CN112738171A - Vehicle control method, device, system, equipment and storage medium - Google Patents
Vehicle control method, device, system, equipment and storage medium Download PDFInfo
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- CN112738171A CN112738171A CN202011535996.8A CN202011535996A CN112738171A CN 112738171 A CN112738171 A CN 112738171A CN 202011535996 A CN202011535996 A CN 202011535996A CN 112738171 A CN112738171 A CN 112738171A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The application provides a control method, a device, a system, equipment and a storage medium of a vehicle, wherein the method comprises the following steps: receiving a road condition video of a road section where a vehicle is located; sending the road condition video to a remote cockpit to enable the remote cockpit to display the road condition video; under the condition of receiving the operation instruction, sending the operation instruction to the vehicle so as to enable the vehicle to execute corresponding operation; the operation instruction is generated based on driving operation of the remote cockpit and is sent to the MEC server through communication connection of the remote cockpit and the MEC server. According to the technical scheme of the embodiment of the application, the remote control efficiency of the vehicle can be effectively improved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a system, a device, and a storage medium for controlling a vehicle.
Background
At present, in a traditional remote driving control mode of the internet of vehicles, a cloud server sends a control instruction to a vehicle through a mobile communication network so as to remotely control the vehicle; wherein the control instructions are generated in dependence of video information received from the road section on which the vehicle is located. However, the round-trip delay between the cloud server and the vehicle is large, which is not beneficial to the transmission of video information and control instructions, and therefore, the problem of low remote control efficiency exists.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, a device, a system, equipment and a storage medium, which are used for solving the problems in the related art, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a control method for a vehicle, which is applied to a method of an MEC server, and the method includes:
receiving a road condition video of a road section where a vehicle is located;
sending the road condition video to a remote cockpit to enable the remote cockpit to display the road condition video;
under the condition of receiving the operation instruction, sending the operation instruction to the vehicle so as to enable the vehicle to execute corresponding operation; the operation instruction is generated based on driving operation of the remote cockpit and is sent to the MEC server through communication connection of the remote cockpit and the MEC server.
In a second aspect, an embodiment of the present application provides another control method for a vehicle, which is applied to the vehicle, and includes:
sending a first road condition video of a road section where a vehicle is located;
receiving and executing an operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent to the vehicle by the remote cockpit through the communication connection with the MEC server and the communication connection between the MEC server and the roadside device or the base station.
In a third aspect, an embodiment of the present application provides a control apparatus for a vehicle, which is applied to an MEC server, and includes:
the first receiving module is used for receiving road condition videos of a road section where a vehicle is located;
the first sending module is used for sending the road condition video to the remote driving cabin so as to enable the remote driving cabin to display the road condition video; the receiving and transmitting module is used for sending an operation instruction to the vehicle under the condition of receiving the operation instruction so as to enable the vehicle to execute corresponding operation; the operation instruction is generated based on driving operation of the remote cockpit and is sent to the MEC server through communication connection of the remote cockpit and the MEC server.
In a fourth aspect, an embodiment of the present application provides another control apparatus for a vehicle, where the apparatus is applied to the vehicle, and includes:
the sending module is used for sending a first road condition video of a road section where the vehicle is located;
the execution module is used for receiving and executing the operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent to the vehicle by the remote cockpit through the communication connection with the MEC server and the communication connection between the MEC server and the roadside device or the base station.
In a fifth aspect, an embodiment of the present application provides a control system for a vehicle, including:
an MEC server comprising the apparatus of the third aspect described above;
the remote cockpit is in communication connection with the MEC server;
a vehicle comprising the apparatus of the fourth aspect.
In a sixth aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any of the above aspects.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed on a computer, the method in any one of the above-mentioned aspects is performed.
