CN110333718A - The safe driving method of long-range control vehicle - Google Patents
The safe driving method of long-range control vehicle Download PDFInfo
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- CN110333718A CN110333718A CN201910573212.1A CN201910573212A CN110333718A CN 110333718 A CN110333718 A CN 110333718A CN 201910573212 A CN201910573212 A CN 201910573212A CN 110333718 A CN110333718 A CN 110333718A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000009467 reduction Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides the safe driving methods of long-range control vehicle, including following manner: tele-control system passes the real-time driving road conditions picture of camera shooting back, teleworker is according to the picture passed back, on Touch Screen, draw driving path trajectory line, the information of the driving path trajectory line is transmitted to tele-control system, tele-control system preserves, or on Touch Screen, draw two-wire track, the information of the two-wire track is transmitted to tele-control system, tele-control system preserves, it is then converted into the intermediate line position that driving path is two-wire track, or on Touch Screen, draw dot, dot information is transmitted to tele-control system, tele-control system preserves, algorithm carries out line to each dot in system, form driving path trajectory line, then vehicle is carried out according to the driving path horizontal To control.The present invention can be pre-transmitted at least 5 seconds paths of long-range vehicle control control system, achieve the purpose that safe driving.
Description
Technical field
The present invention relates to technical field of vehicle, and in particular to the safe driving method of long-range control vehicle.
Background technique
With the development and innovation of social technology, the long-range control of vehicle is increasingly concerned, when vehicle remote controls,
If network interrupts (base station switching, into coverage hole etc.) suddenly, it may occur that unpredictable safety issue.Such operating condition
Under, full application of brake mode can be entered with design vehicle, but in transverse direction, if vehicle control system does not know lateral path, hold very much
Easily collision people from two sides or object.Therefore, if to ensure remotely to control the safety when network interrupts suddenly, it is ensured that long-range control
System can mass production, it is necessary to have a kind of method to inform vehicle control system, following 5 seconds or so trajectory paths.
Existing market is an evolution of mainly automated driving system, is divided into 5 grades, when to 4 grades of automatic Pilots, steering wheel
Control give vehicle control system.It is presently believed, however, that 4 grades of automatic Pilots are far away, exactly because and 4 grades it is automatic
It is driven in a very long time and does not have volume production possibility, just have vehicle remote control technology scheme as transition, realize vehicle
It is unmanned, but vehicle-periphery remote transmission is judged to backstage by people, provides vehicle operating instruction.Even if
Following Step wise approximation automatic Pilot, but in this process does not need to think that the scene intervened is gradually reduced by 10% to 5%,
Be reduced to 1%, during 0.01%, that 5%, 1%, it is also desirable to which long-range control drives as supplement.And about long-range control scene
Under, the safety problem that unexpected network interruption generates does not find the method for reply at present.
Therefore, it is necessary to the long-range control vehicles that one kind can be pre-transmitted at least 5 seconds paths of long-range vehicle control control system
Safe driving method reach the safe driving of long-range control vehicle.
Summary of the invention
Technical problems to be solved: the present invention provides the safe driving methods of long-range control vehicle, can transmit in advance
It gives long-range vehicle control control system at least 5 seconds paths, achievees the purpose that safe driving.
Technical solution: the safe driving method of long-range control vehicle, in driving procedure, including following manner:
(1) tele-control system passes the real-time driving road conditions picture of camera shooting back, and teleworker is according to the picture passed back
Face draws driving path trajectory line on Touch Screen, and the information of the driving path trajectory line is transmitted to tele-control system,
Tele-control system preserves, and then carries out crosswise joint to vehicle according to the driving path；
(2) tele-control system passes the real-time driving road conditions picture of camera shooting back, and teleworker is according to the picture passed back
Face draws two-wire track on Touch Screen, and the information of the two-wire track is transmitted to tele-control system, tele-control system
It preserves, is then converted into the intermediate line position that driving path is two-wire track, vehicle is carried out according to the driving path horizontal
To control；
(3) tele-control system passes the real-time driving road conditions picture of camera shooting back, and teleworker is according to the picture passed back
Face draws dot on Touch Screen, and dot information is transmitted to tele-control system, and tele-control system preserves, system
Middle algorithm carries out line to each dot, forms driving path trajectory line, then carries out laterally according to the driving path to vehicle
Control.
Further, the camera is the camera of normal visual field.
Further, the safe driving method for remotely controlling vehicle, further includes parking, steps are as follows: tele-control system
Pass the real-time Parking situation picture of camera shooting back, teleworker is according to the picture passed back, on Touch Screen, draws
One solid line indicates final vehicle parking position, then draws the Obstacle Position that dotted line expression needs to avoid, and stops to vehicle
Control.
Further, during parking, the mode of picture dot is also can be used in teleworker, is calculated in tele-control system
Method carries out line to each dot, forms the position of parking position and the barrier for needing to avoid, and carries out parking toll to vehicle.
The utility model has the advantages that
1. the safe driving method of long-range control vehicle of the invention, the transition before starting as full-automatic driving, and gradually
Realize the supplement during full-automatic driving, this method is first is that can allow teleworker easy to operate, second is that can provide
Following several seconds paths still have path can be according to guarantee safety in emergency brake.
2. due to visual field all standing, in addition the non-flake in the visual field, but the camera of normal visual field is used, and monitor aobvious
Show that distance is longer, can be applicable to the auxiliary scene of high speed, such as lane change, the object of surrounding can be observed with natural god visual angle
Body.
3. as one of the basic demand remotely controlled, natural all standing, the reduction live view of long range is very heavy
It wants, this allows long-range control to be possibly realized, 360 ° of panoramas that long-range controllers are passed back according to monitoring, carries out after judgement situation
Steering, acceleration and deceleration, lane change, the operation such as turn and park.
