CN107505944A

CN107505944A - A kind of method and apparatus for being used to carry out vehicle remote assistance

Info

Publication number: CN107505944A
Application number: CN201710891487.0A
Authority: CN
Inventors: 吴甘沙; 张玉新; 周鑫
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2017-09-27
Filing date: 2017-09-27
Publication date: 2017-12-22
Anticipated expiration: 2037-09-27
Also published as: CN107505944B

Abstract

The purpose of the application is to provide a kind of method for being used to carry out vehicle remote assistance, and vehicle is determined the remote assistance demand degree information of the vehicle based on its vehicle sensory information, the remote assistance demand degree information is sent to remote equipment；Remote equipment receives the remote assistance demand degree information that multiple vehicles are sent, according to the remote assistance demand degree information from the multiple vehicle preferred one or more monitored vehicles；Remote equipment performs the remote assistance operation at least one monitored vehicle in one or more of monitored vehicles.The application can greatly promote the operating efficiency of remote control person's remote assistance vehicle.

Description

A kind of method and apparatus for being used to carry out vehicle remote assistance

Technical field

The application is related to automatic Pilot field, more particularly to a kind of technology for being used to carry out vehicle remote assistance.

Background technology

Pilotless automobile, or with the automobile for aiding in driving function, abundant sensory perceptual system can be utilized to perceive surrounding Environmental information and vehicle oneself state information, and decision-making is carried out by control system, carried out voluntarily by execution system driving vehicle Traveling action (such as turns to, acceleration/deceleration), and then reduces or eliminates manipulation interface of the human driver on vehicle.It is expert at During sailing, pilotless automobile can be potentially encountered various fortuitous events.For example, vehicle local environment complex, by it certainly Body sensory perceptual system and control system can not make a policy；The some systems of vehicle break down, and cause vehicle to lose itself control energy Power；Deng.

In the prior art, there is a kind of remote control method of unmanned vehicle, remote control person remotely keeps an eye on a unmanned vehicle, Once unmanned vehicle needs remote assistance, remote control person according to vehicle's current condition and vehicle local environment information to this nobody Car carries out remote control.However, when unmanned vehicle gradually increases, it is necessary to the fortuitous event handled also gradually increases, teleoperator Human input become very huge.

The content of the invention

The purpose of the application is to provide a kind of method for being used to carry out vehicle remote assistance.

According to the one side of the application, there is provided a kind of method for being used to carry out vehicle remote assistance in vehicle end, This method includes：

Vehicle sensory information based on vehicle determines the remote assistance demand degree information of the vehicle；

The remote assistance demand degree information is sent to remote equipment.

According to further aspect of the application, there is provided a kind of to be used to carry out remote assistance to vehicle at remote equipment end Method, this method include：

Receive the remote assistance demand degree information that multiple vehicles are sent；

According to the remote assistance demand degree information from the multiple vehicle preferred one or more monitored vehicles；

Perform the remote assistance operation at least one monitored vehicle in one or more of monitored vehicles.

According to the one side of the application, there is provided a kind of device for being used to carry out vehicle remote assistance in vehicle end, The device includes：

Computing module, the remote assistance demand degree information of the vehicle is determined for the vehicle sensory information based on vehicle；

Sending module, for the remote assistance demand degree information to be sent to remote equipment.

According to further aspect of the application, there is provided a kind of to be used to carry out remote assistance to vehicle at remote equipment end Device, wherein, the device includes：

Receiving module, the remote assistance demand degree information sent for receiving multiple vehicles；

Selecting module, for according to the remote assistance demand degree information from the multiple vehicle it is preferred one or more Monitored vehicle；

Execution module, for perform in one or more of monitored vehicles at least one monitored vehicle it is remote Journey assists operation.

According to the one side of the application, there is provided a kind of method for being used to carry out vehicle remote assistance, this method bag Include：

Vehicle determines the remote assistance demand degree information of the vehicle based on its vehicle sensory information, by the remote assistance Demand degree information is sent to remote equipment；

The remote equipment receives the remote assistance demand degree information that multiple vehicles are sent, according to the remote assistance demand Spend information preferred one or more monitored vehicles from the multiple vehicle；

The remote equipment perform in one or more of monitored vehicles at least one monitored vehicle it is remote Journey assists operation.

According to the one side of the application, there is provided a kind of vehicle for being used to carry out vehicle remote assistance, the vehicle bag Include：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed Manage device and perform following operate：

The remote assistance demand degree information is sent to remote equipment.

According to further aspect of the application, there is provided a kind of remote equipment for being used to carry out vehicle remote assistance, should Remote equipment includes：

Processor；And

According to the one side of the application, there is provided a kind of computer-readable medium including instructing, the instruction is in quilt System is caused to carry out following operate during execution：

The remote assistance demand degree information is sent to remote equipment.

According to further aspect of the application, there is provided a kind of computer-readable medium including instructing, the instruction exist System is caused to carry out following operate when being performed：

Compared with prior art, the application is by receiving the remote assistance demand degree information transmitted by multiple vehicles, and base The vehicle of remote assistance is preferably needed in vehicle traveling reliability information, realizes less remote control person to more vehicle Monitoring and remote control, greatly improve the operating efficiency of remote control person's remote assistance vehicle, save manpower.

Brief description of the drawings

By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other Feature, objects and advantages will become more apparent upon：

Fig. 1 shows the method flow diagram for being used to carry out vehicle remote assistance according to the application one embodiment；

Fig. 2 shows the system architecture signal for being used to carry out vehicle remote assistance according to another embodiment of the application Figure；

Fig. 3 shows the method stream for being used to carry out vehicle remote assistance in vehicle end according to the application another embodiment Cheng Tu；

Fig. 4 shows the side that remote assistance demand degree is determined based on vehicle sensory information according to another embodiment of the application Method flow chart；

Fig. 5 shows the side for being used to carry out vehicle remote assistance at remote equipment end according to another embodiment of the application Method flow chart；

The flow chart assisted to vehicle remote according to the application one embodiment is shown respectively in Fig. 6 to Fig. 8；

Fig. 9 shows the vehicle end for being used to carry out vehicle remote assistance in vehicle end according to the application another embodiment The structural representation of remote assistance device；

Figure 10 shows to determine remote assistance demand degree based on vehicle sensory information according to the application another embodiment The structural representation of computing module；

Figure 11 shows at remote equipment end to be used for vehicle progress remote assistance according to another embodiment of the application The structural representation of remote equipment end remote assistance device；

Figure 12 shows the structural representation of the onboard system of the vehicle according to the application another embodiment；

Figure 13 shows the structural representation of the remote equipment according to the application another embodiment；

Same or analogous reference represents same or analogous part in accompanying drawing.

Embodiment

The application is described in further detail below in conjunction with the accompanying drawings.

In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more Processor (CPU), input/output interface, network interface and internal memory.

Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM), Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or Any other non-transmission medium, the information that can be accessed by a computing device available for storage.

The application meaning equipment includes but is not limited to user equipment, the network equipment or user equipment and the network equipment passes through Network is integrated formed equipment.The user equipment, which includes but is not limited to any one, to carry out man-machine interaction with user The mobile electronic product of (such as man-machine interaction is carried out by touch pad), such as smart mobile phone, tablet personal computer etc., the mobile electricity Sub- product can use any operating system, such as android operating systems, iOS operating systems.Wherein, the network equipment Including it is a kind of can be according to the instruction for being previously set or storing, the automatic electronic equipment for carrying out numerical computations and information processing, its Hardware includes but is not limited to microprocessor, application specific integrated circuit (ASIC), PLD (PLD), field programmable gate Array (FPGA), digital signal processor (DSP), embedded device etc..The network equipment includes but is not limited to computer, net The cloud that network main frame, single network server, multiple webserver collection or multiple servers are formed；Here, cloud is by based on cloud meter The a large amount of computers or the webserver for calculating (Cloud Computing) are formed, wherein, cloud computing is the one of Distributed Calculation Kind, a virtual supercomputer being made up of the computer collection of a group loose couplings.The network includes but is not limited to interconnect Net, wide area network, Metropolitan Area Network (MAN), LAN, VPN, wireless self-organization network (Ad Hoc networks) etc..Preferably, the equipment Can also be run on the user equipment, the network equipment or user equipment and the network equipment, the network equipment, touch terminal or The network equipment is integrated the program in formed equipment with touch terminal by network.