The advantages or beneficial effects in the above technical solution at least include: the MEC server receives the road condition video of the road section where the vehicle is located and controls the remote cockpit to display the road condition video, so that the transmission delay of the road condition video can be effectively reduced, and the authenticity of the driving scene of the road section where the vehicle is located can be enhanced; and the MEC server can rapidly send the operation instruction to the vehicle under the condition of receiving the operation instruction, so that the vehicle executes corresponding operation, and the vehicle can rapidly respond to the operation of the remote cockpit. Therefore, the remote control efficiency of the vehicle can be effectively improved, and the use experience of a user is improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 illustrates a network architecture diagram of a conventional Internet of vehicles;
FIG. 2 illustrates an application scenario diagram according to an embodiment of the application;
FIG. 3 shows a first flowchart of a control method of a vehicle according to an embodiment of the present application;
FIG. 4 shows a schematic flow chart of step S302 in FIG. 3;
FIG. 5A shows a schematic flow chart of step S402 in FIG. 4;
FIG. 5B is a schematic diagram showing a first display area and a second display area of the remote cockpit in a position relationship in the embodiment of the present application;
FIG. 5C is a schematic diagram showing a positional relationship between the first display area and the second display area of the remote cockpit in the embodiment of the present application;
FIG. 6 shows a second flowchart of a control method of a vehicle according to an embodiment of the present application;
FIG. 7 shows a third flowchart of a control method of a vehicle according to an embodiment of the present application;
FIG. 8A shows a fourth flowchart of a control method of a vehicle according to an embodiment of the present application;
FIG. 8B is a schematic diagram showing a first schematic diagram of the position relationship between the third display area and the first and second display areas of the remote cockpit in the embodiment of the present application;
FIG. 8C is a schematic diagram showing a position relationship between the third display area and the first and second display areas of the remote cockpit in the embodiment of the present application;
fig. 9 shows a flowchart of a control method of a vehicle according to another embodiment of the present application;
fig. 10 is a block diagram showing a configuration of a control apparatus of a vehicle according to an embodiment of the present application;
fig. 11 is a block diagram showing a configuration of a control apparatus of a vehicle according to another embodiment of the present application;
fig. 12 is a block diagram of an electronic device for implementing a control method of a vehicle according to an embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a schematic diagram of a network architecture of a conventional internet of vehicles. As shown in fig. 1, in a conventional vehicle networking system, a vehicle 11 accesses a base station 121 as a wireless access point to a mobile communication network 12, and establishes a communication connection with a cloud server 13 through the base station 121, a bearer network 122 and a core network 123 in the mobile communication network 12. In this way, the vehicle 11 may transmit the video information collected by the vehicle sensor to the cloud server 13 through the mobile communication network 12, so that the user may send a control instruction to the vehicle 11 based on the cloud server 13 to remotely control the vehicle 11.
However, in general, the network air time delay between the vehicle 11 and the base station 121 is about 20ms, the one-way backhaul time delay of the mobile communication network 12 is 5 to 20ms, the internet time delay of the cloud server 13 is uncertain, and the round trip time delay between the cloud server 13 and the vehicle 11 fluctuates between 70ms and 800 ms. Since the round-trip delay between the cloud server 13 and the vehicle 11 is large, the transmission efficiency of the video information and the control command is low, and thus the remote control efficiency of the vehicle 11 is low.
Fig. 2 shows a schematic diagram of an application scenario according to an embodiment of the present application. Referring to fig. 1 and fig. 2 together, in the application scenario, an MEC (mobile Edge computing) server 21 and a remote cockpit 22 are deployed at the Edge of the mobile communication network 12, and the MEC server 21 is in communication connection with the remote cockpit 22. The MEC server 21 is connected to the base station 121 through the bearer network 122, and the MEC server 21 is directly connected to the roadside apparatus 22.
The service range 21A of the MEC server 21 is a serving cell corresponding to the MEC server 21. In order to ensure real-time data transmission, the deployment interval of the MEC server 21 may be 30km to 100 km.
The vehicle 11 may be communicatively connected to the MEC server 21 via a base station 121 or a Road Side Unit (RSU) 22. When the vehicle 11 enters the service range 21A, the MEC server 21 may acquire the position information of the vehicle 11 from the base station 121 or the roadside apparatus 22 to determine that the vehicle 11 enters the service range 21A, and then the MEC server 21 may perform data interaction with the vehicle 11 through the base station 121 or the roadside apparatus 22.
The Vehicle 11 may be a steer-by-wire Vehicle having steering, brake and throttle steer-by-wire capability, and is further configured with a C-V2X (Carrier Vehicle To Evarythting) module and a T-BOX (telematics BOX) module such that the Vehicle 11 may be communicatively coupled To the base station 121 via the C-V2X module and To the roadside device 22 via the T-BOX module. The C-V2X module is a V2X module based on a cellular network.
Base stations include, but are not limited to, 4G base stations and 5G base stations.
