CN110308978B - Automatic driving software deployment method, device, terminal and server - Google Patents
Automatic driving software deployment method, device, terminal and server Download PDFInfo
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Abstract
The application discloses an automatic driving software deployment method, an automatic driving software deployment device, a terminal and a server, wherein the method comprises the following steps: collecting geographic position parameters and environment parameters of a next road section of a vehicle, searching matched automatic driving software in a vehicle cache according to the geographic position parameters and the environment parameters, when at least two matched automatic driving software exist, carrying out priority sequencing on the at least two matched automatic driving software and calling the automatic driving software with the highest priority sequencing, and when one matched automatic driving software does not exist or only exists, feeding back prompt information; by implementing the method and the system, automatic driving software deployment with higher automation level can be realized in a large range, the matched automatic driving software is subjected to priority sequencing, and the automatic driving software with the highest priority sequencing is called, so that the safety and the reliability are greatly improved.
Description
Technical Field
The application relates to an automatic driving software deployment method, an automatic driving software deployment device, a terminal and a server, in particular to an automatic driving software deployment method, an automatic driving software deployment device, a terminal and a server which are called by a next geographic position area in the driving process of an automatic driving vehicle.
Background
With the high concentration of population and the continuous development of traffic industry brought by urban construction, the society puts forward higher and higher demands on how to provide more convenient, efficient and humanized services for an intelligent traffic system. Automatic driving is an important development direction of current intelligent traffic, and as a new technology, the automatic driving is a current hotspot in the automobile industry. An automatic driving vehicle is also called an unmanned vehicle, an intelligent driving vehicle, a computer driving vehicle or a wheeled mobile robot, and is an intelligent vehicle which realizes unmanned driving through a computer system. Decades of history have existed in the 20 th century, and the 21 st century shows a trend toward practical use. Autonomous vehicles rely on the cooperative cooperation of artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems, etc., so that the vehicle can travel automatically and safely without human operation.
Although autodrive vehicles are in reality, it is difficult to achieve autodrive technology that can drive in any weather and under any conditions, because the autodrive scenario is too complex. It is almost impossible to develop an autopilot software system that can accommodate all environments, all scenarios. Currently, there are generally two approaches to solve this problem in the industry: one is software that provides a lower level of automation, providing services over a larger range; one is to provide higher automation level software, but only within a specific range and require special engineering personnel to manage. However, at present, the automatic driving tests of the organizations at home and abroad can not realize automatic driving software which provides higher automation level in a larger range. In order to provide automatic driving software with higher automation level in a large range, a mechanism is needed, the software deployment aiming at specific range work is automatically completed, and multiple backups are needed to be formed on the software deployment and the work mechanism, so that the safety is ensured.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the application discloses an automatic driving software deployment method, an automatic driving software deployment device, a terminal and a server.
In order to achieve the purpose of the application, the application provides an automatic driving software deployment method, an automatic driving software deployment device, a terminal and a server, wherein the automatic driving software deployment method comprises the following steps:
collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle;
searching matched automatic driving software in the vehicle cache according to the geographic position parameter and the environmental parameter;
when at least two matched automatic driving software exist, the at least two matched automatic driving software are subjected to priority sequencing, and the automatic driving software with the highest priority sequencing is called;
when no or only one matching automatic driving software exists, the prompt information is fed back.
Specifically, when there is no or only one matching autopilot software, the method further comprises:
sending an automatic driving software updating request to a server, wherein the automatic driving software updating request comprises the geographic position parameter and the environmental parameter;
receiving the automatic driving software which is sent by the server and is searched from the software library and matched with the geographic position parameter and the environmental parameter;
storing the matched autopilot software to the vehicle cache;
the software library includes: the system comprises normal automatic driving software constructed based on the collected geographic position parameters and the normal environment parameters and abnormal automatic driving software constructed based on the collected geographic position parameters and the abnormal environment parameters.
Specifically, the method further comprises:
and when the automatic driving software with the highest priority is abnormal in operation, replacing the automatic driving software with the highest priority behind the automatic driving software with the highest priority.
Specifically, the searching for the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environmental parameter includes:
matching automatic driving software in the vehicle cache according to the geographic position parameters;
and matching the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache to finally obtain the automatic driving software matched with the geographic position parameters and the environmental parameters.
