CN108614566A - A kind of operating method of parallel driving - Google Patents
A kind of operating method of parallel driving Download PDFInfo
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- CN108614566A CN108614566A CN201810635557.0A CN201810635557A CN108614566A CN 108614566 A CN108614566 A CN 108614566A CN 201810635557 A CN201810635557 A CN 201810635557A CN 108614566 A CN108614566 A CN 108614566A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The present embodiments relate to a kind of operating methods of parallel driving, including：Operation bench in operation and control end receives the manipulation data that user inputs according to the first vehicle status data, and manipulation data are sent to processor；Processor manipulates model by analog machine and is parsed to manipulation data, obtains vehicle control data, and vehicle control data is sent to server；Vehicle control data includes control device information and control parameter；Control device information and control parameter are sent to vehicle end by server, are worked according to control device information and control parameter to vehicle end；Vehicle end sends feedback data and the second vehicle status data according to control device information and control parameter to server；When feedback data is not empty, the second vehicle status data is sent to the display in operation and control end by server, and the second vehicle status data is shown to display.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of operating methods of parallel driving.
Background technology
System at present about parallel driving is few, is in theory stage mostly, and the parallel initial idea of driving is formed in 20
The mid-90 in century, the concept for formally proposing parallel driving in 2005, manual system and real system actual situation is interactive
Thought is applied to driving field, forms the instantly parallel blank for driving theory.For automatic Pilot, automatic Pilot algorithm
It is no doubt important with deep learning.But to accomplish the landing of automatic Pilot product, and the maintenance of automatic Pilot product is reduced, it is just necessary
Automatic Pilot and drive simulating are combined, realize parallel driving truly.Namely automatic driving mode and simulation
Seamless switching work between driving mode.
Automatic Pilot remote monitoring backstage field is the important node that automatic Pilot ensures safety, in numerous traffic
Under the premise of the machine algorithms such as accident can not be, need artificially to be intervened and recorded the event currently occurred.As
Automatic driving vehicle often encounters the failure problems of some force majeure factors when runing driving in normal road.So
At this point, the event replay function of vehicle interior cannot be satisfied when to the judgement of failure, then gone vehicle to fortune before needing special messenger
Return maintenance.The increase of the increase and time cost of human cost can be caused in this way.
Invention content
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of operating method of parallel driving, by building
The operation and control and operational feedback process at vertical operation and control end and vehicle end can allow operation personnel can in real time, accurately
The various surrounding enviroment states of current automatic driving vehicle in operation are solved, but also automatic driving vehicle is in some Special Rings
In border, when Function for Automatic Pilot failure etc. can not allow vehicle independently to be run, operation personnel can pass through remote control
Function and Video service carry out back, and vehicle is opened back maintenace point by network remote control and is safeguarded, rather than need special people
It goes vehicles drive returning maintenace point before member, to reduce increase and the time cost of human cost.
To achieve the goals above, an embodiment of the present invention provides a kind of operating methods of parallel driving, including：
Operation bench in operation and control end receives the manipulation data that user inputs according to the first vehicle status data, and by institute
It states manipulation data and is sent to processor in operation and control end；
The processor manipulates model by analog machine and is parsed to the manipulation data, obtains vehicle control number
According to, and the vehicle control data is sent to the server；The vehicle control data includes control device information and control
Parameter processed；
The control device information and the control parameter are sent to the vehicle end by the server, to the vehicle
End works according to the control device information and the control parameter；
The vehicle end sends feedback data according to the control device information and the control parameter to the server
With the second vehicle status data；
When the feedback data is not empty, second vehicle status data is sent to the operation by the server
Display in control terminal shows second vehicle status data to the display.
Preferably, the operation bench in the operation and control end receives the behaviour that user inputs according to the first vehicle status data
Before controlling data, the method further includes：
The server receives the first vehicle status data that the vehicle end is sent；
Processor in the operation and control end obtains the first vehicle-state that the server is sent according to acquisition instruction
Data；
First vehicle status data is sent to the display in the operation and control end by the processor, to institute
It states display and shows first vehicle status data to user.