The remote operator's compartment 22 may include operating members like a steering wheel, a brake and a throttle, such that when a user operates the operating members of the remote operator's compartment 22, a corresponding operating command is generated. For example, when the user steps on the gas pedal of the remote cab 22, an acceleration command is generated. In addition, the remote cockpit 22 includes a display screen to display video.
In this application scenario, the vehicle 11 may transmit a video to the MEC server 21 through the base station 121 or the roadside apparatus 22, so that the MEC server 21 displays the video through the remote cockpit 22. The user can operate the operation members of the remote cockpit 22 based on the video displayed by the remote cockpit 22 to generate operation instructions, which are then transmitted from the remote cockpit 22 to the MEC server 21. The MEC server 21 sends the operation instruction to the vehicle 11 through the base station 121 or the roadside device 22 when receiving the operation instruction, so that the vehicle 11 executes a corresponding operation according to the operation instruction, and remote automatic driving is realized.
Based on this, by deploying the MEC server 21 to the edge of the mobile communication network 12, the transmission delay of the video and the operation instruction can be effectively reduced, and the remote control efficiency of the vehicle 11 is improved.
It should be noted that fig. 2 only shows a deployment scenario of one MEC server 21, and the MEC server 21 in the embodiment of the present application may further include a plurality of MEC servers, where the MEC server 21 connected to the remote cockpit 22 may be used as a master MEC server, and other MEC servers deployed in the mobile communication network 12 may be used as slave MEC servers.
In one example, the slave MEC server may offload the received video to the master MEC server over the carrier network 122 to send the video to the remote cockpit 22 for display. Accordingly, the operation instruction generated based on the operation of the remote cockpit 22 may also be sent to the slave MEC server corresponding to the service range where the vehicle is located through the master MEC server, and the slave MEC server may further send the operation instruction to the vehicle through the corresponding base station or roadside device.
The technical solution of the present application will be described in detail below with specific examples.
Fig. 3 shows a first flowchart of a control method according to an embodiment of the present application. The control method of the vehicle may be applied to an MEC server. As shown in fig. 3, the method may include:
s301, receiving a road condition video of a road section where a vehicle is located;
s302, sending the road condition video to a remote cockpit to enable the remote cockpit to display the road condition video;
s303, sending an operation instruction to the vehicle under the condition of receiving the operation instruction so as to enable the vehicle to execute corresponding operation; the operation instruction is generated based on driving operation of the remote cockpit and is sent to the MEC server through communication connection of the remote cockpit and the MEC server.
The road section where the vehicle is located is a certain road section range of the road where the vehicle is located, the certain road section range may be the whole road or a partial area of the road, and the certain road section range may be adjusted and selected according to actual needs, which is not limited in the embodiment of the present application.
The remote cockpit and the MEC server may be deployed in the same machine room, or may be deployed in different machine rooms as long as communication connection is possible.
The road condition video may include a first road condition video, which is a first perspective video of the vehicle sensor for a road segment where the vehicle is located. The road condition video may include a second road condition video, the second road condition video being a second perspective video of the roadside sensor for the road segment on which the vehicle is located.
Illustratively, the vehicle sensor may be an onboard camera disposed on the vehicle. The vehicle-mounted camera can be arranged on the periphery of the vehicle body to acquire road condition videos of road sections where vehicles are located. For example, the in-vehicle camera may be provided at a position directly in front of, left front of, right front of, rear of, left rear of, right rear of, or the like of the vehicle body.
Illustratively, the roadside sensor may be a roadside camera, a radar, or the like disposed on both sides of, above, or at a specific position on a road section where the vehicle is located. For example, the roadside camera may be arranged at a sidewalk of a road section where the vehicle is located to acquire a traffic video of a pedestrian on the sidewalk; the roadside camera can also be arranged close to a traffic light of a road section where the vehicle is located so as to acquire a traffic signal video of the traffic light. The setting position of roadside sensor can be selected and adjusted according to actual need, and this application is implemented and is not restricted to this.
Further, the roadside camera may be communicatively connected with the roadside device to transmit the second road condition video to the MEC server through the roadside device. The roadside camera can also be integrated in roadside equipment, so that the second road condition video can be directly acquired through the roadside equipment.
Based on the first and second road condition videos, steps S301 to S302 may include the following examples:
in one example, a first road condition video of a road segment on which a vehicle is located is received; and sending the first road condition video to a remote cockpit.
