CN108694844A - Automatic driving vehicle control method, device and storage medium - Google Patents
Automatic driving vehicle control method, device and storage medium Download PDFInfo
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- CN108694844A CN108694844A CN201810449835.3A CN201810449835A CN108694844A CN 108694844 A CN108694844 A CN 108694844A CN 201810449835 A CN201810449835 A CN 201810449835A CN 108694844 A CN108694844 A CN 108694844A
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- automatic driving
- driving vehicle
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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
-
- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of automatic driving vehicle control method of the application offer, device and storage medium, wherein the corresponding server in current area where this method is applied to automatic driving vehicle, this method include:Server obtains the car status information of automatic driving vehicle, according to the car status information, determine the control instruction for controlling automatic driving vehicle traveling, and the car-mounted terminal on automatic driving vehicle sends the control instruction, is travelled so that car-mounted terminal controls automatic driving vehicle according to the control instruction.In the technical solution, the automatic driving vehicle of the corresponding server controls current area in current area where server by utilizing automatic driving vehicle can effectively share calculating and the control pressure of central server, data stacking is avoided, can ensure the efficient operation in low time delay, highly reliable environment of automatic driving vehicle just under steam.
Description
Technical field
This application involves automatic Pilot technical field more particularly to a kind of automatic driving vehicle control method, device and deposit
Storage media.
Background technology
Automatic driving vehicle is also known as automatic driving vehicle, is that one kind realizing unpiloted intelligent vehicle by computer system
, artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating are relied on, the computer system of vehicle is made
System can operate vehicle to automatic safe in the case of unattended.Currently, with the hair of network technology and car networking technology
Exhibition, the mode that behavior is travelled based on cellular network centralized dispatching management and control automatic driving vehicle have become possibility.
Under traditional car networking scheduling method, the scheduling mode of automatic driving vehicle is mainly centralized scheduling management and control,
Car-mounted terminal i.e. on automatic driving vehicle is communicated by the network equipment belonging to cell where it with central server, by center
The traveling of server controls automatic driving vehicle.Specifically, the network equipment believes the interaction of car-mounted terminal as wireless access point
Breath is transmitted to central server and is handled, then the command information that central server generates is returned to car-mounted terminal and goes to execute,
This scheduling mode can ensure stable scheduling and safety.
However, the scale with automatic driving vehicle becomes larger, central server executes scheduler task under high parallel scene
The vehicle data of processing also gradually increases, thus task treatment effeciency of the central server under high parallel scene is lower, this makes
It obtains central server to increase the response delay of car-mounted terminal, affects the normal consistency of vehicle, increase road safety hidden danger.
Invention content
A kind of automatic driving vehicle control method of the application offer, device and storage medium, to solve existing center service
Device it is corresponding when extend, automatic driving vehicle can not be by normal consistency, the big problem of road safety hidden danger.
In a first aspect, a kind of automatic driving vehicle control method provided by the present application, the method is applied to automatic Pilot
The corresponding server in current area where vehicle, the method includes:
The server obtains the car status information of the automatic driving vehicle;
The server determines the control for controlling the automatic driving vehicle traveling according to the car status information
Instruction;
Car-mounted terminal of the server on the automatic driving vehicle sends the control instruction, so that described vehicle-mounted
Terminal controls the automatic driving vehicle according to the control instruction and travels.
In the present embodiment, the corresponding server controls in current area where server by utilizing automatic driving vehicle are currently small
The automatic driving vehicle in area can effectively share calculating and the control pressure of central server, avoid data stacking, can
Ensure the efficient operation in low time delay, highly reliable environment of automatic driving vehicle just under steam.
In the embodiment of the application, the method further includes:
The server is determining the automatic driving vehicle from described current small by the car status information
When area is moved to the Target cell of planning path, the automatic driving vehicle is sent to the corresponding server of the Target cell
Operation data.
In above-described embodiment of the application, the method further includes:
The server is determining that the automatic driving vehicle leaves the current area by the car status information
When, update status data of the automatic driving vehicle in the current area.
In above-described embodiment of the application, the method further includes:
When the duration that the server leaves the current area in the automatic driving vehicle exceeds preset duration, delete
Status data of the automatic driving vehicle in the current area.
In another embodiment of the application, the method further includes:
The server is determining that the automatic driving vehicle leaves the current area by the car status information
When, delete the automatic driving vehicle the current area status data.
In the another embodiment of the application, the method further includes:
The server obtains the real-time road condition information of the automatic driving vehicle driving path, the real-time road condition information
Including:Traffic congestion information, path restricted information;
The server determines the control for controlling the automatic driving vehicle traveling according to the car status information
Instruction, including:
The server determines the control instruction according to the real-time road condition information and the car status information.
In above-described embodiment of the application, the server obtains the real-time road of the automatic driving vehicle driving path
Condition information, including:
The server monitors the traveling road of the automatic driving vehicle by the network equipment belonging to the current area
Diameter obtains the real-time road condition information;
Or
The server obtains the reality by the Road Detection equipment being arranged on the automatic driving vehicle driving path
When traffic information.
Second aspect, the application also provide a kind of automatic driving vehicle control device, and described device, which is located at, to be applied to automatically
In the corresponding server in current area where driving vehicle, described device includes:
Acquisition module, the car status information for obtaining the automatic driving vehicle;
Determining module, for according to the car status information, determining for controlling the automatic driving vehicle traveling
Control instruction;
Transceiver module sends the control instruction, so that described for the car-mounted terminal on the automatic driving vehicle
Car-mounted terminal controls the automatic driving vehicle according to the control instruction and travels.