It is further preferred that the vehicle status data includes：Vehicle environmental video data and car status information；It is described
Vehicle environmental video data includes multiple camera position information.
It is further preferred that first vehicle status data is sent in the operation and control end by the processor
Display shows that first vehicle status data is specially to the display to user：
The processor, according to vehicle environmental video data described in the camera position Information Compression, obtains described more
A compressed vehicle environmental video data shows the multiple compressed vehicle ring to the display to the user
Border video data.
Preferably, the operation bench includes：Steering wheel operational module, gear operational module, accelerator control module and brake
Operational module.
It is further preferred that the manipulation data include：It is steering wheel angle data that steering wheel manipulation generates, described
Gear manipulation data, the accelerator control data of accelerator control module generation and the brake behaviour that gear operational module generates
It controls module and generates brake manipulation data.
Preferably, before the processor parses the manipulation data by analog machine manipulation model, institute
The method of stating further includes：
The processor manipulates data according to described in the first time parameter acquiring；
When the processor is empty according to the manipulation data of the first time parameter acquiring, the processor will
A upper vehicle control data is sent to the server；
A upper vehicle control data is sent to the vehicle end by the server, to the vehicle end according to
The upper vehicle control data work；
When the processor is empty according to the manipulation data that second time parameter obtains, the processor will
Braking instruction is sent to the server；
The braking instruction is sent to the vehicle end by the server, to the vehicle end according to the brake finger
Enable work.
Preferably, the processor in the operation and control end receives the vehicle-state number that server is sent according to acquisition instruction
According to specially：
Processor in the operation and control end receives what server was sent according to acquisition instruction by first network agreement
Vehicle status data.
Preferably, after the vehicle end is according to the control device information and control parameter work, the side
Method further includes：
The vehicle end obtains the environment laser point data of the vehicle；
When the environment laser point data and the control device information and control parameter work not to it is corresponding when generate
The braking instruction so that the vehicle end works according to the braking instruction；And warning message is generated, it is sent to the operation
Control terminal.
The operating method of parallel driving provided in an embodiment of the present invention, by the operation for establishing operation and control end and vehicle end
Control and operational feedback process, can allow operation personnel that can in real time, accurately recognize that current automatic driving vehicle is being run
In various surrounding enviroment states, but also automatic driving vehicle is in some particular surroundings, in Function for Automatic Pilot failure etc.
When vehicle can not be allowed independently to be run, operation personnel can carry out back by long-range remote control function and Video service, lead to
It crosses network remote control vehicle is opened into back maintenace point and safeguard, rather than go vehicles drive returning maintenace point before needing professional,
To reduce increase and the time cost of human cost.
Description of the drawings
Fig. 1 is the flow chart of the operating method of parallel driving provided in an embodiment of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The execution flow of the parallel driving control method proposed in order to better understand the present invention, first to parallel driving
Concept illustrate.
So-called parallel driving is exactly to be combined automatic Pilot with drive simulating, in automatic driving mode and drive simulating mould
Safety, steady switching are carried out between formula, could realize parallel driving truly.Wherein, automatic driving mode can be managed
Solution is that automatic driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, is allowed
Automatic driving vehicle can be under the operation of nobody class active, by the driving mode of required track automatic safe traveling.
Drive simulating pattern can be understood as user by virtual driving equipment, in virtual driving environment, control automatic driving car
By required track traveling driving mode.
The operating method of parallel driving provided in an embodiment of the present invention, by the data of acquisition operations control terminal and to data
Automatic driving vehicle is sent to after being handled, automatic driving vehicle is realized to operation and control end feedback operation data to nothing
People drives the remote control of vehicle.Its method flow diagram is as shown in Figure 1, include the following steps：
Step 110, the processing unit in vehicle end obtains vehicle status data by perceiving unit；
Specifically, vehicle end can be understood as an automatic driving car, including processing unit, perception unit and vehicle control
Unit.
