CN110308978B - A kind of automatic driving software deployment method, device, terminal and server - Google Patents

Abstract

The present application discloses an automatic driving software deployment method, device, terminal and server. The method includes: collecting geographic location parameters and environmental parameters of a next road segment of a vehicle, and searching for a match in a vehicle cache according to the geographic location parameters and environmental parameters If there are at least two matching automatic driving software, the at least two matching automatic driving software will be prioritized and the automatic driving software with the highest priority will be called. When there is no or only one matching automatic driving software When automatic driving software, feedback prompt information; the implementation of this application can realize the deployment of automatic driving software with a higher level of automation in a large range, prioritize multiple matching automatic driving software, and call the automatic driving software with the highest priority. Driving software that greatly improves safety and reliability.

Description

A kind of automatic driving software deployment method, device, terminal and server

technical field

The present application relates to an automatic driving software deployment method, device, terminal and server, and more particularly to an automatic driving software deployment method, device, terminal and server called by the next geographic location area on the way of the automatic driving vehicle.

Background technique

With the high concentration of population brought about by urbanization and the continuous development of the transportation industry, society has put forward higher and higher demands on how intelligent transportation systems can provide more convenient, efficient and humanized services. Autonomous driving is an important development direction of current intelligent transportation. As a new technology, it is the current hot spot in the automotive industry. An autonomous vehicle, also known as an unmanned vehicle, an intelligent driving vehicle, a computer-driven vehicle or a wheeled mobile robot, is an intelligent vehicle that realizes unmanned driving through a computer system. In the 20th century, it has a history of several decades, and the beginning of the 21st century shows a trend of close to practical use. Self-driving vehicles rely on the synergy of artificial intelligence, visual computing, radar, surveillance devices, and global positioning systems to enable vehicles to drive autonomously and safely without human intervention.

Although self-driving cars have appeared in reality, it is still a difficult problem to make self-driving technology capable of driving in any weather and any conditions, because the scenarios of autonomous driving are too many and too complicated. It is almost impossible to develop an autonomous driving software system that can adapt to all environments and all scenarios. At present, there are generally two ideas in the industry to solve this problem: one is to provide software with a lower level of automation and provide services in a wider range; the other is to provide software with a higher level of automation, but only in a specific range It is used within and requires specialized engineering personnel to manage. However, the current autonomous driving tests organized at home and abroad cannot achieve autonomous driving software that provides a high level of automation in a wide range. In order to provide autonomous driving software with a higher level of automation on a large scale, we need a mechanism to automatically complete the software deployment for a specific scope of work, and at the same time, multiple backups need to be formed on the software deployment and working mechanism to ensure safety.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings and deficiencies of the prior art, the present application discloses an automatic driving software deployment method, device, terminal and server. Implementing the present application can realize the automatic driving software deployment with a higher level of automation in a wide range, and the matching Prioritize the multiple autopilot software received and call the autopilot software with the highest priority, which greatly improves safety and reliability.

In order to achieve the purpose of the above application, the present application provides an automatic driving software deployment method, device, terminal and server, and the automatic driving software deployment method includes:

Collect the geographic location parameters and environmental parameters of the next section of the vehicle;

Find matching automatic driving software in the vehicle cache according to the geographic location parameters and environmental parameters;

When there are at least two matched autopilot software, prioritize the at least two matched autopilot software and call the autopilot software with the highest priority;

When there is no or only one matching automatic driving software, feedback prompt information.

Specifically, when there is no or only one matching automatic driving software, the method further includes:

sending an automatic driving software update request to the server, where the automatic driving software update request includes the geographic location parameter and the environmental parameter;

Receive the automatic driving software that matches the geographic location parameters and environmental parameters found in the software library and sent by the server;

storing the matched autonomous driving software in the vehicle cache;

The software library includes: normal automatic driving software constructed based on the collected geographical position parameters and normal environmental parameters, and abnormal automatic driving software constructed based on the collected geographical position parameters and abnormal environmental parameters.

Specifically, the method further includes:

When the automatic driving software with the highest priority is running abnormally, the automatic driving software with the highest priority is replaced with the automatic driving software after the automatic driving software with the highest priority.

Specifically, the searching for matching automatic driving software in the vehicle cache according to the geographic location parameters and the environmental parameters includes:

Match the autopilot software in the vehicle cache based on geolocation parameters;

From the automatic driving software in the matched vehicle cache, the automatic driving software is matched according to the environmental parameters, and finally the automatic driving software matching the geographic location parameters and the environmental parameters is obtained.