In the embodiment of the application, the transceiver module is additionally operable to pass through the vehicle shape in the determining module
When state information determines that the automatic driving vehicle is being moved to the Target cell of planning path from the current area, to described
The corresponding server of Target cell sends the operation data of the automatic driving vehicle.
In above-described embodiment of the application, the transceiver module is additionally operable to pass through the vehicle in the determining module
When status information determines that the automatic driving vehicle leaves the current area, the automatic driving vehicle is updated described current
Status data in cell.
In above-described embodiment of the application, the transceiver module is additionally operable to the automatic Pilot described in the determining module
When the duration that vehicle leaves the current area exceeds preset duration, the automatic driving vehicle is deleted in the current area
Status data.
In another embodiment of the application, the transceiver module is additionally operable to pass through the vehicle in the determining module
When status information determines that the automatic driving vehicle leaves the current area, the automatic driving vehicle is deleted described current
The status data of cell.
In the another embodiment of the application, the acquisition module is additionally operable to obtain automatic driving vehicle traveling road
The real-time road condition information of diameter, the real-time road condition information include:Traffic congestion information, path restricted information;
The determining module, for according to the car status information, determining for controlling the automatic driving vehicle row
The control instruction sailed, specially:
The determining module, for according to the real-time road condition information and the car status information, determining the control
Instruction.
In above-described embodiment of the application, the acquisition module is additionally operable to obtain automatic driving vehicle traveling road
The real-time road condition information of diameter, specially:
The acquisition module, for monitoring the automatic driving vehicle by the network equipment belonging to the current area
Driving path obtains the real-time road condition information;
Or
The acquisition module is obtained for the Road Detection equipment by being arranged on the automatic driving vehicle driving path
Take the real-time road condition information.
The third aspect, the application also provide a kind of storage medium, are stored thereon with computer program, and described program is handled
The method as described in above-mentioned first aspect and each embodiment of first aspect is realized when device executes.
Automatic driving vehicle control method, device and storage medium provided by the embodiments of the present application are applied to automatic Pilot
The corresponding server in current area where vehicle, the car status information of automatic driving vehicle is obtained by the server, according to
The car status information determines the control instruction for controlling automatic driving vehicle traveling, on above-mentioned automatic driving vehicle
Car-mounted terminal sends control instruction, is travelled so that car-mounted terminal controls the automatic driving vehicle according to control instruction, that is, utilizes certainly
During the dynamic automatic driving vehicle for driving the corresponding server controls current area in vehicle place current area can effectively have been shared
The calculating of central server and control pressure, avoid data stacking, ensure that automatic driving vehicle just under steam when low
Prolong, efficient operation in highly reliable environment.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of automatic driving vehicle control system provided by the embodiments of the present application;
Fig. 2 is the flow diagram of automatic driving vehicle control method embodiment one provided by the present application;
Fig. 3 is the flow diagram of automatic driving vehicle control method embodiment two provided by the present application;
Fig. 4 is the flow diagram of automatic driving vehicle control method embodiment three provided by the present application;
Fig. 5 is the flow diagram of automatic driving vehicle control method example IV provided by the present application;
Fig. 6 is the structural schematic diagram of automatic driving vehicle control device embodiment provided by the present application.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
With the propulsion of 5G standards and the development of car networking technology, automatic driving vehicle scale becomes increasing, existing
The central server vehicle data to be processed of centralized scheduling management and control is more and more, and the processing capacity of central server can not
Meet increasingly increased process demand, so that more vehicle data can be accumulated at central server, and then centering is genuinely convinced
The backstage scheduler task concurrency demand of business device gradually increases.And the increasing of the backstage scheduler task concurrency demand of central server
Conference makes the input of the hardware devices such as processor, memory increase.Appoint in addition, central server executes scheduling under high parallel scene
The efficiency of business processing is lower so that central server increases the corresponding time delay of vehicle, influences the normal tune of automatic driving vehicle
Degree, to increase road safety hidden danger.
Specifically, existing centralized scheduling control mode mainly has a disadvantage that:1, it is connecting in real time with magnanimity
In car networking scene, a large amount of vehicle data pours into central server, and the vehicle data at central server is caused to accumulate, and increases
Storage and maintenance cost;2, when the vehicle data of central server is excessive so that central server executes the concurrency of task
Increase, task treatment effeciency reduces, and thereby reduces the efficiency of vehicle scheduling, increases the response delay of vehicle message, increases
Security risk;3, the interactive information (vehicle data or instruction) of each automatic driving vehicle will pass through cell where it
The central server that the network equipment is transmitted to distal end is handled, and the transmission hop count of interactive information is more, and time delay is big, is not suitable for intelligence and is handed over
The scheduling of automatic driving vehicle under logical imagination;4, since central server is big to the response delay of car-mounted terminal, thus it is traditional
Centralized scheduling control mode can not adapt to road scene characteristic complicated and changeable and ensure automatic driving vehicle traveling most
In excellent driving path.
For the above problem in existing centralized scheduling management and control, how the pending vehicle data of central server
Dispersion is gone out, and it is that car networking and automatic driving vehicle control aspect need what is solved to ask to complete to compartmentalization vehicle scheduling task
Topic is also how to reduce the response delay of automatic driving vehicle, ensures the normal consistency and road safety of automatic driving vehicle
Basis.
The embodiment of the present application provides a kind of automatic driving vehicle control method, device and storage medium, by driving automatically
The corresponding server controls automatic driving vehicle traveling in current area where sailing vehicle, when reducing the response of automatic driving vehicle
Prolong, ensure that the normal consistency of automatic driving vehicle, improve road safety.
The automatic driving vehicle control method that the following each embodiments of the application provide, can be applied to automatic driving vehicle control
In system.Fig. 1 is a kind of structural schematic diagram of automatic driving vehicle control system provided by the embodiments of the present application.As shown in Figure 1,
The automatic driving vehicle control system may include that automatic driving vehicle 11, the network equipment 12 and automatic driving vehicle place are current
The corresponding server of cell 13.
