CN110794818A - Remote driving method, device and system - Google Patents
Remote driving method, device and system Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The application provides a remote driving method, a device and a system, wherein the remote driving method can be applied to a vehicle end and comprises the following steps: when the vehicle is in an unmanned state, receiving a state switching instruction sent by a remote driving end; responding to a state switching instruction, and switching the vehicle to a remote driving state; and after the remote driving state is switched, receiving a control instruction sent by a remote driving end, and responding to the control instruction. Therefore, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a remote driving method, device and system.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, is one of intelligent automobiles, and mainly achieves the purpose of unmanned driving by means of an intelligent driving instrument which is mainly provided with a computer system and arranged in the automobile. However, because machine intelligence is not as good as human, and is limited by factors such as detection accuracy of sensors mounted on vehicles and cost, automatic driving does not have driving capability of all roads and all scenes, so that when an unmanned vehicle runs, some emergencies are encountered, such as: blocked, etc., and cannot be processed in time.
Disclosure of Invention
An object of the embodiments of the present application is to provide a remote driving method, device and system, which are used to solve the technical problem that an unmanned vehicle cannot be processed in time when meeting some emergency situations during driving.
In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a remote driving method, applied to a vehicle, including: when the vehicle is in an unmanned state, receiving a state switching instruction sent by a remote driving end; responding to the state switching instruction, and switching the vehicle to a remote driving state; and after the remote driving state is switched, receiving a control instruction sent by the remote driving end, and responding to the control instruction. Therefore, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
In an optional embodiment of the present application, the receiving a state switching instruction sent by a remote driving end includes: acquiring vehicle driving data of the vehicle; judging whether the vehicle has a fault according to the vehicle running data; when the vehicle has a fault, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, when the vehicle detects that the vehicle has a fault in the unmanned driving process, the unmanned driving state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents caused by vehicle faults are avoided.
In an optional embodiment of the present application, the receiving a state switching instruction sent by a remote driving end includes: acquiring vehicle driving data of the vehicle; judging whether the vehicle runs to a target position according to the vehicle running data; when the vehicle runs to the target position, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, after the vehicle is unmanned to the target position, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving the vehicle at the remote driving end to remotely control the driving of the vehicle, and the vehicle can be driven to move outside the preset driving route of the vehicle.
In an optional embodiment of the present application, the receiving a state switching instruction sent by a remote driving end includes: acquiring vehicle driving data of the vehicle; judging whether the vehicle travels a target distance according to the vehicle travel data; transmitting a state switching request to the remote driving terminal or a management terminal managing the remote driving terminal when the vehicle travels the target distance; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, after the vehicle is unmanned for the target distance, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving the vehicle at the remote driving end to remotely control the driving of the vehicle, the vehicle which runs for a certain distance can be checked, and the safety of the vehicle in the driving process is ensured.
In a second aspect, an embodiment of the present application provides another remote driving method, which is applied to a remote driving end, and includes: receiving a state switching instruction for representing switching of the vehicle from an unmanned driving state to a remote driving state, and sending the state switching instruction to a vehicle end; and receiving a control instruction for controlling the vehicle to run by representation, and sending the control instruction to the vehicle end so that the vehicle end controls the vehicle to run according to the control instruction. Therefore, the remote driving end can realize the remote control of the vehicle according to the state switching instruction and the control instruction of the operator to the vehicle, so that the driving authority of the vehicle can be timely met when an emergency occurs in the driving process of the vehicle, and further accidents of the vehicle are avoided.
In an optional embodiment of the application, prior to said receiving a state switching instruction characterizing switching the vehicle from the unmanned state to the remote driving state, the remote driving method further comprises: receiving a state switching request sent by the vehicle end; and outputting switching prompt information according to the state switching request. Therefore, after receiving the state switching request sent by the vehicle end, the remote driving end can output corresponding switching prompt information, so that an operator can select the vehicle to be taken over currently according to the switching prompt information and remotely control the vehicle.