Certainly, those skilled in the art will be understood that the said equipment is only for example, and other are existing or are likely to occur from now on Equipment be such as applicable to the application, should also be included within the application protection domain, and be incorporated herein by reference herein.

In the description of the present application, " multiple " are meant that two or more, unless otherwise specifically defined.

Fig. 1 shows a kind of method flow diagram for being used to carry out vehicle remote assistance, and in step s 11, vehicle is based on The vehicle sensory information of vehicle determines the remote assistance demand degree information of the vehicle, and in step s 12 by the remote assistance Demand degree information is sent to remote equipment；Remote equipment receives the remote assistance demand degree information of vehicle transmission in the step s 21, Reliability information is travelled preferably one from the multiple vehicle according to the remote assistance demand degree information vehicle in step S22 Individual or multiple monitored vehicles, and in step S23 perform in one or more of monitored vehicles it is at least one by Monitor the remote assistance operation of vehicle.

Wherein, sensory perceptual system of the vehicle sensory information from vehicle, the remote assistance demand degree information of vehicle are then based on Vehicle sensory information carries out what vehicle-mounted or high in the clouds was calculated.In certain embodiments, vehicle sensory information is used to judge vehicle Oneself state and vehicle-surroundings ambient conditions (such as surrounding enviroment complexity), according to vehicle oneself state and vehicle-surroundings environment The remote assistance demand degree information that situation is calculated is used to assess whether vehicle needs the remote assistance from remote equipment.Far After journey equipment receives the remote assistance demand degree information from multiple vehicles, according to their remote assistance demand degree information, One or more preferably wherein is monitored and when necessary for teleoperator to monitored vehicle as monitored vehicle Remote assistance operation is carried out to monitored vehicle；Or one or more preferably wherein is as monitored vehicle, and when necessary Remote assistance is provided to monitored vehicle, including but not limited to cloud computing resource is distributed for vehicle, is provided to vehicle residing for it The high-precision environment map of position, environment sensing resource of V2I equipment or long-range unmanned aerial vehicle etc. etc. is provided to vehicle.

Fig. 2 shows a kind of possible structural representation for being used to carry out vehicle the system of remote assistance, and multiple vehicles will After remote assistance demand degree information sends the remote assistance demand degree information sent to remote equipment, remote equipment reception vehicle, Vehicle is ranked up and presented based on remote assistance demand degree information, for example, by vehicle according to remote assistance demand degree information by After high to Low arrangement, intrinsic information, the car of corresponding vehicle are presented on more displays or in multiple regions of a display Heat transfer agent (includes but is not limited to image sensing information, position sensing information, speed sensing information, failure heat transfer agent etc.) Deng.

Wherein, in various embodiments, remote assistance demand degree information may exist in different forms, these forms Including but not limited to vehicle independently travels reliability information, car accident incidence information, vehicle catastrophe failure incidence information Deng.Correspondingly, different corresponding to the form of various forms of remote assistance demand degree information, remote equipment is from sending remote assistance The mode of preferred monitored vehicle may also be different in multiple vehicles of demand degree information.For example, in certain embodiments, remotely Assistance demand degree information includes car accident incidence information or vehicle catastrophe failure incidence information, when the remote assistance of vehicle Demand degree information is higher, and the vehicle is more possible to not complete autonomous traveling and need remote assistance, therefore remote equipment is excellent The higher vehicle of remote assistance demand degree information is selected as monitored vehicle, such as preferred remote assistance demand degree information to be higher than The vehicle of preset need degree threshold value is as monitored vehicle.In further embodiments, remote assistance demand degree information is with vehicle Autonomous traveling reliability information form is present, and because vehicle independently travels, confidence level is lower, and the vehicle possibly can not more be completed Independently travel and need remote assistance, therefore remote equipment preferably goes out vehicle and independently travels the relatively low vehicle conduct of reliability information Monitored vehicle, for example, it is preferable to remote assistance demand degree is higher than the vehicle of preset need degree threshold value as monitored vehicle, wherein It is relevant that remote assistance demand degree information independently travels confidence level with vehicle, and vehicle independently travels that confidence level is lower, remote assistance needs Degree of asking information is higher.

Certainly, those skilled in the art will be understood that the mode of above-mentioned preferably monitored vehicle is only for example, and other are existing Or the mode of preferred monitored vehicle that is likely to occur from now on such as can be suitably used for the application, be also contained in the protection model of the application Within enclosing, and it is incorporated herein by reference herein.Especially, vehicle can also determine its vehicle based on its vehicle sensory information Reliability information is travelled, and vehicle traveling reliability information is sent to remote equipment；Remote equipment then receives multiple vehicles The vehicle traveling reliability information of transmission, and reliability information is travelled preferably one or more from multiple vehicles according to these vehicles Individual monitored vehicle, for example, the relatively low fixed qty of preferred vehicle traveling reliability information vehicle as monitored vehicle, or Preferred vehicle traveling reliability information is less than the vehicle of default believability threshold as monitored vehicle.Now, vehicle traveling can Confidence information reflects vehicle from another angle needs the degree of remote assistance, i.e., embodies the remote of vehicle from another angle Journey assists demand degree, and vehicle traveling reliability information and remote assistance demand degree substantially can be realized assists to need to vehicle remote Ask measuring for degree.In certain embodiments, vehicle traveling reliability information and remote assistance demand degree are shifting, such as it It is inversely proportional, or sum is fixed value.

According to the one side of the application, there is provided a kind of method for being used to carry out vehicle remote assistance in vehicle end, The method comprising the steps of S11 and step S12.With reference to figure 3, in step s 11, vehicle sensory information of the vehicle based on vehicle determines The remote assistance demand degree information of the vehicle；In step s 12, vehicle sends the remote assistance demand degree information to remote Journey equipment.

Specifically, in step s 11, vehicle sensory information of the vehicle based on vehicle determines the remote assistance of the vehicle Demand degree information.Vehicle has abundant sensory perceptual system, for example, vehicle possess by multiple sensor groups into sensing module, or Also possess the database corresponding with the heat transfer agent of sensing module on this basis；In certain embodiments, vehicle can be realized It is unmanned or with auxiliary drive function.Wherein, the sensor in sensing module include but is not limited to be used for perceive environment or The sound transducer of vehicle interior sound, the pressure sensing for perceiving squeeze pressure between the various loine pressures of vehicle or part Device, the vehicle speed sensor for perceiving running velocity, the steering angle sensor for perceiving vehicle steering angle are used for The sensor of other Vehicular status signals is perceived, may also include laser radar, camera, millimetre-wave radar or for perceiving vehicle The sensor of other ambient signals.

In certain embodiments, vehicle can be needed based on the remote assistance for the sensing data calculating vehicle that the sensor gathers Degree of asking information.In further embodiments, after the sensing data of vehicle real-time collecting the sensor, entered based on associated databases Row multi-sensor data fusion, and calculate the remote assistance demand degree information of vehicle.For example, above-mentioned database includes fault alarm number According to storehouse and situation alarm database, wherein, the warning message in fault alarm database includes but is not limited to actuator failures report Alert information (for example, braking and steering fault alarm information, throttle and suspension fault alarm information), sensor fault alarm Information is (for example, environment sensing and navigator fix related sensor fault alarm information, car entertainment and interactive system related transducer Device fault alarm information), computing module fault alarm information etc., the warning message in situation alarm database includes but is not limited to The frequent switchings such as communication signal intensity is weak, steering/braking/throttle, the barrier of uncertain type, uncertain position, with certain Environment/object of stranded, the uncertain classification of kind posture, it is stranded time-out etc..Above-mentioned warning message can according to each with occupant and row The safety-relevant of people's safety determines weights, and participates in the calculating of remote assistance demand degree information, for example, to occupant or pedestrian Safety-relevant is higher, and the weights that it participates in calculating are also bigger, and the influence to remote assistance demand degree is also bigger.With failure report Exemplified by warning message in alert database, braking and steering failure, the peace than throttle and suspension failure to occupant and pedestrian Umbra sound is bigger, therefore brakes with the weights of steering fault alarm information higher than throttle and the power of suspension fault alarm information Value；Environment sensing and navigator fix related sensor failure, than car entertainment and interactive system related sensor failure to occupant It is bigger with the security implication of pedestrian, therefore the weights of environment sensing and navigator fix related sensor fault alarm information are higher than car Carry the weights of amusement and interactive system related sensor fault alarm information.