Wherein, automatic driving vehicle 11 is the control object of the automatic driving vehicle control system, is equipped with thereon vehicle-mounted
Terminal 110, the car-mounted terminal 110 can be used for being communicated with server 13 by the network equipment 12, you can automatic to send
It drives the car status information of vehicle 11 or receives the control instruction for controlling the traveling of automatic driving vehicle 11.
The network equipment 12 is the interface of car-mounted terminal and 13 receiving and transmitting signal of server, i.e. car-mounted terminal 110 and server 13
Information exchange can be carried out by the network equipment 12.
Control centre and processing center of the server 13 as 11 control system of automatic driving vehicle, on the one hand according to acquisition
The real-time road condition information of the car status information and driving path that arrive generates control instruction, on the other hand according to the vehicle got
Status information handles the vehicle operation data of 13 storage inside of server.
Optionally, according to the function of server 13, which may include database 131, scheduling unit 132, number
According to parts such as migration units 133, data processing units 134.
Specifically, database 131 can be distributed data base, supports quick and frequent read-write operation, be mainly used for
The operation data and information of vehicles of storage traveling automatic driving vehicle 11 of cell where it.
Scheduling unit 132 can be as the interface of data information input and output on server 13.It is logical for car-mounted terminal
The message (car status information, solicited message etc.) for crossing the transmission of the network equipment 12, makees simple analysis to the message, judges pending
Message is transmitted to Data Management Unit 134 according to pending type or data migration unit 133 is further processed by type;
And for the instruction that data migration unit 133 and Data Management Unit 134 transmit, be transmitted to server 13 scheduling unit 132 or
The network equipment 12 of person current area, completes the scheduling of server-side.
Data migration unit 133:After automatic driving vehicle 11 is in some cell registration, server 13 can be by described
The network equipment 12 belonging to cell monitors the driving path of the automatic driving vehicle 11.When the automatic driving vehicle 11 will leave
Current area, when going to the Target cell of planning path, which can be the operation of the automatic driving vehicle 11
Data take out the scheduling unit 132 for being transmitted to the server 13 from database 131, then are transmitted to Target cell pair by scheduling unit 132
The scheduling unit of server is answered, and then is transmitted to the Data Management Unit of Target cell corresponding server, it is small to be finally stored in target
In the database of area's corresponding server.Correspondingly, the automatic driving vehicle in the database of update current area corresponding server
State parameter.
It is worth noting that data migration unit 133 can immediate operand according to library 131, mainly according to car status information
It handles the status data of automatic driving vehicle 11 and shares and periodically delete database in different community corresponding server 13
Stale data in 131.
Data Management Unit 134:Automatic driving vehicle 11 travels in current area, travels behavior or vehicle-state letter
Breath can be arrived by the real time monitoring of the network equipment 12 by server 13 or automatic driving vehicle 11 by the network equipment 12 by vehicle
Status information is sent to the server 13.Optionally, under intelligent vehicle networking scenario, 11 driving path side of automatic driving vehicle
Road monitoring equipment also can to server 13 send real-time road condition information (for example, traffic congestion situation, road restricted information etc.
Data), thus, Data Management Unit 134 can control the traveling of automatic driving vehicle 11 according to real-time road condition information.Optionally,
Data Management Unit 134 in server 13 manages automatic Pilot according to the car status information and real-time road condition information got
The operation data of vehicle 11 can also include that automatic driving vehicle 11 enters the newly-increased information of vehicles registered when transportation network.
Optionally, it is main to handle on automatic driving vehicle 11 when 134 immediate operand of Data Management Unit is according to library 131
The request message that car-mounted terminal 110 is transmitted by the network equipment 12 (may include automatic driving vehicle 11 in the request message
Car status information and vehicle identification information), corresponding position can be made to the request message by the processing unit built in it
Reason, feeds back to scheduling unit 132, and then fed back to again on automatic driving vehicle 11 by the network equipment 12 by scheduling unit 132
Car-mounted terminal 110.
Specifically, Data Management Unit 134 obtains 132 pretreated request message of scheduling unit from scheduling unit 132,
Vehicle identification information is parsed first, is compared in database 131 using it.It is driven automatically when being matched to this in database 131
When sailing the information of vehicle 11, the request message is handled, for example, when need to plan driving path again because of road conditions problem, then passes through weight
New analysis real-time road condition information determines new driving path (including other in the driving path and planning path of current area
The driving path of Target cell), the run routing information of the automatic driving vehicle 11 in library 131 is updated the data, and update is believed
Breath returns to scheduling unit 132, is sent to car-mounted terminal 110.Optionally, it is driven automatically when not being matched to this in database 131
When sailing the information of vehicle 11, registration request can be determined whether according to the request message, if so, the weight in database 131
New registration obtains starting point and destination in the request message, and the information such as real-time road is combined to determine optimum programming road
These information are stored in database 131, and return to feedback information to scheduling unit 132 is passed by diameter.If being sentenced according to the request message
Break itself and non-REGISTER request, then first registers it in database 131, which is stored in database 131, then locates
Manage the request message.
Optionally, in order to improve the value of mobile network's bandwidth, edge calculations framework (mobile edge are moved
Computing, MEC) it comes into being, service and high in the clouds calculating can be provided nearby using Radio Access Network by being primarily due to MEC
Function, creates a service environment for having high-performance, low latency and high bandwidth, accelerate every content in network, service and
That applies is quick-downloading, and secondly the generation of MEC, which indicates, to affix one's name to MEC servers in network equipment side, and then is taken using MEC
Business device carries out data processing, therefore, it is possible to the automatic driving vehicle using MEC server process traveling in current area.So
In the embodiment of the present application, the corresponding server in current area where automatic driving vehicle can be MEC servers.