In a third aspect, an embodiment of the present application provides a remote driving apparatus, which is applied to a vehicle side, and includes: the first receiving module is used for receiving a state switching instruction sent by a remote driving end when the vehicle is in an unmanned state; the switching module is used for responding to the state switching instruction and switching the vehicle to a remote driving state; and the second receiving module is used for receiving the control instruction sent by the remote driving end after the remote driving state is switched to and responding to the control instruction. Therefore, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
In an optional embodiment of the present application, the first receiving module is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle has a fault according to the vehicle running data; when the vehicle has a fault, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, when the vehicle detects that the vehicle has a fault in the unmanned driving process, the unmanned driving state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents caused by vehicle faults are avoided.
In an optional embodiment of the present application, the first receiving module is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle runs to a target position according to the vehicle running data; when the vehicle runs to the target position, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, after the vehicle is unmanned to the target position, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving the vehicle at the remote driving end to remotely control the driving of the vehicle, and the vehicle can be driven to move outside the preset driving route of the vehicle.
In an optional embodiment of the present application, the first receiving module is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle travels a target distance according to the vehicle travel data; transmitting a state switching request to the remote driving terminal or a management terminal managing the remote driving terminal when the vehicle travels the target distance; and receiving the state switching instruction sent by the remote driving end according to the state switching request. Therefore, after the vehicle is unmanned for the target distance, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving the vehicle at the remote driving end to remotely control the driving of the vehicle, the vehicle which runs for a certain distance can be checked, and the safety of the vehicle in the driving process is ensured.
In a fourth aspect, an embodiment of the present application provides a remote driving device, which is applied to a remote driving end, and includes: the third receiving module is used for receiving a state switching instruction for indicating that the vehicle is switched from an unmanned driving state to a remote driving state, and sending the state switching instruction to the vehicle end; and the fourth receiving module is used for receiving a control instruction for controlling the vehicle to run and sending the control instruction to the vehicle end so that the vehicle end controls the vehicle to run according to the control instruction. Therefore, the remote driving end can realize the remote control of the vehicle according to the state switching instruction and the control instruction of the operator to the vehicle, so that the driving authority of the vehicle can be timely met when an emergency occurs in the driving process of the vehicle, and further accidents of the vehicle are avoided.
In an optional embodiment of the present application, the remote driving apparatus further comprises: the fifth receiving module is used for receiving the state switching request sent by the vehicle end; and the output module is used for outputting the switching prompt information according to the state switching request. Therefore, after receiving the state switching request sent by the vehicle end, the remote driving end can output corresponding switching prompt information, so that an operator can select the vehicle to be taken over currently according to the switching prompt information and remotely control the vehicle.
In a fifth aspect, an embodiment of the present application provides a remote driving system, including: the vehicle end is in communication connection with the remote driving end; the vehicle end is used for executing the remote driving method according to the first aspect; the remote driving terminal is used for executing the remote driving method according to the second aspect.
In an optional embodiment of the present application, the remote driving system further comprises: a management terminal; the management terminal is in communication connection with the remote driving terminal and the vehicle terminal; and the management terminal is used for receiving the state switching request sent by the vehicle terminal and distributing the remote driving terminal to take over the vehicle according to the state switching request.
In a sixth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus; the processor and the memory are communicated with each other through the bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the remote driving method as in the first and second aspects.
In a seventh aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed by a computer, the computer executes the remote driving method in the first aspect and the second aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a block diagram of a remote driving system according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a remote driving method provided in an embodiment of the present application;
FIG. 3 is a flow chart of another remote driving method provided by an embodiment of the present application;
fig. 4 is a block diagram illustrating a remote driving apparatus according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of another remote driving apparatus according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a block diagram of a remote driving system according to an embodiment of the present disclosure, where the remote driving system 100 may include: the system comprises a vehicle end 101 and a remote driving end 102, wherein the vehicle end 101 is in communication connection with the remote driving end 102; the vehicle terminal 101 is used for acquiring various data during the vehicle driving process and receiving various instructions sent by the remote driving terminal 102, such as: control commands, state switching commands, and the like; the remote driving end 102 is used for receiving an operation instruction of an operator and controlling the vehicle to run according to the operation instruction.
