CN116027691A

CN116027691A - Method, device, equipment and medium for controlling degradation of unmanned automobile

Info

Publication number: CN116027691A
Application number: CN202111239030.4A
Authority: CN
Inventors: 冯选; 冯毅; 邱佳慧; 蔡超; 林晓伯; 夏小涵; 张香云
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2023-04-28

Abstract

According to the method, the device, the equipment and the medium for controlling the degradation of the unmanned automobile, provided by the embodiment of the invention, the road scene data and the weather state data outside the unmanned automobile are monitored in real time, so that the minimum network index is calculated, the minimum network index is the minimum value which can meet the unmanned network index in the environmental state indicated by the road scene data and the weather state data, the real-time network index value is calculated through the detected wireless communication network data, whether the degradation is required or not is judged according to the minimum network index and the real-time network index value, and when the real-time network index value is smaller than the minimum network index, the automatic driving level of the automobile is determined to be reduced. According to the scheme, the automatic driving level of the vehicle is determined to be reduced by the fact that the real-time network index value calculated according to the wireless communication network data is smaller than the minimum network index value calculated according to the road scene data and the weather state data, and the degradation judgment accuracy is effectively improved.

Description

Method, device, equipment and medium for controlling degradation of unmanned automobile

Technical Field

The invention relates to the field of automatic driving, in particular to a method, a device, equipment and a medium for controlling degradation of an unmanned automobile.

Background

Unmanned automatic driving automobiles are currently classified into L0-no automation, L1-driver assistance, L2-partial automation, L3-conditional automation, L4-high automation and L5-full automation by 6 grades according to the degree of full intellectualization. Along with the development of communication technology, edge calculation, internet of things, big data and cloud technology, the development of single-vehicle intelligent technology is facing to the integration with an integral system of the Internet of vehicles, and the requirements of unmanned vehicles on network communication quality in the Internet of vehicles system are increasing.

In the prior art, a vehicle-mounted device periodically acquires network quality information and road condition information, and then sends the network quality information and the road condition information to a service platform, the service platform determines an adjustment scheme of an automatic driving level of a vehicle according to the network quality information and the road condition information, and determines to reduce the automatic driving level of the vehicle under the condition that the current quality of the network is reduced by more than a certain range relative to the quality of the previous moment.

In summary, the existing control method for degradation of the unmanned automobile only considers network quality, and the accuracy of degradation judgment is low.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a medium for controlling degradation of an unmanned automobile, which are used for solving the problem that in the prior art, the degradation judgment accuracy is low because only network quality is considered in the method for controlling the degradation of the unmanned automobile.

In a first aspect, an embodiment of the present invention provides a method for controlling degradation of an unmanned vehicle, which is applied to a vehicle-mounted device, where the vehicle-mounted device is disposed on the unmanned vehicle, and the method includes:

according to the road scene data and the weather state data which are monitored in real time, calculating to obtain a minimum network index, wherein the minimum network index is the minimum value of the network index in the environment state indicated by the road scene data and the weather state data;

calculating a real-time network index value according to the wireless communication network data detected in the current period;

and if the real-time network index value is smaller than the minimum network index, sending a first degradation instruction to a driving control unit of the unmanned automobile, wherein the first degradation instruction is used for indicating the driving control unit to control the automation level to be reduced.

In a specific embodiment, the method further comprises:

if the real-time network index value is greater than or equal to the minimum network index value, calculating and obtaining a network state change factor according to the real-time network index value and the historical network index value, wherein the network state change factor is used for indicating the change of network quality;

And if the network state change factor is smaller than 0 and the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period is larger than or equal to a first preset value, sending a second degradation instruction to the unmanned driving control unit, wherein the second degradation instruction is used for indicating the driving control unit to control the reduction of the automation level.

In a specific embodiment, the method further comprises:

if the real-time network index value is greater than or equal to the minimum network index value, acquiring current positioning data of the unmanned automobile;

determining the advancing direction and the vehicle position of the unmanned automobile according to the positioning data and the historical positioning data;

acquiring an RSU position and an RSRP level value corresponding to the RSU according to the real-time acquired Internet of vehicles broadcast message;

determining whether the unmanned vehicle deviates from the RSU position according to the traveling direction, the vehicle position and the RSU position;

and if the unmanned automobile deviates from the RSU in position and the RSRP level value is smaller than a second preset value, sending a third degradation instruction to the unmanned control unit, wherein the third degradation instruction is used for indicating the driving control unit to control the reduction of the automation level.

In a specific embodiment, the method further comprises:

if the network state change factor is smaller than 0, the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period is smaller than a first preset value, the ratio is larger than or equal to a third preset value, the RSRP level value is larger than or equal to a second preset value and smaller than a fourth preset value while the unmanned automobile deviates from the RSU, a fourth degradation instruction is sent to the unmanned control unit, and the fourth degradation instruction is used for indicating the driving control unit to control the reduction of the automation level; the first preset value is larger than the third preset value, and the second preset value is smaller than the fourth preset value.

In a specific embodiment, the wireless communication network data includes at least one of: RSRP, RSSI, SNR, delay, rate, packet loss rate.

In a specific embodiment, the method further comprises:

and acquiring the road scene data and the weather state data according to real-time environment monitoring.

