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

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

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CN110308978B
CN110308978B CN201910563481.XA CN201910563481A CN110308978B CN 110308978 B CN110308978 B CN 110308978B CN 201910563481 A CN201910563481 A CN 201910563481A CN 110308978 B CN110308978 B CN 110308978B
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张骋
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Abstract

本申请公开了一种自动驾驶软件部署方法、装置、终端及服务器,所述方法包括:采集车辆下一路段的地理位置参数和环境参数,根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件,当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息;实施本申请可以实现在大范围内进行更高自动化水平的自动驾驶软件部署,将匹配到的多个自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,大大提高了安全性和可靠性。

Figure 201910563481

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.

Figure 201910563481

Description

一种自动驾驶软件部署方法、装置、终端及服务器A kind of automatic driving software deployment method, device, terminal and server

技术领域technical field

本申请涉及一种自动驾驶软件部署方法、装置、终端及服务器,更具体的涉及一种自动驾驶车辆行驶途中下一地理位置区域所调用的自动驾驶软件部署方法、装置、终端及服务器。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.

背景技术Background technique

随着城市化建设带来的人口高度集中和交通产业的不断发展,社会对智能交通系统如何提供更加便捷、高效和人性化的服务,提出了越来越高的需求。自动驾驶是当前智能交通的重要发展方向,它作为一项新技术,是汽车行业当前的热点。自动驾驶车辆又称无人驾驶车辆、智能驾驶车辆、电脑驾驶车辆或轮式移动机器人,是一种通过电脑系统实现无人驾驶的智能汽车。在20世纪已有数十年的历史,21世纪初呈现出接近实用化的趋势。自动驾驶车辆依靠人工智能、视觉计算、雷达、监控装置和全球定位系统等协同合作,使得车辆能够在没有人类操作的情况下自动安全地行驶。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.

虽然现实中出现了自动驾驶汽车,但要想让自动驾驶技术达到在任何天气和任何条件下都能驾驶还是一个难题,因为自动驾驶的场景太多太复杂。想要开发一种可以适应所有环境、所有场景的自动驾驶软件系统几乎是不可能的。目前,行业内一般有两种思路解决这个问题:一种是提供较低的自动化水平的软件,在较大范围内提供服务;一种是提供较高的自动化水平软件,但只能在特定范围内使用,并需要专门的工程人员管理。然而,目前国内外组织的自动驾驶测试均不能实现在较大范围内提供较高自动化水平的自动驾驶软件。为了在大范围内提供更高自动化水平的自动驾驶软件,我们需要一种机制,自动化的完成针对特定范围工作的软件部署,同时需要在软件部署和工作机制上形成多重备份,确保安全性。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.

发明内容SUMMARY OF THE INVENTION

为了克服现有技术存在的缺点与不足,本申请公开一种自动驾驶软件部署方法、装置、终端及服务器,实施本申请可以实现在大范围内进行更高自动化水平的自动驾驶软件部署,将匹配到的多个自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,大大提高了安全性和可靠性。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.

为了达到上述申请的目的,本申请提供了一种自动驾驶软件部署方法、装置、终端及服务器,所述自动驾驶软件部署方法包括: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:

采集车辆下一路段的地理位置参数和环境参数;Collect the geographic location parameters and environmental parameters of the next section of the vehicle;

根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件;Find matching automatic driving software in the vehicle cache according to the geographic location parameters and environmental parameters;

当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件;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;

当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。When there is no or only one matching automatic driving software, feedback prompt information.

具体的,当不存在或者仅存在一个匹配的自动驾驶软件时,所述方法还包括:Specifically, when there is no or only one matching automatic driving software, the method further includes:

向服务器发送自动驾驶软件更新请求,所述自动驾驶软件更新请求包括所述地理位置参数和环境参数;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;

接收服务器发送的,从软件库中查找到的与所述地理位置参数和环境参数相匹配的自动驾驶软件;Receive the automatic driving software that matches the geographic location parameters and environmental parameters found in the software library and sent by the server;

将所述相匹配的自动驾驶软件存储到所述车辆缓存;storing the matched autonomous driving software in the vehicle cache;

所述软件库包括:基于采集的地理位置参数和常态环境参数构建的常态自动驾驶软件以及基于采集的地理位置参数和变态环境参数构建的变态自动驾驶软件。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.

具体的,所述方法还包括:Specifically, the method further includes:

所述优先级排序最前的自动驾驶软件运行异常时,将所述优先级排序最前的自动驾驶软件置换为优先级排序在所述优先级排序最前的自动驾驶软件之后的自动驾驶软件。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.