The method comprises the steps that a first road condition video can be sent to an MEC server through a base station and a carrying network, so that the MEC server receives the first road condition video and sends the first road condition video to a remote cockpit, and the remote cockpit displays the first road condition video; the first condition video may also be sent to the MEC server by the roadside device so that the MEC server receives and sends to the remote cockpit for display.
Based on this, be convenient for from the bicycle perspective of vehicle provide the road conditions video of the highway section that the vehicle was located to the user, can strengthen the authenticity of long-range driving scene.
In another example, steps S301 to S302 may include: receiving a second road condition video of a road section where the vehicle is located; and sending the second road condition video to the remote cockpit to enable the remote cockpit to display.
The second road condition video can be sent to the MEC server through the roadside device, so that the MEC server receives the second road condition video and sends the second road condition video to the remote cockpit for display.
Based on the road condition video, the road condition video of the road section where the vehicle is located is provided for the user from the road side visual angle, the remote driving scene monitoring range is widened, and the user can make operation decision conveniently.
In yet another example, steps S301 to S302 may further include: receiving a first road condition video and a second road condition video of a road section where a vehicle is located; and sending the first road condition video and the second road condition video to the remote cockpit to enable the remote cockpit to display. Therefore, the first road condition video of the road section where the vehicle is located can be provided for the user from the view angle of the vehicle per car, the second road condition video of the road section where the vehicle is located can be provided from the view angle of the road side, and the first road condition video and the second road condition video can form the road condition video with complementary view angles, so that the accuracy of presenting the road traffic condition is improved.
According to the control method of the embodiment of the application, the MEC server receives the road condition video of the road section where the vehicle is located and sends the road condition video to the remote cockpit, so that the remote cockpit displays the road condition video, the transmission delay of the road condition video can be effectively reduced, and the authenticity of the driving scene of the road section where the vehicle is located can be enhanced; and the MEC server can rapidly send the operation instruction to the vehicle under the condition of receiving the operation instruction, so that the vehicle executes corresponding operation, and the vehicle can rapidly respond to the operation of the remote cockpit. Therefore, the remote control efficiency of the vehicle can be effectively improved, and the use experience of a user is improved.
In one example, to further improve the transmission efficiency of the traffic video, the traffic video may be encoded and compressed before being transmitted. Accordingly, before step S302, the method may further include: and decompressing and decoding the road condition video.
In one embodiment, as shown in fig. 4, step S302 may include:
s401, determining a target road condition video from the first road condition video and the second road condition video;
s402, sending the target road condition video to the remote driving cabin so that the remote driving cabin displays the target road condition video.
In one application, the MEC server may determine one as a target road condition video from the first road condition video and the second road condition video based on a selection instruction for the first road condition video and the second road condition video; and then the MEC server sends the target road condition video to the remote cockpit, so that the remote cockpit displays the target road condition video.
For example, a selection instruction for a first road condition video is generated based on a selection operation of a remote cockpit, and the first road condition video is determined to be a target road condition video; the MEC server sends the first road condition video to the remote cockpit, so that the remote cockpit displays the first road condition video. It will be appreciated that the selection operation may also be to generate a selection instruction for the second road condition video, where the MEC server may display the second road condition video using the remote cockpit. Therefore, the road condition video required to be displayed can be conveniently and flexibly selected or switched.
In one embodiment, the target traffic status video includes a first target traffic status video and a second target traffic status video, as shown in fig. 5A, step S402 may include:
s501, sending a first target road condition video to a first display area of a remote cockpit so that the first display area displays the first target road condition video;
and S502, sending a second target road condition video to a second display area of the remote cockpit so that the second display area displays the second target road condition video.
In one example, as shown in fig. 5B-5C, the first display area 221A and the second display area 221B of the remote cockpit may be two display areas side by side or stacked on the display screen 221 in the remote cockpit. The attributes such as the area and the shape of the first display region 221A and the second display region 221B may be the same or different, and the attributes such as the area and the shape of the first display region 221A and the second display region 221B may be selected and adjusted according to actual needs, which is not limited in this embodiment of the application.
Fig. 6 shows a second flowchart of a control method of a vehicle according to an embodiment of the present application. As shown in fig. 6, the method may further include:
s601, taking the first road condition video as a first target road condition video;
s602, under the condition that the target object in the first target road condition video is detected to be shielded, acquiring video information of the target object from the second road condition video according to the position information of the target object;
and S603, taking the video information of the target object as a second target road condition video.