In a specific embodiment, the calculating the network state change factor according to the real-time network index value and the historical network index value includes:

And calculating the difference value of the historical network index value and the real-time network index value to obtain a network state change factor.

In a specific embodiment, the determining the traveling direction and the vehicle position of the unmanned vehicle according to the positioning data and the historical positioning data includes:

determining the vehicle position according to the longitude and latitude of the unmanned automobile;

determining the travelling direction of the unmanned automobile according to the longitude and latitude of the unmanned automobile and the historical longitude and latitude;

wherein the positioning data includes the longitude and the latitude of the unmanned vehicle, and the historical positioning data includes the historical longitude and the historical latitude of the unmanned vehicle.

In a second aspect, an embodiment of the present invention provides a control apparatus for degradation of an unmanned automobile, including:

the processing module is used for calculating and obtaining a minimum network index according to the road scene data and the weather state data which are monitored in real time, wherein the minimum network index is the minimum value of the network index in the environment state indicated by the road scene data and the weather state data;

the processing module is also used for calculating a real-time network index value according to the wireless communication network data detected in the current period;

The sending module is used for sending a first degradation instruction to a driving control unit of the unmanned automobile if the real-time network index value is smaller than the minimum network index value, and the first degradation instruction is used for indicating the driving control unit to control the automation level to be reduced.

In a specific embodiment, the processing module is further configured to calculate, if the real-time network index value is greater than or equal to the minimum network index value, and obtain a network state change factor according to the real-time network index value and the historical network index value, where the network state change factor is used to indicate a change of network quality;

the sending module is further configured to send a second degradation instruction to the unmanned driving control unit if the network state change factor is less than 0 and a ratio of an absolute value of the network state change factor to a real-time network index value of a period previous to the current period is greater than or equal to a first preset value, where the second degradation instruction is used to instruct the driving control unit to control the reduction of the automation level.

In a specific embodiment, the processing module is further configured to obtain current positioning data of the unmanned vehicle if the real-time network index value is greater than or equal to the minimum network index value;

The processing module is further used for determining the advancing direction and the vehicle position of the unmanned automobile according to the positioning data and the historical positioning data;

the processing module is further used for acquiring an RSU position and an RSRP level value corresponding to the RSU according to the real-time acquired Internet of vehicles broadcast message;

the processing module is further configured to determine, according to the traveling direction, the vehicle position and the RSU position, whether the unmanned vehicle deviates from the RSU position;

the sending module is further configured to send a third degradation instruction to the unmanned control unit if the unmanned automobile deviates from the RSU and the RSRP level value is smaller than a second preset value, where the third degradation instruction is used to instruct the driving control unit to control the automation level to be reduced.

In a specific embodiment, the sending module is further configured to:

In a specific embodiment, the apparatus further comprises:

and the environment detection module is used for acquiring the road scene data and the weather state data according to real-time environment monitoring.

In a specific embodiment, the processing module is specifically configured to:

In a third aspect, an embodiment of the present invention provides an in-vehicle apparatus, including:

The system comprises a central processing unit, a memory, a communication interface, an environment monitoring module, a data communication module, a car networking communication module and a positioning module, wherein the environment monitoring module, the data communication module, the car networking communication module and the positioning module are respectively connected with the processor;

the environment monitoring module is used for performing real-time environment monitoring to obtain road scene data and weather state data;

the data communication module is used for detecting and acquiring wireless communication network data;

the Internet of vehicles communication module is used for receiving Internet of vehicles broadcast messages broadcasted by the Internet of vehicles;

the positioning module is used for acquiring positioning data of the vehicle-mounted equipment or an unmanned vehicle equipped with the vehicle-mounted equipment;

the memory is used for storing executable instructions of the processor;

the central processor is configured to execute the executable instructions to implement the method for controlling degradation of the unmanned vehicle provided in any one of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for controlling degradation of an unmanned vehicle provided in any one of the first aspects.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1a is a schematic diagram of an application scenario of a method for controlling degradation of an unmanned vehicle according to the present invention;

fig. 1b is a schematic diagram of an interaction scenario between a vehicle-mounted device and an automatic driving control unit of an unmanned vehicle;

fig. 2 is a schematic flow chart of a first embodiment of a method for controlling degradation of an unmanned automobile according to the present invention;

fig. 3 is a schematic flow chart of a second embodiment of a method for controlling degradation of an unmanned automobile according to the present invention;

fig. 4 is a schematic flow chart of a third embodiment of a method for controlling degradation of an unmanned automobile according to the present invention;

fig. 5 is a schematic flow chart of a fourth embodiment of a method for controlling degradation of an unmanned automobile according to the present invention;

fig. 6 is a schematic structural diagram of a first embodiment of a degradation control device for an unmanned vehicle according to the present invention;

Fig. 7 is a schematic structural diagram of a second embodiment of a degradation control device for an unmanned automobile according to the present invention;

fig. 8 is a schematic structural diagram of an in-vehicle apparatus provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which are made by a person skilled in the art based on the embodiments of the invention in light of the present disclosure, are intended to be within the scope of the invention.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Unmanned automatic driving automobiles are currently classified into L0-no automation, L1-driver assistance, L2-partial automation, L3-conditional automation, L4-high automation and L5-full automation by 6 grades according to the degree of full intellectualization. Along with the development of communication technology, edge calculation, internet of things, big data and cloud technology, the development of single-vehicle intelligent technology is adopted in the traditional technology, the technology is converging to the whole system of the Internet of vehicles, the unmanned vehicle has higher and higher requirements on network communication quality in the Internet of vehicles system, the unmanned automatic driving needs millisecond-level communication time delay, a stable network index, and in the running process of the unmanned vehicle, if the unmanned vehicle loses an Internet of vehicles system message data packet or is in communication interruption with an Internet of vehicles platform, a large safety accident is easy to happen, and the automatic driving level needs to be reduced urgently or manual take over intervention is needed.