具体的,所述根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件包括:Specifically, the searching for matching automatic driving software in the vehicle cache according to the geographic location parameters and the environmental parameters includes:

根据地理位置参数匹配车辆缓存中的自动驾驶软件;Match the autopilot software in the vehicle cache based on geolocation parameters;

从所述匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.

具体的,当根据地理位置参数匹配不到车辆缓存中的自动驾驶软件时,所述方法还包括;Specifically, when the automatic driving software in the vehicle cache cannot be matched according to the geographic location parameter, the method further includes;

获取所述地理位置的上位地理位置;Obtain the upper-level geographic location of the geographic location;

根据所述地理位置的上位地理位置参数和索引匹配车辆缓存中的自动驾驶软件;Match the autopilot software in the vehicle cache according to the upper-level geographic location parameter and index of the geographic location;

从所述匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置的上位地理位置参数和环境参数匹配的自动驾驶软件;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;

所述索引采用空间索引,所述空间索引包括:多个不同区域精度的地理位置与自动驾驶软件的索引信息。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.

本申请另一方面还提供一种自动驾驶软件部署装置所述装置包括:Another aspect of the present application also provides an automatic driving software deployment device, and the device includes:

参数采集模块,用于采集车辆下一路段的地理位置参数和环境参数;The parameter collection module is used to collect the geographic location parameters and environmental parameters of the next section of the vehicle;

软件查找模块,用于根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件;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;

多软件调用模块,用于当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件;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;

非多软件处理模块,用于当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。The non-multi-software processing module is used to feed back prompt information when there is no or only one matching automatic driving software.

具体的,所述软件查找模块包括:Specifically, the software search module includes:

地理位置参数匹配单元,用于根据地理位置参数匹配车辆缓存中的自动驾驶软件;The geographic location parameter matching unit is used to match the automatic driving software in the vehicle cache according to the geographic location parameter;

环境参数匹配单元,用于从所述匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.

具体的,所述非多软件处理模块还可以包括:Specifically, the non-multi-software processing module may further include:

数据发送单元,用于向服务器发送自动驾驶软件更新请求,所述自动驾驶软件更新请求包括所述地理位置参数和环境参数;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;

软件接收单元,用于接收服务器发送的,从软件库中查找到的与所述地理位置参数和环境参数相匹配的自动驾驶软件;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;

存储单元,用于将所述相匹配的自动驾驶软件存储到所述车辆缓存。A storage unit, configured to store the matched automatic driving software in the vehicle cache.

本申请另一方面还提供一种自动驾驶软件部署终端,其特征在于,所述终端包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求1至8任一所述的自动驾驶软件部署方法。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 .

本申请另一方面还提供一种自动驾驶软件部署服务器,其特征在于,所述服务器包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求1至8任一所述的自动驾驶软件部署方法。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 .

实施本发明,具有如下有益效果:Implement the present invention, have the following beneficial effects:

本申请通过采集车辆下一路段的地理位置参数和环境参数,根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件,当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息,从而实现大范围内进行更高自动化水平的自动驾驶软件部署,工作机制上采用备份自动驾驶软件调用的方式,大大提高了安全性和可靠性。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.

附图说明Description of drawings

为了更清楚地说明本申请的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它附图。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.

图1为本申请实施例提供的一种自动驾驶软件部署的应用示例图。FIG. 1 is a diagram of an application example of automatic driving software deployment provided by an embodiment of the present application.

图2为本申请实施例提供的另一种自动驾驶软件部署的应用示例图。FIG. 2 is a diagram of another example application of automatic driving software deployment provided by an embodiment of the present application.

图3为本申请实施例提供的一种自动驾驶软件部署的流程图。FIG. 3 is a flowchart of automatic driving software deployment according to an embodiment of the present application.

图4为本申请实施例提供的一种根据地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件的流程图。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.

图5为本申请实施例提供的一种车辆缓存中匹配不到自动驾驶软件情况的流程图。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.

图6为本申请实施例提供的一种空间索引结构图。FIG. 6 is a structural diagram of a spatial index provided by an embodiment of the present application.

图7为本申请实施例提供的一种平面化的空间索引结构图。FIG. 7 is a structural diagram of a planarized spatial index provided by an embodiment of the present application.

图8为本申请另一实施例提供的一种自动驾驶软件部署装置结构示意图。FIG. 8 is a schematic structural diagram of an apparatus for deploying automatic driving software according to another embodiment of the present application.