Specifically, when the automatic driving software in the vehicle cache is not matched according to the geographic position parameters, the method further comprises the following steps;
acquiring an upper geographical position of the geographical position;
matching automatic driving software in a vehicle cache according to the upper geographic position parameter and the index of the geographic position;
matching the automatic driving software according to the environment parameters from the automatic driving software in the matched vehicle cache to finally obtain the automatic driving software matched with the upper geographic position parameters and the environment parameters of the geographic position;
the index is a spatial index, and the spatial index comprises: geographic location and index information for the autopilot software at a plurality of different regional accuracies.
Another aspect of the present application further provides an autopilot software deployment apparatus, the apparatus comprising:
the parameter acquisition module is used for acquiring the geographic position parameter and the environmental parameter of the next road section of the vehicle;
the software searching module is used for searching the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environment parameter;
the multi-software calling module is used for carrying out priority sequencing on at least two matched automatic driving software and calling the automatic driving software with the highest priority sequencing when at least two matched automatic driving software exist;
and the non-multi-software processing module is used for feeding back prompt information when no matched automatic driving software exists or only one matched automatic driving software exists.
Specifically, the software searching module includes:
the geographic position parameter matching unit is used for matching the automatic driving software in the vehicle cache according to the geographic position parameters;
and the environment parameter matching unit is used for matching the automatic driving software from the matched automatic driving software in the vehicle cache according to the environment parameters to finally obtain the automatic driving software matched with the geographic position parameters and the environment parameters.
Specifically, the non-multiple software processing module may further include:
the data sending unit is used for sending an automatic driving software updating request to a server, and the automatic driving software updating request comprises the geographic position parameter and the environmental parameter;
the software receiving unit is used for receiving the automatic driving software which is sent by the server and is searched from the software library and matched with the geographic position parameter and the environmental parameter;
and the storage unit is used for storing the matched automatic driving software into the vehicle cache.
Another aspect of the present application further provides an autopilot software deployment terminal, which is characterized in that the terminal includes a processor and a memory, and the memory stores therein at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the autopilot software deployment method according to any one of claims 1 to 8.
Another aspect of the present application further provides an autopilot software deployment server, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the autopilot software deployment method according to any one of claims 1 to 8.
The implementation of the invention has the following beneficial effects:
this application is through geographical position parameter and the environmental parameter of gathering next highway section of vehicle, according to geographical position parameter and environmental parameter seek the automatic driving software that matches in the vehicle cache, when there are two at least automatic driving software that match, carry out priority sequencing and call priority sequencing the first automatic driving software with at least two automatic driving software that match, when there is not or only one automatic driving software that matches, feedback prompt information, thereby realize carrying out higher automation level's automatic driving software deployment in a large scale, the mode that backup automatic driving software called is adopted on the operating system, security and reliability have been improved greatly.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is an application example diagram of an autopilot software deployment provided in an embodiment of the present application.
Fig. 2 is a diagram of an application example of another deployment of the automatic driving software provided in an embodiment of the present application.
Fig. 3 is a flowchart of an autopilot software deployment according to an embodiment of the present disclosure.
Fig. 4 is a flowchart of an autopilot software for finding a match in a vehicle cache based on geographic location parameters and environmental parameters according to an embodiment of the present application.
Fig. 5 is a flowchart illustrating a case where the automated driving software is not matched in the vehicle cache according to an embodiment of the present disclosure.
Fig. 6 is a structure diagram of a spatial index according to an embodiment of the present application.
Fig. 7 is a structure diagram of a planarized spatial index according to an embodiment of the present application.
Fig. 8 is a schematic structural diagram of an autopilot software deployment apparatus according to another embodiment of the present application.
Fig. 9 is a schematic structural diagram of a software search module according to an embodiment of the present application.
Fig. 10 is a schematic structural diagram of a non-multiple software processing module according to an embodiment of the present disclosure.
Wherein the reference numerals in fig. 6 correspond to: 1-a first layer map, 2-a second layer map, and 3-a third layer map; fig. 7 corresponds in reference numerals to: 4-a first geographical location unit, 5-a second geographical location unit, 6-a third geographical location unit.