In step S602, the target object may be a road traffic facility such as a traffic light, a guideboard, a fence, or a road sign such as a zebra crossing, a guideboard, or a barrier such as a pedestrian, an animal, or another vehicle, and the target object may be selected and adjusted according to actual needs, which is not limited in this embodiment of the present application.
For example, when a pedestrian is shielded by a front vehicle in the first road condition video, acquiring video information of the pedestrian from the second road condition video according to the position information of the pedestrian; and the video information of the pedestrian is used as the video of the second target road condition. In this way, the first road condition video and the video information of the pedestrian can be displayed at the remote cockpit.
In this embodiment, since the first road condition video and the second road condition video are road condition videos with different viewing angles for the same road section, there is a position corresponding relationship between the first road condition video and the second road condition video; when the target object in the first road condition video is detected to be blocked, the video information of the target object can be acquired from the second road condition video by using the position information of the target object. Therefore, the first road condition video is used as the first target road condition video, the video information of the target object is used as the second target road condition video, the video information of the target object in the second road condition video and the first road condition video can be fused and displayed in the remote cockpit, the video information of the target object shielded in the first road condition video is supplemented, and the more accurate road condition video is provided from the view angle of the vehicle.
Fig. 7 shows a third flowchart of a control method of a vehicle according to an embodiment of the present application. As shown in fig. 7, the method may further include:
s701, identifying a target object for the first road condition video and the second road condition video;
s702, under the condition that the target object is not identified from the first road condition video and the target object is identified from the second road condition video, acquiring video information of the target object from the second road condition video;
s703, taking the first road condition video as a first target road condition video, and taking the video information of the target object as a second target road condition video.
For example, the target object may be a traffic light, and when the vehicle is far away from the traffic light, or in foggy weather, the video information of the traffic light in the first road condition video acquired by the vehicle sensor may not be clear. The roadside sensor can be arranged near the position of the traffic light, and the video information of the traffic light in the second road condition video acquired by the roadside sensor is clearer.
Based on the above example, in step S707, when a traffic light cannot be identified from the first road condition video and a traffic light is identified from the second road condition video, video information of the traffic light is acquired from the second road condition video according to the position information of the traffic light. In step S708, the first traffic video is used as a first target traffic video, and the video information of the traffic light is used as a second target traffic video. In this way, the first road condition video and the video information of the traffic lights can be displayed at the remote cockpit.
Therefore, the video information of the target object in the second road condition video and the first road condition video can be fused and displayed in the remote cockpit, and the video information of the target object which cannot be identified or acquired in the first road condition video is supplemented, so that more accurate road condition video is provided from the view angle of the vehicle.
Fig. 8A shows a fourth flowchart of a control method of a vehicle according to an embodiment of the present application. As shown in fig. 8A, the method may further include:
s801, receiving running state information of a vehicle;
and S802, sending the driving state information to a third display area of the remote control cabin so that the third display area displays the driving state information.
The driving state information of the vehicle may include vehicle speed information, gear information, heading information, and the like of the vehicle. The running state information of the vehicle CAN be acquired by a T-BOX module of the vehicle from a corresponding ECU of the vehicle through a CAN network and is sent to the roadside equipment through a C-V2X module, and then the MEC server CAN acquire the running state information of the vehicle from the roadside equipment.
As shown in fig. 8B to 8C, the third display region 221C may be disposed side by side and stacked with the first display region 221A and/or the second display region 221B, or may be disposed in other arrangement manners, which is not limited in this embodiment of the application. The side-by-side may be in rows or in columns, and the application is not limited thereto.
In one embodiment, before sending the operation instruction to the vehicle, the method may further include: and under the condition of receiving the abnormal prompt information sent by the vehicle, sending a take-over instruction to the vehicle so as to enable the vehicle to be in a take-over mode.
In one application scenario, the vehicle may be first placed in an autonomous driving mode, where the vehicle is automatically driven without human intervention. When the automatic driving of the vehicle is abnormal, the abnormal prompt information can be sent to the MEC server. Correspondingly, the MEC server sends a takeover instruction to the vehicle and switches the vehicle to a takeover mode under the condition of receiving the abnormal prompt information. Therefore, in the take-over mode, a user can remotely control the vehicle based on the remote cockpit and the MEC server, and remote control of the vehicle is achieved.