In the following, the technical solution of the application is described in detail by specific embodiment.It should be noted that below this
Several specific embodiments can be combined with each other, may in certain embodiments no longer for same or analogous concept or process
It repeats.
Fig. 2 is the flow diagram of automatic driving vehicle control method embodiment one provided by the present application.The application is implemented
The corresponding server in current area where the automatic driving vehicle control method that example provides is applied to automatic driving vehicle.Such as Fig. 2
Shown, which may include steps of:
Step 21:Server obtains the car status information of automatic driving vehicle.
Optionally, in the embodiment of the application, the car-mounted terminal on automatic driving vehicle can the real-time or period
Property car status information is sent to the corresponding server of cell where the automatic driving vehicle, thus, which can be with
The vehicle travelled in the automatic driving vehicle of affiliated current area is got by receiving the car status information that car-mounted terminal is sent
Status information.
Since car-mounted terminal can carry out information exchange, i.e. vehicle by the network equipment belonging to cell where it with server
The data interaction of mounted terminal and server can be used as the interface of signal transmitting and receiving by the network equipment, thus, server can connect
The mounted terminal that returns the vehicle to the garage and knock off obtains automatic driving vehicle by the car status information of the network equipment transmission belonging to cell where it
Car status information.
Optionally, in another embodiment of the application, server can pass through current area where automatic driving vehicle
The affiliated network equipment can monitor the automatic driving vehicle for travelling cell in this prior in real time, thus, which can also
The car status information of automatic driving vehicle is obtained by the network equipment.
Optionally, which may include the information such as vehicle location, speed, travel direction, driving path, this
Application embodiment does not limit the particular content of car status information, and in other scenes, car status information is also possible that
Other content, details are not described herein again.
Step 22:Server determines the control for controlling automatic driving vehicle traveling according to above-mentioned car status information
Instruction.
After server gets the car status information of automatic driving vehicle, car status information is divided first
Analysis, judges whether the automatic driving vehicle needs to change transport condition, changes the information such as driving path, is determined according to judging result
Go out the control instruction of (or generation) for controlling automatic driving vehicle traveling.
Step 23:Car-mounted terminal of the server on automatic driving vehicle sends above-mentioned control instruction, so that car-mounted terminal
Automatic driving vehicle traveling is controlled according to the control instruction.
In the embodiment of the present application, after server determines control instruction according to the car status information got, by it
The car-mounted terminal being sent on automatic driving vehicle, such car-mounted terminal can control the automatic Pilot according to the control instruction
Vehicle is travelled on defined driving path with determining transport condition.
The technical solution of the embodiment of the present application can make automatic driving vehicle traveling in the service of a high efficiency, low time delay
In environment, transmission network bandwidth consumption is effectively reduced, server can effectively share the load pressure of central server, to certainly
The dynamic user for driving vehicle provides high-quality and continuous network service.Meanwhile by that will have task processing capacity and data point
The server disposition of analysis ability can effectively realize compartmentalization vehicle scheduling, ensure the service of each cell in network equipment side
Device is only responsible for handling the scheduler task of vehicle in the cell, and can ensure that data will not continue to accumulate.Therefore, automatic Pilot vehicle
The server-side of current area has a set of so perfect data management system and Task Scheduling Mechanism where, is effectively ensured
Automatic driving vehicle in driving path travels in low time delay, highly reliable environment.
Optionally, the server in the embodiment of the present application is MEC servers.I.e. the embodiment of the present application is based on mobile edge meter
Framework MEC is calculated, the MEC servers of the network equipment side can realize that automatic driving vehicle travels number in complicated road scene
According to real-time update, be persistently stored, Sharing Management and periodically delete etc. functions, cooperation the network equipment complete highly effective and safe
The calculating pressure of central server has effectively been shared in vehicle scheduling, and the service of calculating is distributed to the proximal end of automatic driving vehicle,
That is the edge of server-side can effectively reduce the time delay of information receiving and transmitting, also can decentralized data storage with processing needed for service arrive
On Edge Server, efficiency decrease problem caused by avoiding data stacking, concurrency from increasing.
Automatic driving vehicle control method provided by the embodiments of the present application is applied to current area where automatic driving vehicle
Corresponding server, the server obtain the car status information of automatic driving vehicle, according to the car status information, determine and use
In the control instruction of control automatic driving vehicle traveling, the car-mounted terminal on above-mentioned automatic driving vehicle sends control instruction,
It is travelled so that car-mounted terminal controls the automatic driving vehicle according to control instruction.The technical solution is using where automatic driving vehicle
The automatic driving vehicle of the corresponding server controls current area in current area can effectively share the calculating of central server
And control pressure, data stacking is avoided, automatic driving vehicle just under steam can be ensured in low time delay, highly reliable ring
Efficient operation in border.
Optionally, on the basis of the above embodiments, Fig. 3 is implemented for automatic driving vehicle control method provided by the present application
The flow diagram of example two.As shown in figure 3, automatic driving vehicle control method provided by the embodiments of the present application, in above-mentioned steps
After 21 (server obtains the car status information of automatic driving vehicle), this method can also include the following steps:
Step 31:Whether server judges automatic driving vehicle from current area according to above-mentioned car status information
It is moved to the Target cell of planning path, if so, step 32 is executed, if it is not, returning to step 21.
In the embodiment of the present application, after server gets the car status information of automatic driving vehicle, to the vehicle
Status information is analyzed, and judges automatic Pilot vehicle according to the vehicle location of automatic driving vehicle, travel direction and driving path
It whether is being moved to the Target cell of planning path from current area, and is determining the next step of server according to judging result
Processing scheme.
