unmanned vehicle, wherein the remote driving control command is discarded if the current environment satisfies a predetermined environmental condition.
In this step, the controller mounted on the unmanned vehicle 1000 monitors whether or not the difference between the current time and the time stamp exceeds the first threshold value using the filter 130, and if so, determines that the time stamp of the remote driving control command C is invalid, and if the time stamp is invalid, determines whether or not to discard the remote driving control command C according to the current environment of the unmanned vehicle 1000. Wherein the remote driving control command C is discarded if the current environment satisfies the predetermined environmental condition, and the remote driving control command C is transmitted to the driving control engine 140 if the current environment does not satisfy the predetermined environmental condition. The current environment refers to the current vehicle surroundings of the unmanned vehicle 1000. In some embodiments, the current environment includes a current road driving environment, a current weather environment, and the like. The predetermined environmental condition is a trigger condition set in advance according to the demand of industrial application. The current environment of the unmanned vehicle 1000 is rated as safe, with the predetermined environmental conditions being less safe. In some embodiments, the predetermined environmental conditions include rainy and snowy weather, icy roads, rough mountain roads, and the like. For example, the unmanned vehicle 1000 is in an outdoor driving state, the current road driving environment and the current weather environment are good, receives an acceleration control command carrying a time stamp using the receiver 110, monitors whether the time stamp is expired using the filter 130, and transmits the acceleration control command to the driving control engine 140 if the time stamp is expired since the current environment does not satisfy a predetermined environmental condition. For example, the unmanned vehicle 1000 is in an outdoor driving state, an emergency (e.g., heavy rainfall and/or rough road) occurs in a current road driving environment and/or a current weather environment, an acceleration control command carrying a time stamp is received by the receiver 110, whether the time stamp is expired is monitored by the filter 130, and if the time stamp is expired, the acceleration control command is discarded because the current environment satisfies a predetermined environmental condition.
In step S940, in a case where the remote driving control instruction is not discarded, the remote driving control instruction is executed.
Steps S920 and S940 are the same as steps S520 and S540 shown in fig. 5, and are not described here again.
Thus, according to the present embodiment, a receiver is utilized to receive remote driving control instructions carrying a time stamp. Monitoring whether the time stamp is invalid by using a filter, and if the time stamp is invalid, determining whether to discard the remote driving control command according to the current environment of the unmanned vehicle. And if the current environment does not meet the preset environmental condition, transmitting the remote driving control instruction to the driving control engine. In the case where the remote driving control instruction is not discarded, the remote driving control instruction is executed using the driving control engine. The method comprises the steps that the safety level of the current environment of the unmanned vehicle is divided, and when the unmanned vehicle is in a preset environment condition with a low safety level, if the time mark is invalid, the corresponding remote driving control instruction is discarded; and when the safety level of the current environment is higher than the preset environment condition, if the time mark is invalid, transmitting the corresponding remote driving control instruction to the driving control engine. The matching degree of execution of the remote driving control instruction and the current environment is improved, the safety and the reliability of the remote driving unmanned vehicle are improved, and meanwhile the workload of filtering the remote driving control instruction by the filter is reduced.
Further, the present invention also provides a remote driving control apparatus of an unmanned vehicle, which is capable of applying the remote driving control method of the above embodiment, as shown in fig. 10, with reference to fig. 10, and includes: a receiving unit 1010, a filtering unit 1020 and an executing unit 1030.
The receiving unit 910 is configured to receive a remote driving control instruction carrying a time stamp, where the time stamp is a time when the remote driving platform server sends the remote driving control instruction to the unmanned vehicle. The filtering unit 1020 is configured to monitor whether a difference between a current time and the time stamp exceeds a first threshold, and if so, determine that the time stamp is invalid, and discard the remote driving control command, where the current time is a time at which the unmanned vehicle receives the remote driving control command. The execution unit 1030 is configured to execute the remote driving control instruction if the remote driving control instruction is not discarded.