Fig. 9 shows a flowchart of a control method of a vehicle according to another embodiment of the present application. The control method may be applied to a vehicle, and as shown in fig. 9, the method may include:
s901, sending a first road condition video of a road section where a vehicle is located;
s902, receiving and executing an operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent to the vehicle by the remote cockpit through the communication connection with the MEC server and the communication connection between the MEC server and the roadside device or the base station.
In step S902, the T-BOX module of the vehicle may transmit an operation instruction to an ADAS (Advanced Driving Assistance System) controller of the vehicle, so that the ADAS controller performs control over a drive-by-wire mechanism of the vehicle.
In the embodiment, the vehicle sends the first road condition video to the MEC server, so that the transmission delay of the first road condition video can be reduced, and the transmission efficiency of the first road condition video is improved, so that the reality of the driving scene of the road section where the vehicle is located is enhanced. Accordingly, the vehicle receives the operation instruction from the MEC server through the roadside device or the base station, the transmission delay of the operation instruction can be reduced, and the vehicle can quickly respond to the operation of the remote cockpit. Therefore, the remote control efficiency of the vehicle is favorably improved, and the use experience of a user can also be improved.
In one embodiment, the control method may further include: and transmitting the running state information of the vehicle. Specifically, the driving state information of the vehicle may be transmitted to the MEC server through the roadside device by the T-BOX module of the vehicle.
Fig. 10 shows a block diagram of a control apparatus of a vehicle according to an embodiment of the present application. The device can be applied to an MEC server. As shown in fig. 10, the control device 1000 of the vehicle may include:
the first receiving module 1010 is configured to receive a road condition video of a road section where a vehicle is located;
a first sending module 1020, configured to send the road condition video to the remote cockpit, so that the road condition video of the remote cockpit is obtained;
the transceiving module 1030 is used for sending an operation instruction to the vehicle to enable the vehicle to execute corresponding operation under the condition that the operation instruction is received; the operation instruction is generated based on driving operation of the remote cockpit and is sent to the MEC server through communication connection of the remote cockpit and the MEC server.
In one embodiment, the road condition videos include a first road condition video and a second road condition video, the first road condition video is a first perspective video of the vehicle sensor for the road segment, the second road condition video is a second perspective video of the road side device for the road segment, and the first sending module 1020 may include:
the determining submodule is used for determining a target road condition video from the first road condition video and the second road condition video;
and the sending submodule is used for sending the target road condition video to the remote driving cabin so as to display the target road condition video in the remote driving cabin.
In one embodiment, the target traffic condition video includes a first target traffic condition video and a second target traffic condition video, and the sending sub-module may include:
the first transmitting unit is used for transmitting a first target road condition video to a first display area of the remote cockpit so as to display the first target road condition video in the first display area;
and the second sending unit is used for sending the second target road condition video to a second display area of the remote cockpit so as to display the second target road condition video in the second display area.
In one embodiment, the apparatus may further comprise:
the first setting module is used for taking the first road condition video as a first target road condition video;
the first acquisition module is used for acquiring video information of a target object from the second road condition video according to the position information of the target object under the condition that the target object in the first target road condition video is detected to be shielded;
and the second setting module is used for taking the video information of the target object as a second target road condition video.
In one embodiment, the apparatus further comprises:
the identification module is used for identifying the target object of the first road condition video and the second road condition video;
the second acquisition module is used for acquiring the video information of the target object from the second road condition video under the condition that the target object is not identified from the first road condition video and the target object is identified from the second road condition video;
and the third setting module is used for taking the first road condition video as a first target road condition video and taking the video information of the target object as a second target road condition video.
In one embodiment, the apparatus may further comprise:
the second receiving module is used for receiving the running state information of the vehicle;
and the third sending module is used for sending the running state information to a third display area of the remote cockpit so that the third display area displays the running state information.
In one embodiment, the apparatus further comprises:
and the fourth sending module is used for sending a take-over instruction to the vehicle under the condition of receiving the abnormal prompt information sent by the vehicle so as to enable the vehicle to be in a take-over mode.
Fig. 11 shows a block diagram of a control apparatus of a vehicle according to another embodiment of the present application. The device may be a vehicle. As shown in fig. 11, the control apparatus 1100 of the vehicle may include:
the sending module 1110 is configured to send a first road condition video of a road section where a vehicle is located;
an execution module 1120, configured to receive and execute an operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent to the vehicle by the remote cockpit through the communication connection with the MEC server and the communication connection between the MEC server and the roadside device or the base station.