, in step s 12, will be described long-range after vehicle calculates determination remote assistance demand degree information according to its heat transfer agent Assistance demand degree information is sent to remote equipment.Wherein, remote equipment is used to monitor associated vehicle, to correlation for remote control person Vehicle sends remote assistance operational order, or for distributing cloud computing resource for vehicle, providing its present position to vehicle High-precision environment map, environment sensing resource of V2I equipment or long-range unmanned aerial vehicle etc. etc. is provided to vehicle.

Here, vehicle can obtain the car that vehicle independently travels by the method similar to obtaining remote assistance demand degree information Traveling reliability information and send to remote equipment, will not be repeated here, and be incorporated herein by reference.

In certain embodiments, this method also includes step S13.In step s 13, remote equipment pair described in vehicle receiver The vehicle performs the operation result information of remote assistance operation.Wherein, the operating result of remote assistance operation is performed to vehicle Information includes but is not limited to the remote operation instruction of remote control person, the cloud computing resource for vehicle distribution, provided to vehicle Its present position high-precision environment map, to vehicle provide V2I equipment or long-range unmanned aerial vehicle etc. environment sensing resource Deng.For example, after vehicle sends remote assistance demand degree information to remote equipment, remote control person is according to the remote assistance demand degree Information, remote operation instruction is have sent to vehicle, the remote operation instruction is that the operation of remote assistance operation is performed to vehicle As a result.

In certain embodiments, the operation result information includes the current driving task set for the vehicle；The party Method also includes step S14 (not shown).In step S14, vehicle performs the current driving task.For example, remote control person Or remote assistance demand degree information of the remote equipment according to transmitted by vehicle sends remote operation instruction, the operational order to vehicle Including the traveling task set for vehicle, traveling task includes but is not limited to pulling over observing, brake hard, drives towards nearest maintenance Website etc.；After the vehicle receiver remote operation instruction, the traveling task of remote control person or remote equipment setting is performed.

In certain embodiments, this method also includes step S15 (not shown).In step S15, vehicle is according to described remote The instruction of journey equipment, recover its autonomous driving pattern.For example, remote equipment persistently receives the remote assistance demand degree letter of vehicle Breath, after remote equipment sends remote assistance operational order to vehicle, environment or vehicle oneself state residing for vehicle become Change, such as the fault message such as barrier of weak, the uncertain type of communication signal intensity disappears, vehicle, which returns to, to be sufficient for reliably Autonomous driving state after, remote equipment sends to vehicle and instructed, and vehicle returns to autonomous driving pattern according to the instruction.

With reference to figure 4, in certain embodiments, step S11 includes sub-step S11a and sub-step S11b.In sub-step S11a In, vehicle is based on its vehicle sensory information and identifies security event information corresponding to the vehicle.For example, its biography of vehicle real-time collecting After the sensing data of sensor, the security incident of vehicle is identified according to these sensing datas, these security incidents are probably to multiply with it Member or goers outside vehicle it is safety-related, including but not limited to actuator failures warning message (for example, braking and steering therefore Hinder warning message, throttle and suspension fault alarm information), sensor fault warning message is (for example, environment sensing and navigator fix Related sensor fault alarm information, car entertainment and interactive system related sensor fault alarm information), computing module failure The barrier, uncertain of the frequent switchings such as warning message, communication signal intensity are weak, steering/braking/throttle, uncertain type Position, with environment/object of stranded, the uncertain classification of certain posture, stranded time-out etc..In sub-step S11b, vehicle is based on The security event information determines the remote assistance demand degree information of the vehicle.For example, the weights based on each security incident, The remote assistance demand degree information of vehicle is calculated.

Preferably, in sub-step S11a, vehicle is based on its vehicle sensory information in fault alarm database or situation number According to matching inquiry in storehouse, to obtain security event information corresponding to the vehicle.Wherein, fault alarm database and vehicle itself State is relevant, available for enquiring vehicle fault alarm information, such as query executor fault alarm information, sensor fault Warning message, computing module fault alarm information etc.；Warning message in context data storehouse is relevant with vehicle local environment, can use In the frequent switchings such as the inquiry weak, steering/braking/throttle of communication signal intensity, the barrier of uncertain type, uncertain position Put, with warning messages such as environment/object of stranded, the uncertain classification of certain posture, stranded time-out.Vehicle is based on sensing data The matching inquiry in fault alarm database or context data storehouse, you can corresponding warning message is obtained, to determine corresponding peace Total event information.

According to the application on the other hand, there is provided a kind of side for being used to carry out vehicle remote assistance at remote equipment end Method, the method comprising the steps of S21, step S22 and step S23.With reference to figure 5, in the step s 21, remote equipment receives multiple cars Send remote assistance demand degree information；In step S22, remote equipment is according to the remote assistance demand degree information from institute State preferred one or more monitored vehicles in multiple vehicles；In step S23, remote equipment is performed on one or more The remote assistance operation of at least one monitored vehicle in individual monitored vehicle.

Wherein, in the step s 21, remote equipment receives the remote assistance demand degree information that multiple vehicles are sent.These are remote Journey assist demand degree information be vehicle collected based on each sensor in its sensory perceptual system sensing data, by vehicle-mounted or high in the clouds Obtained after calculating, these sensing datas are relevant with vehicle oneself state and environment complexity, can reflect that vehicle needs are outside remote The desirability that journey is assisted, or further, can reflect that vehicle can complete the confidence level of autonomous driving task.

In step S22, remote equipment is according to the remote assistance demand degree information preferably one from the multiple vehicle Individual or multiple monitored vehicles.For example, remote equipment is ranked up according to remote assistance demand degree information to multiple vehicles, and select Take the vehicle of wherein fixed qty to be monitored, such as choose remote assistance demand degree 5 cars of highest and be monitored；In another example Remote equipment by remote assistance demand degree information compared with demand degree threshold value set in advance, once have the long-range association of vehicle Help demand degree to be higher than the demand degree threshold value, then the vehicle is monitored.Monitoring to vehicle can be performed automatically by remote equipment, Also can be performed by the operating personnel of remote equipment, such as monitored vehicle is presented on screen by remote equipment, for long-range behaviour Vertical member monitors to its situation.Fig. 6 shows a kind of possible situation, and high in the clouds persistently receives the remote assistance demand degree of vehicle Information simultaneously sorts, and the heat transfer agent of these vehicles (such as can reflect vehicle's surroundings situation look around video) is presented to long-range The operating personnel of equipment.

In step s 13, remote equipment is performed at least one monitored in one or more of monitored vehicles The remote assistance operation of vehicle.In one embodiment, the monitoring to vehicle is performed automatically by remote equipment, when vehicle Remote assistance demand degree information is higher than default demand degree threshold value, and remote equipment performs remote assistance operation, is sent to vehicle remote Journey assists operational order, such as brake hard；Or heat transfer agent or warning message based on vehicle, choose appropriate remote assistance Operational order, such as the pulling over observing when breaking down.In another embodiment, the monitoring to vehicle is by remote equipment What operating personnel performed, operating personnel operate to remote equipment so that remote equipment performs remote assistance operation, to vehicle Send remote assistance operational order.

Wherein, in certain embodiments, remote equipment might have two kinds to the remote assistance operational order that vehicle is sent Situation：1) vehicle local environment is complicated, such as men working, surrounding pedestrian are excessive, trees fracture and blocked the way, beyond car Its own processing capabilities；2) vehicle oneself state is abnormal, such as catastrophe failure occurs in certain senser element, Decision Control program occurs Mistake etc..For situation 1), handling process extracts vehicle week with reference to figure 7, remote equipment by the heat transfer agent transmitted by vehicle Collarette environment information (such as being carried out by way of the video being sent to vehicle or image data progress Machine Vision Recognition), and root Artificial or unartificial remote assistance is carried out according to the environmental information of extraction, persistently receives what vehicle recalculated in the process Current remote assistance demand degree information, untill vehicle can complete automatic Pilot task.For situation 2), handling process With reference to figure 8, remote equipment extraction vehicle local environment and fault message, and take corresponding long-range association according to vehicle trouble messages Help measure, or send to vehicle the remote assistance of remote control person and instruct, remote assistance vehicle safe driving to maintenace point or its His safety zone.