When judging whether to reduce the automatic driving level of the vehicle, the internet of vehicles terminal periodically acquires network quality information and road condition information connected with the internet of vehicles terminal, and the service platform determines an adjustment scheme of the automatic driving level of the vehicle according to the network quality information and road condition information, and determines to reduce the automatic driving level of the vehicle under the condition that the current quality of the network is reduced by a certain range relative to the quality of the previous moment, so that the degradation judgment accuracy is lower.

Aiming at the problems in the prior art, the inventor finds that in the process of researching a degradation control method of the unmanned automobile, the minimum network index can be obtained by monitoring road scene data and weather state data outside the unmanned automobile in real time, then the real-time network index value is calculated through the detected wireless communication network data, and if the real-time network index value is smaller than the minimum network index value, the automatic driving level of the automobile is determined to be reduced.

If the real-time network index value is greater than or equal to the minimum network index value, calculating and acquiring a network state change factor according to the real-time network index value and the historical network index value, and judging whether to reduce the automatic driving level of the vehicle according to the magnitude of the network state change factor and the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period.

If the real-time network index value is greater than or equal to the minimum network index, determining the running direction and the vehicle position of the unmanned vehicle according to the positioning data and the historical positioning data, acquiring a Road Side Unit (RSU) position and a reference signal receiving power (Reference Signal Receiving Power, RSRP) level value corresponding to the RSU according to the real-time acquired vehicle networking broadcast message, judging whether the vehicle deviates from the RSU position according to the vehicle position, the RSU position and the running direction, and finally judging whether the automatic driving level of the vehicle is reduced according to whether the unmanned vehicle deviates from the RSU position and the RSRP level value;

If the real-time network index value is greater than or equal to the minimum network index, the automatic driving level of the vehicle can be comprehensively judged according to the magnitude of the network state change factor, the ratio of the absolute value of the network state change factor to the real-time network index value of the previous period of the current period, whether the unmanned vehicle deviates from the RSU position or not and the magnitude of the RSRP level value, and the control scheme of the degradation of the unmanned vehicle is designed based on the invention conception.

Fig. 1a is a schematic diagram of an application scenario of a method for controlling degradation of an unmanned automobile according to the present invention. As shown in fig. 1a, the application scenario may include: the road 11, an unmanned vehicle 12 running on the road, and an RSU 13 beside the road, the unmanned vehicle including an in-vehicle device 14 and a drive control unit 15 provided on the unmanned vehicle.

For example, in the application scenario shown in fig. 1a, the in-vehicle device 14 may acquire road scene data and weather status data according to real-time environmental monitoring, monitor wireless communication network data, receive and parse the internet of vehicles broadcast message sent by the RSU 13, and acquire positioning data. After processing the above data, the in-vehicle device 14 may send a degradation instruction to the driving control unit 15.

The RSU13 may send a broadcast message of the internet of vehicles, from which the location of the RSU13 and the RSRP level value corresponding to it may be resolved.

The driving control unit 15 may receive the degradation instruction from the in-vehicle device 14 and control the unmanned vehicle to decrease the automation level.

It should be noted that at least one RSU13 is shown in fig. 1a, and only one RSU13 is shown as an example, and the embodiment of the present invention does not limit the specific number of RSUs, and may be determined according to practical situations.

Fig. 1b is a schematic diagram of an interaction scenario between a vehicle-mounted device and an automatic driving control unit of an unmanned vehicle. As shown in fig. 1b, the vehicle-mounted device comprises an environment monitoring module, a fifth generation mobile communication technology (5 th Generation Mobile Communication Technology, abbreviated as 5G) data communication module, a vehicle networking communication module, a global positioning system (Global Positioning System, abbreviated as GPS) positioning module and a central processing module.

The environment monitoring module is used for monitoring the external driving road scene data and the weather state data of the unmanned automobile in real time and sending the data to the central processing module.

The 5G data communication module is used for monitoring wireless communication network data used by the unmanned automobile and sending the data to the central processing module.

The Internet of vehicles communication module is used for receiving and analyzing the appointed Internet of vehicles broadcast message and sending the analyzed appointed Internet of vehicles broadcast message to the central processing module.

The GPS positioning module is used for realizing the positioning of the unmanned automobile, monitoring to obtain positioning data and sending the data to the central processing module.

The central processing module is used for receiving data from the environment monitoring module, data of the 5G data communication module, data of the Internet of vehicles communication module and data of the GPS positioning module, comprehensively processing the received data and sending a degradation instruction to the automatic driving control unit of the unmanned automobile.

The unmanned vehicle automatic driving control unit can receive the degradation instruction from the central processing module and control the unmanned vehicle to reduce the automation level.

It should be noted that, fig. 1b only shows an interaction scenario between a vehicle-mounted device and an automatic driving control unit of an unmanned vehicle, and the present invention does not specifically limit the interaction between the vehicle-mounted device and the automatic driving control unit of the unmanned vehicle, and may be set according to practical situations.