For example, the vehicle end 101 provided in the embodiment of the present application may be a data processing device disposed on a vehicle or other devices that can implement data processing, data transmission, and the like, and serve as a data reporting source of the unmanned vehicle, including uploading of vehicle driving state data and controlled issuing of a remote instruction, and the like.
As an embodiment, one or more cameras may be disposed around the vehicle, and are configured to collect images and video data of the vehicle itself and images and video data of the surrounding environment of the vehicle during the vehicle driving process, as vehicle driving data during the vehicle driving process. The cameras arranged on the periphery of the vehicle can be four cameras, the camera has waterproof and shockproof functions, the whole vehicle can be subjected to factory test, and 1080p is guaranteed according to the meter dividing rate.
After the camera collects the image and the video data, the collected data can be sent to the vehicle end 101 after being coded and decoded, so that the vehicle end 101 can judge the driving condition of the vehicle according to the received data, and the received data is transmitted to the remote driving end 102, so that an operator can control the normal driving of the vehicle at the remote driving end 102 according to the output image and the video data. When uploading the coded and decoded video to the remote driving end 102, the 4G or 5G communication network of the vehicle body can be relied on.
For example, in the driving process of the vehicle, the video data that pedestrians approach is collected by the camera arranged in the front left, and the operator sees the output video data at the remote driving end, so that the vehicle can be controlled to avoid the pedestrians in time, and traffic accidents are avoided.
In addition, the image and video data collected by the camera can be stored in local hardware after being coded and decoded, and can be used as a video data compass of a vehicle black box and used as a safe driving evidence of a driving recorder when a vehicle is in safe collision and accidents.
It should be noted that, the manner of acquiring the vehicle driving data by the vehicle end 101 may also adopt other manners besides acquiring the image and the video data by the camera in the above embodiment, for example: the sound sensor is used for collecting sound data around the vehicle in the driving process of the vehicle, and the like, which is not specifically limited in the embodiment of the present application, and a person skilled in the art can make appropriate adjustments according to the conventional technical means in the art.
As another embodiment, the vehicle end 101 may receive a communication control command from the remote driving end 102 through the communication network, and switch the takeover state of the vehicle driving mode: and switching from the state that the vehicle is unmanned to the state that the remote driving end controls driving or from the state that the remote driving end controls driving to the state that the vehicle is unmanned. After the vehicle is taken over, the vehicle can normally run according to remote vehicle control operation of an operator, such as steering wheel control operation, vehicle gear operation, an accelerator, a brake and the like.
In addition, after receiving the Control command sent by the Control driver 102, the Power Distribution Unit (PDU) issues the Control command to a Vehicle Control Unit (VCU) of the Vehicle chassis, and the VCU provides real-time Vehicle state feedback according to the Vehicle operation, and simultaneously uploads the updated state of the Vehicle chassis to the PDU, and the PDU is sent back to the remote driver 102 through the communication network.
The remote driving end 102 provided by the embodiment of the application can comprise two parts, namely hardware and software, wherein the software part is used for communicating with the vehicle end 101, and the hardware part is used for man-machine interaction and simulated driving of the remote driving unmanned vehicle and outputting various data.
As an embodiment, the hardware part of the remote driving end 102 may include: the device comprises a simulated cockpit, a screen connecting support, a liquid crystal display, a High Definition Multimedia Interface (HDMI) High Definition cable, an industrial personal computer and the like. Wherein, the simulated cockpit can include: the length of the seat suit is less than 1.3 m, the suit width is less than 80 cm, and the compatibility of the type selection of a steering wheel and a pedal is supported; a simulated driving kit comprising a steering wheel (with shift paddle) and a foot pedal; keyboard mouse (bluetooth wireless); keyboard and mouse trays, etc. In the screen connecting support, the left-right swinging of the single screen is not more than 30 degrees, the pitching angle of the single screen is not more than 45 degrees, the height of the upright post is 1-1.8 meters telescopic, the transverse support provides certain expandability, the 360-degree rotation is adjustable, the support transversely and longitudinally provides wiring harnesses to be stored, and the condition that the wiring harnesses are not visible right ahead is ensured. The liquid crystal screen can be 27 inches in size, the weight is less than 8 kilograms, the resolution meets 1080p (1920 x 1080), and an HDMI interface is provided. The HDMI high definition line may be a 2.0 version 4K high definition line. The industrial personal computer can be an industrial host, an i7 processor, an internal memory is larger than 16G, a display card supporting six HDMI ports supports more than four USB3.0 interfaces, Bluetooth keyboard earphone adaptation is supported, two independent network ports can be used for deploying a Linux or Windows system, and wiring harness storage is provided.
