CN110488846A - Unmanned remote assistance method, device, equipment and storage medium - Google Patents
Unmanned remote assistance method, device, equipment and storage medium Download PDFInfo
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- CN110488846A CN110488846A CN201910885294.3A CN201910885294A CN110488846A CN 110488846 A CN110488846 A CN 110488846A CN 201910885294 A CN201910885294 A CN 201910885294A CN 110488846 A CN110488846 A CN 110488846A
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- 230000015654 memory Effects 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 15
- 230000009183 running Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 description 17
- 238000012546 transfer Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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Abstract
The embodiment of the invention discloses a kind of unmanned remote assistance method, device, equipment and storage mediums.This method includes multiple optional routes assisted destination and arrive at the optional assistance destination being generated, to request remote assistance when unmanned vehicle is in stranded state；In response to the assistance instruction at remote assistance end, travelled according to the optional assistance destination that current reference information determines, so that the unmanned vehicle is detached from stranded state；Wherein, the optional assistance destination is located near the unmanned vehicle.The technical solution of the embodiment of the present application can reduce the consumption to human resources when unmanned vehicle is got rid of poverty, and network speed fluctuation bring is avoided to influence.
Description
Technical field
The present embodiments relate to the unmanned technology of automobile more particularly to a kind of unmanned remote assistance methods, dress
It sets, equipment and storage medium.
Background technique
With the development of science and technology, the unmanned technology of automobile is in the booming critical period.
In the prior art, in the process of moving, usually no security official is with vehicle for unmanned vehicle.In this case, when
When unmanned vehicle encounters the extreme case itself not handled and special road conditions, unmanned vehicle is difficult to extricate oneself from a predicament.Existing processing side
Formula is to be controlled by the long-range adapter tube unmanned vehicle of driver, that is, by driver by steering wheel on far-end analog device and accelerator and brake
Vehicle driving.
Inventor has found during realizing the application: existing long-range takeover mode needs are controlled comprehensively by driver
Vehicle, driver control vehicle on far-end analog device, higher to the requirement of real-time of information processing, and driver behavior is logical by network
Letter speed is affected.Moreover, driver needs to pay more time and energy in driving, thus need to consume more
Human resources.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned remote assistance method, device, equipment and storage medium, is subtracted with realizing
Consumption when few unmanned vehicle is got rid of poverty to human resources avoids network speed fluctuation bring from influencing.
In a first aspect, the embodiment of the invention provides a kind of unmanned remote assistance methods, comprising:
When unmanned vehicle is in stranded state, generates multiple optional assistance destinations and arrive at the optional assistance destination
Route, to request remote assistance；
In response to the assistance instruction at remote assistance end, the optional assistance destination row determined according to current reference information
It sails, so that the unmanned vehicle is detached from stranded state；
Wherein, the optional assistance destination is located near the unmanned vehicle.
Second aspect, the embodiment of the invention also provides a kind of unmanned remote assistance methods, comprising:
It is requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, shows current reference letter to the personnel of assistance
Breath, multiple optional routes assisted destination and arrive at the optional assistance destination；Wherein, the optional assistance purpose status
Near the unmanned vehicle；
According to the optional assistance destination for assisting personnel selection, Xiang Suoshu unmanned vehicle sends assistance instruction, so that institute
It states unmanned vehicle and is detached from stranded state.
The third aspect, the embodiment of the invention also provides a kind of unmanned remote assistance devices, comprising:
Remote assistance request module, for when unmanned vehicle be in stranded state, generate multiple optional assistance destinations with
The optional route for assisting destination is arrived at, to request remote assistance；
Unmanned vehicle is got rid of poverty module, for the assistance instruction in response to remote assistance end, is determined according to current reference information
The optional assistance destination traveling, so that the unmanned vehicle is detached from stranded state；
Wherein, the optional assistance destination is located near the unmanned vehicle.
Fourth aspect, the embodiment of the invention also provides a kind of unmanned remote assistance devices, comprising:
Remote assistance requests display module, for being requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface,
Current reference information, multiple optional routes assisted destination and arrive at the optional assistance destination are shown to the personnel of assistance；
Wherein, the optional assistance destination is located near the unmanned vehicle；
Assistance instruction sending module, for according to assist personnel selection the optional assistance destination, to it is described nobody
Vehicle sends assistance instruction, so that the unmanned vehicle is detached from stranded state.
5th aspect, the embodiment of the invention also provides a kind of equipment, the equipment includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes unmanned remote assistance method provided in an embodiment of the present invention.
6th aspect, it is described the embodiment of the invention also provides a kind of storage medium comprising computer executable instructions
Computer executable instructions are unmanned as provided by the embodiment of the present invention for executing when being executed as computer processor
Remote assistance method.