The structural representation for being used to carry out vehicle the system of remote assistance with reference to shown in Fig. 2, in certain embodiments, This method also includes step S24 (not shown).In step s 24, one or more of monitored vehicles are presented in remote equipment. The monitored vehicle that remote equipment is presented is available for remote control person to be monitored the vehicle for needing remote assistance, so as to timely Make a response, and realize that less remote control person is monitored in real time to more cars.Presentation to vehicle can be based on multiple aobvious Showing device, such as polylith display screen；It may be based on multiple viewing areas of single display device, such as one piece of display screen is multiple Zoning.

Wherein it is preferred in step s 24, remote equipment is believed according to the remote assistance demand degree of the monitored vehicle One or more of monitored vehicles are presented in breath.In certain embodiments, the presentation of monitored vehicle is based on the remote of each vehicle Journey is carried out after assisting demand degree information sorting, such as monitored vehicle is arranged according to remote assistance demand degree information descending, from And remote assistance demand degree highest vehicle is presented by override；In further embodiments, the presentation of monitored vehicle is based on Relation between the remote assistance demand degree information and preset need degree threshold value of vehicle is carried out, such as when remote assistance demand degree is believed Breath is higher than preset need degree threshold value, and corresponding vehicle is just presented.It is in monitored vehicle according to remote assistance demand degree information It is existing, the utilization rate that remote equipment shows resource can be improved, and then the operating efficiency of remote control person is improved, misuse rate is reduced, Efficiency and the security of raising vehicle operation are assisted so as to improve vehicle remote.

In certain embodiments, this method also includes step S25 (not shown).In step s 25, remote equipment obtains institute State the vehicle sensory information of monitored vehicle；In step s 24, one or more of monitored vehicles are presented and are each supervised Control the vehicle sensory information of vehicle.For example, remote equipment receives the remote assistance demand degree information and car of monitored vehicle simultaneously Heat transfer agent, and the vehicle sensory information of monitored vehicle and each monitored vehicle is presented on the display device respectively. Vehicle sensory information can help remote control person to monitor vehicle-state in real time, further improve vehicle remote and assist efficiency and vehicle The security of operation.

In certain embodiments, in step S23, remote equipment is according to monitoring user to one or more of monitored The policer operation of at least one monitored vehicle in vehicle, perform the remote assistance behaviour at least one monitored vehicle Make.For example, remote control person has found the abnormal state of certain monitored vehicle, operation is monitored to it；Remote equipment detects The policer operation of remote control person, artificial or unartificial remote assistance is performed to the vehicle and is operated, wherein, artificial is remote Journey assists input of the operation based on remote control person on a remote device, and unartificial remote assistance operation can be by remote equipment It is automatically performed.

In certain embodiments, this method also includes step S26 (not shown) and step S27 (not shown).In step S26 In, whether the remote assistance demand degree information that remote equipment detects the monitored vehicle is more than or equal to predetermined demand degree threshold Value, if so, sending the monitor prompt information on the monitored vehicle to the monitoring user；In step s 27, remotely set The standby policer operation for obtaining the monitoring user at least one monitored vehicle in one or more of monitored vehicles.Example Such as, remote equipment persistently receives the remote assistance demand degree information of monitored vehicle, and by itself and demand degree threshold set in advance Value compares, once the remote assistance demand degree for having vehicle is higher than default demand degree threshold value, prompts remote control person that concern should Vehicle.Remote equipment includes but is not limited to the prompting mode of remote control person sound, flash of light, display device displayed content Color change, the vibrations for shaking equipment etc..Certainly, if remote equipment reception is that the vehicle traveling confidence level that vehicle is sent is believed Breath, then detect whether vehicle traveling reliability information is less than or equal to predetermined believability threshold, and travels confidence level in vehicle Information is prompted when being less than or equal to believability threshold, will not be repeated here.

In certain embodiments, in step S23, remote equipment is worked as at least one in one or more of monitored vehicles The remote assistance demand degree information of individual monitored vehicle is more than or equal to predetermined demand degree threshold value, performs on described at least one The remote assistance operation of individual monitored vehicle.Wherein, the remote assistance operation to monitored vehicle can be automatically complete by remote equipment Into being completed after also can determining the instruction of corresponding remote assistance according to the input of remote control person by remote equipment.

In certain embodiments, remote equipment according to the remote assistance demand degree information and can monitor vehicle fleet size threshold Value, preferred one or more monitored vehicles from the multiple vehicle.For example, when the display resource-constrained of remote equipment, most The monitoring informations for being only capable of displaying 6 monitored vehicles (for example, video or picture captured by the camera of vehicle, or vehicle more Other sensors information), then multiple monitored vehicles are arranged by remote assistance demand degree information descending, and long-range association is presented Help the monitoring information of the most 6 monitored vehicles of demand degree highest.In another example each remote control person simultaneously can monitor by The quantity for monitoring vehicle is limited, and remote equipment only shows the monitoring information of the not more than vehicle of the quantity, avoids presenting The monitoring information of the monitored vehicle of multi-quantity and cause remote control person's pressure excessive, so as to reduce maloperation.

Wherein it is preferred to described monitor vehicle fleet size threshold value based on available monitoring personnel or can use the number of monitoring screen Amount determines.For example, according to the quantity of the simultaneously monitoring vehicle monitor information of each remote control person, and work simultaneously The number of remote control person, it is determined that vehicle fleet size threshold value can be monitored, the quantity for the monitoring vehicle that remote equipment is shown is no more than should Vehicle fleet size threshold value can be monitored；In another example the display quantity or display viewing area quantity of remote equipment are limited, show Show device quantity or display viewing area quantity determines and can monitor vehicle fleet size threshold value.Vehicle fleet size threshold value can be monitored beyond this If vehicle need remote assistance, need distribution to other remote equipments.

In certain embodiments, the remote assistance operation includes but is not limited to：

1) task computation resource is distributed at least one monitored vehicle, such as unmanned vehicle operation management system is in cloud Hold to break down or the unmanned vehicle of accident provides more powerful artificial intelligence process ability, or the more high in the clouds of input calculate Power, it is assisted to complete the Decision Control under complex scene；

2) resource is perceived at least one monitored vehicle distribution environments, such as unmanned vehicle operation management system is in cloud The vehicle local environment map that higher precision is provided for unmanned vehicle is held, or calls more V2I (Vehicle to Infrastructure, vehicle to infrastructure-based communication) equipment or long-range unmanned aerial vehicle etc., strengthen the perception of vehicle；

3) external rescue resource, such as calling trailer, obstacles removing car etc. are distributed at least one monitored vehicle；

4) the current driving task of at least one monitored vehicle, such as vehicle trouble signal is set to determine vehicle event Hinder type, and the remote intervention mode taken determined according to vehicle local environment, remote assistance vehicle travel to maintenace point or its His safety zone.

In certain embodiments, this method also includes step S28 (not shown) and step S29 (not shown).In step S28 In, remote equipment updates the remote assistance demand degree information of at least one monitored vehicle；In step S29, work as renewal The remote assistance demand degree information of at least one monitored vehicle afterwards is less than predetermined demand degree threshold value, and remote equipment is extensive The autonomous driving pattern of multiple at least one monitored vehicle.For example, remote equipment persistently receives the long-range of monitored vehicle Assistance demand degree information, and by the remote assistance demand degree information compared with default demand degree threshold value, when the ring of vehicle Border changes or vehicle is after remote assistance, and the remote assistance demand degree information of vehicle is decreased to less than default demand degree Threshold value, autonomous driving instruction is sent to vehicle, terminates remote assistance, recovers the autonomous driving pattern of vehicle.Certainly, remote equipment If what is received is the vehicle traveling reliability information that vehicle is sent, whether detection vehicle traveling reliability information is more than or equal to Predetermined believability threshold, and recover the autonomous of vehicle when vehicle traveling reliability information is more than or equal to believability threshold and drive Pattern is sailed, will not be repeated here.