As another embodiment, the software portion of the remote driving end 102 may implement functions of multi-vehicle fault task, multi-vehicle operation and maintenance management, single-vehicle driving monitoring, and remote driving take-over, which will be described in detail in the following embodiments.
Further, referring to fig. 1, the remote driving system 100 may further include: a management terminal 103; the management terminal 103 is in communication connection with the remote driving terminal 102 and the vehicle terminal 101; the management terminal 103 is configured to receive a state switching request sent by the vehicle terminal 101, and allocate the remote driving terminal 102 to take over the vehicle according to the state switching request.
For example, first, the management terminal 103 may be used for data communication between the remote driving terminal 102 and the vehicle terminal 101. As an embodiment, the manner of implementing data communication by the management terminal 103 includes 4G/5G wide area network (wan) communication and Local Area Network (LAN) communication, and the content of the data communication may include the vehicle driving data, the control instruction, and the like mentioned in the foregoing embodiments. The video stream uploaded by the vehicle end 101 may be encoded and decoded by a management end and a corresponding third-party video Software Development Kit (SDK) and then pushed to a screen end of the remote driving end 102.
Secondly, the management terminal 103 may be configured to receive a state switching request sent by the vehicle terminal 101, and allocate the remote driving terminal 102 to take over the vehicle according to the state switching request. For example, a certain vehicle may communicate with three remote driving terminals 102, when the vehicle has a fault during driving, a status switching request may be sent to the management terminal 103, and the management terminal 103 may allocate one of the three remote driving terminals 102 to take over the driving control right of the vehicle according to the status switching request.
Finally, the management terminal 103 can also be used for implementing functions such as vehicle binding, driver account management, geographic position monitoring, vehicle operation data monitoring, and the like.
Referring to fig. 2, fig. 2 is a flowchart of a remote driving method according to an embodiment of the present disclosure, where the remote driving method includes the following steps:
step S201: the remote driving end receives a state switching instruction representing that the vehicle is switched from the unmanned driving state to the remote driving state, and sends the state switching instruction to the vehicle end.
Step S202: and the vehicle end receives a state switching instruction sent by the remote driving end.
Step S203: and the vehicle end responds to the state switching instruction and switches the vehicle to a remote driving state.
Step S204: and the remote driving end receives a control instruction for representing and controlling the vehicle to run and sends the control instruction to the vehicle end.
Step S205: and the vehicle end receives the control command sent by the remote driving end and responds to the control command.
For example, when an operator wants to switch a certain vehicle from an unmanned state to a remote driving state, the operator may click a button on a liquid crystal screen in the remote driving end, and after receiving a state switching instruction representing to switch the vehicle from the unmanned state to the remote driving state, the remote driving end sends the state switching instruction to the vehicle end, so that the vehicle end switches the state of the vehicle end. After the switching is completed, the operator can simulate driving at the remote driving end and send a corresponding control instruction to the vehicle end, so that the vehicle end runs according to the control instruction of the remote driving end.
For example, an operator clicks a vehicle state switching button on a liquid crystal screen in a remote driving end, then sits in a simulated driving cab, and simulates the driving of a remote driving vehicle through real-time vehicle driving data output on the liquid crystal screen: an operator turns a steering wheel to the left in the simulated cockpit, and the vehicle deflects to the left; the operator steps on the brake in the simulated cockpit, and the vehicle stops.
In the embodiment of the application, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be switched to the remote driving state in time according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
Further, in the above-described embodiment, the intention of the operator to switch a certain vehicle from the unmanned driving state to the remote driving state may include various situations, such as: when the vehicle has a fault, when the vehicle has traveled to a target position, when the vehicle has traveled a target distance, when an operator wants to monitor a vehicle state, and the like, the embodiment of the present application does not specifically limit this, and those skilled in the art can make appropriate adjustments according to actual situations.
