CN107871399A - Vehicular automatic driving system and method - Google Patents
Vehicular automatic driving system and method Download PDFInfo
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- CN107871399A CN107871399A CN201611227082.9A CN201611227082A CN107871399A CN 107871399 A CN107871399 A CN 107871399A CN 201611227082 A CN201611227082 A CN 201611227082A CN 107871399 A CN107871399 A CN 107871399A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The present invention relates to a kind of Vehicular automatic driving system and method, unmanned plane is used to obtain the information of road surface on pre-set navigational route residing for automatic driving vehicle, and information of road surface is sent to automatic driving vehicle and cloud server；Cloud server is used to monitor the wireless communication state between unmanned plane and automatic driving vehicle, and the information of road surface for receiving unmanned plane transmission is stored；When cloud server is in state that is unstable or disconnecting between unmanned plane and automatic driving vehicle, information of road surface is sent to automatic driving vehicle；Automatic driving vehicle is used for when receiving information of road surface, performs corresponding actions according to information of road surface, and enter automatic early-warning state when not receiving information of road surface.Because unmanned plane can fly away from automatic driving vehicle, various surface conditions can be collected ahead of time and timely be sent to automatic driving vehicle, automatic driving vehicle can timely and accurately react according to the surface conditions of reception, greatly improve the security of automatic driving vehicle.
Description
Technical field
The present invention relates to Vehicular automatic driving field, more particularly to a kind of Vehicular automatic driving system and method.
Background technology
Vehicular automatic driving system, also known as automatic driving vehicle are also referred to as automatic driving vehicle, computer drives vehicle or wheeled
Mobile robot, it is that one kind realizes unpiloted Intelligent Vehicle System by vehicle-mounted computer system.Automatic driving vehicle technology
Research and development, also had the history of many decades in 20th century, showed at the beginning of 21 century automatic close to practical trend, vehicle
Driving technology has obtained vigorous growth.
Traditional Vehicular automatic driving, there is significant limitation, be unfavorable for the processing of various emergency cases, dashing forward
Accurate response can not be made during heat condition, causes the generation of accident.Therefore, the automatic of traditional Vehicular automatic driving system is driven
It is low to sail security.
The content of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of automatic Pilot safe Vehicular automatic driving system
And method.
A kind of Vehicular automatic driving system, including unmanned plane, cloud server and automatic driving vehicle, the unmanned plane,
Connected between the cloud server and the automatic driving vehicle by radio communication, wherein, the unmanned plane is according to
The pre-set navigational route of automatic driving vehicle flies around the automatic driving vehicle,
The unmanned plane is used to obtain the information of road surface on the pre-set navigational route residing for the automatic driving vehicle, and
The information of road surface is sent to the automatic driving vehicle and the cloud server；
The cloud server is used to monitor the wireless communication state between the unmanned plane and the automatic driving vehicle,
And receive the information of road surface that the unmanned plane is sent and stored；The cloud server the unmanned plane with it is described from
When being in state that is unstable or disconnecting between dynamic driving vehicle, the information of road surface is sent to the automatic Pilot car
；
The automatic driving vehicle is used for when receiving the information of road surface, is performed according to the information of road surface corresponding dynamic
Make, and enter automatic early-warning state when not receiving the information of road surface.
A kind of Vehicular automatic driving method, comprises the following steps：
Unmanned plane obtains the information of road surface residing for the automatic driving vehicle on pre-set navigational route, and the road surface is believed
Breath is sent to automatic driving vehicle and cloud server, wherein, the unmanned plane is led according to the default of the automatic driving vehicle
Air route line flies around the automatic driving vehicle；
The cloud server monitors the wireless communication state between the unmanned plane and the automatic driving vehicle, and connects
The information of road surface that the unmanned plane is sent is received to be stored；
The cloud server is in unstable or disconnected between the unmanned plane and the automatic driving vehicle
State when, send the information of road surface to the automatic driving vehicle；
The automatic driving vehicle performs corresponding actions when receiving the information of road surface, according to the information of road surface,
And enter automatic early-warning state when not receiving the information of road surface.