The technical scheme of the invention is described in detail through specific embodiments. It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic flow chart of a first embodiment of a method for controlling degradation of an unmanned automobile, as shown in fig. 2, where the method for controlling degradation of an unmanned automobile specifically includes the following steps:

s201: and calculating to obtain the minimum network index according to the road scene data and the weather state data which are monitored in real time.

In this step, when the vehicle-mounted device determines whether to reduce the automatic driving level of the vehicle, road scene data and weather state data are first acquired, and the vehicle-mounted device can monitor the road scene data and the weather state data outside the unmanned vehicle according to the real-time environment, so as to obtain the minimum network index through calculation.

It should be noted that, the real-time environment includes a road scene and a weather state, and the road scene may be a high-speed road, a provincial road, a rural road, a tunnel, and the weather state may be sunny, rainy, snowy, and foggy.

The minimum network index is the minimum value that can satisfy the unmanned network index under the environmental condition that road scene data and weather state data indicate, only when the network index is greater than or equal to the minimum value of network index, unmanned car can carry out unmanned.

It should be noted that the road scene and the weather state may reflect the minimum network index value, and the minimum network index value of the unmanned vehicle is greater at high speed and on sunny days than at high speed and on rainy days. The embodiment of the invention does not limit the calculation method for calculating the minimum network index according to the road scene data and the weather state data, and can be set according to actual conditions.

S202: and calculating a real-time network index value according to the wireless communication network data detected in the current period.

In this step, after obtaining the minimum network index, the vehicle-mounted device needs to monitor wireless communication network data used by the unmanned vehicle, and further calculate a real-time network index value, and only when the real-time network index is greater than or equal to the minimum value of the network index, the unmanned vehicle can perform unmanned.

The wireless communication network data includes at least one of the following: RSRP, received signal strength indication (Received Signal Strength Indicator, abbreviated as RSSI), signal to noise ratio (signal to noise ratio, abbreviated as SNR), delay, rate, packet loss rate.

It should be noted that the wireless communication network data may reflect the real-time network index, and an exemplary embodiment of the wireless communication network data may indicate that the larger the RSRP, RSSI, SNR and the rate are, the better the real-time network index is, and the smaller the delay and the packet loss rate are, the better the real-time network index is. The embodiment of the invention does not limit the specific calculation method of the real-time network index value, and can be set according to actual conditions.

S203: and if the real-time network index value is smaller than the minimum network index value, sending a first degradation instruction to a driving control unit of the unmanned automobile.

In the step, after the electronic equipment obtains the real-time network index value and the minimum network index, the electronic equipment judges the sizes of the real-time network index value and the minimum network index, and if the real-time network index value is smaller than the minimum network index, the network index does not meet the unmanned condition at the moment, and a first degradation instruction is sent to a driving control unit of the unmanned automobile.

It should be noted that, the first degradation instruction is used for instructing the driving control unit to control the reduction of the automation level, and after receiving the first degradation instruction, the driving control unit of the unmanned automobile controls the unmanned automobile to reduce the automation level.

Illustratively, the first downgrade instruction may indicate downgrade from the current automation level to an L0 level, may indicate downgrade from the current automation level by one level, and may indicate downgrade from the current automation level to any level below the current automation level. For example, the current automation level is L5, and the first downgrade instruction may be to indicate downgrade from L5 to L0, may be to indicate downgrade from L5 to L4, and may be downgrade from L5 to any of L0-L4.

It should be noted that, the above examples merely illustrate the first degrading instruction, and the embodiment of the present invention does not specifically limit the first degrading instruction, and may be set according to actual situations.

According to the method for controlling degradation of the unmanned automobile, the minimum network index is calculated through the road scene data and the weather state data which are monitored in real time, then the real-time network index value is calculated through the wireless communication network data which are detected in the current period, whether the automation level is reduced is judged according to the real-time network index value and the minimum network index value, and when the real-time network index value is smaller than the minimum network index value, the automation level is determined to be reduced. When the minimum network index is calculated, the road scene and the weather state are considered, and the degradation judgment accuracy is effectively improved.

Based on the above embodiments, fig. 3 is a schematic flow chart of a second embodiment of a method for controlling degradation of an unmanned automobile according to the present invention. As shown in fig. 3, in the present embodiment, after step S202 in the first embodiment, the method for controlling degradation of the unmanned vehicle further includes:

s301: if the real-time network index value is greater than or equal to the minimum network index value, calculating and acquiring a network state change factor according to the real-time network index value and the historical network index value.

In this step, if the real-time network index value is greater than or equal to the minimum network index, it is indicated that the current network index can meet the unmanned requirement, and at this time, it is necessary to acquire the network state change factor to further determine whether the automation level needs to be reduced.

It should be noted that, if the network quality is degraded and the degradation amplitude is large, the automation level needs to be reduced.

It should be noted that, the network state change factor is obtained by calculating the difference between the historical network index value and the real-time network index value, where a network state change factor smaller than 0 indicates that the network quality is poor, a network state change factor greater than 0 indicates that the network quality is good, and a network state change factor equal to 0 indicates that the network quality is unchanged. Wherein the historical network index value refers to a real-time network index value of a period previous to the current period.