Specifically, when the automatic driving software in the vehicle cache cannot be matched according to the geographic location parameter, the method further includes;

Obtain the upper-level geographic location of the geographic location;

Match the autopilot software in the vehicle cache according to the upper-level geographic location parameter and index of the geographic location;

From the automatic driving software in the matched vehicle cache, the automatic driving software is matched according to the environmental parameters, and finally the automatic driving software matching the upper geographic location parameters and the environmental parameters of the geographic location is obtained;

The index adopts a spatial index, and the spatial index includes a plurality of geographic locations with different regional precisions and index information of the automatic driving software.

Another aspect of the present application also provides an automatic driving software deployment device, and the device includes:

The parameter collection module is used to collect the geographic location parameters and environmental parameters of the next section of the vehicle;

a software search module, configured to search for matching automatic driving software in the vehicle cache according to the geographic location parameters and environmental parameters;

A multi-software calling module, used for prioritizing at least two matching automatic driving software and calling the automatic driving software with the highest priority when there are at least two matching automatic driving software;

The non-multi-software processing module is used to feed back prompt information when there is no or only one matching automatic driving software.

Specifically, the software search module includes:

The geographic location parameter matching unit is used to match the automatic driving software in the vehicle cache according to the geographic location parameter;

The environmental parameter matching unit is configured to match the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache, and finally obtain the automatic driving software matching the geographic location parameters and the environmental parameters.

Specifically, the non-multi-software processing module may further include:

a data sending unit, configured to send an automatic driving software update request to a server, where the automatic driving software update request includes the geographic location parameter and the environmental parameter;

a software receiving unit, configured to receive the automatic driving software that matches the geographic location parameter and the environmental parameter and is found from the software library and sent by the server;

A storage unit, configured to store the matched automatic driving software in the vehicle cache.

Another aspect of the present application further provides an autonomous driving software deployment terminal, characterized in that the terminal includes a processor and a memory, and the memory stores at least one instruction, at least a piece of program, code set or instruction set, and the memory At least one instruction, the at least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the automatic driving software deployment method according to any one of claims 1 to 8 .

Another aspect of the present application further provides an autonomous driving software deployment server, characterized in that the server includes a processor and a memory, and the memory stores at least one instruction, at least a piece of program, a code set or an instruction set, the At least one instruction, the at least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the automatic driving software deployment method according to any one of claims 1 to 8 .

Implement the present invention, have the following beneficial effects:

In the present application, the geographic location parameters and environmental parameters of the next road section of the vehicle are collected, and the matching automatic driving software in the vehicle cache is searched according to the geographic location parameters and the environmental parameters. When there are at least two matching automatic driving software, at least two Prioritize each matching autopilot software and call the autopilot software with the highest priority. When there is no or only one matching autopilot software, feedback prompt information, so as to achieve a higher level of automation in a wide range. The automatic driving software deployment adopts the method of backing up the automatic driving software calls in the working mechanism, which greatly improves the safety and reliability.

Description of drawings

In order to illustrate the technical solutions of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a diagram of an application example of automatic driving software deployment provided by an embodiment of the present application.

FIG. 2 is a diagram of another example application of automatic driving software deployment provided by an embodiment of the present application.

FIG. 3 is a flowchart of automatic driving software deployment according to an embodiment of the present application.

FIG. 4 is a flowchart of searching for matching automatic driving software in a vehicle cache according to a geographic location parameter and an environment parameter according to an embodiment of the present application.

FIG. 5 is a flowchart of a situation in which automatic driving software cannot be matched in a vehicle cache provided by an embodiment of the present application.

FIG. 6 is a structural diagram of a spatial index provided by an embodiment of the present application.

FIG. 7 is a structural diagram of a planarized spatial index provided by an embodiment of the present application.

FIG. 8 is a schematic structural diagram of an apparatus for deploying automatic driving software according to another embodiment of the present application.

FIG. 9 is a schematic structural diagram of a software search module provided by an embodiment of the present application.

FIG. 10 is a schematic structural diagram of a non-multi-software processing module provided by an embodiment of the present application.

Wherein, the reference signs in Fig. 6 correspond to: 1- the first layer map, 2- the second layer map, 3- the third layer map; the reference signs in Fig. 7 correspond to: 4- the first geographic location unit, 5- The second geographic location unit, 6 - the third geographic location unit.