Step 32:Server sends the operation data of the automatic driving vehicle to the corresponding server of Target cell.
Optionally, when server determines automatic driving vehicle from working as according to the above-mentioned car status information got
Preceding cell is moved to the Target cell of planning path, in order to make the corresponding server of Target cell accurately control automatic driving vehicle
The server of traveling, current area needs the operation data by the automatic driving vehicle of itself storage to be sent to Target cell correspondence
Server, refer to allow the server of Target cell to determine to control accordingly according to the car status information got
It enables, and then is sent to the car-mounted terminal on automatic driving vehicle, so that car-mounted terminal control automatic driving vehicle traveling.
Step 33:Server judges whether automatic driving vehicle leaves current area according to above-mentioned car status information, if
It is step 34 to be executed, if it is not, returning to step 21.
In the present embodiment, the above-mentioned car status information got of server analysis, however, it is determined that go out automatic driving vehicle
Destination not in current area, and automatic driving vehicle has been moved off the Target cell that current area enters planning path,
The operation data of the automatic driving vehicle stored in the database of current area corresponding server can be handled at this time, than
Such as, it updates or deletes.
Step 34:Status data of the server update automatic driving vehicle in current area.
With reference to above-mentioned automatic driving vehicle control system shown in FIG. 1, specifically, the scheduling unit of server is according to vehicle
The vehicles identifications of the state information acquisition automatic driving vehicle, being searched in the database of server according to the vehicles identifications should be certainly
The dynamic relevant information for driving vehicle.Optionally, the information of vehicles format design stored in database is as follows:
CAR_ID|CELL_ID|NEXT_CELL|START|DEST|PATH|STATE
Che Liangbiaoshi |Little Qu Hao |Front little Qu Hao |Qi Shiweizhi |Mu Di |Hang Shilujing |State parameter
Wherein, driving path be automatic driving vehicle inlet channel road direction network device registration when, Data Management Unit according to
Starting point, destination and road traffic condition optimize setting.The operation data of automatic driving vehicle is by each of road
The data acquisition system that a crossing is formed as node.State parameter can be divided into 4 kinds and illustrate, and optionally, state parameter 1 indicates
In automatic driving vehicle in current area and normally travel, state parameter 2 indicate automatic driving vehicle not in current area and
Normally travel, state parameter 3 indicate that automatic driving vehicle parking waiting, state parameter 4 indicate that automatic driving vehicle reaches purpose
Ground.
In one possible implementation, after server gets car status information and analyzes, it is automatic to inquire this
The NEXT_CELL fields for driving the information of vehicles of vehicle, if the field no data (for sky), illustrates the mesh of the automatic driving vehicle
Ground in current area and will arrive at, update state parameter be 4;If the field is not sky, by the fortune of automatic driving vehicle
Row data replicate portion and are transmitted to scheduling unit, while the state parameter of the automatic driving vehicle in database is updated to 2.
In alternatively possible realization method, server is determining that automatic driving vehicle leaves by car status information
When current area, delete the automatic driving vehicle current area status data.
Specifically, in order to reduce the burden of server, resource consumption is reduced, when automatic driving vehicle leaves current area
When, status data that can be directly by automatic driving vehicle in current area is deleted, and is driven automatically to store other in the database
The relevant information for sailing vehicle provides enough spaces, you can with the data deletion for being directly 2 by state parameter.
Step 35:When the duration that server leaves current area in automatic driving vehicle exceeds preset duration, deleting should be certainly
Status data of the dynamic driving vehicle in current area.
Optionally, in the embodiment of the present application, the holding time that operation data can be set, when determining automatic driving vehicle
When leaving current area, and when automatic driving vehicle leaves the duration of current area and exceeds preset duration, then by it current small
The status data in area is deleted.That is the holding time of status data is determined by state parameter, is different conditions parameter setting meter in advance
When device, can ensure so periodically delete stale data full-automation, without expending excessive computing resource.
For example, the status data for being 2 for above-mentioned state parameter, can be changed to state parameter 4 after certain time t1,
The status data for being 4 for state parameter unified after certain time t2 can be deleted.Optionally, the state of status data becomes
Change and the deletion of stale data can rely on timer, is automatically finished.
Automatic driving vehicle control method provided by the embodiments of the present application, server determine certainly by car status information
When dynamic driving vehicle is being moved to the Target cell of planning path from current area, sent to the corresponding server of Target cell
The operation data of automatic driving vehicle, when determining that automatic driving vehicle leaves current area by car status information, update
Status data of the automatic driving vehicle in current area, and the duration of current area is left beyond default in automatic driving vehicle
When duration, automatic driving vehicle is deleted in the status data of current area, the status data of such automatic driving vehicle and operation
Data can be only temporarily stored in database of the traveling Jing Guo cell corresponding server, migrated, ensured using the multi step format of data
The problem of automatic driving vehicle can receive good dispatch service, is not in data congestion always, in addition, server can be with
Stale data is periodically deleted, the computing resource of consuming is low.
Optionally, based on any of the above embodiments, Fig. 4 is automatic driving vehicle control method provided by the present application
The flow diagram of embodiment three.It, can be with as shown in figure 4, automatic driving vehicle control method provided by the embodiments of the present application
Include the following steps:
Step 41:Server obtains the real-time road condition information of automatic Pilot vehicle running path.
Wherein, which includes:Traffic congestion information, path restricted information.
Optionally, which can both be located at before step 21, can also be located at after step 21, i.e., server both can be with
The real-time road condition information of automatic Pilot vehicle running path is first obtained, then obtains the car status information of automatic driving vehicle,
The car status information of automatic driving vehicle can be first obtained, then obtain the real-time road letter of automatic Pilot vehicle running path
Breath.In the embodiment of the present application, the acquisition sequence for not limiting real-time road condition information and car status information, can be according to reality
Border situation determines that details are not described herein again.