S302: if the network state change factor is smaller than 0 and the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period is larger than or equal to a first preset value, a second degradation instruction is sent to the unmanned control unit.

In this step, if the network state change factor is greater than or equal to 0, it is indicated that the network quality is not degraded, and the automation level does not need to be reduced. If the network state change factor is smaller than 0, it is indicated that the network quality is poor, and at this time, a ratio of an absolute value of the network state change factor to a real-time network index value of a period previous to the current period needs to be obtained, and then whether to reduce the automation level is judged according to the ratio and the first preset value. And if the ratio is greater than or equal to the first preset value, sending a second degradation instruction to the unmanned control unit.

It should be noted that, in the case where the network state change factor is smaller than 0, the ratio of the absolute value of the above-mentioned network state change factor to the real-time network index value of the period preceding the current period may reflect the degree of deterioration of the network quality, and the greater the ratio, the worse the network quality becomes.

The first preset value is set before the unmanned vehicle by the operator, and is stored in the vehicle device for comparing with the ratio of the absolute value of the network state change factor to the real-time network index value of the previous period of the current period. The embodiment of the invention does not specifically limit the magnitude of the first preset value, and can be set according to actual conditions.

It should be noted that, the second degradation instruction is used for instructing the driving control unit to control the reduction of the automation level, and after receiving the second degradation instruction, the driving control unit of the unmanned automobile controls the unmanned automobile to reduce the automation level.

The second downgrade instruction may illustratively indicate downgrade from the current automation level to an L0 level, may indicate downgrade from the current automation level by one level, and may indicate downgrade from the current automation level to any level below the current automation level. For example, the current automation level is L5, and the second downgrade instruction may be an instruction to downgrade from L5 to L0, an instruction to downgrade from L5 to L4, or an instruction to downgrade from L5 to any of L0-L4.

It should be noted that, the above example is only an example of the second degrading instruction, and the embodiment of the present invention does not specifically limit the first degrading instruction, and may be set according to actual situations

According to the method for controlling degradation of the unmanned automobile, after the network index meets the unmanned requirement, the ratio of the absolute value of the network state change factor to the real-time network index value of the previous period of the current period is calculated by calculating the network state change factor and calculating the network state change factor under the condition that the network state change factor is smaller than 0, whether the automation level is reduced is judged according to the ratio and the first preset value, and if the ratio is larger than or equal to the first preset value, the automation level is determined to be reduced. When judging whether to reduce the automation level, the magnitude of the network index value and the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period are considered, so that the degradation judgment accuracy is effectively improved.

On the basis of the above embodiment, fig. 4 is a schematic flow chart of a third embodiment of the method for controlling degradation of an unmanned automobile provided by the invention. As shown in fig. 4, in the present embodiment, after step S202 in the first embodiment, the method for controlling degradation of the unmanned vehicle further includes:

s401: and if the real-time network index value is greater than or equal to the minimum network index value, acquiring the current positioning data of the unmanned automobile.

In this step, if the real-time network index value is greater than or equal to the minimum network index value, it is indicated that the current network index can meet the requirement of unmanned driving, and current positioning data of the unmanned driving vehicle needs to be acquired at this time, the traveling direction and the vehicle position of the unmanned driving vehicle can be determined according to the positioning data and the historical positioning data, and whether the unmanned driving vehicle deviates from the RSU can be determined according to the positioning data and the RSU position.

It should be noted that, the vehicle-mounted device may acquire positioning data through the positioning module therein, where the positioning data includes longitude and latitude.

S402: and determining the advancing direction and the vehicle position of the unmanned automobile according to the positioning data and the historical positioning data.

In this step, after the vehicle-mounted device acquires the positioning data, since the positioning data includes the longitude and the latitude, the vehicle-mounted device can determine the position of the vehicle according to the longitude and the latitude, and can determine the traveling direction of the vehicle according to the history longitude and the history latitude. The historical positioning data are positioning data of a period before the current period, and the historical longitude and the historical latitude are longitude and latitude in the historical positioning data.

S403: and acquiring the position of the drive test unit RSU and the reference signal received power RSRP level value corresponding to the drive test unit RSU according to the real-time acquired Internet of vehicles broadcast message.

In the step, after the vehicle-mounted device determines the travelling direction and the vehicle position of the unmanned vehicle, the RSU sends a vehicle networking broadcast message to the vehicle-mounted device, and after the vehicle-mounted device receives the vehicle networking broadcast message, the RSU position and an RSRP level value corresponding to the RSU are obtained through analysis. When the RSU deviates from the position of the unmanned automobile, whether the automation level is reduced or not can be judged through the magnitude of the RSRP level value.

It should be noted that, the internet of vehicles broadcast message sent by the RSU includes an RSU position and an RSRP level value corresponding to the RSU, and the vehicle device may receive and parse the internet of vehicles broadcast message to obtain the RSU position and the RSRP level value corresponding to the RSU.

For example, if the number of RSUs is only one, the electronic device obtains the location of the RSU and the RSRP level value corresponding to the RSU, and if the number of RSUs is plural, the electronic device obtains the locations of all RSUs and the RSRP level value corresponding to the RSU.

It should be noted that the number of RSUs may be one or a plurality of RSUs, and the embodiment of the present invention does not limit the specific number of RSUs, and may be determined according to practical situations.