Detailed ways

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described The embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of this application.

It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

In order to realize the technical solution of the present application and allow more engineering technicians to easily understand and apply the present application, the working principle of the present application will be further described with reference to specific embodiments.

The present application can be applied to the field of autonomous driving.

In this specification, the application scenarios related to the automatic driving of the vehicle refer to various scenarios in which the automatic driving software is deployed by the vehicle to the next road section during the automatic driving process.

In various application scenarios related to vehicle automatic driving, as shown in Figure 1, there are usually one or more terminal devices to realize the associated functions of automatic driving software deployment in vehicle automatic driving application scenarios. The device is referred to as a terminal device capable of realizing the associated functions of the deployment of the autonomous driving software in the vehicle autonomous driving application scenario. The terminal device described here may be, for example, a vehicle-mounted electronic control system, which itself may have a communication function to communicate with a cloud server, and further, as an example, the electronic control system may also be a trip computer or the like. As another example, the electronic control system may also be a separate automatic control system or the like. It should be pointed out that the "vehicle" in this specification should be understood in the broadest sense, which not only includes the way of fixing the electronic control system on the vehicle body or connecting it with the vehicle body, but also includes the electronic control system being detachable or connected to the vehicle body. Removably mounted on the vehicle. In other application scenarios related to automatic driving of vehicles, as shown in Figure 2, there may also be cloud servers related to automatic driving of vehicles. When the vehicle itself cannot meet the deployment of automatic driving software, the cloud server assists the vehicle to deploy automatic driving software. The cloud server is hereinafter referred to as a server.

In the following, with reference to FIG. 3 , an embodiment of automatic driving software deployment of the present application is first introduced, wherein the method includes:

S101: Collect geographic location parameters and environmental parameters of the next road section of the vehicle.

The geographic location parameters may include, but are not limited to, the longitude and latitude of the geographic location unit where the autonomous vehicle is located, the location coordinates of the autonomous vehicle in the three-dimensional space based on the space-time coordinate system, or the pixel coordinates in the two-dimensional space based on the image coordinate system, etc. . Specifically, the longitude and latitude of the real-time geographic location unit of the autonomous driving vehicle can be marked as (w°x'E, y°z'N), which means that the autonomous vehicle is located at w degrees x minutes east longitude, y degrees and z minutes north latitude; the autonomous driving vehicle is based on the space-time coordinate system It can be marked as a coordinate position such as (x, y, z). Generally, the three-dimensional space coordinate system uses three orthogonal axes X, Y, and Z to represent the position of the object. The distances from the origin on the Z axis are x, y, and z respectively; the autonomous vehicle can be marked as image coordinates such as (Xi, Yi) based on the image coordinate system, generally the upper left corner of the image is the origin, and the right direction is the positive x direction. The downward direction is the positive y direction, and Xi and Yi represent the distances from the origin in the positive x direction and the positive y direction, which are Xi and Yi pixels, respectively. The environment parameters may include, but are not limited to, lighting environment parameters, sound environment parameters, or weather environment parameters, etc., wherein the weather environment parameters may include, but are not limited to, wind, snow, thunderstorms, and the like.

In practical application scenarios, geographic location parameters can be collected based on but not limited to existing technologies such as positioning systems, lidars, millimeter-wave radars, ultrasonic sensors, image sensors, and V2X (Vehicle to X, information exchange between vehicles and the outside world). and environment parameters. An autonomous vehicle can usually plan a driving path before driving, and collect the geographic location parameters and environmental parameters of the next road segment before driving to the next road segment. Specifically, the positioning system can locate the geographic location of the autonomous vehicle, and the positioning system may include a navigation system, such as a global positioning system, or magnetic sensing and acoustic sensing that determine the position of the autonomous vehicle with reference to the surrounding environment. The planned travel path of the vehicle obtains the geographic location parameters of the next road segment. Lidar can detect static and dynamic objects, and collect high-resolution geometry, distance images, and velocity images of the detected objects. Millimeter radar can detect and locate objects using radio waves. Ultrasonic sensors can map objects at short distances in three dimensions. The image sensor can calculate and analyze the collected images to obtain annular parameters such as pedestrians, bicycles, motor vehicles, road trajectories, road signs, and signal lights. V2X technology can obtain various information, including but not limited to the geographic location parameters of nearby vehicles, real-time status information, and calculated prediction information. In some environment perception application scenarios of autonomous vehicles, autonomous vehicles can use any combination of multiple sensing technologies to collect geographic location parameters and environmental parameters according to usage needs and functional focus. For example, image sensors can be used to reduce costs. , a combination of millimeter-wave radar and ultrasonic radar, and a combination of lidar, millimeter-wave radar, ultrasonic sensor and image sensor can also be used to improve the accuracy of the target, but the autonomous vehicle collects the geographic location parameters and environmental parameters of the next road section. .