An embodiment of the present application further provides a control system of a vehicle, please refer to fig. 2, 10 and 11, and the system may include: MEC server 21, remote cockpit 22 and vehicle 11; wherein the MEC server 21 includes a control device 1000 of the vehicle; the remote cockpit 22 is communicatively connected to the MEC server 21 and the vehicle 11 includes a control device 1100 of the vehicle.
The MEC server 21 may be in communication connection with the vehicle 11 through the bearer network 122 and the base station 121, and the MEC server 21 may also be in communication connection with the vehicle 11 through the roadside device 22. In this manner, the vehicle 11 may interact with the MEC server 21. The interaction manner of the road condition video and the operation instruction among the vehicle 11, the MEC server 21 and the remote cockpit 22 can be referred to the above embodiment, and is not described herein again.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
Fig. 12 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 12, the electronic apparatus includes: a memory 1210 and a processor 1220, the memory 1210 having stored therein instructions executable on the processor 1220. The processor 1220, when executing the instructions, implements the control method of the vehicle in the above-described embodiment. The number of the memory 1210 and the processor 1220 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
The electronic device may further include a communication interface 1230, which is used for communicating with an external device for data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 1220 may process instructions for execution within the electronic device, including instructions stored in or on a memory to display graphical information for a GUI on an external input/output apparatus (such as a display device coupled to an interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 12, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 1210, the processor 1220, and the communication interface 1230 are integrated into a chip, the memory 1210, the processor 1220, and the communication interface 1230 may communicate with each other through an internal interface.
It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an Advanced reduced instruction set machine (ARM) architecture.
Embodiments of the present application provide a computer-readable storage medium (such as the memory 1210 described above) storing computer instructions, which when executed by a processor implement the methods provided in embodiments of the present application.
Alternatively, the memory 1210 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device of the control method of the vehicle, and the like. Further, the memory 1210 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1210 may optionally include memory located remotely from the processor 1220, which may be connected to the electronics of the control method of the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps in the process. And the scope of the preferred embodiments of the present application includes other implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the method of the above embodiments may be implemented by hardware that is configured to be instructed to perform the relevant steps by a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (19)
1. A control method for a vehicle, applied to an MEC server, the method comprising:
receiving a road condition video of a road section where a vehicle is located;
sending the road condition video to a remote cockpit to enable the remote cockpit to display the road condition video;
under the condition of receiving an operation instruction, sending the operation instruction to the vehicle to enable the vehicle to execute corresponding operation; wherein the operation instruction is generated based on the driving operation of the remote cockpit and is sent to the MEC server through the communication connection between the remote cockpit and the MEC server.
2. The method of claim 1, wherein the traffic video comprises a first traffic video and a second traffic video, the first traffic video being a first perspective video of a vehicle sensor for the road segment, the second traffic video being a second perspective video of a roadside device for the road segment, the sending the traffic video to a remote cockpit comprising:
determining a target road condition video from the first road condition video and the second road condition video;
and sending the target road condition video to the remote driving cabin so that the remote driving cabin displays the target road condition video.
3. The method of claim 2, wherein the target traffic video comprises a first target traffic video and a second target traffic video, and wherein sending the target traffic video to the remote cockpit comprises:
sending the first target road condition video to the remote cockpit so as to display the first target road condition video in a first display area of the remote cockpit;
and sending the second target road condition video to the remote cockpit so as to display the second target road condition video in a second display area of the remote cockpit.
4. The method of claim 3, further comprising:
taking the first road condition video as the first target road condition video;
under the condition that the target object in the first target road condition video is detected to be shielded, acquiring video information of the target object from the second road condition video according to the position information of the target object;
and taking the video information of the target object as the second target road condition video.
5. The method of claim 3, further comprising:
carrying out target object identification on the first road condition video and the second road condition video;
in the case where the target object is not identified from the first road condition video and the target object is identified from the second road condition video, acquiring video information of the target object from the second road condition video;
and taking the first road condition video as the first target road condition video, and taking the video information of the target object as the second target road condition video.
6. The method of any one of claims 1 to 5, further comprising:
receiving driving state information of the vehicle;
and sending the driving state information to the remote cockpit to display the driving state information in a third display area of the remote cockpit.
7. The method of any of claims 1-5, further comprising, prior to sending the operating instructions to the vehicle:
and sending a take-over instruction to the vehicle to enable the vehicle to be in a take-over mode under the condition of receiving the abnormal prompt information sent by the vehicle.