S404: based on the direction of travel, the vehicle position and the RSU position, it is determined whether the unmanned vehicle deviates from the RSU position.

In this step, it is exemplary that if the number of RSUs is only one, the direction in which the vehicle points to the RSU can be determined according to the vehicle position and the RSU position, if the included angle between the traveling direction and the direction in which the vehicle points to the RSU is greater than or equal to ninety degrees, it is determined that the unmanned vehicle deviates from the RSU position, and if the included angle is less than ninety degrees, it is determined that the unmanned vehicle does not deviate from the RSU position.

For example, if there are a plurality of RSUs, the direction of the vehicle to the RSU can be determined according to the vehicle position and the RSU position, if the included angle between the traveling direction and all the directions of the vehicles to the RSU is greater than or equal to ninety degrees, the unmanned vehicle is determined to deviate from the RSU position, and if there is an included angle less than ninety degrees, the unmanned vehicle is determined not to deviate from the RSU position.

S405: and if the position of the unmanned automobile deviates from the RSU and the RSRP level value is smaller than the second preset value, sending a third degradation instruction to the unmanned control unit.

In the step, if the unmanned automobile does not deviate from the RSU position, the automation level does not need to be reduced; if the position of the unmanned automobile deviates from that of the RSU, the RSRP level value corresponding to the RSU needs to be further determined. If the number of the RSUs is only one, the electronic device compares the acquired RSRP level value corresponding to the RSUs with a second preset value, and if the RSRP level value is smaller than the second preset value, a third degradation instruction is sent to the unmanned control unit.

If the number of RSUs is plural, the electronic device compares the RSRP level values corresponding to all the acquired RSUs with the second preset value, and if all the RSRP level values are smaller than the second preset value, sends a third degradation instruction to the unmanned control unit.

It should be noted that, the RSRP level value corresponding to the RSU may reflect the network index, and the greater the level value, the better the network index, so if the RSRP level value corresponding to the RSU is smaller than the second preset value, the automation level needs to be reduced under the condition that the unmanned automobile deviates from the RSU.

The second preset value is set by a worker and stored in the vehicle-mounted device before the vehicle-mounted device is set in front of the unmanned vehicle, and is used for comparing the value with the RSRP level value corresponding to the RSU. The embodiment of the invention does not specifically limit the magnitude of the second preset value, and can be set according to actual conditions.

The third degradation instruction is used for instructing the driving control unit to control the automatic level reduction, and the driving control unit of the unmanned automobile controls the unmanned automobile to reduce the automatic level after receiving the third degradation instruction.

The third downgrade instruction may illustratively indicate downgrade from the current automation level to an L0 level, may indicate downgrade from the current automation level by one level, and may indicate downgrade from the current automation level to any level below the current automation level. For example, the current automation level is L5, and the third downgrade instruction may be to indicate downgrade from L5 to L0, to indicate downgrade from L5 to L4, or to downgrade from L5 to any of L0-L4.

It should be noted that, the above example is only an example of the third degrading instruction, and the embodiment of the present invention does not specifically limit the first degrading instruction, and may be set according to actual situations

According to the method for controlling degradation of the unmanned automobile, after the network index meets the unmanned requirement, the advancing direction and the vehicle position of the unmanned automobile are determined through the current positioning data and the historical positioning data of the unmanned automobile, the RSU position and the RSRP level value corresponding to the RSU are acquired through the Internet of vehicles broadcasting message, whether the unmanned automobile deviates from the RSU position or not can be determined, and if the unmanned automobile deviates from the RSU position, the automation level is reduced when the RSRP level value is smaller than a second preset value. And when judging whether to reduce the automation level, whether the unmanned automobile deviates from the RSU position or not and the RSRP level value are considered, so that the accuracy of degradation judgment is effectively improved.

On the basis of the above embodiment, fig. 5 is a schematic flow chart of a fourth embodiment of the method for controlling degradation of an unmanned automobile. As shown in fig. 5, in the present embodiment, after step S202 in the first embodiment, the method for controlling degradation of the unmanned vehicle further includes:

s501: if the real-time network index value is greater than or equal to the minimum network index value, calculating and acquiring a network state change factor according to the real-time network index value and the historical network index value.

It should be noted that, the present step is similar to step S301 in the second embodiment, and will not be repeated here

S502: and acquiring current positioning data of the unmanned automobile.

S503: and determining the advancing direction and the vehicle position of the unmanned automobile according to the positioning data and the historical positioning data.

S504: and acquiring the position of the drive test unit RSU and the reference signal received power RSRP level value corresponding to the drive test unit RSU according to the real-time acquired Internet of vehicles broadcast message.

S505: based on the direction of travel, the vehicle position and the RSU position, it is determined whether the unmanned vehicle deviates from the RSU position.

It should be noted that the steps S502 to S505 are similar to the steps S401 to S404 in the third embodiment, and will not be repeated here

S506: if the network state change factor is smaller than 0, the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period is smaller than a first preset value, the ratio is larger than or equal to a third preset value, the RSRP level value is larger than or equal to a second preset value and smaller than a fourth preset value when the position of the unmanned automobile deviates from the RSU position, and a fourth degradation instruction is sent to the unmanned control unit.

When the real-time network index value is greater than or equal to the minimum network index, the current network index can meet the unmanned requirement, and whether the automation level is reduced can be judged according to the magnitude of the network state change factor, the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period, whether the unmanned automobile deviates from the RSU position or not and the magnitude of the RSRP level value.