Wherein, processing unit can be understood as the brain of automatic driving car, mainly for the treatment of, calculate it is various instruction obtain
Various control parameters.
Perception unit is used to obtain the vehicle status data of vehicle, it can be understood as by way of Multi-sensor fusion
The driving environment of vehicle itself and surrounding is monitored in real time, detailed accurate data letter is provided for the automatic Pilot of vehicle
The unit of breath.Perception unit includes the environment sense for obtaining the vehicle environmental video data for representing vehicle periphery driving environment
Know module, and the vehicle-state sensing module for obtaining the car status information for representing vehicle oneself state.Environment sense
Know that module includes multiple photographic devices, the direction for the vehicle-periphery that each photographic device is monitored is different, obtained vehicle
Orientation representated by ambient video data is also different, therefore the vehicle environmental video data in each orientation can correspond to a camera shooting
Head location information.The photographic device that vehicle environmental video data comes from which specific orientation can thus be distinguished.Vehicle
State aware module includes but not limited to thermometer, wheel speed meter, fuel-quantity transducer, remaining capacity sensor, cell health state
It is one or more in sensor, wear sensor, tyre pressure sensor.
Control unit for vehicle can be understood as the unit of the operation for controlling automatic driving car, including control vehicle is advanced
Direction and gait of march etc..
What needs to be explained here is that each unit included in vehicle end is not limited only to above-mentioned processing unit, perception
Unit and control unit for vehicle, those skilled in the art can voluntarily be arranged as needed other units included in vehicle end or
Component.
In some preferred embodiments, photographic device is four, is respectively arranged at four orientation all around of vehicle,
The monitoring angle that this four photographic devices are constituted is 360 °.
In some more preferably embodiment, environmental perception module further includes but is not limited in addition to including multiple photographic devices
It is one or more in GPS device, inertial navigation, laser radar and millimetre-wave radar；GPS device is used to obtain the longitude and latitude of car body
Information is spent, to be positioned to car body；Movement of the inertial navigation according to the acceleration information of car body six-freedom degree to vehicle
Posture is estimated and corrects location information；Laser radar is for detecting lane line edge, obstacle information, vehicle and pedestrian；
Millimetre-wave radar is used for detection structure road vehicle；Video camera is for detecting traffic lights, traffic sign, barrier
Information, vehicle, pedestrian and other sensors can not accurate discrimination object.
Step 120, vehicle environmental video data, car status information and vehicle I D information are sent to server；
Specifically, processing unit according to acquisition instruction by first network agreement by vehicle environmental video data, vehicle shape
State information and the vehicle I D information of vehicle are sent to first server.Vehicle I D information can be understood as the mark unique body of vehicle
The identification information of part information.First network agreement is WebSocket agreements.
Step 130, vehicle environmental video data, car status information are sent to behaviour by server by first network agreement
Make control terminal, vehicle data state is shown to operation and control end；
Specifically, the simulation that operation and control end can be understood as to automatic driving vehicle complete for user control is grasped
Make platform.Operation and control end includes display, operation bench and processor.Wherein, operation console includes but are not limited to steering wheel manipulation
Module, gear operational module, accelerator control module and brake operational module.
Processor in operation and control end is according to control signal reception server transmission by the first vehicle environmental video counts
It is sent to operation and control according to the first vehicle status data constituted with the first car status information, and by the first vehicle status data
Display in end shows the first vehicle status data to display to user.First vehicle status data can be understood as
Vehicle status data of the vehicle before not being remotely operated；First vehicle environmental video data can be understood as vehicle not remote
The data of the preoperative vehicle periphery driving environment of journey；First car status information can be understood as vehicle and not be remotely operated
The information of preceding vehicle oneself state.