S103: Find matching automatic driving software in the vehicle cache according to the geographic location parameter and the environmental parameter.

The vehicle cache in this application refers to the local memory where the automatic driving software called by the automatic driving vehicle is located during the automatic driving process. In order to ensure safety, reliability and real-time performance during driving of an autonomous vehicle, it is preferable to store the autonomous driving software in the local memory of the vehicle for quick recall.

Specifically, with reference to FIG. 4 , searching for matching automatic driving software in the vehicle cache according to geographic location parameters and environmental parameters may include:

S1031: Match the automatic driving software in the vehicle cache according to the geographic location parameter.

Preferably, when constructing the automatic driving software, an index relationship between the automatic driving software and the geographic location parameters may be established. When the self-driving software vehicle searches for the self-driving software, the corresponding self-driving software can be quickly matched by means of an index.

S1033: From the matched automatic driving software in the vehicle cache, match the automatic driving software according to the environmental parameters, and finally obtain the automatic driving software matching the geographic location parameters and the environmental parameters.

In the previous step, a large number of unqualified autopilot software were first screened out through the index of geographic location parameters, and then the corresponding autopilot software was matched through the index of environmental parameters, which could respond to matching requirements faster.

Specifically, with reference to FIG. 5 , when the automatic driving software in the vehicle cache cannot be matched according to the geographic location parameter, the method may include:

S1041: Obtain the upper-level geographic location of the geographic location.

S1042: Match the automatic driving software in the vehicle cache according to the upper-level geographic location parameter and index of the geographic location.

S1043: From the matched automatic driving software in the vehicle cache, match the automatic driving software according to the environmental parameters, and finally obtain the automatic driving software matching the upper-level geographic location parameters and the environmental parameters of the geographic location.

The index in this application adopts a spatial index, and the spatial index includes: geographic locations with different regional precisions and index information of automatic driving software.

Specifically, the spatial index refers to dividing the map into n (n≥2) layers according to different regional precisions. For a more convenient example, assign n=3 below, as shown in Figure 6, after n is assigned, the map is divided into three layers, and the accuracy of the first layer map 1, the second layer map 2, and the third layer map 3 increases sequentially. . Correspondingly, the first layer to the third layer of the geographic location unit after the map decomposition is reduced in turn, and the accuracy of the automatic driving software matched according to the geographic location parameters increases from the first layer to the third layer. The top view of the map is simplified, as shown in Figure 7. After the three-layer map is divided according to different accuracy, the geographic location units of different sizes are nested layer by layer. The geographic location unit 4 includes 4 geographic location units 5. The geographic location unit 5 contains 4 geographic location units 6. The accuracy of the automatic driving software based on the geographic location unit 6 is higher than that of the automatic driving software based on the geographic location unit 5 , and the accuracy of the automatic driving software based on the geographic location unit 5 is higher than that of the automatic driving software based on the geographic location unit 4 . When the vehicle travels to the geographic location unit 6, the autonomous vehicle can call the automatic driving software based on the geographic location unit 6. When the software runs abnormally, the automatic driving software based on the geographic location unit 5 can be called. Autopilot software based on geographic location area 4 can be invoked. The decomposed geographic location unit may include, but is not limited to, hexagons, quadrilaterals, and other graphics of any shape. By standardizing the establishment of the index between the geographic location unit and the automatic driving software, it is convenient to quickly respond to the search of the automatic driving software during use, and also realize the backup based on the abnormal operation of the automatic driving software with low geographic location accuracy. The normal operation of autonomous driving software with high geolocation accuracy.

S105: When there are at least two matching automatic driving software, prioritize the at least two matching automatic driving software, and call the automatic driving software with the highest priority ranking.