In this step, after the electronic device obtains the magnitude of the network state change factor, the ratio of the absolute value of the network state change factor to the real-time network index value of the period previous to the current period, whether the unmanned vehicle deviates from the RSU position or not, and the magnitude of the RSRP level value, if the network state change factor is smaller than 0, and the ratio of the absolute value of the network state change factor to the real-time network index value of the period previous to the current period is smaller than the first preset value, and the ratio is greater than or equal to the third preset value, and the RSRP level value is greater than or equal to the second preset value and smaller than the fourth preset value while the unmanned vehicle deviates from the RSU position, a fourth degradation instruction is sent to the unmanned control unit.

If the network state change factor is greater than or equal to 0, no reduction in automation level is required.

If the network state change factor is smaller than 0 and the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period is smaller than a third preset value, the automation level does not need to be reduced.

If the unmanned vehicle does not deviate from the RSU location, no reduction in automation level is required.

If the RSRP level value is greater than or equal to the fourth preset value while the unmanned automobile deviates from the RSU position, the automation level does not need to be reduced.

The third and fourth preset values are set before the unmanned vehicle is equipped with the vehicle-mounted device, and the first preset value is required to be larger than the third preset value and the second preset value is required to be smaller than the fourth preset value. The third preset value is used for comparing the absolute value of the network state change factor with the ratio of the real-time network index value of the period before the current period, and the fourth preset value is used for comparing the value with the RSRP level value corresponding to the RSU. The embodiment of the invention does not specifically limit the magnitude of the third preset value and the fourth preset value, and can be set according to actual conditions.

The fourth degradation instruction is used for instructing the driving control unit to control the automatic level reduction, and the driving control unit of the unmanned automobile controls the unmanned automobile to reduce the automatic level after receiving the fourth degradation instruction.

The fourth downgrade instruction may illustratively indicate downgrade from the current automation level to an L0 level, may indicate downgrade from the current automation level by one level, and may indicate downgrade from the current automation level to any level below the current automation level. For example, the fourth downgrade instruction may indicate downgrade from L5 to L0, may indicate downgrade from L5 to L4, and may indicate downgrade from L5 to any of L0-L4, for example, with the current automation level being L5.

It should be noted that, the above example is only an example of the fourth demotion instruction, and the embodiment of the present invention does not specifically limit the first demotion instruction, and may be set according to actual situations

According to the method for controlling degradation of the unmanned automobile, after the network index meets the unmanned requirement, whether the automation level is reduced is judged according to the magnitude of the network state change factor, the ratio of the absolute value of the network state change factor to the real-time network index value of the period before the current period, whether the unmanned automobile deviates from the RSU position or not and the magnitude of the RSRP level value, so that the accuracy of judging the degradation is effectively improved. The following are examples of the apparatus of the present invention that may be used to perform the method embodiments of the present invention. For details not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the method of the present invention.

Fig. 6 is a schematic structural diagram of a first embodiment of a degradation control device for an unmanned vehicle according to the present invention; as shown in fig. 6, the image recommendation device 60 based on face recognition includes:

the processing module 61 is configured to calculate, according to the road scene data and the weather state data that are monitored in real time, a minimum network index, where the minimum network index is a minimum value of network indexes in an environmental state indicated by the road scene data and the weather state data;

the processing module 61 is further configured to calculate a real-time network index value according to the wireless communication network data detected in the current period;

and the sending module 62 is configured to send a first degradation instruction to a driving control unit of the unmanned automobile if the real-time network index value is smaller than the minimum network index value, where the first degradation instruction is used to instruct the driving control unit to control to reduce the automation level.

In one possible design of the embodiment of the present invention, the processing module 61 is further configured to calculate, if the real-time network index value is greater than or equal to the minimum network index value, and obtain a network state change factor according to the real-time network index value and the historical network index value, where the network state change factor is used to indicate a change of network quality.

The sending module 62 is further configured to send a second degradation instruction to the unmanned control unit if the network state change factor is less than 0 and a ratio of an absolute value of the network state change factor to a real-time network index value of a period previous to the current period is greater than or equal to a first preset value, where the second degradation instruction is used to instruct the driving control unit to control to reduce the automation level.

In one possible design of the embodiment of the present invention, the processing module 61 is further configured to obtain current positioning data of the unmanned vehicle if the real-time network index value is greater than or equal to the minimum network index value.

The processing module 61 is further configured to determine a traveling direction and a vehicle position of the unmanned vehicle according to the positioning data and the historical positioning data.

The processing module 61 is further configured to obtain, according to the internet of vehicles broadcast message obtained in real time, an RSU position and an RSRP level value corresponding to the RSU.

The processing module 61 is further configured to determine, according to the traveling direction, the vehicle position and the RSU position, whether the unmanned vehicle deviates from the RSU position.

The sending module 62 is further configured to send a third degradation instruction to the unmanned control unit if the unmanned automobile deviates from the RSU and the RSRP level value is smaller than a second preset value, where the third degradation instruction is used to instruct the driving control unit to control the automation level to be reduced.

In one possible design of the embodiment of the present invention, the sending module 62 is further configured to:

In one possible design of the embodiments of the present invention, the wireless communication network data includes at least one of: RSRP, RSSI, SNR, delay, rate, packet loss rate.