In some preferred embodiments, since the clarity requirement of the video to different direction is generally also different,
Therefore the first vehicle status data is sent to before the display in operation and control end by the processor in operation and control end, is located
Manage device first can carry out compression processing according to the location information of camera to vehicle environmental video data, obtain multiple compressed vehicles
Ambient video data, display show multiple compressed vehicle environmental video datas to user.This process is appreciated that
To select it to transmit the frame per second of image resolution ratio accordingly according to the specific orientation of photographic device, according to frame per second to video image into
The process of row compression.In general, the image resolution ratio that the location information of camera is the vehicle environmental video data in " front " wants high
In other vehicle environmental video datas.
In some more preferably embodiment, since network is obstructed or other factors may cause processor obtaining vehicle
There are interim card or hysteresis when ambient video data so that processor obtains within one section of short time less than vehicle environmental video
Data.Two kinds of situation processing should be divided at this time.First, processor according to first time parameter acquiring vehicle environmental video data,
When processor is not empty according to the vehicle environmental video data of first time parameter acquiring, it is smooth to represent remote channel control
It is logical, then show current accessed vehicle environmental video data.When processor is according to the vehicle ring of first time parameter acquiring
When border video data is empty, represent that remote channel control is not smooth, the transmission of vehicle environmental video data there are hysteresis,
Then processor continues to show the picture of a vehicle environmental video data.Second, when processor is obtained according to the second time parameter
When the vehicle environmental video data taken is still empty, represent that remote channel control is not smooth, the transmission of vehicle environmental video data
There are Caton phenomenon, then the processor at operation and control end passes through server and the processing unit into vehicle end sends brake finger
It enables, braking instruction is sent to control unit for vehicle again, is worked according to braking instruction to control unit for vehicle by processing unit.The
Time representated by two time parameters is more than the time representated by first time parameter.If this process is it is to be understood that processing
Device does not get vehicle environmental video data within one section of short period, then illustrates that remote channel control is not smooth, then handle
Device can give tacit consent to the upper ambient video picture of display.If processor regards within one section of longer time still without getting vehicle environmental
Frequency evidence, then the urgent parking of vehicle is to ensure traffic safety.
Step 140, the processing unit sending mode switching command into vehicle end so that processing unit is according to pattern switching
Instruction works；
Specifically, pattern switching instruction is appreciated that vehicle is switched to drive simulating pattern from automatic driving mode in order to control
Instruction.Processing unit sending mode switching command of the user by operation console or remote control into vehicle end so that vehicle
It is instructed according to pattern switching and terminates automatic driving mode, start drive simulating pattern, wait for corresponding manipulation data.
In some preferred embodiments, this step can also be to be executed before step 110.That is, pattern
Switching command can be sent to vehicle before obtaining vehicle status data, can also be obtain vehicle status data it
It sends afterwards.When pattern switching instruction is to be sent to vehicle end before obtaining vehicle status data, the processing of vehicle end
Unit is instructed according to pattern switching, and vehicle status data and vehicle I D information are sent to server.Such case is appreciated that
For user, without centainly seeing current vehicle condition situation, obtains vehicle-state situation before being switched to drive simulating pattern
Process can be happened at receive pattern switching instruction after.But as long as user is switched to drive simulating pattern, Yong Hubi
Corresponding operating must be made according to current vehicle condition data, then vehicle processing unit is bound to the vehicle-state number in multiple orientation
It is sent to server according to vehicle I D information.And when pattern switching instruction is to be sent to vehicle after obtaining vehicle status data
When, such case it is to be understood that user need determined the need for being switched to simulation according to current vehicle condition data
Driving mode, therefore the process for obtaining vehicle status data is happened at before receiving pattern switching instruction.
Step 150, operation bench receives the manipulation data that user inputs according to the first vehicle status data, and will manipulate data
It is sent to processor；
Specifically, user is by observing the current transport condition of vehicle shown by display, using operation console to operation
Control terminal input manipulation data.Manipulation data are sent to the processing at operation and control end by operation console after receiving manipulation data
In device.Manipulation data include but not limited to the shelves that steering wheel manipulates the steering wheel angle data generated, gear operational module generates
The accelerator control data and brake operational module that position manipulation data, accelerator control module generate generate brake manipulation data.