图9为本申请实施例提供的一种软件查找模块结构示意图。FIG. 9 is a schematic structural diagram of a software search module provided by an embodiment of the present application.

图10为本申请实施例提供的一种非多软件处理模块结构示意图。FIG. 10 is a schematic structural diagram of a non-multi-software processing module provided by an embodiment of the present application.

其中,图6中附图标记对应为:1-第一层地图,2-第二层地图,3-第三层地图;图7附图标记对应为:4-第一地理位置单元,5-第二地理位置单元,6-第三地理位置单元。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.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请中的技术方案,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都应当属于本申请保护的范围。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.

需要说明的是,本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或服务器不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。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.

为了实现本申请的技术方案,让更多的工程技术工作者容易了解和应用本申请,将结合具体的实施例,进一步阐述本申请的工作原理。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.

本申请可以应用于自动驾驶领域。The present application can be applied to the field of autonomous driving.

本说明书中,与车辆自动驾驶有关的应用场景指的是车辆在自动驾驶过程中对下一路段的自动驾驶软件部署的各种场景。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.

在各种与车辆自动驾驶有关的应用场景下,如图1所述,通常存在一种或多种终端设备来实现车辆自动驾驶应用场景中自动驾驶软件部署的相关联功能,以下将这种终端设备称为能够实现车辆自动驾驶应用场景中自动驾驶软件部署的相关联功能的终端设备。这里所述的终端设备例如可以是车载电子控制系统,该电子控制系统自身可具有通信功能以与云端服务器通信,进一步,作为示例,该电子控制系统还可以是行车电脑等。作为另一个示例,该电子控制系统还可以是单独的自动控制系统等。需要指出的是,本说明书中的“车载”应从最为宽泛的意义上去理解,其不仅包括将电子控制系统固定设置在车体上或与车体相连的方式,还包括将电子控制系统可拆卸或可移动地设置在车辆上的方式。另一些与车辆自动驾驶有关的应用场景下,如图2所述,还可以存在与车辆自动驾驶有关的,当车辆自身不能满足自动驾驶软件部署时,辅助车辆进行自动驾驶软件部署的云端服务器,以下将所述云端服务器称为服务器。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.

以下结合图3,首先介绍本申请一种自动驾驶软件部署的实施例,其中,该方法包括: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:采集车辆下一路段的地理位置参数和环境参数。S101: Collect geographic location parameters and environmental parameters of the next road section of the vehicle.

所述地理位置参数可以包括但不限于自动驾驶车辆所在地理位置单元的经纬度、自动驾驶车辆基于时空坐标系的在三维空间中的位置坐标或者基于图像坐标系的在二位空间中的像素坐标等。具体的,自动驾驶车辆实时地理位置单元的经纬度可以标记为例如(w°x’E,y°z’N),表示位于东经w度x分北纬y度z分;自动驾驶车辆基于时空坐标系可以标记为例如(x,y,z)的坐标位置,一般三维空间坐标系用三个正交轴X,Y,Z表示物体的位置,x、y、z分别表示在X轴、Y轴、Z轴上距离原点的距离分别为x、y、z;自动驾驶车辆基于图像坐标系可以标记为例如(Xi,Yi)的图像坐标,一般以图像左上角为原点,向右为x正方向,向下为y正方向,,Xi、Yi分别表示在x正方向、y正方向上距离原点的距离分别为Xi、Yi像素。所述环境参数可以包括但不限于光照环境参数、声音环境参数或者天气环境参数等,其中天气环境参数可以包括但不限于风雪雷雨等。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.

在实际的应用场景中,基于但不限于定位系统、激光雷达、毫米波雷达、超声传感器、图像传感器、V2X(Vehicle to X,车与外界的信息交换)等现有技术可以采集到地理位置参数和环境参数。自动驾驶车辆通常可以在行驶前规划行驶路径,并且在行驶至下一路段前采集下一路段的地理位置参数和环境参数。具体的,定位系统可以对自动驾驶车辆进行地理位置的定位,定位系统可包括导航系统,例如全球定位系统或者以周围环境为参照确定自动驾驶车辆位置的磁传感和声传感,基于自动驾驶车辆规划的行驶路径得到下一路段的地理位置参数。激光雷达可以探测静态和动态物体,并采集到被探测物体的高分辨率的几何图形、距离图像和速度图像。毫米雷达可以利用无线电波对物体进行探测和定位。超声传感器可以对短距离的物体进行三维映射。图像传感器可以通过对采集的图像进行计算分析,进而得到行人、自行车、机动车、道路轨迹线、路牌、信号灯等环形参数。V2X技术可以获得多方面的信息,包括但不限于附近车辆的地理位置参数、实时状态信息和经过计算得到的预测信息等。在一些自动驾驶车辆的环境感知应用场景中,自动驾驶车辆可以根据使用需要及功能侧重点利用多个传感技术的任意组合来采集地理位置参数和环境参数,例如可以为降低成本,使用图像传感器、毫米波雷达及超声波雷达的组合,也可以为提高目标的精确度使用激光雷达、毫米波雷达、超声波传感器及图像传感器的组合等,但自动驾驶车辆采集下一路段的地理位置参数和环境参数。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:根据地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件。S103: Find matching automatic driving software in the vehicle cache according to the geographic location parameter and the environmental parameter.