For example, if the next section of the autonomous driving vehicle is at the entrance of the Jiangyin Bridge on the Beijing-Shanghai Expressway in Wuxi City, then only based on the geographic location parameters, the matching automatic driving software found in the vehicle cache can be based on the geographic location parameters as "Wuxi City-Beijing-Shanghai Expressway Jiangyin Bridge", based on the geographic location parameter is "the entrance of Wuxi Jing-Shanghai Expressway Jiangyin Bridge" and based on the geographic location parameter is "Wuxi Jing-Shanghai Expressway". The above software is marked as automatic driving software 1, automatic driving software 2, and automatic driving software 3, and the above three software are prioritized. The priority here is determined according to the accuracy of the geographic location parameters, as shown in Table 1. Sort as follows:

Table 1

Sort number software name Corresponding geographic location parameters 1 Autonomous Driving Software 2 "At the entrance of Jiangyin Bridge of Beijing-Shanghai Expressway in Wuxi City" 2 Autonomous Driving Software 1 "Jiangyin Bridge of Beijing-Shanghai Expressway in Wuxi City" 3 Autonomous Driving Software 3 "Wuxi Beijing-Shanghai Expressway"

Another example: the next section of the road where the self-driving vehicle travels is the Jiangyin Bridge of the Beijing-Shanghai Expressway in Wuxi City, the weather conditions under the next section are light snow, and the crosswind is level 5. Based on the geographic location parameters and environmental parameters, the matching automatic driving software found in the vehicle cache can be respectively based on the geographic location parameters as "Jiangyin Bridge of Beijing-Shanghai Expressway in Wuxi City", and based on the geographic location parameters as "Jiangyin of Beijing-Shanghai Expressway in Wuxi City". Bridge", the environmental parameters are "Little Snow" and "Wind Level 5", and the geographical-based parameters are "Jiangyin Bridge of Wuxi Beijing-Shanghai Expressway", and the environmental parameters are "Little Snow". Mark the above three software as automatic driving software 4, automatic driving software 5 and automatic driving software 6 respectively, and sort the above three software by priority. The priority here is determined according to the accuracy of geographic location parameters and environmental parameters. , as shown in Table 2, sorted as follows:

Table 2

The self-driving vehicle will call the self-driving software5 on the next section of the road according to the priority.

Specifically, geographic location parameters may include but are not limited to location parameters obtained through positioning, location parameters obtained through sensor detection, or location parameters obtained by referring to surrounding objects, etc. Environmental parameters may include but are not limited to lighting parameters, weather Parameters, wind parameters or sound parameters, etc., since there are many types of geographic location parameters and environmental parameters, the above only briefly lists two examples according to step S105.

S107: Feedback prompt information when there is no or only one matching automatic driving software.

Specifically, the prompt information may include the number of matched automatic driving software. When there is a matching automatic driving software, feedback prompt information can effectively avoid the situation that the vehicle cannot drive automatically when the matching automatic driving software fails.

Specifically, when there is no or only one matching automatic driving software, the automatic driving software deployment method may further include:

S109: Send an automatic driving software update request to the server, where the automatic driving software update request includes geographic location parameters and environmental parameters.

Specifically, the server refers to a cloud server or server group that is different from the local storage of the vehicle. Preferably, the path with the shortest network link is selected when sending the automatic driving software update request to the server.

S111: Receive the automatic driving software that matches the geographic location parameters and the environmental parameters and is found from the software library and sent by the server.

Preferably, the path with the shortest network link is selected when receiving the matching automatic driving software sent by the server.

Specifically, the software library may include normal automatic driving software constructed based on the collected geographic location parameters and normal environmental parameters, and abnormal automatic driving software constructed based on the collected geographic location parameters and abnormal environmental parameters. Among them, the normal environmental parameters refer to the environmental parameters that appear in general application scenarios. Taking crosswind wind as an example, since the application scenarios of wind power level 3 are common, "wind power level 3" can be set as the normal environmental parameters, according to "wind power level 3" The autonomous driving software built with the environmental parameters of "level" can be called frequently. However, the application scenario of typhoon days, namely, wind power level 12 is not universal. There is no automatic driving software based on the environmental parameters of "wind power level 12" in the vehicle cache or software library. Specific environmental parameters such as "wind power level 12" are abnormal. Environmental parameters, and the automatic driving software constructed based on abnormal environmental parameters such as "wind level 12" is abnormal automatic driving software. In the actual construction of the software library, the normal environment parameters are relative to the abnormal environment parameters, and the specific settings refer to the actual technical conditions. For example, wind mainly affects the stability of the car body. When the technical conditions are quite mature, the car body is stable enough, and the environmental parameters with strong wind can also be defined as normal environmental parameters.