The traffic information of automatic driving vehicle driving path may be different in different moments, for example, driving path
Traffic congestion information, path restricted information etc..Server can obtain the real-time road condition information of automatic Pilot vehicle running path,
And best driving path is determined according to the real-time road condition information.
Optionally, in the embodiment of the present application, server obtains the real-time road condition information of automatic Pilot vehicle running path
Mode can there are many, for example, the network equipment or automatic Pilot where utilizing automatic driving vehicle belonging to current area
Road Detection equipment being arranged on vehicle running path etc..
Specifically, in one possible implementation, server can pass through current area where automatic driving vehicle
The driving path that the affiliated network equipment monitors the automatic driving vehicle gets real-time road condition information.When automatic driving vehicle row
The current area sailed is located in the coverage area of its belonging network equipment, therefore, it is possible to be driven automatically using network equipment monitoring
The driving path of vehicle is sailed, and then gets the real-time road condition information of the driving path.
In one possible implementation, server can be by the road that is arranged on automatic driving vehicle driving path
Detection device obtains real-time road condition information.Optionally, Road Detection equipment can be set on each road, driven in this way when automatically
Vehicle traveling is sailed when on road, the Road Detection that can be arranged by the automatic driving vehicle driving path or both sides
Equipment gets the real-time road condition information of the driving path.
It is worth noting that the application does not limit the mode of above-mentioned acquisition real-time road condition information, it can only pass through network
Equipment or Road Detection equipment obtain, and can also be obtained by the combination of the two, actual acquisition modes can be according to practical feelings
Condition determines that details are not described herein again.
Optionally, when server gets car status information and real-time road condition information, (the server root of above-mentioned steps 22
According to above-mentioned car status information, the control instruction for controlling automatic driving vehicle traveling is determined) it can be with as follows 42
It realizes:
Step 42:Server determines automatic for controlling according to above-mentioned real-time road condition information and above-mentioned car status information
Drive the control instruction of vehicle traveling.
Optionally, in the embodiment of the present application, when server receives that automatic driving vehicle is sent or is set by network
The car status information that standby and/or Road Detection monitoring of tools arrives, and arrived by the network equipment and/or Road Detection monitoring of tools
Real-time road condition information after, server can determine that above-mentioned control refers to jointly according to car status information and real-time road
It enables, the control instruction determined in this way can more accurately control automatic driving vehicle, ensure that the row of automatic driving vehicle
Sail safety.
Automatic driving vehicle control method provided by the embodiments of the present application, vehicle of the server in addition to obtaining automatic driving vehicle
Except status information, the real-time road condition information of automatic Pilot vehicle running path can also be obtained, such server can
Control instruction is determined jointly according to car status information and real-time road condition information, can ensure automatic driving vehicle quilt in this way
Accurately scheduling, so as to ensure that automatic driving vehicle is travelled in road safety.
Optionally, on the basis of the various embodiments described above, Fig. 5 is that automatic driving vehicle control method provided by the present application is real
Apply the flow diagram of example four.The present embodiment is illustrated in conjunction with automatic driving vehicle control system shown in FIG. 1, specifically with
Scheduling unit in server is illustrated as executive agent.As shown in figure 5, in the present embodiment, this method may include
Following steps:
Step 501:Scheduling unit receives processing request.
In the present embodiment, scheduling unit is unable to immediate operand according to library, can only data be done with simple process, including extract
(extract), the operations such as (transform), load (load) are converted, are determined in addition, scheduling unit is also used as interface
Row scheduling, descending scheduling or parallel scheduling etc., you can using a buffering as server and car-mounted terminal, remain normal and adjust
Degree.
Step 502:Reason request according to this determines that corresponding scheduling mode is asked in the processing;It is uplink in scheduling mode
When scheduling, step 503 is executed;When scheduling mode is descending scheduling, step 506 is executed;When scheduling mode is parallel scheduling,
Execute step 509.
In the present embodiment, the scheduling mode for data flow being flowed to server from car-mounted terminal is known as uplink scheduling, will count
It is known as descending scheduling from server flows to the scheduling mode of car-mounted terminal according to stream, the scheduling mode that data are shared in minizone is claimed
For parallel scheduling.
Step 503:Receive the request message that car-mounted terminal is sent by the network equipment belonging to current area where it.
Step 504:The request message is converted into data information.
In the present embodiment, the certain field of request message can be made to represent business demand, but Data Management Unit and
Data migration unit does not have the ability of identification message, and scheduling unit has the function of identifying message, thus, scheduling unit is made
The interface that car-mounted terminal is received for server first disappears to the request after receiving the request message of car-mounted terminal transmission
Breath is handled, and is translated into Data Management Unit or data information that data migration unit can identify.
Step 505:According to the property of the data information, the processing main body of the data information is determined, and send to corresponding
It handles main body and carries out respective handling, which includes Data Management Unit, data migration unit.
Optionally, scheduling unit can judge the whereabouts of the data information according to the property of data information, for example, if
It is section conversion, stops the solicited message of the types such as navigation, scheduling unit can then sends out the data information and vehicle identification information
Data migration unit is given so that it is handled, if it is other kinds of solicited message, for example, the types such as routing update,
The data information and vehicle identification information can be then sent to Data Management Unit so that it is handled by scheduling unit.
Step 506:Receive the control information that Data Management Unit transmits.
Optionally, the data of descending scheduling are from server flows to car-mounted terminal, and actually Data Management Unit is to receiving
To request message processing after the control information that generates, this is because it is parallel that data migration unit treated information is corresponding
Scheduling.