The following description will be made in detail by taking the vehicle failure as an example:
referring to fig. 3, fig. 3 is a flowchart of another remote driving method provided in an embodiment of the present application, in which steps S201 to S202 may be replaced with the following steps:
step S301: the vehicle side acquires vehicle traveling data of the vehicle.
Step S302: and the vehicle end judges whether the vehicle has a fault according to the vehicle running data.
Step S303: when the vehicle breaks down, the vehicle end sends a state switching request to the remote driving end.
Step S304: and the remote driving end receives a state switching request sent by the vehicle end.
Step S305: and the remote driving end outputs switching prompt information according to the state switching request.
Step S306: the remote driving end receives a state switching instruction representing that the vehicle is switched from the unmanned driving state to the remote driving state, and sends the state switching instruction to the vehicle end.
Step S307: and the vehicle end receives a state switching instruction sent by the remote driving end according to the state switching request.
For example, the vehicle end acquires the vehicle running data of the vehicle in real time, wherein the manner of acquiring the vehicle running data by the vehicle end has been described in detail in the above embodiments, and is not described herein again. Then, the vehicle end judges whether the vehicle has a fault according to the vehicle running data, wherein the mode of judging whether the vehicle has the fault by the vehicle end is not specifically limited in the embodiment of the application, and can perform appropriate adjustment according to actual conditions for analyzing related data in the vehicle running process, performing image recognition on an image acquired by a camera on the vehicle, and the like.
After the vehicle end judges that the vehicle has a fault, the state switching request can be sent to the remote driving end, and the remote driving end can output the state switching request so that an operator can take over the driving right of the vehicle in time according to the state switching request. The mode of the remote driving end outputting the state switching request is not specifically limited in the embodiment of the present application, and may be displaying on a liquid crystal screen, sending a voice prompt, and the like, and a person skilled in the art may make an appropriate adjustment according to actual situations.
Based on the same inventive concept, steps S303-S305 may be replaced with the following steps:
firstly, when a vehicle breaks down, a vehicle end sends a state switching request to a management end.
And secondly, the management terminal receives the state switching request sent by the vehicle terminal and sends a vehicle management control command to a proper remote driving terminal according to the state switching request.
And thirdly, the remote driving end outputs switching prompt information according to the vehicle management control instruction.
When a vehicle can communicate with a plurality of remote driving terminals, after the vehicle terminal judges that the vehicle has a fault, a state switching request can be sent to the management terminal, so that the management terminal can distribute proper driving right of the remote driving terminal to manage the vehicle according to the state switching request.
In the embodiment of the application, when the vehicle detects that the vehicle has a fault in the unmanned driving process, the unmanned driving state can be switched to the remote driving state in time according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the running of the vehicle, and further accidents caused by vehicle faults are avoided.
Further, similar to the above-described embodiment in which the vehicle is out of order, when the vehicle travels to the target position, steps S201 to S202 may be replaced with the steps of:
in the first step, the vehicle end acquires vehicle driving data of the vehicle.
And secondly, judging whether the vehicle runs to the target position or not by the vehicle end according to the vehicle running data.
And thirdly, when the vehicle runs to the target position, the vehicle end sends a state switching request to the remote driving end.
And fourthly, the remote driving end receives a state switching request sent by the vehicle end.
And fifthly, the remote driving end outputs switching prompt information according to the state switching request.
And sixthly, the remote driving end receives a state switching instruction representing that the vehicle is switched from the unmanned driving state to the remote driving state, and sends the state switching instruction to the vehicle end.
And seventhly, the vehicle end receives a state switching instruction sent by the remote driving end according to the state switching request.
For example, the vehicle end obtains vehicle driving data of the vehicle in real time, and then the vehicle end judges whether the vehicle drives to the target position according to the vehicle driving data, wherein the mode that the vehicle end judges whether the vehicle drives to the target position is not specifically limited in the embodiment of the present application, and may be for analyzing related data in the vehicle driving process, performing image recognition on an image acquired by a camera on the vehicle, and the like, and a person skilled in the art may make appropriate adjustments according to actual situations.