Detailed Description
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 clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to implement the technical solution of the present application, so that more engineering workers can easily understand and apply the present application, the working principle of the present application will be further described with reference to specific embodiments.
The application can be applied to the field of automatic driving.
In this specification, application scenarios related to automatic driving of a vehicle refer to various scenarios in which automatic driving software for a next road segment is deployed during automatic driving of the vehicle.
In various application scenarios related to vehicle autopilot, as illustrated in fig. 1, there are typically one or more terminal devices to implement the associated functions of autopilot software deployment in a vehicle autopilot application scenario, and such terminal devices will be referred to hereinafter as terminal devices capable of implementing the associated functions of autopilot software deployment in a vehicle autopilot application scenario. The terminal device described herein may be, for example, a vehicle-mounted electronic control system, and the electronic control system itself may have a communication function to communicate with the cloud server, and further, the electronic control system may also be, for example, a vehicle 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 noted that "on-board" in this specification is to be understood in the broadest sense and includes not only the way in which the electronic control system is fixedly provided on or attached to the vehicle body, but also the way in which the electronic control system is detachably or movably provided on the vehicle. In other application scenarios related to vehicle automatic driving, as shown in fig. 2, there may also be a cloud server related to vehicle automatic driving, which assists a vehicle in performing automatic driving software deployment when the vehicle cannot meet the automatic driving software deployment, and the cloud server is referred to as a server hereinafter.
An embodiment of an autopilot software deployment of the present application is first described below with reference to fig. 3, where the method includes:
s101: and collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle.
The geographic location parameters may include, but are not limited to, latitude and longitude of a geographic location unit in which the autonomous vehicle is located, location coordinates in three-dimensional space based on a spatio-temporal coordinate system or pixel coordinates in two-dimensional space based on an image coordinate system of the autonomous vehicle, and the like. Specifically, the latitude and longitude of the autopilot real-time geolocation unit may be labeled, for example, (w ° x 'E, y ° z' N), indicating that it is located at east longitude, w degrees, x minutes, north latitude, y degrees, z minutes; the autonomous vehicle may be labelled as a coordinate position of, for example, (X, Y, Z) based on a spatio-temporal coordinate system, a general three-dimensional coordinate system representing the position of the object with three orthogonal axes X, Y, Z, X, Y, Z representing the distance from the origin on the X, Y, Z axes, respectively, X, Y, Z; the autonomous vehicle typically has an origin at the upper left corner of the image, a positive x-direction to the right, and a positive y-direction downwards, based on image coordinates, which may be labeled, for example, (Xi, Yi), which indicate that the distances from the origin in the positive x-direction and positive y-direction are Xi, Yi pixels, respectively. The environmental parameters may include, but are not limited to, a light environment parameter, a sound environment parameter, or a weather environment parameter, etc., wherein the weather environment parameter may include, but is not limited to, wind, snow, rain, etc.
In practical application scenarios, geographic location parameters and environmental parameters may be acquired based on, but not limited to, positioning systems, laser radars, millimeter wave radars, ultrasonic sensors, image sensors, V2X (Vehicle to X, information exchange between a Vehicle and the outside world), and other prior art. Autonomous vehicles can generally plan a travel path before traveling and collect geographic location parameters and environmental parameters of a next road segment before traveling to the next road segment. Specifically, the positioning system may be configured to locate the geographic position of the autonomous vehicle, and the positioning system may include a navigation system, such as a global positioning system or magnetic and acoustic sensors that determine the position of the autonomous vehicle with reference to the surrounding environment, and obtain the geographic position parameter of the next road segment based on the planned driving path of the autonomous vehicle. The laser radar can detect static and dynamic objects and acquire high-resolution geometric figures, range images and speed images of the detected objects. Millimeter radars may utilize radio waves to detect and locate objects. The ultrasonic sensor can perform three-dimensional mapping on objects with short distance. The image sensor can calculate and analyze the collected images to further obtain the annular parameters of pedestrians, bicycles, motor vehicles, road track lines, guideboards, signal lamps and the like. The V2X technology can obtain various information including, but not limited to, geographical location parameters of nearby vehicles, real-time status information, and calculated predictive information. In some environment sensing application scenarios of the autonomous vehicle, the autonomous vehicle may acquire the geographic position parameter and the environmental parameter by using any combination of a plurality of sensing technologies according to the use requirements and functional emphasis, for example, a combination of an image sensor, a millimeter wave radar, and an ultrasonic radar may be used to reduce the cost, a combination of a laser radar, a millimeter wave radar, an ultrasonic sensor, and an image sensor may be used to improve the accuracy of a target, and the autonomous vehicle acquires the geographic position parameter and the environmental parameter of a next road section.