S113: Store the matched automatic driving software in the vehicle cache.

In the above-mentioned embodiment, by collecting the geographic location parameters and environmental parameters of the next road section of the vehicle, matching the automatic driving software in the vehicle cache according to the geographic location parameters, from the matching automatic driving software in the vehicle cache, and then matching according to the environmental parameters The automatic driving software finally obtains the automatic driving software that matches the geographic location parameters and the environmental parameters. When the automatic driving software in the vehicle cache cannot be matched according to the geographic location parameters, the automatic driving software that calls the automatic driving software that matches the location parameters of the upper address is used. method, when there are at least two matching automatic driving software, prioritize at least two matching automatic driving software and call the automatic driving software with the highest priority, when there is no or only one matching automatic driving software When the automatic driving software update request includes the geographic location parameter and the environmental parameter, and finally receive the information sent by the server, the one found from the software library matches the geographic location parameter and the environmental parameter. automatic driving software, and store the matching automatic driving software in the vehicle cache, so as to realize the deployment of automatic driving software with a higher level of automation in a large range, and collect more accurate geographical location parameters and environment in a large range by convenient means. parameters, and build the automatic driving software according to the parameter set and store it in the software library. The working mechanism adopts the method of backing up the automatic driving software calls, which greatly improves the safety and reliability.

In another embodiment, the automatic driving software deployment method may further include the following steps:

S101: Collect geographic location parameters and environmental parameters of the next road section of the vehicle.

S103: Find matching automatic driving software in the vehicle cache according to the geographic location parameter and the environmental parameter.

S105: When there are at least two matching automatic driving software, prioritize the at least two matching automatic driving software, and call the automatic driving software with the highest priority ranking.

S106: When the automatic driving software with the highest priority is abnormally running, replace the automatic driving software with the highest priority with the automatic driving software with the priority after the automatic driving software with the highest priority.

Specifically, the abnormal operation of the autopilot software with the highest priority may include, but is not limited to, the autopilot software itself is defective and cannot run, or the autopilot software is compatible with the autopilot system during the invocation process of the autopilot system of the autopilot vehicle. The problem cannot be run.

For example, the next section of the road for the autonomous vehicle is the Jiangyin Bridge of the Beijing-Shanghai Expressway in Wuxi City, the weather conditions under the next section are light snow, and the crosswind is level 5. Based on the geographic location parameters and environmental parameters, the matching automatic driving software found in the vehicle cache can be respectively based on the geographic location parameters as "Jiangyin Bridge of Wuxi Beijing-Shanghai Expressway", and based on the geographic location parameters as "Jiangyin of Wuxi Beijing-Shanghai Expressway". Bridge", the environmental parameters are "Little Snow" and "Wind Level 5", and the geographical-based parameters are "Jiangyin Bridge of Wuxi Beijing-Shanghai Expressway", and the environmental parameters are "Little Snow". The above three softwares are marked as automatic driving software 4, automatic driving software 5 and automatic driving software 6 respectively. Based on Table 2, the above three softwares are prioritized. The priority here is based on geographic location parameters and environmental parameters. to determine the accuracy. The autopilot software with the highest priority is autopilot software 5. When driving to the next section, the autopilot software 5 is called. When the autopilot software 5 runs abnormally, the autopilot software 5 with the highest priority is replaced with the priority in The autopilot software 6 after the autopilot software 5 with the highest priority is shown in Table 3, and the reordered order is as follows:

table 3

According to the new priority, the self-driving vehicle will call the self-driving software6 on the next section of the road.

When the autopilot software 6 runs abnormally, replace the autopilot software 6 with the highest priority with the autopilot software 4 that can run normally after the autopilot software 6 with the highest priority, as shown in Table 4, The reordered order is as follows:

Table 4

S107: Feedback prompt information when there is no or only one matching automatic driving software.

S109: Send an automatic driving software update request to the server, where the automatic driving software update request includes geographic location parameters and environmental parameters.

S111: Receive the automatic driving software that matches the geographic location parameters and the environmental parameters and is found from the software library and sent by the server.

S113: Store the matched automatic driving software in the vehicle cache.