Above-mentioned Vehicular automatic driving system and method, unmanned plane surround certainly according to the pre-set navigational route of automatic driving vehicle
Dynamic to drive vehicle flight, unmanned plane is used to obtaining the information of road surface on pre-set navigational route residing for automatic driving vehicle, and by road
Face information is sent to automatic driving vehicle and cloud server；Cloud server be used to monitoring unmanned plane and automatic driving vehicle it
Between wireless communication state, and receive unmanned plane transmission information of road surface stored；Cloud server is in unmanned plane and automatically
When being in state that is unstable or disconnecting between driving vehicle, information of road surface is sent to automatic driving vehicle；Automatic Pilot
Vehicle is used for when receiving information of road surface, and corresponding actions are performed according to information of road surface, and when not receiving information of road surface
Into automatic early-warning state.Because unmanned plane can fly away from automatic driving vehicle in itself, look farther, more before, can do sth. in advance
Collect various surface conditions and be timely sent to automatic driving vehicle, automatic driving vehicle can according to the surface conditions of reception and
When react exactly, greatly improve the security of automatic driving vehicle.
Brief description of the drawings
Fig. 1 is Vehicular automatic driving system structure chart in an embodiment；
Fig. 2 is that an embodiment complex road condition unmanned plane aids in automatic driving vehicle to drive schematic diagram；
Fig. 3 is unmanned plane structure chart in an embodiment；
Fig. 4 is that an embodiment is broken road conditions unmanned plane auxiliary automatic driving vehicle driving schematic diagram；
Fig. 5 is that an embodiment hollow road conditions unmanned plane aids in automatic driving vehicle to drive schematic diagram；
Fig. 6 is Vehicular automatic driving method flow diagram in an embodiment.
Embodiment
In one embodiment, as shown in figure 1, a kind of Vehicular automatic driving system, including unmanned plane 110, cloud service
Device 120 and automatic driving vehicle 130, pass through channel radio between unmanned plane 110, cloud server 120 and automatic driving vehicle 130
Letter connection, wherein, unmanned plane 110 flies according to the pre-set navigational route of automatic driving vehicle 130 around automatic driving vehicle 130
OK, unmanned plane 110 is used to obtaining information of road surface on pre-set navigational route residing for automatic driving vehicle 130, and by information of road surface
Send to automatic driving vehicle 130 and cloud server 120；Cloud server 120 is used to monitor unmanned plane 110 and automatic Pilot
Wireless communication state between vehicle 130, and the information of road surface for receiving the transmission of unmanned plane 110 is stored；Cloud server 120
When state that is unstable or disconnecting is between unmanned plane 110 and automatic driving vehicle 130, information of road surface is sent to certainly
It is dynamic to drive vehicle 130；Automatic driving vehicle 130 is used for when receiving information of road surface, and corresponding actions are performed according to information of road surface,
And enter automatic early-warning state when not receiving information of road surface.
Specifically, the type of automatic driving vehicle 130 is not unique, is specifically as follows bicycle, automobile etc..Vehicle is automatic
Three parts of control loop, realize information mutual communication two-by-two, i.e.,：Cloud server 120 and automatic driving vehicle 130, high in the clouds
Server 120 and unmanned plane 110, automatic driving vehicle 130 and unmanned plane 110.One of part can also be used as in information
Turn station, realize the information mutual communication of two other part.
Automatic driving vehicle 130 is used for when receiving information of road surface, and corresponding actions, Yi Ji are performed according to information of road surface
Entering automatic early-warning state when not receiving information of road surface includes：Communication between automatic driving vehicle 130 and unmanned plane 110
When speed is more than or equal to predetermined threshold value, then it represents that automatic driving vehicle 130 is in stable radio communication shape with unmanned plane 110
State, automatic driving vehicle 130 receives the information of road surface that unmanned plane 110 is sent, and performs corresponding action according to information of road surface；When
When traffic rate between automatic driving vehicle 130 and unmanned plane 110 is less than predetermined threshold value, then it represents that automatic driving vehicle 130
When being in wireless communication state that is unstable or disconnecting with unmanned plane 110, unmanned plane 110 sends information of road surface to high in the clouds
Server 120, cloud server 120 receive and send information of road surface to automatic driving vehicle 130, automatic driving vehicle 130 and connect
The information of road surface that cloud server 120 is sent is received, and corresponding action is performed according to information of road surface；When automatic driving vehicle 130
When not receiving information of road surface, automatic driving vehicle 130 enters automatic early-warning state.