The steps after the vehicle end determines that the vehicle has traveled to the target position are similar to the above embodiments, and are not described herein again.
In the embodiment of the application, after the vehicle is unmanned to the target position, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving of the vehicle at the remote driving end to remotely control driving of the vehicle, and the vehicle can be driven to move outside the preset driving route of the vehicle.
Further, similar to the above-described embodiment in which the vehicle is out of order, when the vehicle travels the target distance, steps S201 to S202 may be further replaced with the steps of:
in the first step, the vehicle end acquires vehicle driving data of the vehicle.
And secondly, judging whether the vehicle runs the target distance or not by the vehicle end according to the vehicle running data.
And thirdly, when the vehicle runs the target distance, the vehicle end sends a state switching request to the remote driving end.
And fourthly, the remote driving end receives a state switching request sent by the vehicle end.
And fifthly, the remote driving end outputs switching prompt information according to the state switching request.
And sixthly, the remote driving end receives a state switching instruction representing that the vehicle is switched from the unmanned driving state to the remote driving state, and sends the state switching instruction to the vehicle end.
And seventhly, the vehicle end receives a state switching instruction sent by the remote driving end according to the state switching request.
For example, the vehicle end obtains vehicle driving data of the vehicle in real time, and then the vehicle end judges whether the vehicle has driven the target distance according to the vehicle driving data, wherein the method for judging whether the vehicle has driven the target distance by the vehicle end is not specifically limited in the embodiment of the present application, and may be for analyzing related data in the driving process of the vehicle, performing image recognition on an image acquired by a camera on the vehicle, and the like, and a person skilled in the art may appropriately adjust the data according to actual conditions.
The steps after the vehicle end determines that the vehicle has traveled to the target position are similar to the above embodiments, and are not described herein again.
In the embodiment of the application, after the vehicle is unmanned for the target distance, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, the vehicle which runs for a certain distance can be checked, and the safety of the vehicle in the driving process is ensured.
The following illustrates an application scenario of the above embodiment:
the unmanned vehicle can be a patrol car or a vending car which is deployed in a garden, and the unmanned vehicle needs to reach a preset starting point every day and circularly travel around the garden according to a preset route from the starting point. Wherein the managing of the unmanned vehicle may comprise: multi-vehicle fault tasks: the remote driving end provides a fault vehicle list in real time according to the vehicle bound by the current login operator, and the operator can select one of the vehicles to enter the supervision; and (4) multi-vehicle operation and maintenance management: the remote driving end provides a list of all vehicles and available states according to the vehicles bound by the current login operator, and the operator can select one of the vehicles to enter supervision; the bicycle supervision mode comprises the following steps: after entering the single-vehicle mode according to the fault task or the operation and maintenance requirement, the front, back, left and right views of the vehicle can be provided, meanwhile, the operation interaction related to the control of the vehicle is provided, and the operation personnel can perform the operation functions of taking over, powering on and powering off, exiting the single-vehicle mode and the like of the single vehicle.
Based on the management mode, in the morning, an operator can remotely control the unmanned vehicle to run to the starting point and start to run unmanned through multi-vehicle operation and maintenance management, when a certain unmanned vehicle breaks down, the operator can supervise the broken-down vehicle through a multi-vehicle fault task, and remotely control the unmanned vehicle to run through a single-vehicle supervision mode.
In the embodiment of the application, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be switched to the remote driving state in time according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
Referring to fig. 4, fig. 4 is a block diagram of a remote driving apparatus according to an embodiment of the present application, where the remote driving apparatus 400 is applied to a vehicle, and includes: the first receiving module 401 is configured to receive a state switching instruction sent by a remote driving end when a vehicle is in an unmanned state; a switching module 402, configured to switch the vehicle to a remote driving state in response to the state switching instruction; and a second receiving module 403, configured to receive a control instruction sent by the remote driving end after switching to the remote driving state, and respond to the control instruction.
In the embodiment of the application, when the vehicle encounters some emergency situations in the unmanned driving process, the unmanned driving state can be switched to the remote driving state in time according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, and further accidents are avoided.