S103: and searching the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environmental parameter.
In the application, the vehicle cache refers to a local memory where automatic driving software called by an automatic driving vehicle is located in the automatic driving process. In order to ensure safety reliability and real-time performance during the driving of the autonomous vehicle, it is preferable that the autonomous software be stored in a memory local to the vehicle for quick retrieval.
Specifically, with reference to fig. 4, the finding the matching autopilot software in the vehicle cache according to the geographic location parameter and the environmental parameter may include:
s1031: and matching the automatic driving software in the vehicle cache according to the geographic position parameters.
Preferably, when the automatic driving software is constructed, an index relationship between the automatic driving software and the geographic position parameter can be established. When the automatic driving software vehicle searches for the automatic driving software, the corresponding automatic driving software can be matched in an indexing mode more quickly.
S1033: and matching the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache to finally obtain the automatic driving software matched with the geographic position parameters and the environmental parameters.
In the last step, a large amount of automatic driving software which does not meet the conditions is screened out through the index of the geographic position parameters, and the matching requirement can be responded more quickly by matching the corresponding automatic driving software through the index of the environmental parameters.
Specifically, with reference to fig. 5, when the automatic driving software in the vehicle cache is not matched according to the geographic location parameter, the method may include:
s1041: and acquiring the upper geographical position of the geographical position.
S1042: and matching the automatic driving software in the vehicle cache according to the upper geographic position parameter and the index of the geographic position.
S1043: and matching the automatic driving software according to the environment parameters from the automatic driving software in the matched vehicle cache to finally obtain the automatic driving software matched with the upper geographical position parameters and the environment parameters of the geographical position.
In this application, the index is a spatial index, which includes: geographic location and index information for the autopilot software at a plurality of different regional accuracies.
Specifically, the spatial index is to divide the map into n (n is more than or equal to 2) layers according to different regional precisions. For a more convenient example, n is set to 3, as shown in fig. 6, after n is set, 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 is increased in sequence. Correspondingly, the first layer to the third layer of the geographic position unit after the map decomposition is sequentially reduced, and the accuracy of the automatic driving software matched according to the geographic position parameters is increased from the first layer to the third layer. The top view of the map is simplified, as shown in fig. 7, after the three-layer map is divided according to different accuracies, the geographic position units with different sizes are nested layer by layer, the geographic position unit 4 includes 4 geographic position units 5, and the geographic position unit 5 includes 4 geographic position units 6. Wherein the accuracy of the autopilot software based on the geolocation unit 6 is higher than the autopilot software based on the geolocation unit 5, and the accuracy of the autopilot software based on the geolocation unit 5 is higher than the autopilot software based on the geolocation unit 4. When the vehicle runs to the geographic position unit 6, the automatic driving vehicle can call automatic driving software based on the geographic position unit 6, when the software runs abnormally, the automatic driving software based on the geographic position unit 5 can be called, and if the abnormality exists, the automatic driving software based on the geographic position area 4 can be called. The decomposed geographic location cells may include, but are not limited to, any shape of a figure such as a hexagon, a quadrilateral, etc. By establishing the index between the geographic position unit and the automatic driving software in a standardized manner, the search of the automatic driving software can be responded quickly when in use, and the backup condition of the normal operation of the automatic driving software based on the high accuracy of the geographic position can be realized when the automatic driving software based on the low accuracy of the geographic position operates abnormally.
S105: when at least two matching automated driving software exist, the at least two matching automated driving software are prioritized and the automated driving software with the highest priority is called.