Cloud server 120 is additionally operable to receive the shared information of road surface of other cloud servers 120 and sent to automatic Pilot
Vehicle 130 and unmanned plane 110, automatic driving vehicle 130 are used to receive the shared information of road surface conduct of other cloud servers 120
The reference of long term distance route planning, pre-set navigational route is updated, unmanned plane 110 is used to receive other cloud servers
Reference of the 120 shared information of road surface as long term distance route planning, is updated to pre-set navigational route, in the system,
Only either party it need to store pre-set navigational route, automatic driving vehicle 130 and nothing in automatic driving vehicle 130 and unmanned plane 110
Man-machine 110 all can be according to pre-set navigational route running, and cloud server receives the shared road surface letter of other cloud servers 120
Breath, can obtain the information of road surface of very long segment distance route, send to automatic driving vehicle 130 and unmanned plane 110, as length
The reference of remote route planning, is updated to pre-set navigational route, even in automatic driving vehicle 130 and unmanned plane
110, in the state for causing wireless communication state unstable by complex road condition or disconnecting, also can further improve and drive automatically
The security of system is sailed, reduces the generation of accident.The also implantable cubic information of other cloud server 120, and it is pushed to nothing
Man-machine 110 and automatic driving vehicle 130 at, improve convenience.
Specifically, as shown in Fig. 2 when automatic driving vehicle 130 is in racing bend, it is understood that there may be larger stop
Thing (such as abrupt slope or building), when unmanned plane 110 because obstacle, lose and contact with automatic driving vehicle 130, and before road
When there is the vehicle of fast running side again, information of road surface is sent to cloud server 120, cloud server 120 and connect by unmanned plane 110
Receive and send to automatic driving vehicle 130 after information of road surface, automatic driving vehicle 130 receive make after information of road surface it is urgent
Slow down and avoidance acts.Under such a road conditions, unmanned plane 110 and automatic driving vehicle 130, wireless connection may be realized and led to
News, wireless connection communication may be not carried out.Therefore, specific connection is as follows：Unmanned plane 110 preferentially with automatic Pilot car
130 connections realize that data communicate, and the high priority data of unmanned plane 110 is dealt into automatic driving vehicle 130；When unmanned plane 110 and certainly
The wireless communication state of dynamic driving vehicle 130 is unstable or is disconnected, and data message is sent to cloud service by unmanned plane 110
Device 120, cloud server 120 are forwarded to automatic driving vehicle 130；When unmanned plane 110, automatic driving vehicle 130, cloud service
The wireless communication state of the three of device 120 is all unstable or is disconnected, and automatic driving vehicle 130 makes deceleration and keeps to the side to act,
And the prior-warning device for starting itself sends alarm signal, unmanned plane 110, which stops, keeps in situ, treats unmanned plane 110 with driving automatically
After sailing the normal connection of vehicle 130, then carry out normal work.Automatic driving vehicle 130 can timely receive information of road surface, can and
When accurately tackle emergency case, effectively increase the safety and reliability of automatic Pilot.
In one embodiment, as shown in figure 3, the chartered plane mounted satellite navigation device 112 of unmanned plane 110, airborne information of road surface
Acquisition device 114, airborne sensor 116 and airborne Intelligent treatment terminal 118, onboard satellite guider 112, airborne road surface letter
Breath acquisition device 114 and airborne sensor 116 are all connected with airborne Intelligent treatment terminal 118, airborne information of road surface acquisition device 114
For obtaining information of road surface, and send to airborne Intelligent treatment terminal 118；Onboard satellite guider 112 is default for storing
Navigation way, and send to airborne Intelligent treatment terminal 118；Airborne sensor 116 is used for the status number for gathering unmanned plane 110
According to, and send to airborne Intelligent treatment terminal 118；Airborne Intelligent treatment terminal 118 is used to control nothing according to pre-set navigational route
Man-machine 110 fly on pre-set navigational route around automatic driving vehicle 130, and receive the shape of information of road surface and unmanned plane 110
State data are sent to automatic driving vehicle 130 and cloud server 120.