In the above embodiment, by collecting the geographic location parameters and environmental parameters of the next road segment of the vehicle, and then searching for the matching automatic driving software in the vehicle cache according to the geographic location parameters and the environmental parameters, when there are at least two matching automatic driving software , Prioritize at least two matching autopilot software and call the autopilot software with the highest priority. When the autopilot software with the highest priority is running abnormally, replace the autopilot software with the highest priority with the priority The autopilot software ranked after the autopilot software with the highest priority, when there is no or only one matching autopilot software, feedback prompt information and send an autopilot software update request to the server, where the autopilot software update request includes The geographic location parameters and environmental parameters are sent from the server, and the automatic driving software that matches the geographic location parameters and environmental parameters is found in the software library. Finally, the matching automatic driving software is stored in the vehicle cache to realize large-scale operation. The automatic driving software deployment with a higher level of automation adopts the method of backing up the automatic driving software calls in the working mechanism, which greatly improves the safety and reliability.

Another aspect of the embodiments of the present application further provides an apparatus for deploying automatic driving software. As shown in FIG. 8 , the apparatus may include:

A parameter collection module 7, used for collecting geographic location parameters and environmental parameters of the next road section of the vehicle;

a software search module 8, configured to search for matching automatic driving software in the vehicle cache according to the geographic location parameters and environmental parameters;

A multi-software calling module 9, used for prioritizing at least two matching automatic driving software and calling the automatic driving software with the highest priority when there are at least two matching automatic driving software;

The non-multi-software processing module 10 is used for feeding back prompt information when there is no or only one matching automatic driving software.

Specifically, as shown in Figure 9, in order to respond to the automatic driving software search request faster, the software search module may include:

The geographic location parameter matching unit 11 is used to match the automatic driving software in the vehicle cache according to the geographic location parameter;

The environmental parameter matching unit 12 is configured to match the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache, and finally obtain the automatic driving software matching the geographic location parameters and the environmental parameters.

Specifically, it is not realized that when there is no or only one matching automatic driving software in the vehicle cache, more matching automatic driving software can be obtained through the cloud server, as shown in Figure 10, the non-multi-software processing module can include:

a data sending unit 13, configured to send an automatic driving software update request to the server, where the automatic driving software update request includes the geographic location parameter and the environmental parameter;

The software receiving unit 14 is configured to receive the automatic driving software that matches the geographic location parameter and the environmental parameter and is found from the software library and sent by the server;

The storage unit 15 is configured to store the matched automatic driving software in the vehicle cache.

Another aspect of the embodiments of the present application further provides a terminal for deploying autonomous driving software, the terminal includes a processor and a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set, the at least one The instructions, the at least one piece of the program, the code set or the instruction set are loaded and executed by the processor to implement the automatic driving software deployment method.

Another aspect of the embodiments of the present application further provides an autonomous driving software deployment server, the server includes a processor and a memory, and the memory stores at least one instruction, at least a piece of program, code set or instruction set, the at least one The instructions, the at least one piece of the program, the code set or the instruction set are loaded and executed by the processor to implement the automatic driving software deployment method.

It can be seen from the technical solutions provided by the above embodiments of an automatic driving software deployment method, device, terminal and server in the present application, the present application collects the geographic location parameters and environmental parameters of the next road section of the vehicle, according to the geographic location parameters and environmental parameters. Find the matching autopilot software in the vehicle cache, and when there are at least two matching autopilot software, prioritize at least two matching autopilot software and call the autopilot software with the highest priority. When there is only one matching autopilot software, feedback prompt information; implementing this application can realize the deployment of autopilot software with a higher level of automation in a large area, and collect more accurate geographical location parameters and environment in a large area by convenient means parameters, and build the automatic driving software according to the parameter set and store it in the software library. The working mechanism adopts the method of backing up the automatic driving software calls, which greatly improves the safety and reliability.