In certain embodiments, remote equipment is carried out always according to the remote assistance demand degree information to the multiple vehicle Sorting operation；In step S22, remote equipment is according to the ranking results of the sorting operation, from the multiple vehicle preferably One or more monitored vehicles.In certain embodiments, the quantity for the vehicle that remote equipment is capable of remote assistance simultaneously is that have Limit, or remote equipment is for being presented the viewing area number divided in the display screen quantity or display screen of monitored information of vehicles Amount is limited, or when remote control person's limited amount thus remote control person once monitoring and remote assistance car Quantity is limited.In order to give limited remote assistance resource allocation to the vehicle needed most as much as possible, remote equipment can After the remote assistance demand degree information transmitted by multiple vehicles is received, according to remote assistance demand degree information to these vehicles It is ranked up, such as vehicle is arranged according to remote assistance demand degree information descending, and chooses remote assistance demand degree highest One or more controlled vehicles are as monitored vehicle.In certain embodiments, to remote assistance demand degree information highest After vehicle carries out remote assistance, vehicle can be also ranked up again according to the remote assistance demand degree information of real-time reception, more New monitored vehicle list.

According to the one side of the application, there is provided a kind of vehicle end for being used to carry out vehicle remote assistance in vehicle end Remote assistance device 1, the device include computing module 11 and sending module 12.With reference to figure 9, car of the computing module 11 based on vehicle Heat transfer agent determines the remote assistance demand degree information of the vehicle；Sending module 12 is by the remote assistance demand degree information Send to remote equipment.

Specifically, vehicle sensory information of the computing module 11 based on vehicle determines the remote assistance demand degree of the vehicle Information.Vehicle has abundant sensory perceptual system, for example, vehicle possess by multiple sensor groups into sensing module, or in this base Also possess the database corresponding with the heat transfer agent of sensing module on plinth；In certain embodiments, vehicle can realize that nobody drives Sail or drive function with auxiliary.Wherein, the sensor in sensing module includes but is not limited to be used to perceive in environment or vehicle The sound transducer of portion's sound, for perceive the pressure sensor of squeeze pressure between the various loine pressures of vehicle or part, use In the vehicle speed sensor of perception running velocity, the steering angle sensor for perceiving vehicle steering angle or for perceiving it The sensor of his Vehicular status signal, it may also include laser radar, camera, millimetre-wave radar or for perceiving other weeks of vehicle The sensor of side signal.

After vehicle calculates determination remote assistance demand degree information according to its heat transfer agent, sending module 12 is remotely assisted described Demand degree information is helped to send to remote equipment.Wherein, remote equipment is used to monitor associated vehicle, to mutually cut-offfing for remote control person Remote assistance operational order is sent, or for distributing cloud computing resource for vehicle, providing to vehicle the height of its present position Precision environment map, environment sensing resource of V2I equipment or long-range unmanned aerial vehicle etc. etc. is provided to vehicle.

In certain embodiments, the device also includes receiving module 13.Receiving module 13 receives the remote equipment to institute State the operation result information that vehicle performs remote assistance operation.Wherein, the operating result for remote assistance operation being performed to vehicle is believed Cease the remote operation instruction for including but is not limited to remote control person, the cloud computing resource for being vehicle distribution, provided to vehicle Environment sensing resource of the high-precision environment map of its present position, the V2I equipment provided to vehicle or long-range unmanned aerial vehicle etc. etc.. For example, after vehicle sends remote assistance demand degree information to remote equipment, remote control person believes according to the remote assistance demand degree Breath, remote operation instruction is have sent to vehicle, and the remote operation instruction is that the operation knot of remote assistance operation is performed to vehicle Fruit.

In certain embodiments, the operation result information includes the current driving task set for the vehicle；The dress Putting also includes the (not shown) of execution module 14.Execution module 14 performs the current driving task.For example, remote control person or remote Remote assistance demand degree information of the journey equipment according to transmitted by vehicle sends remote operation instruction to vehicle, and the operational order includes The traveling task set for vehicle, traveling task include but is not limited to pulling over observing, brake hard, drive towards nearest maintenance website Deng；After the vehicle receiver remote operation instruction, the traveling task of remote control person or remote equipment setting is performed.

In certain embodiments, the device also includes the (not shown) of recovery module 15.Recovery module 15 is according to described long-range The instruction of equipment, recover its autonomous driving pattern.For example, remote equipment persistently receives the remote assistance demand degree information of vehicle, After remote equipment sends remote assistance operational order to vehicle, environment or vehicle oneself state residing for vehicle change, Such as the fault message such as barrier of weak, the uncertain type of communication signal intensity disappears, vehicle, which returns to, to be sufficient for reliably After the state of autonomous driving, remote equipment sends to vehicle and instructed, and vehicle returns to autonomous driving pattern according to the instruction.

With reference to figure 10, in certain embodiments, computing module 11 includes recognition unit 11a and computing unit 11b.Identification is single First 11a is based on its vehicle sensory information and identifies security event information corresponding to the vehicle.For example, its sensing of vehicle real-time collecting After the sensing data of device, the security incident of vehicle is identified according to these sensing datas, these security incidents are probably and its occupant Or goers outside vehicle is safety-related, including but not limited to actuator failures warning message is (for example, braking and steering failure Warning message, throttle and suspension fault alarm information), sensor fault warning message is (for example, environment sensing and navigator fix phase Close sensor fault warning message, car entertainment and interactive system related sensor fault alarm information), computing module failure report The frequent switchings such as alert information, the weak, steering/braking/throttle of communication signal intensity, the barrier of uncertain type, uncertain position Put, with environment/object of stranded, the uncertain classification of certain posture, stranded time-out etc..Computing unit 11b is based on the safe thing Part information determines the remote assistance demand degree information of the vehicle.For example, the weights based on each security incident, to the remote of vehicle Journey assists demand degree information to be calculated.

Preferably, in recognition unit 11a, vehicle is based on its vehicle sensory information in fault alarm database or context data Matching inquiry in storehouse, to obtain security event information corresponding to the vehicle.Wherein, fault alarm database and vehicle itself shape State is relevant, available for enquiring vehicle fault alarm information, such as query executor fault alarm information, sensor fault report Alert information, computing module fault alarm information etc.；Warning message in context data storehouse is relevant with vehicle local environment, can be used for Inquire about the frequent switching such as the weak, steering/braking/throttle of communication signal intensity, the barrier of uncertain type, uncertain position, With warning messages such as environment/object of stranded, the uncertain classification of certain posture, stranded time-out.Vehicle is existed based on sensing data Matching inquiry in fault alarm database or context data storehouse, you can corresponding warning message is obtained, to determine corresponding safety Event information.

According to the application on the other hand, there is provided a kind of to be used to carry out the remote of remote assistance to vehicle at remote equipment end Journey equipment end remote assistance device 2, the device include receiving module 21, selecting module 22 and execution module 23.With reference to figure 11, connect Receive module 21 and receive the remote assistance demand degree information that multiple vehicles are sent；Selecting module 22 is according to the remote assistance demand degree Information preferred one or more monitored vehicles from the multiple vehicle；Execution module 23 is performed on one or more of The remote assistance operation of at least one monitored vehicle in monitored vehicle.

Wherein, receiving module 21 receives the remote assistance demand degree information that multiple vehicles are sent.These remote assistance demands Degree information be vehicle collected based on each sensor in its sensory perceptual system sensing data, calculated by vehicle-mounted or high in the clouds after obtain , these sensing datas are relevant with vehicle oneself state and environment complexity, can reflect the need that vehicle needs outer remote to assist Degree is sought, or further, can reflect that vehicle can complete the confidence level of autonomous driving task.