本申请中车辆缓存是指自动驾驶过程中,自动驾驶车辆所调用的自动驾驶软件所在的本地存储器。自动驾驶车辆在行驶过程中为了保证安全可靠性和实时性,优选的是将自动驾驶软件存储在车辆本地的存储器中以便迅捷地调用。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.

具体的,结合图4,根据地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件可以包括: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:根据地理位置参数匹配车辆缓存中的自动驾驶软件。S1031: Match the automatic driving software in the vehicle cache according to the geographic location parameter.

优选的,构建自动驾驶软件时,可以建立该自动驾驶软件与地理位置参数的索引关系。在自动驾驶软件车辆进行自动驾驶软件的查找时,可以通过索引的方式更快匹配到对应的自动驾驶软件。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:从匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.

在上一步中,通过地理位置参数的索引先筛除大量不符合条件的自动驾驶软件,当前再通过环境参数索引匹配对应的自动驾驶软件,能够更快地响应匹配要求。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.

具体的,结合图5,当根据地理位置参数匹配不到车辆缓存中的自动驾驶软件时,所述方法可以包括: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:获取地理位置的上位地理位置。S1041: Obtain the upper-level geographic location of the geographic location.

S1042:根据所述地理位置的上位地理位置参数和索引匹配车辆缓存中的自动驾驶软件。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:从匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置的上位地理位置参数和环境参数匹配的自动驾驶软件。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.

本申请中所述索引采用空间索引,所述空间索引包括:多个不同区域精度的地理位置与自动驾驶软件的索引信息。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.

具体的,空间索引是指按照不同的区域精度将地图分为n(n≥2)层。为更方便地举例,下面赋值n=3,如图6所示,n赋值后将地图分为三层,第一层地图1、第二层地图2、第三层地图3的精确度依次递增。相应的,地图分解后的地理位置单元第一层到第三层依次缩小,根据地理位置参数匹配的自动驾驶软件从第一层至第三层精确度递增。对地图的俯视图进行简化,如图7所示,三层地图根据不同的精确度划分后,大小不同的地理位置单元层层嵌套,地理位置单元4包含4个地理位置单元5,地理位置单元5包含4个地理位置单元6。其中,基于地理位置单元6的自动驾驶软件精确度高于基于地理位置单元5的自动驾驶软件,基于地理位置单元5的自动驾驶软件精确度高于基于地理位置单元4的自动驾驶软件。当车辆行驶到地理位置单元6时,自动驾驶车辆可以调用基于地理位置单元6的自动驾驶软件,当该软件运行存在异常,可以调用基于地理位置单元5的自动驾驶软件,若再存在异常,还可以调用基于地理位置区域4的自动驾驶软件。分解后的地理位置单元可以包括但不限于六边形、四边形、等任意形状的图形。通过规范化地建立地理位置单元与自动驾驶软件之间的索引,可以方便在使用时快速响应自动驾驶软件的查找,也能在基于地理位置精确度低的自动驾驶软件运行异常时,实现备份的基于地理位置精确度高的自动驾驶软件正常运行的情况。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:当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件。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.