Specifically, airborne information of road surface acquisition device 114 is used to obtain information of road surface, and specific acquisition modes are not only
One, can be by way of shooting image or image or scanning etc.；Onboard satellite guider 112 and automatic driving vehicle 130
Guider, can simultaneously operating, it is also independently operable, so-called simultaneously operating, in particular to, only need to set unmanned plane 110 or
The side of automatic driving vehicle 130 1, both of which are walked according to the route of setting；Airborne Intelligent treatment terminal 118, as unmanned plane
110 main control part is, it is necessary to handle image data and/or radar information data and sensing data etc., also as connection
End, is attached with automatic driving vehicle 130, cloud server 120, realizes data message interaction.
In one embodiment, airborne information of road surface acquisition device 114 includes the machine for connecting airborne Intelligent treatment terminal 118
Carry aerial device and/or onboard radar system.
Specifically, airborne aerial device is used for shooting image or shoots with video-corder image, the captured or data shot with video-corder, aerial device
The region of larger area can be shot, the region can be covered in all around direction of unmanned plane 110.Airborne aerial device is included at least
One cam device, can be single camera, dual camera and the configuration of multiple cameras；Onboard radar system is used to scan
The road conditions of road, such as：The vehicle of racing bend, the situation that blocks up, fracture location, hollow location etc., the information of scanning will be by airborne
Intelligent terminal is sent to automatic driving vehicle 130 and cloud server 120.When the high visual field of visibility is good, can use airborne
Aerial device or onboard radar system, when automatic driving vehicle 130 is in the state run at high speed, it is understood that there may be because the colour of sky or
The reason for person visual field, airborne aerial device shooting image or image are unclear, now need onboard radar system to scan road feelings
Condition, it can as needed select to use airborne aerial device and/or onboard radar system, can ensure that unmanned plane is accurately obtained road
Face information.
In one embodiment, onboard radar system includes laser radar system, ultrasonic radar system and microwave radar
At least one of system.
Specifically, onboard radar system can cover polytype radar mode, in the present embodiment, can be laser,
At least one of ultrasonic wave and microwave.
Specifically, as shown in Figure 4, Figure 5, when automatic driving vehicle 130 is in the state run at high speed, it is understood that there may be because
The reason for colour of sky or the visual field, fracture or the step section in front can not be seen in time.When unmanned plane 110 is in automatic driving vehicle
Information of road surface, after abnormal road conditions are arrived in scanning, is sent at automatic driving vehicle 130, information of road surface is presented on by 130 fronts in time
On the display screen of the vehicle intelligent processing terminal of automatic driving vehicle 130, after automatic driving vehicle 130 receives information, make tight
The anxious action slowed down and avoided.Under such a road conditions, unmanned plane 110 judges front mainly by way of radar scanning
Whether road is abnormal, and normal road conditions, the information of scanning is flat traffic information, and abnormal road conditions, the information of scanning is disconnected
The traffic information split, unmanned plane 110 send the information of road surface that scanning obtains to automatic driving vehicle 130 and cloud server
120。
In one embodiment, airborne sensor 116 include connecting the multiaxis gyroscope of airborne Intelligent treatment terminal 118,
Gravity sensor and temperature sensor, multiaxis gyroscope are used to detect the self poisoning of unmanned plane 110 and walk and send to machine
Carry Intelligent treatment terminal 118；Gravity sensor is used for the raising and lowering for detecting unmanned plane 110 and sent to airborne Intelligent treatment
Terminal 118；Temperature sensor is used to sense ambient temperature and sent to airborne Intelligent treatment terminal 118.
Specifically, the multiple sensors of airborne sensor 116 are applied in combination, and allow unmanned plane 110 more stably
Flight.
In one embodiment, airborne Intelligent treatment terminal 118 includes processor and communicator, and processor connection is airborne
Satellite Navigation Set 112, airborne information of road surface acquisition device 114 and airborne sensor 116, communicator connection processor.
Specifically, processor is used for the data message for handling correlation, and the data message is collected and obtained from airborne information of road surface
Device 114, airborne sensor 116, onboard satellite guider 112, cloud server 120 etc. are taken, and is sent out by communicator
Deliver to automatic driving vehicle 130 and cloud server 120.
In one embodiment, communicator is included in the WIFI devices, blue-tooth device and GPRS devices of connection processor
At least one.
Specifically, suitable radio communication device can be selected according to being actually needed, applicability is extensive.