Selecting module 22 according to the remote assistance demand degree information from the multiple vehicle it is preferred one or more by Monitor vehicle.For example, remote equipment is ranked up according to remote assistance demand degree information to multiple vehicles, and choose wherein fixed The vehicle of quantity is monitored, and is such as chosen remote assistance demand degree 5 cars of highest and is monitored；In another example remote equipment will Remote assistance demand degree information is compared with demand degree threshold value set in advance, once there is the remote assistance demand degree of vehicle high In the demand degree threshold value, then the vehicle is monitored.Monitoring to vehicle can be performed automatically by remote equipment, also can be by long-range The operating personnel of equipment are performed, such as monitored vehicle is presented on screen by remote equipment, for remote control person to its shape Condition is monitored.Fig. 6 shows a kind of possible situation, and high in the clouds persistently receives the remote assistance demand degree information of vehicle side by side Sequence, and the heat transfer agent of these vehicles (such as can reflect vehicle's surroundings situation look around video) is presented to the behaviour of remote equipment Make personnel.

Execution module 23 perform in one or more of monitored vehicles at least one monitored vehicle it is long-range Assist operation.In one embodiment, the monitoring to vehicle is performed automatically by remote equipment, when the remote assistance of vehicle needs Degree of asking information is higher than default demand degree threshold value, and remote equipment performs remote assistance operation, and remote assistance operation is sent to vehicle Instruction, such as brake hard；Or heat transfer agent or warning message based on vehicle, appropriate remote assistance operational order is chosen, Such as the pulling over observing when breaking down.In another embodiment, the monitoring to vehicle is the operating personnel by remote equipment Perform, operating personnel operate to remote equipment so that remote equipment performs remote assistance operation, is sent to vehicle long-range Assist operational order.

The structural representation for being used to carry out vehicle the system of remote assistance with reference to shown in Fig. 2, in certain embodiments, The device also includes the (not shown) of module 24 is presented.Module 24 is presented one or more of monitored vehicles are presented.Remotely set The standby monitored vehicle presented is available for remote control person to be monitored the vehicle for needing remote assistance, anti-to make in time Should, and realize that less remote control person is monitored in real time to more cars.Presentation to vehicle can be based on multiple display devices, Such as polylith display screen；It may be based on multiple viewing areas of single display device, such as multiple dividing regions of one piece of display screen Domain.

Wherein it is preferred to module 24 is presented according to being presented the remote assistance demand degree information of the monitored vehicle One or more monitored vehicles.In certain embodiments, remote assistance demand of the presentation of monitored vehicle based on each vehicle Carried out after degree information sorting, such as monitored vehicle is arranged according to remote assistance demand degree information descending, so as to remote assistance Demand degree highest vehicle is presented by override；In further embodiments, the presentation of monitored vehicle is based on the long-range of vehicle Relation between assistance demand degree information and preset need degree threshold value is carried out, such as when remote assistance demand degree information is higher than default Demand degree threshold value, corresponding vehicle is just presented.Monitored vehicle is presented according to remote assistance demand degree information, can be improved remote Journey equipment shows the utilization rate of resource, and then improves the operating efficiency of remote control person, misuse rate is reduced, so as to improve vehicle Remote assistance efficiency and the security for improving vehicle operation.

In certain embodiments, the device also includes the (not shown) of acquisition module 25.Acquisition module 25 obtains described supervised Control the vehicle sensory information of vehicle；Module 24 is presented one or more of monitored vehicles and each monitored vehicle is presented Vehicle sensory information.For example, remote equipment receives the remote assistance demand degree information and vehicle sensory letter of monitored vehicle simultaneously Breath, and the vehicle sensory information of monitored vehicle and each monitored vehicle is presented on the display device respectively.Vehicle sensory Information can help remote control person to monitor vehicle-state in real time, further improve vehicle remote and assist efficiency and the peace of vehicle operation Quan Xing.

In certain embodiments, execution module 23 according to monitoring user in one or more of monitored vehicles at least The policer operation of one monitored vehicle, perform the remote assistance operation at least one monitored vehicle.It is for example, remote Journey operator has found the abnormal state of certain monitored vehicle, and operation is monitored to it；Remote equipment detects remote control person Policer operation, artificial or unartificial remote assistance is performed to the vehicle and operated, wherein, the operation of artificial remote assistance Input based on remote control person on a remote device, and unartificial remote assistance operation can be automatically performed by remote equipment.

In certain embodiments, the device also includes the (not shown) of detection module 26 and the (not shown) of monitoring module 27.Inspection Whether the remote assistance demand degree information that survey module 26 detects the monitored vehicle is more than or equal to predetermined demand degree threshold value, If so, the monitor prompt information on the monitored vehicle is sent to the monitoring user；Monitoring module 27 obtains the prison Control policer operation of the user at least one monitored vehicle in one or more of monitored vehicles.For example, remote equipment The remote assistance demand degree information of monitored vehicle is persistently received, and it is compared with demand degree threshold value set in advance, one The remote assistance demand degree that denier has vehicle is higher than default demand degree threshold value, prompts remote control person to pay close attention to the vehicle.Remotely set The standby prompting mode to remote control person includes but is not limited to sound, flash of light, the color change of display device displayed content, shake Vibrations of dynamic equipment etc..Certainly, if remote equipment reception is that the vehicle that vehicle is sent travels reliability information, vehicle is detected Whether traveling reliability information is less than or equal to predetermined believability threshold, and is less than or equal in vehicle traveling reliability information Prompted, be will not be repeated here during believability threshold.

In certain embodiments, execution module 23 works as at least one monitored car in one or more of monitored vehicles Remote assistance demand degree information be more than or equal to predetermined demand degree threshold value, perform at least one monitored car Remote assistance operation.Wherein, the remote assistance operation to monitored vehicle can be automatically performed by remote equipment, also can be by remote Journey equipment is completed after determining corresponding remote assistance instruction according to the input of remote control person.

In certain embodiments, the device also includes the (not shown) of update module 28 and the (not shown) of recovery module 29.More New module 28 updates the remote assistance demand degree information of at least one monitored vehicle；Institute of the recovery module 29 after renewal The remote assistance demand degree information for stating at least one monitored vehicle is less than predetermined demand degree threshold value, recovers described at least one The autonomous driving pattern of monitored vehicle.For example, remote equipment persistently receives the remote assistance demand degree information of monitored vehicle, And by the remote assistance demand degree information compared with default demand degree threshold value, when the environment of vehicle changes or car After remote assistance, the remote assistance demand degree information of vehicle is decreased to less than default demand degree threshold value, is sent to vehicle Autonomous driving instructs, and terminates remote assistance, recovers the autonomous driving pattern of vehicle.Certainly, if remote equipment reception is vehicle The vehicle traveling reliability information of transmission, then detect whether vehicle traveling reliability information is more than or equal to predetermined confidence level threshold Value, and the autonomous driving pattern for recovering vehicle when reliability information is more than or equal to believability threshold is travelled in vehicle, herein not Repeat again.

In certain embodiments, remote equipment also includes order module.Order module is according to the remote assistance demand degree Information is ranked up operation to the multiple vehicle；Selecting module 22 is according to the ranking results of the sorting operation, from described more Preferred one or more monitored vehicles in individual vehicle.In certain embodiments, remote equipment is capable of the car of remote assistance simultaneously Quantity be limited, or remote equipment is used to present and divide in the display screen quantity or display screen of monitored information of vehicles Viewing area quantity be limited, or when remote control person's limited amount thus remote control person it is once monitoring and The vehicle fleet size of remote assistance is limited.In order to give limited remote assistance resource allocation to the car needed most as much as possible , remote equipment can be after the remote assistance demand degree information transmitted by multiple vehicles be received, according to remote assistance demand degree Information is ranked up to these vehicles, such as vehicle is arranged according to remote assistance demand degree information descending, and chooses long-range association The one or more controlled vehicles of demand degree highest are helped as monitored vehicle.In certain embodiments, needed to remote assistance , can also be according to the remote assistance demand degree information of real-time reception again to car after degree of asking information highest vehicle carries out remote assistance It is ranked up, updates monitored vehicle list.

According to the one side of the application, there is provided a kind of vehicle for being used to carry out vehicle remote assistance, wherein, the car Include：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed Manage device：

The remote assistance demand degree information is sent to remote equipment.