Detailed description of the invention
Fig. 1 is the schematic diagram of embodiment 1.
Fig. 2 is the schematic diagram of embodiment 2.
Fig. 3 is the schematic diagram of embodiment 3.
Fig. 4 is the schematic diagram of embodiment 4.
Fig. 5 is the schematic diagram of embodiment 5.
Specific embodiment
Embodiment 1
The safe driving method of long-range control vehicle, in driving procedure, including following manner:
As shown in Figure 1, tele-control system passes the real-time driving road conditions picture of the camera shooting of normal visual field, remote operation back
Personnel are according to the picture passed back, on Touch Screen, draw driving path trajectory line, the information transmission of the driving path trajectory line
To tele-control system, tele-control system is preserved, and then carries out crosswise joint to vehicle according to the driving path.
Embodiment 2
The safe driving method of long-range control vehicle, in driving procedure, including following manner:
As shown in Fig. 2, tele-control system passes the real-time driving road conditions picture of the camera shooting of normal visual field, remote operation back
Personnel are according to the picture passed back, on Touch Screen, draw two-wire track, and the information of the two-wire track is transmitted to long-range control system
System, tele-control system preserve, and the intermediate line position that driving path is two-wire track are then converted into, according to the driving road
Diameter carries out crosswise joint to vehicle.
Embodiment 3
The safe driving method of long-range control vehicle, in driving procedure, including following manner:
As shown in figure 3, tele-control system passes the real-time driving road conditions picture of the camera shooting of normal visual field, remote operation back
Personnel are according to the picture passed back, on Touch Screen, draw dot, and dot information is transmitted to tele-control system, long-range to control
System preserves, and algorithm carries out line to each dot in system, driving path trajectory line is formed, then according to the driving road
Diameter carries out crosswise joint to vehicle.
In this way, always preserve the path of following a distance in vehicle control system, in unexpected suspension, immediately into
The urgent full application of brake of row, meanwhile, the driving path in braking process is just moved according to pre-stored path.With 120 km/h of speed
It calculates, is 33 m/s, then needing to delimit the trajectory line of 150m；It is calculated in low speed scene, such as 36km/h, is 10m/s, more answers
The property used.
Embodiment 4
As shown in figure 4, remotely controlling the safe driving method of vehicle, further include parking, steps are as follows: tele-control system is passed back
The real-time Parking situation picture of camera shooting, teleworker is according to the picture passed back, on Touch Screen, draws one
Solid line indicates final vehicle parking position, then draws the Obstacle Position that dotted line expression needs to avoid, and carries out parking control to vehicle
System.
Embodiment 5
The safe driving method of long-range control vehicle, further includes parking, and during parking, picture circle is also can be used in teleworker
The mode of point forms parking position and needs is kept away as shown in figure 5, algorithm carries out line to each dot in tele-control system
The position for the barrier opened carries out parking toll to vehicle.
The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and
Modification, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (4)
1. the remotely safe driving method of control vehicle, it is characterised in that: in driving procedure, including following manner:
Tele-control system passes the real-time driving road conditions picture of camera shooting back, teleworker according to the picture passed back,
On Touch Screen, driving path trajectory line is drawn, the information of the driving path trajectory line is transmitted to tele-control system, remotely
Control system preserves, and then carries out crosswise joint to vehicle according to the driving path；
Tele-control system passes the real-time driving road conditions picture of camera shooting back, teleworker according to the picture passed back,
On Touch Screen, two-wire track is drawn, the information of the two-wire track is transmitted to tele-control system, and tele-control system saves
Get off, be then converted into the intermediate line position that driving path is two-wire track, lateral control is carried out to vehicle according to the driving path
System；
Tele-control system passes the real-time driving road conditions picture of camera shooting back, teleworker according to the picture passed back,
On Touch Screen, dot is drawn, dot information is transmitted to tele-control system, and tele-control system preserves, in system
Algorithm carries out line to each dot, forms driving path trajectory line, then carries out lateral control to vehicle according to the driving path
System.
2. the safe driving method of long-range control vehicle according to claim 1, it is characterised in that: the camera is positive
The camera in the normal visual field.
3. the safe driving method of long-range control vehicle according to claim 1, it is characterised in that: it further include parking, step
Rapid as follows: tele-control system passes the real-time Parking situation picture of camera shooting back, and teleworker is according to the picture passed back
Face draws a solid line on Touch Screen, indicates final vehicle parking position, then draws the obstacle that dotted line expression needs to avoid
Object location carries out parking toll to vehicle.
4. the safe driving method of long-range control vehicle according to claim 3, it is characterised in that: during parking, far
The mode of picture dot also can be used in journey operator, and algorithm carries out line to each dot in tele-control system, forms parking
The position of position and the barrier for needing to avoid carries out parking toll to vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910573212.1A CN110333718A (en) | 2019-06-28 | 2019-06-28 | The safe driving method of long-range control vehicle |
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| CN201910573212.1A CN110333718A (en) | 2019-06-28 | 2019-06-28 | The safe driving method of long-range control vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112937521A (en) * | 2021-04-13 | 2021-06-11 | 广州小马慧行科技有限公司 | Remote control method for autonomous vehicle and control method for autonomous vehicle |
| CN113986019A (en) * | 2021-09-18 | 2022-01-28 | 浙江大学 | Remote driving control method and system based on operation equipment executing terminal control |
| US20220382287A1 (en) * | 2021-05-26 | 2022-12-01 | Drobot, Inc. | Methods and apparatus for coordinating autonomous vehicles using machine learning |
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Application publication date: 20191015 |
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