Above-mentioned Vehicular automatic driving system, because unmanned plane 110 can fly away from automatic driving vehicle 130 itself, see more
Far, before more, various surface conditions can be collected ahead of time and is timely sent to automatic driving vehicle 130, automatic driving vehicle
130 can timely and accurately react according to the surface conditions of reception, greatly improve the security of automatic driving vehicle 130.
In one embodiment, as shown in fig. 6, a kind of Vehicular automatic driving method, comprises the following steps：
Step S110：Unmanned plane obtains the information of road surface residing for automatic driving vehicle on pre-set navigational route, and by road surface
Information is sent to automatic driving vehicle and cloud server, wherein, unmanned plane is according to the pre-set navigational route of automatic driving vehicle
Flown around automatic driving vehicle.
Step S120：Cloud server monitors the wireless communication state between unmanned plane and automatic driving vehicle, and receives
The information of road surface that unmanned plane is sent is stored.
Step S130：Cloud server is in shape that is unstable or disconnecting between unmanned plane and automatic driving vehicle
During state, information of road surface is sent to automatic driving vehicle.
Step S140：Automatic driving vehicle performs corresponding actions when receiving information of road surface, according to information of road surface, and
Enter automatic early-warning state when not receiving information of road surface.Step S140 includes step 142 to step 146.
Step 142：When the traffic rate between automatic driving vehicle and unmanned plane is more than or equal to predetermined threshold value, automatically
The information of road surface that vehicle receiver unmanned plane is sent is driven, and corresponding action is performed according to information of road surface.
Step 144：When the traffic rate between automatic driving vehicle and unmanned plane is less than predetermined threshold value, automatic Pilot car
The information of road surface that cloud server is sent is received, and corresponding action is performed according to information of road surface.
Step 146：When automatic driving vehicle does not receive information of road surface, automatic driving vehicle enters automatic early-warning shape
State.
In one embodiment, Vehicular automatic driving method also includes step：Cloud server receives other cloud services
The shared information of road surface of device is sent to automatic driving vehicle and unmanned plane；Automatic driving vehicle receives other cloud servers and shared
Reference of the information of road surface as long term distance route planning, pre-set navigational route is updated；Unmanned plane receives other clouds
Reference of the shared information of road surface of server as long term distance route planning is held, pre-set navigational route is updated.
Above-mentioned Vehicular automatic driving method, because unmanned plane can fly away from automatic driving vehicle in itself, look farther, more before
Face, it can collect various surface conditions ahead of time and timely be sent to automatic driving vehicle, automatic driving vehicle can be according to reception
Surface conditions timely and accurately react, greatly improve the security of automatic driving vehicle.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of Vehicular automatic driving system, it is characterised in that including unmanned plane, cloud server and automatic driving vehicle, institute
State and connected between unmanned plane, the cloud server and the automatic driving vehicle by radio communication, wherein, the unmanned plane
Flown according to the pre-set navigational route of the automatic driving vehicle around the automatic driving vehicle,
The unmanned plane is used to obtaining information of road surface on the pre-set navigational route residing for the automatic driving vehicle, and by institute
Information of road surface is stated to send to the automatic driving vehicle and the cloud server；
The cloud server is used to monitor the wireless communication state between the unmanned plane and the automatic driving vehicle, and connects
The information of road surface that the unmanned plane is sent is received to be stored；The cloud server is driven automatically in the unmanned plane with described
Sail when being in state that is unstable or disconnecting between vehicle, send the information of road surface to the automatic driving vehicle；
The automatic driving vehicle is used for when receiving the information of road surface, and corresponding actions are performed according to the information of road surface,
And enter automatic early-warning state when not receiving the information of road surface.
2. Vehicular automatic driving system according to claim 1, it is characterised in that the unmanned plane is led including onboard satellite
Boat device, airborne information of road surface acquisition device, airborne sensor and airborne Intelligent treatment terminal, the onboard satellite navigation dress
Put, airborne information of road surface acquisition device and the airborne sensor are all connected with the airborne Intelligent treatment terminal,
The onboard satellite guider is used to store the pre-set navigational route, and sends whole to the airborne Intelligent treatment
End；
The airborne information of road surface acquisition device is used to obtain information of road surface, and sends to the airborne Intelligent treatment terminal；
The airborne sensor is used for the status data for gathering unmanned plane, and sends to the airborne Intelligent treatment terminal；
The airborne Intelligent treatment terminal is used to control the unmanned plane in pre-set navigational route according to the pre-set navigational route
It is upper to be flown around the automatic driving vehicle, and the status data for receiving the information of road surface and the unmanned plane is sent to described
Automatic driving vehicle and the cloud server.