In some preferred embodiments, steering wheel operational module, gear operational module, accelerator control module in operation console
It is user-friendly with can also being integrated in a handle or keyboard for brake operational module.
Step 160, processor parses manipulation data, obtains vehicle control data, and vehicle control data is sent out
It send to server；
Specifically, analog machine manipulation model is stored in processor, it can be to manipulation using analog machine manipulation model
The control data that platform is generated are parsed, and the vehicle control data that can be identified by vehicle end is obtained.Vehicle control data includes
Control device information and control parameter.Control device information can be understood as currently manipulating the equipment in corresponding vehicle end,
Control parameter can be understood as currently manipulating the control parameter to the equipment in vehicle end.
Step 170, control device information and control parameter are sent to vehicle end by server, to vehicle end according to control
Facility information and control parameter work；
Specifically, the processing unit of vehicle end obtains control parameter according to first time parameter from server, work as processing
Unit according to the control device information and control parameter of first time parameter acquiring work be not empty when, represent remote control
Channel is unimpeded, then processing unit carries out integration analysis to control device information and control parameter work, determines that vehicle should be how
It is travelled according to the remote operation instruction of user, generates corresponding parameter and be sent to control unit for vehicle so that control unit for vehicle
According to remote operation instruction traveling the control vehicle traveling direction and gait of march etc. of user.When processing unit is according at the first time
When parameter acquiring control device information and control parameter are empty, represent that remote channel control is not smooth, and data transmission lag is used
The related data at family does not transmit, then processing unit works according to a upper control device information and control parameter, generates
A upper control device information and the corresponding parameter of control parameter are sent to control unit for vehicle so that control unit for vehicle according to
A upper remote operation instruction traveling control vehicle traveling direction and gait of march etc. of user.And when processing unit is according to second
When the control device information and control parameter that time parameter obtains are still empty, represent that remote channel control is not smooth, and data pass
Defeated serious lag, then control unit for vehicle of the processing unit into vehicle send braking instruction, to control unit for vehicle according to
Braking instruction works.Time representated by second time parameter is more than the time representated by first time parameter.This process can
To be interpreted as, if processing unit is not received by control device information and control parameter within one section of short period, illustrate
Remote channel control is not smooth, then vehicle, which can be given tacit consent to, executes control device information and control parameter one by one so that vehicle is still
Keep current state traveling.If processing unit is within one section of longer time still without receiving control device information and control is joined
Number, then the urgent parking of vehicle is to ensure traffic safety.
In some preferred embodiments, when user carries out remote control using operation and control end to vehicle, have
Special circumstances need to pay attention to.It, can when vehicle environmental picture still shown in the display of display operation control terminal is motionless
It can be there are two types of situation.First, may be since user be by operation console operation vehicle parking, second is that may be due to remote channel control
It is not smooth that processor is caused to obtain less than ambient video data.That is, after user operates vehicle parking by operation console,
Even if the vehicle environmental picture still shown by display may not represent parking success if motionless.If only passing through display
Situation determines whether parking succeeds before and after shown vehicle environmental picture, can there is some judgements in some extreme examples
The case where error.Therefore in the present embodiment, using the comparison vehicle collected laser point data of institute and control device information and
The mode of control parameter, determines whether parking succeeds.
Further specifically, the laser radar module in perception unit carries out laser point to the object in vehicle-periphery
Acquisition so that perception unit can get the environment laser point data of vehicle.If vehicle is static, environment laser
Point data should be also that slabbing is stationary.If vehicle is mobile, environment laser point data should be into more
The movement of item threadiness.It is still into after environment laser point data is in the parking time a plurality of linear and is mobile, but control device
Information and control parameter are but to represent and represent environment laser point data and control device within the parking time when parking
Information and control parameter do not correspond to, in this case, even if user shows that the vehicle environmental shown by the page is drawn by observation
Face is stationary, and vehicle is also without real parking.Then processing unit generates braking instruction and is sent to control unit for vehicle,
Make vehicle parking.Also, processing unit generates warning message and is sent to the display page, can be by showing the page to user
Display alarm information learn there may be remote channel control it is not smooth cause show the page obtain less than ambient video data, make
It obtains picture to show not in time, and the parking operation of user needs to carry out related there is no making vehicle also not have the case where parking
It checks.