Further, the first receiving module 401 is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle has a fault according to the vehicle running data; when the vehicle has a fault, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request.
In the embodiment of the application, when the vehicle detects that the vehicle has a fault in the unmanned driving process, the unmanned driving state can be switched to the remote driving state in time according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the running of the vehicle, and further accidents caused by vehicle faults are avoided.
Further, the first receiving module 401 is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle runs to a target position according to the vehicle running data; when the vehicle runs to the target position, sending a state switching request to the remote driving end or a management end for managing the remote driving end; and receiving the state switching instruction sent by the remote driving end according to the state switching request.
In the embodiment of the application, after the vehicle is unmanned to the target position, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can simulate driving of the vehicle at the remote driving end to remotely control driving of the vehicle, and the vehicle can be driven to move outside the preset driving route of the vehicle.
Further, the first receiving module 401 is further configured to: acquiring vehicle driving data of the vehicle; judging whether the vehicle travels a target distance according to the vehicle travel data; transmitting a state switching request to the remote driving terminal or a management terminal managing the remote driving terminal when the vehicle travels the target distance; and receiving the state switching instruction sent by the remote driving end according to the state switching request.
In the embodiment of the application, after the vehicle is unmanned for the target distance, the unmanned state can be timely switched to the remote driving state according to the state switching instruction sent by the remote driving end, so that an operator can drive the vehicle through simulation at the remote driving end to remotely control the driving of the vehicle, the vehicle which runs for a certain distance can be checked, and the safety of the vehicle in the driving process is ensured.
Referring to fig. 5, fig. 5 is a block diagram of another remote driving apparatus according to an embodiment of the present application, where the remote driving apparatus 500 is applied to a remote driving end, and includes: a third receiving module 501, configured to receive a state switching instruction representing that a vehicle is switched from an unmanned driving state to a remote driving state, and send the state switching instruction to a vehicle end; a fourth receiving module 502, configured to receive a control instruction for characterizing control of the vehicle, and send the control instruction to the vehicle end, so that the vehicle end controls the vehicle to run according to the control instruction.
In the embodiment of the application, the remote driving end can realize the remote control of the vehicle according to the state switching instruction and the control instruction of the operator to the vehicle, so that the driving authority of the vehicle can be timely taken over when emergency occurs in the driving process of the vehicle, and further accidents of the vehicle are avoided.
Further, the remote driving apparatus 500 further includes: the fifth receiving module is used for receiving the state switching request sent by the vehicle end; and the output module is used for outputting the switching prompt information according to the state switching request.
In the embodiment of the application, after receiving the state switching request sent by the vehicle end, the remote driving end can output corresponding switching prompt information, so that an operator can select a vehicle to be taken over currently according to the switching prompt information and remotely control the vehicle.
Referring to fig. 6, fig. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device includes: at least one processor 601, at least one communication interface 602, at least one memory 603, and at least one communication bus 604. Wherein the communication bus 604 is used for implementing direct connection communication of these components, the communication interface 602 is used for communicating signaling or data with other node devices, and the memory 603 stores machine-readable instructions executable by the processor 601. When the electronic device is operating, the processor 601 communicates with the memory 603 via the communication bus 604, and the machine-readable instructions, when invoked by the processor 601, perform the remote driving method described above.
The processor 601 may be an integrated circuit chip having signal processing capabilities. The processor 601 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. Which may implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory 603 may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like.
It will be appreciated that the configuration shown in fig. 6 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 6 or have a different configuration than shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof. In this embodiment, the electronic device may be, but is not limited to, an entity device such as a desktop, a notebook computer, a smart phone, an intelligent wearable device, and a vehicle-mounted device, and may also be a virtual device such as a virtual machine. In addition, the electronic device is not necessarily a single device, but may also be a combination of multiple devices, such as a server cluster, and the like. In the embodiment of the present application, the vehicle side, the remote driving side, and the management side in the remote ad hoc method may be implemented by using the electronic device shown in fig. 6.