Step 507:Above-mentioned control information and vehicle identification information are packaged into the identifiable control instruction of car-mounted terminal.
Step 508:The control instruction is sent into corresponding car-mounted terminal by the network equipment, so that car-mounted terminal control is certainly
The dynamic traveling for driving vehicle.
Step 509:The data information received from other servers is transmitted to data migration unit, and is stored in database
In, or data that migrating data unit is transmitted send the server of Target cell.
Optionally, parallel scheduling is that data are shared in minizone.Specifically, parallel scheduling monitors automatically in the network equipment
It is initiated when driving vehicle conversion cell, data migration unit passes through scheduling after receiving the car status information that the network equipment is sent
Vehicle operation data is shared to the server of Target cell, the actually database of Target cell server by unit, to
Realize the duration of server scheduling after automatic driving vehicle converts cell.
The main function of scheduling unit is that the data for transmitting the external world do simple parsing, i.e., by the tune of previous cell server
The vehicle operation data that degree unit transmits is updated, for example, the CELL_ID fields of previous cell are changed to current area
ID, further according to PATH routing informations check planning path front whether have cell, if any, then by front cell ID update exist
Otherwise NEXT_CELL is set to sky by NEXT_CELL fields, newer data are then transmitted to data migration unit, and then be stored in
Database.If the Target cell of data flow planning path, the NEXT_CELL that data migration unit sends data is parsed,
It is matched to the network equipment belonging to corresponding Target cell in cell dictionary, which is sent the data to by the network equipment
The server of cell.
Step 510:When the duration that scheduling unit completes information processing is more than preset duration, delete slow in the scheduling unit
Deposit data.
Specifically, after scheduling unit completes above-mentioned steps 501-509, deleted after a period of time for being spaced preset duration
Above-mentioned steps stay in the data cached of scheduling unit, to clear up memory space in time, avoid number caused by a large amount of hashes
According to congestion problems.
Automatic driving vehicle control method provided by the embodiments of the present application, using scheduling unit as entire automatic driving vehicle
The buffering area of control system can also complete the pretreatment of some data, reduce Data Migration list effectively by data distribution
Member, the calculated load of Data Management Unit.
Optionally, the number that the present embodiment can be based on mobile edge calculations framework MEC servers and high concurrent, fast reading and writing
It is realized according to library, the service of central server is disperseed away to the network belonging to current area where close automatic driving vehicle to set
Standby side, the i.e. edge of central server service level can effectively be directed to specific subtle scene and dispatch, ensure the peace of scheduling
Entirely with the calculating storage and data updating capability that efficiently, enhance network equipment side, the calculating of central server has effectively been shared
Load, and the data of automatic driving vehicle can be only temporarily stored in database of the traveling Jing Guo cell corresponding server, be adopted
It is migrated with the multi step format of data, while ensureing that vehicle can receive good dispatch service always, data will not congestion.This
Embodiment planning path by the way of node administration facilitates path to be changed at any time according to road conditions scheduling.
Following is the application device embodiment, can be used for executing the application embodiment of the method.It is real for the application device
Undisclosed details in example is applied, the application embodiment of the method is please referred to.
Fig. 6 is the structural schematic diagram of automatic driving vehicle control device embodiment provided by the present application.The embodiment of the present application
The automatic driving vehicle control device of offer is located in the corresponding server in current area where being applied to automatic driving vehicle,
As shown in fig. 6, the device may include:Acquisition module 61, determining module 62 and transceiver module 63.
Wherein, the acquisition module 61, the car status information for obtaining the automatic driving vehicle;
The determining module 62, for according to the car status information, determining for controlling the automatic driving vehicle row
The control instruction sailed;
The transceiver module 63 sends the control instruction for the car-mounted terminal on the automatic driving vehicle, so that
The car-mounted terminal controls the automatic driving vehicle according to the control instruction and travels.
Optionally, in a kind of possible realization method of the application, above-mentioned transceiver module 63 is additionally operable in the determining module
62 determine that the automatic driving vehicle is being moved to planning path from the current area by the car status information
When Target cell, the operation data of the automatic driving vehicle is sent to the corresponding server of the Target cell.
Optionally, in the above-mentioned possible realization method of the application, above-mentioned transceiver module 63 is additionally operable in the determining mould
When block 62 determines that the automatic driving vehicle leaves the current area by the car status information, update is described to drive automatically
Sail status data of the vehicle in the current area.
Optionally, in the above-mentioned possible realization method of the application, above-mentioned transceiver module 63 is additionally operable in the determining mould
When the duration that automatic driving vehicle described in block 62 leaves the current area exceeds preset duration, the automatic driving vehicle is deleted
Status data in the current area.
Optionally, in the alternatively possible realization method of the application, above-mentioned transceiver module 63 is additionally operable in the determination
When module 62 determines that the automatic driving vehicle leaves the current area by the car status information, delete described automatic
Status data of the driving vehicle in the current area.
Optionally, in another possible realization method of the application, it is described certainly to be additionally operable to acquisition for above-mentioned acquisition module 61
The dynamic real-time road condition information for driving vehicle running path, the real-time road condition information include:Traffic congestion information, path limitation letter
Breath;
Correspondingly, above-mentioned determining module 62, described driven automatically for according to the car status information, determining for controlling
The control instruction of vehicle traveling is sailed, specially:
The determining module 62, for according to the real-time road condition information and the car status information, determining the control
System instruction.
Optionally, in the above-mentioned possible realization method of the application, above-mentioned acquisition module 61 is additionally operable to obtain described automatic
The real-time road condition information of vehicle running path is driven, specially:
Above-mentioned acquisition module 61, for monitoring the automatic driving vehicle by the network equipment belonging to the current area
Driving path, obtain the real-time road condition information;
Or
Above-mentioned acquisition module 61, for the Road Detection equipment by being arranged on the automatic driving vehicle driving path,
Obtain the real-time road condition information.