The technical scheme in any of the foregoing method embodiments is implemented in a similar principle and technical effect, and by reducing the automation level when the real-time network index value is smaller than the minimum network index, and considering whether to reduce the automation level according to the ratio of the magnitude of the network state change factor, the absolute value of the network state change factor to the real-time network index value of the previous period of the current period, whether the unmanned vehicle deviates from the RSU position and the RSRP level value, the accuracy of degradation determination is effectively improved.

Fig. 7 is a schematic structural diagram of a second embodiment of a degradation control device for an unmanned vehicle according to the present invention, as shown in fig. 7, in another possible design of the embodiment of the present invention, the degradation control device 60 for an unmanned vehicle further includes:

the environment detection module 63 is configured to obtain the road scene data and the weather status data according to real-time environment monitoring.

In one possible design of the embodiment of the present invention, the processing module 61 is specifically configured to:

determining the vehicle position according to the longitude and latitude of the unmanned automobile; determining the travelling direction of the unmanned automobile according to the longitude and latitude of the unmanned automobile and the historical longitude and latitude; wherein the positioning data includes the longitude and the latitude of the unmanned vehicle, and the historical positioning data includes the historical longitude and the historical latitude of the unmanned vehicle.

The image recommending device based on face recognition provided in any of the foregoing embodiments is configured to execute the technical solution provided in any of the foregoing method embodiments, and its implementation principle and technical effect are similar, and are not described herein again.

Fig. 8 is a schematic structural diagram of an in-vehicle apparatus provided by the present invention. As shown in fig. 8, the in-vehicle apparatus 80 includes:

a central processor 81, a memory 82, a communication interface 83, an environment monitoring module 84, a data communication module 85, a car networking communication module 86 and a positioning module 87, which are respectively connected with the processors;

the environment monitoring module 84 is configured to perform real-time environment monitoring to obtain road scene data and weather status data;

the data communication module 85 is configured to detect and acquire wireless communication network data;

the internet of vehicles communication module 86 is configured to receive an internet of vehicles broadcast message of an internet of vehicles broadcast;

the positioning module 87 is configured to obtain positioning data of the vehicle-mounted device or an unmanned vehicle equipped with the vehicle-mounted device;

the memory 82 is used for storing executable instructions of the processor;

wherein the processor 81 is configured to perform the technical solution of any of the method embodiments described above via execution of the executable instructions.

Alternatively, the memory 82 may be separate or integrated with the processor 81.

Alternatively, when the memory 82 is a device independent from the processor 81, the server 80 may further include:

And a bus for connecting the devices.

The embodiment of the invention also provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the technical solution provided by any of the foregoing embodiments.

The embodiment of the invention also provides a computer program product, which comprises a computer program, wherein the computer program is used for realizing the technical scheme provided by any one of the method embodiments when being executed by a processor.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A method of controlling degradation of an unmanned vehicle, applied to a vehicle-mounted device provided on the unmanned vehicle, the method comprising:

2. The method according to claim 1, wherein the method further comprises:

3. The method according to claim 2, wherein the method further comprises:

acquiring a RSU position of a drive test unit according to a real-time acquired Internet of vehicles broadcast message and a reference signal received power RSRP level value corresponding to the RSU;

4. A method according to claim 3, characterized in that the method further comprises:

5. The method according to any of claims 1 to 4, wherein the wireless communication network data comprises at least one of: RSRP, received signal strength indication RSSI, signal-to-noise ratio SNR, delay, rate, and packet loss rate.

6. The method according to any one of claims 1 to 4, further comprising:

7. The method of claim 2, wherein calculating the network state change factor from the real-time network index value and the historical network index value comprises:

8. A method according to claim 3, wherein said determining the direction of travel and the vehicle position of the unmanned vehicle from the positioning data and historical positioning data comprises:

9. A control device for degradation of an unmanned vehicle, comprising:

10. The apparatus of claim 9, wherein the processing module is further configured to calculate, if the real-time network indicator value is greater than or equal to the minimum network indicator value, a network state change factor according to the real-time network indicator value and a historical network indicator value, the network state change factor being used to indicate a change in network quality;

11. The apparatus of claim 10, wherein the processing module is further configured to obtain current positioning data of the unmanned vehicle if the real-time network indicator value is greater than or equal to the minimum network indicator value;

the processing module is further used for acquiring the position of the RSU and the RSRP level value corresponding to the RSU according to the real-time acquired Internet of vehicles broadcast message;

12. The apparatus of claim 11, wherein the transmitting module is further configured to:

13. The apparatus according to any of claims 9 to 12, wherein the wireless communication network data comprises at least one of: RSRP, RSSI, SNR, delay, rate, packet loss rate.

14. The apparatus according to any one of claims 9 to 12, further comprising:

15. The apparatus of claim 10, wherein the processing module is specifically configured to:

16. The apparatus of claim 11, wherein the processing module is specifically configured to:

17. An in-vehicle apparatus, characterized by comprising:

the memory is used for storing executable instructions of the processor;

the central processor is configured to execute the executable instructions to implement the method of controlling degradation of an unmanned vehicle of any one of claims 1 to 8.

18. A readable storage medium having stored thereon a computer program, which when executed by a processor implements the method of controlling degradation of an unmanned vehicle according to any of claims 1 to 8.