Embodiments of the present application further provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the steps of the remote driving method in the above embodiments, for example, including: when the vehicle is in an unmanned state, receiving a state switching instruction sent by a remote driving end; responding to the state switching instruction, and switching the vehicle to a remote driving state; and after the remote driving state is switched, receiving a control instruction sent by the remote driving end, and responding to the control instruction.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A remote driving method is characterized by being applied to a vehicle end and comprising the following steps:
when the vehicle is in an unmanned state, receiving a state switching instruction sent by a remote driving end;
responding to the state switching instruction, and switching the vehicle to a remote driving state;
and after the remote driving state is switched, receiving a control instruction sent by the remote driving end, and responding to the control instruction.
2. The remote driving method according to claim 1, wherein the receiving of the state switching command sent by the remote driving end comprises:
acquiring vehicle driving data of the vehicle;
judging whether the vehicle has a fault according to the vehicle running data;
when the vehicle has a fault, sending a state switching request to the remote driving end or a management end for managing the remote driving end;
and receiving the state switching instruction sent by the remote driving end according to the state switching request.
3. The remote driving method according to claim 1, wherein the receiving of the state switching command sent by the remote driving end comprises:
acquiring vehicle driving data of the vehicle;
judging whether the vehicle runs to a target position according to the vehicle running data;
when the vehicle runs to the target position, sending a state switching request to the remote driving end or a management end for managing the remote driving end;
and receiving the state switching instruction sent by the remote driving end according to the state switching request.
4. The remote driving method according to claim 1, wherein the receiving of the state switching command sent by the remote driving end comprises:
acquiring vehicle driving data of the vehicle;
judging whether the vehicle travels a target distance according to the vehicle travel data;
transmitting a state switching request to the remote driving terminal or a management terminal managing the remote driving terminal when the vehicle travels the target distance;
and receiving the state switching instruction sent by the remote driving end according to the state switching request.
5. A remote driving method is characterized by being applied to a remote driving end and comprising the following steps:
receiving a state switching instruction for representing switching of the vehicle from an unmanned driving state to a remote driving state, and sending the state switching instruction to a vehicle end;
and receiving a control instruction for controlling the vehicle to run by representation, and sending the control instruction to the vehicle end so that the vehicle end controls the vehicle to run according to the control instruction.
6. The remote driving method according to claim 5, wherein prior to said receiving a state switching instruction characterizing switching the vehicle from the unmanned state to the remote driving state, the remote driving method further comprises:
receiving a state switching request sent by the vehicle end;
and outputting switching prompt information according to the state switching request.
7. A remote driving apparatus, applied to a vehicle side, comprising:
the first receiving module is used for receiving a state switching instruction sent by a remote driving end when the vehicle is in an unmanned state;
the switching module is used for responding to the state switching instruction and switching the vehicle to a remote driving state;
and the second receiving module is used for receiving the control instruction sent by the remote driving end after the remote driving state is switched to and responding to the control instruction.
8. A remote driving device, which is applied to a remote driving end, comprises:
the third receiving module is used for receiving a state switching instruction for indicating that the vehicle is switched from an unmanned driving state to a remote driving state, and sending the state switching instruction to the vehicle end;
and the fourth receiving module is used for receiving a control instruction for controlling the vehicle to run and sending the control instruction to the vehicle end so that the vehicle end controls the vehicle to run according to the control instruction.
9. A remote driving system, comprising: the vehicle end is in communication connection with the remote driving end;
the vehicle end is used for executing the remote driving method according to any one of claims 1-4;
the remote driving terminal is used for executing the remote driving method according to claim 5 or 6.
10. The remote driving system of claim 9, further comprising: a management terminal;
the management terminal is in communication connection with the remote driving terminal and the vehicle terminal;
and the management terminal is used for receiving the state switching request sent by the vehicle terminal and distributing the remote driving terminal to take over the vehicle according to the state switching request.
11. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the remote driving method of any one of claims 1-6.
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| CN201911097394.6A CN110794818A (en) | 2019-11-11 | 2019-11-11 | Remote driving method, device and system |
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| CN201911097394.6A CN110794818A (en) | 2019-11-11 | 2019-11-11 | Remote driving method, device and system |
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Application publication date: 20200214 |