Automatic driving vehicle control device provided in this embodiment can be used for executing embodiment of the method shown in Fig. 2 to Fig. 5
Technical solution, specific implementation is similar with technique effect, and which is not described herein again.
Optionally, the embodiment of the present application provides a kind of storage medium, is stored thereon with computer program, described program is located
Manage the method realized when device executes such as above-mentioned Fig. 2 to embodiment illustrated in fig. 5.
One of ordinary skill in the art will appreciate that:Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence;And storage medium above-mentioned includes:ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Finally it should be noted that:The above various embodiments is only to illustrate the technical solution of the application, rather than its limitations;To the greatest extent
Pipe is described in detail the application with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that:Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement;And these modifications or replacements, each embodiment technology of the application that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (15)
1. a kind of automatic driving vehicle control method, which is characterized in that the method is applied to where automatic driving vehicle currently
The corresponding server of cell, the method includes:
The server obtains the car status information of the automatic driving vehicle;
The server determines and refers to for controlling the control of the automatic driving vehicle traveling according to the car status information
It enables;
Car-mounted terminal of the server on the automatic driving vehicle sends the control instruction, so that the car-mounted terminal
The automatic driving vehicle traveling is controlled according to the control instruction.
2. according to the method described in claim 1, it is characterized in that, the method further includes:
The server is determining that the automatic driving vehicle is being moved from the current area by the car status information
When moving the Target cell of planning path, the operation of the automatic driving vehicle is sent to the corresponding server of the Target cell
Data.
3. according to the method described in claim 2, it is characterized in that, the method further includes:
The server by the car status information when determining that the automatic driving vehicle leaves the current area, more
New status data of the automatic driving vehicle in the current area.
4. according to the method described in claim 3, it is characterized in that, the method further includes:
When the duration that the server leaves the current area in the automatic driving vehicle exceeds preset duration, described in deletion
Status data of the automatic driving vehicle in the current area.
5. according to the method described in claim 2, it is characterized in that, the method further includes:
The server is deleted when determining that the automatic driving vehicle leaves the current area by the car status information
Status data except the automatic driving vehicle in the current area.
6. according to claim 1-5 any one of them methods, which is characterized in that the method further includes:
The server obtains the real-time road condition information of the automatic driving vehicle driving path, the real-time road condition information packet
It includes:Traffic congestion information, path restricted information;
The server determines and refers to for controlling the control of the automatic driving vehicle traveling according to the car status information
It enables, including:
The server determines the control instruction according to the real-time road condition information and the car status information.
7. according to the method described in claim 6, it is characterized in that, the server, which obtains the automatic driving vehicle, travels road
The real-time road condition information of diameter, including:
The server monitors the driving path of the automatic driving vehicle by the network equipment belonging to the current area, obtains
Take the real-time road condition information;
Or
The server obtains the real-time road by the Road Detection equipment being arranged on the automatic driving vehicle driving path
Condition information.
8. a kind of automatic driving vehicle control device, which is characterized in that described device, which is located at, to be applied to where automatic driving vehicle
In the corresponding server in current area, described device includes:
Acquisition module, the car status information for obtaining the automatic driving vehicle;
Determining module, for according to the car status information, determining the control for controlling the automatic driving vehicle traveling
Instruction;
Transceiver module sends the control instruction, so that described vehicle-mounted for the car-mounted terminal on the automatic driving vehicle
Terminal controls the automatic driving vehicle according to the control instruction and travels.
9. device according to claim 8, which is characterized in that
The transceiver module is additionally operable to determine the automatic driving vehicle by the car status information in the determining module
When being moved to the Target cell of planning path from the current area, institute is sent to the corresponding server of the Target cell
State the operation data of automatic driving vehicle.
10. device according to claim 9, which is characterized in that
The transceiver module is additionally operable to determine the automatic driving vehicle by the car status information in the determining module
When leaving the current area, status data of the automatic driving vehicle in the current area is updated.
11. device according to claim 10, which is characterized in that
The transceiver module, be additionally operable to the automatic driving vehicle described in the determining module leave the current area duration it is super
When going out preset duration, delete the automatic driving vehicle the current area status data.
12. device according to claim 9, which is characterized in that
The transceiver module is additionally operable to determine the automatic driving vehicle by the car status information in the determining module
When leaving the current area, delete the automatic driving vehicle the current area status data.
13. according to claim 8-12 any one of them devices, which is characterized in that
The acquisition module is additionally operable to obtain the real-time road condition information of the automatic driving vehicle driving path, the real-time road
Condition information includes:Traffic congestion information, path restricted information;
The determining module, for according to the car status information, determining for controlling the automatic driving vehicle traveling
Control instruction, specially:
The determining module, for according to the real-time road condition information and the car status information, determining the control instruction.
14. device according to claim 13, which is characterized in that the acquisition module is additionally operable to obtain and described drive automatically
The real-time road condition information of vehicle running path is sailed, specially:
The acquisition module, the traveling for monitoring the automatic driving vehicle by the network equipment belonging to the current area
Path obtains the real-time road condition information;
Or
The acquisition module obtains institute for the Road Detection equipment by being arranged on the automatic driving vehicle driving path
State real-time road condition information.
15. a kind of storage medium, is stored thereon with computer program, which is characterized in that real when described program is executed by processor
Now such as the claims 1-7 any one of them methods.
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| CN201810449835.3A CN108694844A (en) | 2018-05-11 | 2018-05-11 | Automatic driving vehicle control method, device and storage medium |
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