3. Vehicular automatic driving system according to claim 2, it is characterised in that the airborne information of road surface acquisition device
Airborne aerial device and/or onboard radar system including connecting airborne Intelligent treatment terminal.
4. Vehicular automatic driving system according to claim 3, it is characterised in that the onboard radar system includes laser
At least one of radar system, ultrasonic radar system and microwave radar systems.
5. Vehicular automatic driving system according to claim 2, it is characterised in that the airborne sensor includes connection institute
Multiaxis gyroscope, gravity sensor and the temperature sensor of airborne Intelligent treatment terminal are stated,
The multiaxis gyroscope is used to detect the self poisoning of the unmanned plane and walks and send to the airborne Intelligent treatment
Terminal；
The gravity sensor is used for the raising and lowering for detecting the unmanned plane and sent to the airborne Intelligent treatment terminal；
The temperature sensor is used to sense ambient temperature and sent to the airborne Intelligent treatment terminal.
6. Vehicular automatic driving system according to claim 2, it is characterised in that the airborne Intelligent treatment terminal includes
Processor and communicator, the processor connect onboard satellite guider, airborne information of road surface acquisition device and the institute
Airborne sensor is stated, the communicator connects the processor.
7. Vehicular automatic driving system according to claim 6, it is characterised in that the communicator is included described in connection
At least one of WIFI devices, blue-tooth device and GPRS devices of processor.
A kind of 8. Vehicular automatic driving method, it is characterised in that comprise the following steps：
Unmanned plane obtains the information of road surface residing for the automatic driving vehicle on pre-set navigational route, and the information of road surface is sent out
Automatic driving vehicle and cloud server are delivered to, wherein, the unmanned plane is according to the pre-set navigational road of the automatic driving vehicle
Line flies around the automatic driving vehicle；
The cloud server monitors the wireless communication state between the unmanned plane and the automatic driving vehicle, and receives institute
The information of road surface for stating unmanned plane transmission is stored；
The cloud server is in shape that is unstable or disconnecting between the unmanned plane and the automatic driving vehicle
During state, the information of road surface is sent to the automatic driving vehicle；
The automatic driving vehicle performs corresponding actions when receiving the information of road surface, according to the information of road surface, and
Enter automatic early-warning state when not receiving the information of road surface.
9. Vehicular automatic driving method according to claim 8, it is characterised in that the automatic driving vehicle is receiving
During the information of road surface, corresponding actions are performed according to the information of road surface, and enter when not receiving the information of road surface
The step of automatic early-warning state, includes：
It is described automatic when the traffic rate between the automatic driving vehicle and the unmanned plane is more than or equal to predetermined threshold value
The information of road surface that unmanned plane described in vehicle receiver is sent is driven, and corresponding action is performed according to the information of road surface；
When the traffic rate between the automatic driving vehicle and the unmanned plane is less than predetermined threshold value, the automatic Pilot car
The information of road surface that the cloud server is sent is received, and corresponding action is performed according to the information of road surface；
When the automatic driving vehicle does not receive the information of road surface, the automatic driving vehicle enters automatic early-warning shape
State.
10. Vehicular automatic driving method according to claim 8, it is characterised in that also including step：
The cloud server receives the shared information of road surface of other cloud servers, and send to the automatic driving vehicle and
The unmanned plane；
The automatic driving vehicle receives the shared information of road surface of other described cloud servers as long term distance route planning
Reference, the pre-set navigational route is updated；
The unmanned plane receives reference of the shared information of road surface of other described cloud servers as long term distance route planning,
The pre-set navigational route is updated.
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| CN110299026A (en) * | 2019-06-19 | 2019-10-01 | 淮安信息职业技术学院 | Section safety monitoring method and system under the conditions of a kind of mist |
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| CN112379678A (en) * | 2020-12-18 | 2021-02-19 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
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