It should be noted that, the specific steps of the remote driving control method of the above embodiment applied by the remote driving control apparatus shown in fig. 10 have been described in detail in the above embodiment, and are not repeated here.
Further, the present invention provides an unmanned vehicle having the remote driving control apparatus described in the above embodiment.
Accordingly, the present invention provides a remote driving control apparatus comprising: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to perform the remote driving control method described above.
Accordingly, the present invention provides a computer readable storage medium having stored thereon computer instructions which, when executed, implement a remote driving control method as described above.
Accordingly, the present invention provides a computer program product, comprising a computer program product, said computer program comprising program instructions which, when executed by a mobile terminal, cause said mobile terminal to perform the steps of the above-mentioned remote driving control method.
The flowcharts and block diagrams in the figures and block diagrams illustrate the possible architectures, functions, and operations of the systems, methods, and apparatuses according to the embodiments of the present invention, and may represent a module, a program segment, or merely a code segment, which is an executable instruction for implementing a specified logical function. It should also be noted that the executable instructions that implement the specified logical functions may be recombined to create new modules and program segments. The blocks of the drawings, and the order of the blocks, are thus provided to better illustrate the processes and steps of the embodiments and should not be taken as limiting the invention itself.
The above description is only a few embodiments of the present invention, and is not intended to limit the present invention, and various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A remote driving control apparatus of an unmanned vehicle, comprising:
the remote driving control system comprises a receiver and a control module, wherein the receiver is used for receiving a remote driving control instruction carrying a time mark, and the time mark is the moment when a remote driving platform server sends the remote driving control instruction to an unmanned vehicle;
a filter for monitoring whether a difference between a current time and the time stamp exceeds a first threshold, and if so, determining that the time stamp is invalid and discarding the remote driving control instruction, the current time being a time at which the unmanned vehicle receives the remote driving control instruction;
and the driving control engine is used for executing the remote driving control instruction on the premise that the remote driving control instruction is still output after the filtering of the filter.
2. The remote driving control apparatus according to claim 1, further comprising:
and the timer is used for determining the current time according to the synchronous clock of the clock synchronization source.
3. The remote driving control apparatus according to claim 1, wherein the receiver is further configured to stop receiving the remote driving control command if a predetermined number of remote driving control commands received by the filter in succession satisfy a first condition.
4. The remote driving control apparatus according to claim 1, further comprising:
a brake for braking the unmanned vehicle in the event that a predetermined number of remote driving control commands received by the filter in succession satisfy a first condition.
5. The remote driving control device according to claim 3 or 4, wherein the first condition includes at least one of:
the time stamps in the predetermined number of remote driving control commands are all invalid;
the time stamp of more than a predetermined proportion of the predetermined number of remote driving control commands is disabled.
6. The remote driving control apparatus according to any one of claims 1 to 4, wherein the remote driving control command includes a first command and a second command, the filter monitors only whether a time stamp of the first command is expired, and discards the first command if the time stamp is expired, and transmits to the driving control engine for the second command.
7. The remote driving control apparatus according to any one of claims 1-4, wherein the filter determines whether to discard the remote driving control command according to a current environment of the unmanned vehicle if the time stamp is expired, wherein the remote driving control command is discarded if the current environment satisfies a predetermined environmental condition.
8. The remote driving control device according to any one of claims 1-4, wherein the remote driving control device and the remote driving platform server receive a synchronization clock of the same clock synchronization source.
9. A remote driving control method of an unmanned vehicle, comprising:
receiving a remote driving control instruction with a time stamp, wherein the time stamp is the moment when the remote driving platform server sends the remote driving control instruction to the unmanned vehicle;
monitoring whether the difference between the current time and the time stamp exceeds a first threshold value, if so, determining that the time stamp is invalid, and discarding the remote driving control instruction, wherein the current time is the time when the unmanned vehicle receives the remote driving control instruction;
executing the remote driving control instruction in a case where the remote driving control instruction is not discarded.
10. An unmanned vehicle having a remote driving control apparatus according to any one of claims 1-8.
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