例如:自动驾驶车辆行驶的下一路段为无锡市京沪高速江阴大桥入口处,则仅基于地理位置参数,在车辆缓存中查找到的相匹配的自动驾驶软件可以分别基于地理位置参数为“无锡市京沪高速江阴大桥”,基于地理位置参数为“无锡市京沪高速江阴大桥入口处”以及基于地理位置参数为“无锡市京沪高速”。将上述软件分别标记为自动驾驶软件1、自动驾驶软件2、自动驾驶软件3,对上述三个软件进行优先级排序,这里的优先级是根据地理位置参数的精确度来确定,如表1,排序如下: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:

表1Table 1

排序序号Sort number 软件名software name 对应地理位置参数Corresponding geographic location parameters 11 自动驾驶软件2Autonomous Driving Software 2 “无锡市京沪高速江阴大桥入口处”"At the entrance of Jiangyin Bridge of Beijing-Shanghai Expressway in Wuxi City" 22 自动驾驶软件1Autonomous Driving Software 1 “无锡市京沪高速江阴大桥”"Jiangyin Bridge of Beijing-Shanghai Expressway in Wuxi City" 33 自动驾驶软件3Autonomous Driving Software 3 “无锡市京沪高速”"Wuxi Beijing-Shanghai Expressway"

又例如:自动驾驶车辆行驶的下一路段为无锡市京沪高速江阴大桥,下一路段下的天气情况为小雪,侧风风力为5级。基于地理位置参数和环境参数,在车辆缓存中查找到的相匹配的自动驾驶软件可以分别基于地理位置参数为“无锡市京沪高速江阴大桥”,基于地理位置参数为“无锡市京沪高速江阴大桥”、环境参数为“小雪”和“风力5级”以及基于地理位置参数为“无锡市京沪高速江阴大桥”、环境参数为“小雪”。将上述三个软件分别标记为自动驾驶软件4、自动驾驶软件5以及自动驾驶软件6,对上述三个软件进行优先级排序,这里的优先级是根据地理位置参数和环境参数的精确度来确定,如表2,排序如下: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:

表2Table 2

Figure GDA0002143500190000091
Figure GDA0002143500190000091

根据优先级排序自动驾驶车辆在下一路段将调用自动驾驶软件5。The self-driving vehicle will call the self-driving software5 on the next section of the road according to the priority.

具体的,地理位置参数可以包括但不限于通过定位得到的位置参数、通过传感器探测得到的位置参数或者通过以周围的物体为参照得到的位置参数等,环境参数可以包括但不限于光照参数、天气参数、风力参数或者声音参数等,由于地理位置参数与环境参数种类较多,以上仅根据S105步骤简单列举两个例子。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:当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。S107: Feedback prompt information when there is no or only one matching automatic driving software.

具体的,提示信息可以包括匹配到的自动驾驶软件数量。当存在一个匹配的自动驾驶软件时,反馈提示信息,能够有效避免该匹配的自动驾驶软件出现故障时车辆不能自动驾驶的情况。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.

具体的,当不存在或者仅存在一个匹配的自动驾驶软件时,该自动驾驶软件部署方法还可以包括:Specifically, when there is no or only one matching automatic driving software, the automatic driving software deployment method may further include:

S109:向服务器发送自动驾驶软件更新请求,其中自动驾驶软件更新请求包括地理位置参数和环境参数。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.

具体的,服务器是指区别于车辆本地存储器的云端服务器或者服务器组,优选的,向服务器发送自动驾驶软件更新请求时选用网络链路最短的路径。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:接收服务器发送的,从软件库中找到的与地理位置参数和环境参数相匹配的自动驾驶软件。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.

优选的,接收服务器发送的相匹配的自动驾驶软件时选用网络链路最短的路径。Preferably, the path with the shortest network link is selected when receiving the matching automatic driving software sent by the server.

具体的,软件库可以包括基于采集的地理位置参数和常态环境参数构建的常态自动驾驶软件以及基于采集的地理位置参数和变态环境参数构建的变态自动驾驶软件。其中,常态环境参数是指一般应用场景中出现的环境参数,以侧风风力为例,由于风力3级的应用场景普遍存在,可以设定“风力3级”为常态环境参数,根据“风力3级”的环境参数构建的自动驾驶软件可以经常被调用。而台风天即风力12级的应用场景不是普遍存在,车辆缓存或者软件库中不存在基于“风力12级”的环境参数构建的自动驾驶软件,诸如“风力12级”的特定的环境参数即变态环境参数,同时基于诸如“风力12级”的变态环境参数构建的自动驾驶软件即变态自动驾驶软件。在实际构建软件库时,常态环境参数与变态环境参数是相对的,具体的设置参照实际技术条件。例如,风力主要影响的是车身的稳定性,当技术条件相当成熟,车身足够稳定,风力较强的环境参数也可以被定义为常态环境参数。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:将相匹配的自动驾驶软件存储到车辆缓存。S113: Store the matched automatic driving software in the vehicle cache.