Figure 12 shows exemplary being used in vehicle end to vehicle progress remote assistance according to some embodiments of the application Vehicle end remote assistance device block diagram.Wherein, the above-described method for being used to carry out vehicle remote assistance can be by this Device perform, and it is above-described be used for vehicle carry out remote assistance method in, certain operations be optionally combined and/ Or the order of certain operations is optionally changed.

In certain embodiments, the device includes sensing module and control module.Wherein, sensing module includes a kind of or more Kind sensor, these sensors include but is not limited to be used to perceive the sound transducer of ambient sound, between awareness tool The pressure sensor of Fluid pressure, the vehicle speed sensor for perceiving running velocity in squeeze pressure or pipeline, for feeling Know the steering angle sensor of vehicle steering angle, the acceleration transducer for perceiving vehicle acceleration, for perceive vehicle its Other Vehicular status signal sensors of his state, and laser radar, camera, millimetre-wave radar, other vehicle-surroundings letter Number sensor etc. is used for the sensor for perceiving vehicle local environment.These sensors are connected directly or indirectly in control module Processor so that processor can obtain the heat transfer agent that these sensors are gathered.

Control module also include be connected with processor for communicated with remote equipment radio receiving transmitting module, for carrying out CAN (Controller Area Network, controller local area network) bus for being communicated between vehicle digital unit, memory, For carrying out the man-machine interface and other modules of man-machine interaction.Memory includes high-speed random access memory, such as DRAM, SRAM, DDR RAM or other random access solid state memory devices, and alternatively include nonvolatile memory, such as one Individual or multiple disk storage equipments, optical disc memory apparatus, flash memory device or other non-volatile solid-state memory devices.People Machine interaction include machine by output or display device give people to provide it is a large amount of for information about and prompting is asked for instructions, people is set by inputting It is standby to be inputted for information about to machine, answer a question and prompt to ask for instructions.

Control module also includes the control unit being all connected with processor and execution module, for the instruction according to processor Corresponding units are controlled action in driving execution module.Execution module includes being used for the brake unit for braking vehicle (sometimes referred to as brake), the steering unit for realizing Vehicular turn, for providing warning message or outside warning light, warning The alarm unit of sound etc. and other actuators for performing other actions.

Certainly, those skilled in the art will be understood that above-mentioned vehicle end remote assistance device is only for example, and vehicle end is long-range Device is assisted alternatively to combine two or more parts alternatively than having more or less parts shown in Figure 12, or can Selection of land has different configurations or the arrangement of these parts；Also, other equipment that are existing or being likely to occur from now on are for example applicable In the application, should also be included within the application protection domain, and be incorporated herein by reference herein.

According to further aspect of the application, there is provided a kind of remote equipment for being used to carry out vehicle remote assistance, its In, the remote equipment includes：

Processor；And

Figure 13 shows exemplary being used at remote equipment end end to vehicle progress far according to some embodiments of the application The block diagram for the remote equipment end remote assistance device that journey is assisted.Wherein, it is above-described to be used to carry out remote assistance to vehicle Method can be performed by the device, and in the above-described method for carrying out remote assistance to vehicle, certain operations are optional Ground is combined and/or the order of certain operations is optionally changed.

Wherein, the device includes remote assistance control module, alternatively with signal transmitting and receiving module, for remotely being counted According to reception and control signal transmission.Remote assistance control module generally also includes one or more processing units, memory With for make these parts interconnect one or more with communication bus.Communication bus alternatively include make system unit interconnect and The circuit (being called chipset sometimes) of communication between control system part.

The device also includes the display device being connected with remote assistance control module, and display device includes multiple viewing areas Domain, multiple viewing areas can be provided by independent display device, can also be provided by single display device respectively.Wherein, show Device alternatively uses LCD (liquid crystal display) technology, LPD (light emitting polymer displays) technologies or LED (light emitting diode) Technology, AR/VR/MR technologies, for by look around/VR/AR/MR in a manner of the relevant information of monitored vehicle is presented.

The device also include be connected with remote assistance control module, for for teleoperator progress remote assistance operation Remote control, remote control alternatively has physical button, virtual key, trace ball or body-sensing input block.

Certainly, those skilled in the art will be understood that above-mentioned remote equipment end remote assistance device is only for example, and remotely set Standby end remote assistance device alternatively combines two or more portions alternatively than having more or less parts shown in Figure 13 Part, or the alternatively different configurations with these parts or arrangement；Also, other existing or equipment for being likely to occur from now on are such as The application is applicable to, should be also included within the application protection domain, and be incorporated herein by reference herein.

The remote assistance demand degree information is sent to remote equipment.

It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, the software program of the application can realize steps described above or function by computing device.Similarly, the application Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory, Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example Such as, coordinate as with processor so as to perform the circuit of each step or function.

In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt When computer performs, by the operation of the computer, it can call or provide according to the present processes and/or technical scheme. Those skilled in the art will be understood that existence form of the computer program instructions in computer-readable medium includes but is not limited to Source file, executable file, installation package file etc., correspondingly, the mode that computer program instructions are computer-executed include but It is not limited to：The computer directly performs the instruction, or the computer compile perform again after the instruction corresponding to compile after program, Either the computer read and perform the instruction or the computer read and install perform again after the instruction corresponding to install after Program.Here, computer-readable medium can be available for computer access any available computer-readable recording medium or Communication media.

Communication media includes thereby including such as computer-readable instruction, data structure, program module or other data Signal of communication is sent to the medium of another system from a system.Communication media may include have the transmission medium led (such as electric Cable and line (for example, optical fiber, coaxial etc.)) and can propagate wireless (not having the transmission the led) medium of energy wave, such as sound, electricity Magnetic, RF, microwave and infrared.Computer-readable instruction, data structure, program module or other data can be embodied as example wireless Medium (such as carrier wave or be such as embodied as spread spectrum technique a part similar mechanism) in modulated message signal. Term " modulated message signal " refers to that one or more feature is modified or set in a manner of coding information in the signal Fixed signal.Modulation can be simulation, digital or Hybrid Modulation Technology.

Unrestricted as example, computer-readable recording medium may include for storing such as computer-readable finger Make, the volatibility that any method or technique of the information of data structure, program module or other data is realized and it is non-volatile, can Mobile and immovable medium.For example, computer-readable recording medium includes, but not limited to volatile memory, such as with Machine memory (RAM, DRAM, SRAM)；And nonvolatile memory, such as flash memory, various read-only storages (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM)；And magnetic and optical storage apparatus (hard disk, Tape, CD, DVD)；Or other currently known media or Future Development can store the computer used for computer system Readable information/data.

Here, including a device according to one embodiment of the application, the device includes being used to store computer program The memory of instruction and the processor for execute program instructions, wherein, when the computer program instructions are by the computing device When, trigger methods and/or techniques scheme of the plant running based on foregoing multiple embodiments according to the application.

It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the application.Any reference in claim should not be considered as to the involved claim of limitation.This Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table Show title, and be not offered as any specific order.

The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following numbering clause Apply these and other aspects of example：

1. a kind of method for being used to carry out vehicle remote assistance in vehicle end, wherein, this method includes：

The remote assistance demand degree information is sent to remote equipment.

2. according to the method described in clause 1, wherein, methods described also includes：

Receive the operation result information that the remote equipment performs remote assistance operation to the vehicle.

3. according to the method described in clause 2, wherein, the operation result information includes the current line set for the vehicle Sail task；

Wherein, methods described also includes：

Perform the current driving task.

4. the method according to any one of clause 1 to 3, wherein, methods described also includes：

According to the instruction of the remote equipment, recover the autonomous driving pattern of the vehicle.

5. the method according to any one of clause 1 to 3, wherein, the vehicle sensory information based on vehicle determines The remote assistance demand degree information of the vehicle includes：

Vehicle sensory information based on vehicle identifies security event information corresponding to the vehicle；

The remote assistance demand degree information of the vehicle is determined based on the security event information.

6. according to the method described in clause 5, wherein, the vehicle sensory information based on vehicle identifies that the vehicle is corresponding Security event information include：

Vehicle sensory information based on vehicle matching inquiry in fault alarm database or context data storehouse, to obtain State security event information corresponding to vehicle.

7. a kind of method for being used to carry out vehicle remote assistance at remote equipment end, wherein, this method includes：

8. according to the method described in clause 7, wherein, methods described also includes：

One or more of monitored vehicles are presented.