The above description has fully disclosed the specific embodiments of the present application. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present application will not depart from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the foregoing specific embodiments.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. Especially, for the apparatus, terminal, and server embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for related parts.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, etc.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A method for deploying automatic driving software, wherein the method comprises: Collect the geographic location parameters and environmental parameters of the next section of the vehicle; According to the geographic location parameters and environmental parameters, the matching automatic driving software is searched in the spatial index of the vehicle cache, where the spatial index is stored in the vehicle cache, and the spatial index represents a plurality of different areas corresponding to different geographic location units Accurate geographic location and index information for autonomous driving software; When there are at least two matching automatic driving software, the at least two matching automatic driving software are prioritized and the automatic driving software with the highest priority is invoked, wherein the prioritization includes precise positioning according to the geographic location parameter degree and/or accuracy of said environmental parameters; When there is no or only one matching automatic driving software, feedback prompt information. 2. The automatic driving software deployment method according to claim 1, wherein when there is no or only one matching automatic driving software, the method further comprises: sending an automatic driving software update request to the server, where the automatic driving software update request includes the geographic location parameter and the environmental parameter; Receive the automatic driving software that matches the geographic location parameters and environmental parameters found in the software library and sent by the server; storing the matched autonomous driving software in the vehicle cache; The software library includes: normal automatic driving software constructed based on the collected geographical position parameters and normal environmental parameters, and abnormal automatic driving software constructed based on the collected geographical position parameters and abnormal environmental parameters. 3. The automatic driving software deployment method according to claim 1, wherein the method further comprises: When the automatic driving software with the highest priority is running abnormally, the automatic driving software with the highest priority is replaced with the automatic driving software after the automatic driving software with the highest priority. 4. The automatic driving software deployment method according to claim 1, wherein the searching for matching automatic driving software in the spatial index of the vehicle cache according to the geographic location parameter and the environmental parameter comprises: Match the autopilot software in the vehicle cache based on geolocation parameters; From the automatic driving software in the matched vehicle cache, the automatic driving software is matched according to the environmental parameters, and the automatic driving software matching the geographic location parameters and the environmental parameters is obtained. 5. The automatic driving software deployment method according to claim 4, wherein when the automatic driving software in the vehicle cache cannot be matched according to the geographic location parameter, the method further comprises; Obtain the upper-level geographic location parameters of the geographic location; Match the autopilot software in the vehicle cache according to the upper-level geographic location parameter and index of the geographic location; From the automatic driving software in the matched vehicle cache, match the automatic driving software according to the environmental parameters, and obtain the automatic driving software matching the upper-level geographic location parameters and the environmental parameters of the geographic location; The index adopts a spatial index, and the spatial index includes: a plurality of geographic locations with different regional precisions and index information of the automatic driving software, and the upper-level geographic location parameters are geographic location parameters whose regional precision is lower than the geographic location parameters. 6. An automatic driving software deployment device, wherein the device comprises: The parameter collection module is used to collect the geographic location parameters and environmental parameters of the next section of the vehicle; A software search module, configured to search for matching automatic driving software in the spatial index of the vehicle cache according to the geographic location parameters and environmental parameters, where the spatial index is stored in the vehicle cache, and the spatial index represents different geographic location units Corresponding geographic locations with different regional precision and index information of autopilot software; A multi-software calling module for prioritizing at least two matching automatic driving software and calling the automatic driving software with the highest priority when there are at least two matching automatic driving software, wherein the prioritizing includes according to The accuracy of the geographic location parameter and/or the accuracy of the environmental parameter are ranked; The non-multi-software processing module is used to feed back prompt information when there is no or only one matching automatic driving software. 7. The automatic driving software deployment device according to claim 6, wherein the software search module comprises: The geographic location parameter matching unit is used to match the automatic driving software in the vehicle cache according to the geographic location parameter; The environmental parameter matching unit is used to match the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache, and finally obtain the automatic driving software matching the geographic location parameters and the environmental parameters. 8. The automatic driving software deployment device according to claim 6, wherein the non-multi-software processing module further comprises: a data sending unit, configured to send an automatic driving software update request to a server, where the automatic driving software update request includes the geographic location parameter and the environmental parameter; a software receiving unit, configured to receive the automatic driving software that matches the geographic location parameter and the environmental parameter and is found from the software library and sent by the server; A storage unit, configured to store the matched automatic driving software in the vehicle cache. 9. An automatic driving software deployment terminal, characterized in that the terminal comprises a processor and a memory, and the memory stores at least one instruction, at least one section of program, code set or instruction set, and the at least one instruction, all the The at least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the automatic driving software deployment method according to any one of claims 1-5. 10. An autonomous driving software deployment server, characterized in that the server comprises a processor and a memory, wherein the memory stores at least one instruction, at least a section of program, code set or instruction set, the at least one instruction, all the The at least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the automatic driving software deployment method according to any one of claims 1 to 5.

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