在上述的实施例中,通过采集车辆下一路段的地理位置参数和环境参数,根据地理位置参数匹配车辆缓存中的自动驾驶软件从匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件,当根据地理位置参数匹配不到车辆缓存中的自动驾驶软件时,采用调用上位地址位置参数匹配的自动驾驶软件的方式,当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息并且向服务器发送自动驾驶软件更新请求,其中自动驾驶软件更新请求包括地理位置参数和环境参数,最后接收服务器发送的,从软件库中找到的与地理位置参数和环境参数相匹配的自动驾驶软件,并且将相匹配的自动驾驶软件存储到车辆缓存,从而实现大范围内进行更高自动化水平的自动驾驶软件部署,用便捷的手段收集大范围内更精确的地理位置参数和环境参数,并根据参数集合构建自动驾驶软件存储在软件库中,工作机制上采用备份自动驾驶软件调用的方式,大大提高了安全性和可靠性。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.

在另一个实施例中,自动驾驶软件部署方法还可以包括以下步骤:In another embodiment, the automatic driving software deployment method may further include the following steps:

S101:采集车辆下一路段的地理位置参数和环境参数。S101: Collect geographic location parameters and environmental parameters of the next road section of the vehicle.

S103:根据地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件。S103: Find matching automatic driving software in the vehicle cache according to the geographic location parameter and the environmental parameter.

S105:当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件。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:优先级排序最前的自动驾驶软件运行异常时,将优先级排序最前的自动驾驶软件置换为优先级排序在优先级排序最前的自动驾驶软件之后的自动驾驶软件。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.

具体的,优先级排序最前的自动驾驶软件运行异常可以包括但不限于自动驾驶软件自身存在缺陷无法运行或者该自动驾驶软件在自动驾驶车辆的车机系统调用过程中,与车机系统存在兼容性问题无法运行。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.

例如:自动驾驶车辆行驶的下一路段为无锡市京沪高速江阴大桥,下一路段下的天气情况为小雪,侧风风力为5级。基于地理位置参数和环境参数,在车辆缓存中查找到的相匹配的自动驾驶软件可以分别基于地理位置参数为“无锡市京沪高速江阴大桥”,基于地理位置参数为“无锡市京沪高速江阴大桥”、环境参数为“小雪”和“风力5级”以及基于地理位置参数为“无锡市京沪高速江阴大桥”、环境参数为“小雪”。将上述三个软件分别标记为自动驾驶软件4、自动驾驶软件5以及自动驾驶软件6,基于表2,对上述是三个软件进行优先级排序,这里的优先级是根据地理位置参数和环境参数的精确度来确定。优先级排序最前的自动驾驶软件为自动驾驶软件5,行驶至下一路段调用自动驾驶软件5,当自动驾驶软件5运行异常时,将优先级排序最前的自动驾驶软件5置换为优先级排序在优先级排序最前的自动驾驶软件5之后的自动驾驶软件6,如表3所示,重新排序后的顺序如下: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:

表3table 3

Figure GDA0002143500190000121
Figure GDA0002143500190000121

根据新的优先级排序自动驾驶车辆在下一路段将调用自动驾驶软件6。According to the new priority, the self-driving vehicle will call the self-driving software6 on the next section of the road.

当自动驾驶软件6运行异常时,将优先级排序最前的自动驾驶软件6置换为优先级排序在优先级排序最前的自动驾驶软件6之后能够正常运行的自动驾驶软件4,如表4所示,重新排序后的顺序如下: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:

表4Table 4

Figure GDA0002143500190000122
Figure GDA0002143500190000122

S107:当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。S107: Feedback prompt information when there is no or only one matching automatic driving software.

S109:向服务器发送自动驾驶软件更新请求,其中自动驾驶软件更新请求包括地理位置参数和环境参数。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:接收服务器发送的,从软件库中找到的与地理位置参数和环境参数相匹配的自动驾驶软件。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:将相匹配的自动驾驶软件存储到车辆缓存。S113: Store the matched automatic driving software in the vehicle cache.

在上述的实施例中,通过采集车辆下一路段的地理位置参数和环境参数,再根据地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件,当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,优先级排序最前的自动驾驶软件运行异常时,将优先级排序最前的自动驾驶软件置换为优先级排序在优先级排序最前的自动驾驶软件之后的自动驾驶软件,当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息并向服务器发送自动驾驶软件更新请求,其中自动驾驶软件更新请求包括地理位置参数和环境参数,接收服务器发送的,从软件库中找到的与地理位置参数和环境参数相匹配的自动驾驶软件,最后将相匹配的自动驾驶软件存储到车辆缓存,实现大范围内进行更高自动化水平的自动驾驶软件部署,工作机制上采用备份自动驾驶软件调用的方式,大大提高了安全性和可靠性。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.