For example: the next road section where the autonomous vehicle travels is the entrance of the high-speed jingyin bridge of jinghu in the tin-free market, and the matched autonomous software found in the vehicle cache can be the "high-speed jingyin bridge of jinghu in the tin-free market" based on the geographical location parameter, the "entrance of the high-speed jingyin bridge of jinghu in the tin-free market" based on the geographical location parameter, and the "high-speed jingyin bridge of jinghu in the tin-free market" based on the geographical location parameter, respectively. The software is respectively marked as automatic driving software 1, automatic driving software 2 and automatic driving software 3, and the three software are prioritized, wherein the priority is determined according to the accuracy of the geographic location parameter, as shown in table 1, and the priority is as follows:
TABLE 1
| Sequence number | Name of software | Corresponding |
| 1 | |
Entrance of high-speed Jiangyin bridge in Jinghush in Wuxi market " |
| 2 | Autopilot software 1 | 'Wuxi market jinghu high-speed Jiangyin bridge' |
| 3 | |
"Wuxi market jinghu high speed" |
Another example is: the next road section of the automatic driving vehicle is a high-speed Jiangyin bridge of Jinghush in the Wuxi city, the weather condition of the next road section is snow, and the side wind power is grade 5. Based on the geographic location parameter and the environmental parameter, the matched automatic driving software searched in the vehicle cache can be respectively the "tin-free jinghu high-speed jiangyin bridge", the "small snow" and the "wind power level 5" based on the geographic location parameter, and the "tin-free jinghu high-speed jiangyin bridge" and the "small snow" based on the geographic location parameter. The three pieces of software are respectively marked as automatic driving software 4, automatic driving software 5 and automatic driving software 6, and are prioritized, wherein the priority is determined according to the accuracy of the geographic location parameter and the environmental parameter, as shown in table 2, and is ranked as follows:
TABLE 2
The automated driving vehicle will invoke the automated driving software 5 on the next road segment according to the prioritization.
Specifically, the geographic location parameter may include, but is not limited to, a location parameter obtained by positioning, a location parameter obtained by detecting with a sensor, or a location parameter obtained by referencing a surrounding object, and the like, and the environmental parameter may include, but is not limited to, a lighting parameter, a weather parameter, a wind parameter, or a sound parameter, and the like, and since the geographic location parameter and the environmental parameter are of many types, the above is only to briefly list two examples according to the step S105.
S107: when no or only one matching automatic driving software exists, the prompt information is fed back.
Specifically, the prompt message may include the number of matched autopilot software. When the matched automatic driving software exists, the prompt information is fed back, so that the condition that the vehicle cannot be automatically driven when the matched automatic driving software fails can be effectively avoided.
Specifically, when there is no or only one matching autopilot software, the autopilot software deployment method may further include:
s109: sending an autopilot software update request to a server, wherein the autopilot software update request includes a geographic location parameter and an environmental parameter.
Specifically, the server is a cloud server or a server group different from a vehicle local storage, and preferably, a shortest network link path is selected when the automatic driving software update request is sent to the server.
S111: and receiving the automatic driving software which is sent by the server and is found from the software library and matched with the geographic position parameters and the environmental parameters.
Preferably, the shortest path of the network link is selected when the matched automatic driving software sent by the server is received.
Specifically, the software library may include normal autopilot software constructed based on the collected geographic location parameters and normal environment parameters, and metamorphosis autopilot software constructed based on the collected geographic location parameters and metamorphosis environment parameters. The normal environmental parameters refer to environmental parameters appearing in a common application scene, and taking crosswind power as an example, since the application scene of the wind power level 3 generally exists, the wind power level 3 can be set as the normal environmental parameters, and the automatic driving software constructed according to the environmental parameters of the wind power level 3 can be frequently called. And the application scene of typhoon, namely 12-level wind power is not ubiquitous, automatic driving software constructed based on environment parameters of 12-level wind power, such as specific environment parameters of 12-level wind power, namely abnormal environment parameters, does not exist in a vehicle cache or a software library, and the automatic driving software constructed based on the abnormal environment parameters of 12-level wind power, namely abnormal automatic driving software does not exist. When the software library is actually constructed, the normal environment parameters and the abnormal environment parameters are relative, and the specific setting refers to the actual technical conditions. For example, the stability of the vehicle body is mainly influenced by the wind power, when the technical conditions are quite mature, the vehicle body is stable enough, and the environmental parameter with strong wind power can be defined as the normal environmental parameter.