9. according to the method described in clause 8, wherein, the one or more of monitored vehicles of presentation include：

One or more of monitored vehicles are presented according to the remote assistance demand degree information of the monitored vehicle.

10. according to the method described in clause 8, wherein, methods described also includes：

Obtain the vehicle sensory information of the monitored vehicle；

Wherein, the one or more of monitored vehicles of presentation include：

The vehicle sensory information of one or more of monitored vehicles and each monitored vehicle is presented.

11. according to the method described in clause 8, wherein, it is described perform in one or more of monitored vehicles extremely The remote assistance operation of a few monitored vehicle includes：

According to policer operation of the monitoring user at least one monitored vehicle in one or more of monitored vehicles, Perform and operated on the remote assistance of at least one monitored vehicle.

12. according to the method described in clause 11, wherein, methods described also includes：

Whether the remote assistance demand degree information for detecting the monitored vehicle is more than or equal to predetermined demand degree threshold value；

If so, the monitor prompt information on the monitored vehicle is sent to the monitoring user；

Obtain monitoring of the monitoring user at least one monitored vehicle in one or more of monitored vehicles Operation.

13. according to the method described in clause 7, wherein, it is described perform in one or more of monitored vehicles extremely The remote assistance operation of a few monitored vehicle includes：

When the remote assistance demand degree information of at least one monitored vehicle in one or more of monitored vehicles is big In or equal to predetermined demand degree threshold value, the remote assistance operation at least one monitored vehicle is performed.

14. according to the method described in clause 7, wherein, it is described according to the remote assistance demand degree information from the multiple Preferred one or more monitored vehicles include in vehicle：

According to the remote assistance demand degree information and vehicle fleet size threshold value can be monitored, preferably one from the multiple vehicle Individual or multiple monitored vehicles.

15. according to the method described in clause 14, wherein, it is described monitor vehicle fleet size threshold value be based on available monitoring personnel or The quantity of monitoring screen can be used to determine.

16. according to the method described in clause 7, wherein, the remote assistance operation includes following at least any one：

Task computation resource is distributed at least one monitored vehicle；

Resource is perceived at least one monitored vehicle distribution environments；

External rescue resource is distributed at least one monitored vehicle；

The current driving task of at least one monitored vehicle is set；

17. according to the method described in clause 7, wherein, methods described also includes：

Update the remote assistance demand degree information of at least one monitored vehicle；

The remote assistance demand degree information of at least one monitored vehicle after renewal is less than predetermined demand degree Threshold value, recover the autonomous driving pattern of at least one monitored vehicle.

18. according to the method described in clause 7, wherein, methods described also includes：

Operation is ranked up to the multiple vehicle according to the remote assistance demand degree information；

It is described according to the remote assistance demand degree information from the multiple vehicle preferred one or more monitored cars Include：

According to the ranking results of the sorting operation, preferred one or more monitored vehicles from the multiple vehicle.

19. a kind of device for being used to carry out vehicle remote assistance in vehicle end, wherein, the device includes：

20. according to the device described in clause 19, wherein, described device also includes：

Receiving module, the operating result for performing remote assistance operation to the vehicle for receiving the remote equipment are believed Breath.

21. according to the device described in clause 20, wherein, the operation result information is included for the current of vehicle setting Traveling task；

Wherein, described device also includes：

Execution module, for performing the current driving task.

22. the device according to any one of clause 19 to 21, wherein, described device also includes：

Recovery module, for the instruction according to the remote equipment, recover the autonomous driving pattern of the vehicle.

23. the device according to any one of clause 19 to 21, wherein, the computing module includes：

Recognition unit, security event information corresponding to the vehicle is identified for the vehicle sensory information based on vehicle；

Computing unit, for determining the remote assistance demand degree information of the vehicle based on the security event information.

24. according to the method described in clause 23, wherein, the recognition unit is used for：

25. a kind of device for being used to carry out vehicle remote assistance at remote equipment end, wherein, the device includes：

26. according to the device described in clause 25, wherein, described device also includes：

Module is presented, for one or more of monitored vehicles to be presented.

27. according to the device described in clause 26, wherein, the presentation module is used for：

28. according to the device described in clause 26, wherein, described device also includes：

Acquisition module, for obtaining the vehicle sensory information of the monitored vehicle；

Wherein, the presentation module is used for：

29. according to the device described in clause 26, wherein, the execution module is used for：

30. according to the device described in clause 29, wherein, described device also includes：

Detection module, it is predetermined whether the remote assistance demand degree information for detecting the monitored vehicle is more than or equal to Demand degree threshold value, if so, sending monitor prompt information on the monitored vehicle to the monitoring user；

Monitoring module, supervised for obtaining the monitoring user at least one in one or more of monitored vehicles Control the policer operation of vehicle.

31. according to the device described in clause 25, wherein, the execution module is used for：

32. according to the device described in clause 25, wherein, the selecting module is used for：

33. according to the device described in clause 32, wherein, it is described monitor vehicle fleet size threshold value be based on available monitoring personnel or The quantity of monitoring screen can be used to determine.

34. according to the device described in clause 25, wherein, the remote assistance operation includes following at least any one：

Task computation resource is distributed at least one monitored vehicle；

External rescue resource is distributed at least one monitored vehicle；

The current driving task of at least one monitored vehicle is set；

35. according to the device described in clause 25, wherein, described device also includes：

Update module, for updating the remote assistance demand degree information of at least one monitored vehicle；

Recovery module, the remote assistance demand degree information at least one monitored vehicle after renewal are less than Predetermined demand degree threshold value, recover the autonomous driving pattern of at least one monitored vehicle.

36. according to the device described in clause 25, wherein, described device also includes：

Order module, for being ranked up operation to the multiple vehicle according to the remote assistance demand degree information；

The selecting module is used for：

37. a kind of method for being used to carry out vehicle remote assistance, wherein, this method includes：

38. a kind of vehicle for being used to carry out vehicle remote assistance, wherein, the vehicle includes：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed Manage the operation that device performs the method according to any one of clause 1 to 6.

39. a kind of remote equipment for being used to carry out vehicle remote assistance, wherein, the remote equipment includes：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed Manage the operation that device performs the method according to any one of clause 7 to 18.

40. a kind of computer-readable medium including instructing, the instruction causes system to carry out according to bar when executed The operation of method any one of money 1 to 18.

Claims

The remote assistance demand degree information is sent to remote equipment.

2. according to the method for claim 1, wherein, methods described also includes：

3. a kind of method for being used to carry out vehicle remote assistance at remote equipment end, wherein, this method includes：

4. according to the method for claim 3, wherein, it is described perform in one or more of monitored vehicles at least The remote assistance operation of one monitored vehicle includes：

Be more than when the remote assistance demand degree information of at least one monitored vehicle in one or more of monitored vehicles or Equal to predetermined demand degree threshold value, the remote assistance operation at least one monitored vehicle is performed.

5. according to the method for claim 3, wherein, methods described also includes：

It is described according to the remote assistance demand degree information from the multiple vehicle preferred one or more monitored vehicle bags Include：

6. a kind of device for being used to carry out vehicle remote assistance in vehicle end, wherein, the device includes：

7. a kind of method for being used to carry out vehicle remote assistance, wherein, this method includes：

The remote equipment receives the remote assistance demand degree information that multiple vehicles are sent, and is believed according to the remote assistance demand degree Breath preferred one or more monitored vehicles from the multiple vehicle；

The remote equipment performs the long-range association at least one monitored vehicle in one or more of monitored vehicles Help operation.

8. a kind of vehicle for being used to carry out vehicle remote assistance, wherein, the vehicle includes：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the processor when executed Perform the operation of method according to claim 1 or claim 2.

9. a kind of remote equipment for being used to carry out vehicle remote assistance, wherein, the remote equipment includes：

Processor；And

It is arranged to store the memory of computer executable instructions, the executable instruction makes the processor when executed Perform the operation of the method according to any one of claim 3 to 5.

10. a kind of computer-readable medium including instructing, the instruction causes system is carried out will according to right when executed Ask the operation of method any one of 1 to 5.