本申请实施例另一方面还提供一种自动驾驶软件部署装置,如图8所示,所述装置可以包括: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:

参数采集模块7,用于采集车辆下一路段的地理位置参数和环境参数;A parameter collection module 7, used for collecting geographic location parameters and environmental parameters of the next road section of the vehicle;

软件查找模块8,用于根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件;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;

多软件调用模块9,用于当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件;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;

非多软件处理模块10,用于当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。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.

具体的,如图9,为了更快响应自动驾驶软件查找请求,软件查找模块可以包括:Specifically, as shown in Figure 9, in order to respond to the automatic driving software search request faster, the software search module may include:

地理位置参数匹配单元11,用于根据地理位置参数匹配车辆缓存中的自动驾驶软件;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;

环境参数匹配单元12,用于从所述匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.

具体的,未实现当车辆缓存中不存在或仅存在一个匹配的自动驾驶软件时,可以通过云端服务器获得更多匹配的自动驾驶软件,如图10,非多软件处理模块可以包括: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:

数据发送单元13,用于向服务器发送自动驾驶软件更新请求,所述自动驾驶软件更新请求包括所述地理位置参数和环境参数;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;

软件接收单元14,用于接收服务器发送的,从软件库中查找到的与所述地理位置参数和环境参数相匹配的自动驾驶软件;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;

存储单元15,用于将所述相匹配的自动驾驶软件存储到所述车辆缓存。The storage unit 15 is configured to store the matched automatic driving software in the vehicle cache.

本申请实施例另一方面还提供一种自动驾驶软件部署终端,所述终端包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现自动驾驶软件部署方法。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.

本申请实施例另一方面还提供一种自动驾驶软件部署服务器,所述服务器包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现自动驾驶软件部署方法。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.

由以上本申请一种自动驾驶软件部署方法、装置、终端及服务器实施例提供的技术方案可见,本申请通过采集车辆下一路段的地理位置参数和环境参数,根据所述地理位置参数和环境参数查找车辆缓存中匹配的自动驾驶软件,当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息;实施本申请可以实现在大范围内进行更高自动化水平的自动驾驶软件部署,用便捷的手段收集大范围内更精确的地理位置参数和环境参数,并根据参数集合构建自动驾驶软件存储在软件库中,工作机制上采用备份自动驾驶软件调用的方式,大大提高了安全性和可靠性。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.

上述说明已经充分揭露了本申请的具体实施方式。需要指出的是,熟悉该领域的技术人员对本申请的具体实施方式所做的任何改动均不脱离本申请的权利要求书的范围。相应地,本申请的权利要求的范围也并不仅仅局限于前述具体实施方式。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.

本说明书中的各个实施例均采用递进的方式描述,各个实施例之间相同相似的部分互相参见即可,每个实施例重点说明的都是与其他实施例的不同之处。尤其,对于装置、终端和服务器实施例而言,由于其基本相似于方法实施例,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。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.

本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成,也可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,上述提到的存储介质可以是只读存储器,磁盘或光盘等。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.

以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。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)