S113: storing the matched automatic driving software to a vehicle cache.
In the above embodiment, by collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle, matching the automatic driving software in the vehicle cache according to the geographic position parameter, and then matching the automatic driving software according to the environmental parameter, finally obtaining the automatic driving software matched with the geographic position parameter and the environmental parameter, when the automatic driving software in the vehicle cache cannot be matched according to the geographic position parameter, adopting a mode of calling the automatic driving software matched with the upper address position parameter, when at least two matched automatic driving software exist, performing priority ordering on the at least two matched automatic driving software and calling the automatic driving software with the highest priority ordering, when one matched automatic driving software does not exist or exists, feeding back prompt information and sending an automatic driving software update request to the server, the automatic driving software updating request comprises geographic position parameters and environment parameters, automatic driving software which is sent by a server and is matched with the geographic position parameters and the environment parameters is received finally, the matched automatic driving software is stored in a vehicle cache, so that automatic driving software deployment with higher automation level is realized in a large range, more accurate geographic position parameters and environment parameters in the large range are collected by a convenient means, the automatic driving software is constructed according to a parameter set and stored in the software library, a mode of calling backup automatic driving software is adopted on a working mechanism, and safety and reliability are greatly improved.
In another embodiment, the autopilot software deployment method may further comprise the steps of:
s101: and collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle.
S103: and searching the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environmental parameter.
S105: when at least two matching automated driving software exist, the at least two matching automated driving software are prioritized and the automated driving software with the highest priority is called.
S106: and when the automatic driving software with the highest priority is abnormal in operation, replacing the automatic driving software with the highest priority behind the automatic driving software with the highest priority.
Specifically, the abnormal operation of the automatic driving software with the top priority ranking may include, but is not limited to, that the automatic driving software has a defect and cannot operate, or that the automatic driving software has a compatibility problem with a vehicle system and cannot operate in a vehicle system calling process of the automatic driving vehicle.
For example: the next road section of the automatic driving vehicle is a high-speed Jiangyin bridge of Jinghush in the Wuxi city, the weather condition of the next road section is snow, and the side wind power is grade 5. Based on the geographic location parameter and the environmental parameter, the matched automatic driving software searched in the vehicle cache can be respectively the "tin-free jinghu high-speed jiangyin bridge", the "small snow" and the "wind power level 5" based on the geographic location parameter, and the "tin-free jinghu high-speed jiangyin bridge" and the "small snow" based on the geographic location parameter. The three pieces of software are labeled as the automatic driving software 4, the automatic driving software 5, and the automatic driving software 6, respectively, and are prioritized based on table 2, where the priorities are determined according to the accuracy of the geographic location parameter and the environmental parameter. The automatic driving software with the highest priority ranking is the automatic driving software 5, the automatic driving software 5 is called when the vehicle runs to the next road segment, when the automatic driving software 5 runs abnormally, the automatic driving software 5 with the highest priority ranking is replaced by the automatic driving software 6 with the priority ranking behind the automatic driving software 5 with the highest priority ranking, as shown in table 3, the sequence after the reordering is as follows:
TABLE 3
The autonomous vehicle will call the autonomous software 6 on the next road segment according to the new priority ranking.
When the automatic driving software 6 operates abnormally, the automatic driving software 6 with the highest priority is replaced by the automatic driving software 4 which can normally operate after the automatic driving software 6 with the highest priority, and as shown in table 4, the order after reordering is as follows:
TABLE 4
S107: when no or only one matching automatic driving software exists, the prompt information is fed back.
S109: sending an autopilot software update request to a server, wherein the autopilot software update request includes a geographic location parameter and an environmental parameter.
S111: and receiving the automatic driving software which is sent by the server and is found from the software library and matched with the geographic position parameters and the environmental parameters.
S113: storing the matched automatic driving software in a vehicle cache.