In some more preferably embodiment, simulation is switched to from automatic driving mode according to pattern switching instruction in vehicle and is driven
When sailing pattern, vehicle first can slow down or stop, and then wait for the control device information and control parameter of corresponding drive simulating again, this
Sample can to avoid caused by speed is excessively high moral conduct information to the control effect of vehicle pair not in time so that switch between pattern
Process is safer, steady.
Further specifically, processing unit instructs the control unit for vehicle into vehicle to send brake finger according to pattern switching
It enables.It brakes this order and is appreciated that brake instruction in order to control.Control unit for vehicle first works according to braking instruction, that is, first basis
Braking instruction slows down or parking.Then, processing unit receiving control apparatus information and control parameter again, and by control device information
It is sent to control unit for vehicle with control parameter so that after control unit for vehicle works according to braking instruction, set further according to control
Standby information and control parameter work.
Step 180, vehicle end sends feedback data and the second vehicle according to control device information and parameter processed to server
Status data shows the second vehicle status data to display；
Specifically, feedback data can be understood as data of the vehicle end to whether all responses of operating result.Work as server
It when the feedback data received is empty, represents vehicle end and the operating result of operation console is not responded to, rung at this point, server generates
It answers failure information to be sent to operation and control end, unsuccessfully believes to response of the user according to the display in operation and control end
Breath carries out the processing of next step.When the feedback data that server receives not is empty, server sends out the second vehicle status data
It send to the display in operation and control end, shows the second vehicle status data to user to display so that user can be real
When vehicle end state when checking operation.Corresponding with the first vehicle status data, the second vehicle status data can be understood as
Vehicle status data of the vehicle after being remotely operated；Second vehicle status data includes representing vehicle after being remotely operated
Vehicle periphery driving environment data the second vehicle environmental video data, and represent vehicle after being remotely operated
Second car status information of the information of vehicle oneself state.This process can be understood as vehicle end and be operated to server feedback
As a result, and the process that is rendered to vehicle-state.The method that vehicle end feeds back the second vehicle status data to operation and control end
It can refer to above-mentioned steps 110-130.
The operating method of parallel driving provided in an embodiment of the present invention, by the operation for establishing operation and control end and vehicle end
Control and operational feedback process, can allow operation personnel that can in real time, accurately recognize that current automatic driving vehicle is being run
In various surrounding enviroment states, but also automatic driving vehicle is in some particular surroundings, in Function for Automatic Pilot failure etc.
When vehicle can not be allowed independently to be run, operation personnel can carry out back by long-range remote control function and Video service, lead to
It crosses network remote control vehicle is opened into back maintenace point and safeguard, rather than go vehicles drive returning maintenace point before needing professional,
To reduce increase and the time cost of human cost.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, user terminal to execute
Software module or the combination of the two implement.Software module can be placed in random access memory (RAM), memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neck
In any other form of storage medium well known in domain.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of operating method of parallel driving, which is characterized in that the method includes：
Operation bench in operation and control end receives the manipulation data that user inputs according to the first vehicle status data, and by the behaviour
Control data are sent to the processor in the operation and control end；
The processor manipulates model by analog machine and is parsed to the manipulation data, obtains vehicle control data, and
The vehicle control data is sent to the server；The vehicle control data includes that control device information and control are joined
Number；
The control device information and the control parameter are sent to the vehicle end by the server, to the vehicle end
It is worked according to the control device information and the control parameter；
The vehicle end sends feedback data and the according to the control device information and the control parameter to the server
Two vehicle status datas；
When the feedback data is not empty, second vehicle status data is sent to the operation and control by the server
Display in end shows second vehicle status data to the display.