8. A control method of a vehicle, characterized by being applied to a vehicle, the method comprising:
sending a first road condition video of a road section where a vehicle is located;
receiving and executing an operation instruction; the operation instruction is generated based on driving operation of a remote cockpit, and is sent to the vehicle by the remote cockpit through communication connection with an MEC server and communication connection between the MEC server and roadside equipment or a base station.
9. A control apparatus for a vehicle, applied to an MEC server, the apparatus comprising:
the first receiving module is used for receiving road condition videos of a road section where a vehicle is located;
the first sending module is used for sending the road condition video to a remote driving cabin so that the remote driving cabin displays the road condition video;
the receiving and sending module is used for sending the operation instruction to the vehicle under the condition of receiving the operation instruction so as to enable the vehicle to execute corresponding operation; wherein the operation instruction is generated based on the driving operation of the remote cockpit and is sent to the MEC server through the communication connection between the remote cockpit and the MEC server.
10. The apparatus of claim 9, wherein the road condition video comprises a first road condition video and a second road condition video, the first road condition video is a first perspective video of a vehicle sensor for the road segment, the second road condition video is a second perspective video of a roadside device for the road segment, and the first sending module comprises:
the determining submodule is used for determining a target road condition video from the first road condition video and the second road condition video;
and the sending submodule is used for sending the target road condition video by the remote driving cabin so as to enable the remote driving cabin to display the target road condition video.
11. The apparatus of claim 10, wherein the target traffic video comprises a first target traffic video and a second target traffic video, and the sending sub-module comprises:
the first sending unit is used for sending the first target road condition video to a first display area of the remote cockpit so as to display the first target road condition video in the first display area;
and the second sending unit is used for sending the second target road condition video to a second display area of the remote cockpit so as to display the second target road condition video in the second display area.
12. The apparatus of claim 11, further comprising:
the first setting module is used for taking the first road condition video as the first target road condition video;
a first obtaining module, configured to obtain video information of a target object from the second road condition video according to position information of the target object when it is detected that the target object in the first target road condition video is blocked;
and the second setting module is used for taking the video information of the target object as the second target road condition video.
13. The apparatus of claim 11, further comprising:
the identification module is used for identifying a target object for the first road condition video and the second road condition video;
a second obtaining module, configured to, in a case where the target object is not identified in the first road condition video and the target object is identified in the second road condition video, obtain video information of the target object from the second road condition video;
and the third setting module is used for taking the first road condition video as the first target road condition video and taking the video information of the target object as the second target road condition video.
14. The apparatus of any one of claims 9 to 13, further comprising:
the second receiving module is used for receiving the running state information of the vehicle;
and the third sending module is used for sending the driving state information to a third display area of the remote cockpit so that the third display area displays the driving state information.
15. The apparatus of any one of claims 9 to 13, further comprising:
and the fourth sending module is used for sending a take-over instruction to the vehicle under the condition of receiving the abnormal prompt information sent by the vehicle so as to enable the vehicle to be in a take-over mode.
16. A control apparatus of a vehicle, characterized by being applied to a vehicle, the apparatus comprising:
the sending module is used for sending a first road condition video of a road section where the vehicle is located;
the execution module is used for receiving and executing the operation instruction; the operation instruction is generated based on driving operation of a remote cockpit, and is sent to the vehicle by the remote cockpit through communication connection with an MEC server and communication connection between the MEC server and roadside equipment or a base station.
17. A control system of a vehicle, characterized by comprising:
an MEC server comprising the apparatus of any of claims 9-15;
the remote cockpit is in communication connection with the MEC server;
a vehicle comprising the apparatus of claim 16.
18. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
19. A computer readable storage medium having stored therein computer instructions which, when executed by a processor, implement the method of any one of claims 1-8.
Priority Applications (2)
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| CN202011535996.8A CN112738171B (en) | 2020-12-22 | 2020-12-22 | Vehicle control method, device, system, equipment and storage medium |
| PCT/CN2021/084780 WO2022134364A1 (en) | 2020-12-22 | 2021-03-31 | Vehicle control method, apparatus and system, device, and storage medium |
Applications Claiming Priority (1)
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| CN202011535996.8A CN112738171B (en) | 2020-12-22 | 2020-12-22 | Vehicle control method, device, system, equipment and storage medium |
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| CN112738171B (en) | 2022-07-19 |
| WO2022134364A1 (en) | 2022-06-30 |
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