In the above embodiment, by collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle, and then searching the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environmental parameter, when at least two matched automatic driving software exist, the at least two matched automatic driving software are prioritized and the automatic driving software with the highest priority is called, when the automatic driving software with the highest priority is abnormal in operation, the automatic driving software with the highest priority is replaced by the automatic driving software with the priority after the automatic driving software with the highest priority, when one matched automatic driving software does not exist or only exists, the prompt information is fed back and an automatic driving software update request is sent to the server, wherein the automatic driving software update request includes the geographic position parameter and the environmental parameter, and the automatic driving software which is sent by the server and is found from the software library and matched with the geographic position parameter and the environmental parameter is received, and finally, the matched automatic driving software is stored in the vehicle cache, so that the automatic driving software deployment with higher automation level is realized in a large range, and a mode of calling the backup automatic driving software is adopted on a working mechanism, so that the safety and the reliability are greatly improved.
Another aspect of the embodiments of the present application further provides an automatic driving software deployment apparatus, as shown in fig. 8, the apparatus may include:
the parameter acquisition module 7 is used for acquiring the geographic position parameter and the environmental parameter of the next road section of the vehicle;
the software searching module 8 is used for searching the matched automatic driving software in the vehicle cache according to the geographic position parameter and the environment parameter;
the multi-software calling module 9 is used for carrying out priority sequencing on at least two matched automatic driving software and calling the automatic driving software with the highest priority sequencing when at least two matched automatic driving software exist;
and the non-multi-software processing module 10 is used for feeding back prompt information when no matched automatic driving software exists or only one matched automatic driving software exists.
Specifically, as shown in fig. 9, in order to respond to the search request of the automatic driving software more quickly, the software search module may include:
the geographic position parameter matching unit 11 is used for matching automatic driving software in the vehicle cache according to the geographic position parameters;
and the environment parameter matching unit 12 is used for matching the automatic driving software from the matched automatic driving software in the vehicle cache according to the environment parameters, and finally obtaining the automatic driving software matched with the geographic position parameters and the environment parameters.
Specifically, when there is no or only one matching autopilot software in the vehicle cache, more matching autopilot software may be obtained through the cloud server, as shown in fig. 10, the non-multi-software processing module may include:
the data sending unit 13 is 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;
the software receiving unit 14 is configured to receive the autopilot software that is sent by the server and is searched from the software library, where the autopilot software matches the geographic location parameter and the environmental parameter;
and the storage unit 15 is used for storing the matched automatic driving software into the vehicle cache.
In another aspect, an autopilot software deployment terminal is further provided, where the terminal includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement an autopilot software deployment method.
In another aspect, an embodiment of the present application further provides an autopilot software deployment server, where the server includes a processor and a memory, where the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement an autopilot software deployment method.
According to the technical scheme provided by the embodiment of the automatic driving software deployment method, the automatic driving software deployment device, the automatic driving software deployment terminal and the automatic driving software deployment server, the geographical position parameter and the environment parameter of the next road section of the vehicle are collected, the matched automatic driving software in the vehicle cache is searched according to the geographical position parameter and the environment parameter, when at least two matched automatic driving software exist, the at least two matched automatic driving software are subjected to priority sequencing and the automatic driving software with the highest priority sequencing is called, and when one matched automatic driving software does not exist or only exists, prompt information is fed back; by implementing the method and the system, automatic driving software deployment with higher automation level can be realized in a large range, more accurate geographic position parameters and environment parameters in the large range are collected by using a convenient means, automatic driving software is constructed according to a parameter set and stored in a software library, and a mode of calling backup automatic driving software is adopted on a working mechanism, so that the safety and the reliability are greatly improved.
The foregoing description has disclosed fully embodiments of the present application. It should be noted that those skilled in the art can make modifications to the embodiments of the present application without departing from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not to be limited to the particular embodiments described above.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device, terminal and server embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An autopilot software deployment method, the method comprising:
collecting the geographic position parameter and the environmental parameter of the next road section of the vehicle;
searching matched automatic driving software in a spatial index of a vehicle cache according to the geographic position parameters and the environmental parameters, wherein the vehicle cache stores the spatial index, and the spatial index represents the geographic positions with different regional accuracies corresponding to different geographic position units and index information of the automatic driving software;
when at least two matched automatic driving softwares exist, prioritizing the at least two matched automatic driving softwares and calling the automatic driving software with the highest priority, wherein the prioritization comprises the ranking according to the accuracy of the geographic position parameter and/or the accuracy of the environment parameter;
when no or only one matched automatic driving software exists, the prompt information is fed back.