1.一种自动驾驶软件部署方法,其特征在于,所述方法包括:1. A method for deploying automatic driving software, wherein the method comprises: 采集车辆下一路段的地理位置参数和环境参数;Collect the geographic location parameters and environmental parameters of the next section of the vehicle; 根据所述地理位置参数和环境参数到车辆缓存的空间索引中查找匹配的自动驾驶软件,所述车辆缓存中存储有所述空间索引,所述空间索引表征不同地理位置单元对应的多个不同区域精度的地理位置与自动驾驶软件的索引信息;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; 当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,其中,优先级排序包括根据所述地理位置参数的精确度和/或所述环境参数的精确度进行排序;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; 当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。When there is no or only one matching automatic driving software, feedback prompt information. 2.根据权利要求1所述的自动驾驶软件部署方法,其特征在于,当不存在或者仅存在一个匹配的自动驾驶软件时,所述方法还包括: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: 向服务器发送自动驾驶软件更新请求,所述自动驾驶软件更新请求包括所述地理位置参数和环境参数;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; 接收服务器发送的,从软件库中查找到的与所述地理位置参数和环境参数相匹配的自动驾驶软件;Receive the automatic driving software that matches the geographic location parameters and environmental parameters found in the software library and sent by the server; 将所述相匹配的自动驾驶软件存储到所述车辆缓存;storing the matched autonomous driving software in the vehicle cache; 所述软件库包括:基于采集的地理位置参数和常态环境参数构建的常态自动驾驶软件以及基于采集的地理位置参数和变态环境参数构建的变态自动驾驶软件。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.根据权利要求1所述的自动驾驶软件部署方法,其特征在于,所述方法还包括:3. The automatic driving software deployment method according to claim 1, wherein the method further comprises: 所述优先级排序最前的自动驾驶软件运行异常时,将所述优先级排序最前的自动驾驶软件置换为优先级排序在所述优先级排序最前的自动驾驶软件之后的自动驾驶软件。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.根据权利要求1所述的自动驾驶软件部署方法,其特征在于,所述根据所述地理位置参数和环境参数到车辆缓存的空间索引中查找匹配的自动驾驶软件包括: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: 根据地理位置参数匹配车辆缓存中的自动驾驶软件;Match the autopilot software in the vehicle cache based on geolocation parameters; 从匹配的车辆缓存中的自动驾驶软件中,根据环境参数匹配自动驾驶软件,得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.根据权利要求4所述的自动驾驶软件部署方法,其特征在于,当根据地理位置参数匹配不到车辆缓存中的自动驾驶软件时,所述方法还包括;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; 获取所述地理位置的上层地理位置参数;Obtain the upper-level geographic location parameters of the geographic location; 根据所述地理位置的上层地理位置参数和索引匹配车辆缓存中的自动驾驶软件;Match the autopilot software in the vehicle cache according to the upper-level geographic location parameter and index of the geographic location; 从所述匹配的车辆缓存中的自动驾驶软件中,根据环境参数匹配自动驾驶软件,得到与所述地理位置的上层地理位置参数和环境参数匹配的自动驾驶软件;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; 所述索引采用空间索引,所述空间索引包括:多个不同区域精度的地理位置与自动驾驶软件的索引信息,所述上层地理位置参数为区域精度低于所述地理位置参数的地理位置参数。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. 6.一种自动驾驶软件部署装置,其特征在于,所述装置包括:6. An automatic driving software deployment device, wherein the device comprises: 参数采集模块,用于采集车辆下一路段的地理位置参数和环境参数;The parameter collection module is used to collect the geographic location parameters and environmental parameters of the next section of the vehicle; 软件查找模块,用于根据所述地理位置参数和环境参数到车辆缓存的空间索引中查找匹配的自动驾驶软件,所述车辆缓存中存储有所述空间索引,所述空间索引表征不同地理位置单元对应的多个不同区域精度的地理位置与自动驾驶软件的索引信息;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; 多软件调用模块,用于当存在至少两个匹配的自动驾驶软件时,将至少两个匹配的自动驾驶软件进行优先级排序并调用优先级排序最前的自动驾驶软件,其中,优先级排序包括根据所述地理位置参数的精确度和/或所述环境参数的精确度进行排序;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; 非多软件处理模块,用于当不存在或者仅存在一个匹配的自动驾驶软件时,反馈提示信息。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.根据权利要求6所述的自动驾驶软件部署装置,其特征在于,所述软件查找模块包括:7. The automatic driving software deployment device according to claim 6, wherein the software search module comprises: 地理位置参数匹配单元,用于根据地理位置参数匹配车辆缓存中的自动驾驶软件;The geographic location parameter matching unit is used to match the automatic driving software in the vehicle cache according to the geographic location parameter; 环境参数匹配单元,用于从匹配的车辆缓存中的自动驾驶软件中,再根据环境参数匹配自动驾驶软件,最终得到与所述地理位置参数和环境参数匹配的自动驾驶软件。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.根据权利要求6所述的自动驾驶软件部署装置,其特征在于,所述非多软件处理模块还可以包括:8. The automatic driving software deployment device according to claim 6, wherein the non-multi-software processing module further comprises: 数据发送单元,用于向服务器发送自动驾驶软件更新请求,所述自动驾驶软件更新请求包括所述地理位置参数和环境参数;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; 软件接收单元,用于接收服务器发送的,从软件库中查找到的与所述地理位置参数和环境参数相匹配的自动驾驶软件;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; 存储单元,用于将所述相匹配的自动驾驶软件存储到所述车辆缓存。A storage unit, configured to store the matched automatic driving software in the vehicle cache. 9.一种自动驾驶软件部署终端,其特征在于,所述终端包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求1-5任一所述的自动驾驶软件部署方法。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. 10.一种自动驾驶软件部署服务器,其特征在于,所述服务器包括处理器和存储器,所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求1至5任一所述的自动驾驶软件部署方法。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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