2. the operating method of parallel driving according to claim 1, which is characterized in that the behaviour in the operation and control end
Before control platform receives the manipulation data that user inputs according to the first vehicle status data, the method further includes：
The server receives the first vehicle status data that the vehicle end is sent；
Processor in the operation and control end obtains the first vehicle status data that the server is sent according to acquisition instruction；
First vehicle status data is sent to the display in the operation and control end by the processor, to described aobvious
Show that device shows first vehicle status data to user.
3. the operating method of parallel driving according to claim 2, which is characterized in that the vehicle status data includes：
Vehicle environmental video data and car status information；The vehicle environmental video data includes multiple camera position information.
4. the operating method of parallel driving according to claim 3, which is characterized in that the processor is by first vehicle
Status data is sent to the display in the operation and control end, and first vehicle is shown to user to the display
Status data is specially：
The processor, according to vehicle environmental video data described in the camera position Information Compression, obtains multiple pressures by described
Vehicle environmental video data after contracting shows that the multiple compressed vehicle environmental regards to the display to the user
Frequency evidence.
5. the operating method of parallel driving according to claim 1, which is characterized in that the operation bench includes：Steering wheel
Operational module, gear operational module, accelerator control module and brake operational module.
6. the operating method of parallel driving according to claim 5, which is characterized in that the manipulation data include：It is described
The gear of steering wheel angle data, gear operational module generation that steering wheel manipulation generates manipulates data, throttle behaviour
Control the accelerator control data and brake operational module generation brake manipulation data that module generates.
7. the operating method of parallel driving according to claim 1, which is characterized in that set by simulation in the processor
Before standby manipulation model parses the manipulation data, the method further includes：
The processor manipulates data according to described in the first time parameter acquiring；
When the processor is empty according to the manipulation data of the first time parameter acquiring, the processor is by upper one
A vehicle control data is sent to the server；
A upper vehicle control data is sent to the vehicle end by the server, to the vehicle end according to
Upper vehicle control data work；
When the processor is empty according to the manipulation data that second time parameter obtains, the processor will be braked
Instruction is sent to the server；
The braking instruction is sent to the vehicle end by the server, to the vehicle end according to the braking instruction work
Make.
8. the operating method of parallel driving according to claim 1, which is characterized in that the processing in the operation and control end
Device receives the vehicle status data that server is sent according to acquisition instruction：
Processor in the operation and control end receives the vehicle that server is sent according to acquisition instruction by first network agreement
Status data.
9. parallel driving control method according to claim 1, which is characterized in that in the vehicle end according to the control
After facility information and control parameter work, the method further includes：
The vehicle end obtains the environment laser point data of the vehicle；
When the environment laser point data and the control device information and control parameter work not to it is corresponding when generation described in
Braking instruction so that the vehicle end works according to the braking instruction；And warning message is generated, it is sent to the operation and control
End.
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| CN110708504A (en) * | 2019-09-06 | 2020-01-17 | 北京智行者科技有限公司 | Data processing method and system based on parallel driving |
| CN111497835A (en) * | 2020-04-24 | 2020-08-07 | 北京智行者科技有限公司 | Vehicle parallel driving and automatic anti-collision system |
| CN112147990A (en) * | 2020-09-21 | 2020-12-29 | 新石器慧义知行智驰(北京)科技有限公司 | Vehicle remote monitoring method and device, electronic equipment and readable storage medium |
| CN112351102A (en) * | 2020-11-10 | 2021-02-09 | 上海汽车集团股份有限公司 | Remote driving method and system |
| CN112399380A (en) * | 2020-10-28 | 2021-02-23 | 星火科技技术(深圳)有限责任公司 | Communication method, device, equipment and storage medium based on Internet of vehicles |
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