2. The autopilot software deployment method of claim 1 wherein when there is no or only one matching autopilot software, the method further comprises:
sending an automatic driving software updating request to a server, wherein the automatic driving software updating request comprises the geographic position parameter and the environmental parameter;
receiving the automatic driving software which is sent by the server and is searched from the software library and matched with the geographic position parameter and the environmental parameter;
storing the matched autopilot software to the vehicle cache;
the software library comprises: the system comprises normal automatic driving software constructed based on the collected geographic position parameters and the normal environment parameters and abnormal automatic driving software constructed based on the collected geographic position parameters and the abnormal environment parameters.
3. The autopilot software deployment method of claim 1 further comprising:
and when the automatic driving software with the highest priority is abnormal in operation, replacing the automatic driving software with the priority after the automatic driving software with the highest priority.
4. The autopilot software deployment method of claim 1 wherein said finding a matching autopilot software in a spatial index of a vehicle cache based on the geographic location parameter and the environmental parameter comprises:
matching automatic driving software in the vehicle cache according to the geographic position parameters;
and matching the automatic driving software according to the environmental parameters from the automatic driving software in the matched vehicle cache to obtain the automatic driving software matched with the geographic position parameters and the environmental parameters.
5. The autopilot software deployment method of claim 4 wherein when the autopilot software in the vehicle cache is not matched based on the geographic location parameter, the method further comprises;
acquiring upper-layer geographic position parameters of the geographic position;
matching automatic driving software in a vehicle cache according to the upper-layer geographic position parameters and the index of the geographic position;
matching the automatic driving software according to the environment parameters from the automatic driving software in the matched vehicle cache to obtain automatic driving software matched with the upper-layer geographic position parameters and the environment parameters of the geographic position;
the index is a spatial index, and the spatial index comprises: and the geographic positions with different regional accuracies and index information of the automatic driving software, wherein the upper-layer geographic position parameter is a geographic position parameter with a regional accuracy lower than the geographic position parameter.
6. An autopilot software deployment apparatus, the apparatus comprising:
the parameter acquisition module is used for acquiring the geographic position parameter and the environmental parameter of the next road section of the vehicle;
the software searching module is used for searching matched automatic driving software in a spatial index of a vehicle cache according to the geographic position parameters and the environment parameters, the vehicle cache stores the spatial index, and the spatial index represents the geographic positions with different regional accuracies corresponding to different geographic position units and the index information of the automatic driving software;
the multi-software calling module is used for prioritizing the at least two matched automatic driving software and calling the automatic driving software with the highest priority when at least two matched automatic driving software exist, wherein the prioritization comprises the ranking according to the accuracy of the geographic position parameter and/or the accuracy of the environment parameter;
and the non-multi-software processing module is used for feeding back prompt information when no matched automatic driving software exists or only one matched automatic driving software exists.
7. The autopilot software deployment device of claim 6 wherein the software lookup module comprises:
the geographic position parameter matching unit is used for matching the automatic driving software in the vehicle cache according to the geographic position parameters;
and the environment parameter matching unit is used for matching the automatic driving software from the matched automatic driving software in the vehicle cache according to the environment parameters to finally obtain the automatic driving software matched with the geographic position parameters and the environment parameters.
8. The autopilot software deployment device of claim 6 wherein the non-multi-software processing module further comprises:
the data sending unit is used for sending an automatic driving software updating request to a server, wherein the automatic driving software updating request comprises the geographic position parameter and the environmental parameter;
the software receiving unit is used for receiving the automatic driving software which is sent by the server and is searched from the software library and matched with the geographic position parameter and the environmental parameter;
and the storage unit is used for storing the matched automatic driving software into the vehicle cache.
9. An autopilot software deployment terminal, characterized in that the terminal comprises a processor and a memory, in which at least one instruction, at least one program, set of codes or set of instructions is stored, which is loaded and executed by the processor to implement the autopilot software deployment method according to any one of claims 1-5.
10. An autopilot software deployment server, characterized in that the server comprises a processor and a memory, in which at least one instruction, at least one program, set of codes or set of instructions is stored, which is loaded and executed by the processor to implement the autopilot software deployment method according to one of claims 1 to 5.
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