The embodiment of the present invention is by being supplied to long-range association for the optional assistance destination of the unmanned vehicle in stranded state
The person of helping others provides the assistance instruction got rid of poverty for unmanned vehicle by assistance personnel, so that unmanned vehicle is detached from stranded state, solves by working
The driving of the long-range adapter tube unmanned vehicle of personnel is realized and is reduced vulnerable to the influence of network speed fluctuation, and the problem of consume more human resources
To the consumption of human resources when unmanned vehicle is got rid of poverty, the effect for avoiding network speed fluctuation bring from influencing.
Detailed description of the invention
Figure 1A is the flow chart of the unmanned remote assistance method of one of embodiment of the present invention one；
Figure 1B is the optional position view for assisting destination of one of embodiment of the present invention one；
Fig. 1 C is the optional position view for assisting destination of another kind in the embodiment of the present invention one；
Fig. 2 is the flow chart of the unmanned remote assistance method of one of embodiment of the present invention two；
Fig. 3 is the flow chart of the unmanned remote assistance method of one of embodiment of the present invention three；
Fig. 4 is the flow chart of the unmanned remote assistance method of one of embodiment of the present invention four；
Fig. 5 is the structural schematic diagram of the unmanned remote assistance device of one of embodiment of the present invention five；
Fig. 6 is the structural schematic diagram of the unmanned remote assistance device of one of embodiment of the present invention six；
Fig. 7 is the structural schematic diagram of one of the embodiment of the present invention seven equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Figure 1A is a kind of flow chart of the remote assistance method for unmanned vehicle that the embodiment of the present invention one provides, and the present embodiment can
It gets into a difficult position suitable for unmanned vehicle, needs the case where getting rid of poverty, this method can be executed by unmanned remote assistance device, should
Device can be realized by hardware and/or software, and can be generally integrated in unmanned vehicle, and this method specifically comprises the following steps:
Step 110, when unmanned vehicle is in stranded state, generate multiple optional assistances destinations and the optional assistance mesh of arrival
Ground route, to request remote assistance；
Wherein, when unmanned vehicle encounters the road conditions that can not be handled under automatic driving mode, it will lead to vehicle and stop fortune
Row, needs remote assistance that can just get rid of poverty, at this point, unmanned vehicle is just in stranded state.For example, being applied when unmanned vehicle encounters road
The special circumstances such as work, road damage, road narrows or congestion are stuck.Driving status and surrounding that can be current according to unmanned vehicle
Existing barrier situation determines whether unmanned vehicle is in stranded state.For example, if vehicle speed is zero within a preset time,
Stop traveling, and on vehicle preset direction, there are the barriers in pre-determined distance, it can be determined that unmanned vehicle is currently at
Stop stranded state.Stop it is understood that vehicle stops traveling in addition to encountering the road conditions that can not be handled, it is also possible to
It is that vehicle mechanical failure and other reasons lead to not travel, so judging whether unmanned technology automobile is in stranded state, in addition to vehicle
Speed, it is also necessary to judge the barrier situation of surrounding.It is exemplary, when speed is zero to unmanned vehicle in 30 seconds, and vehicle front,
There is the barrier in 1.5 meters in left and right side, that is, think that unmanned vehicle is in stranded state, need to send to remote assistance end
Remote assistance request.Remote assistance request may include the vehicle ID and vehicle IP of unmanned vehicle.Optional assistance destination is located at nothing
It is in the position that unmanned vehicle can arrive in the preset range of itself, the barrier on the position periphery can allow near people's vehicle
Unmanned vehicle returns under automatic driving mode, arrives at the destination set originally according to regular course planning.The preset range can be with
It is determined by the camera that is configured on unmanned vehicle and range sensor, is also possible to the default scoping set by engineering staff.
Wherein, the optional assistance destination and route that unmanned vehicle generates, are current vehicle location, the road network according to unmanned vehicle
What information and obstacle information generated.Can by judge current time the estimated position arrived at whether the barrier with present frame
There is overlapping, and simulate moving process, whether prediction vehicle movement collides with barrier, plans movement routine, can be achieved to
Movement routine terminal as optional assistance destination.
Specifically, remote assistance can be requested to be sent to information transfer server, so that information transfer server will
Remote assistance request is sent to remote assistance end.Unmanned vehicle can be real-time by the default driving condition information under automatic driving mode
Information transfer server is issued, is responsible for for above- mentioned information being transmitted to remote assistance end by the server, and at remote assistance end
Above- mentioned information are showed into assistance personnel.Likewise, information transfer can also be passed through from the assistance instruction that remote assistance end issues
Server is sent to unmanned vehicle and goes to execute.Web socket wherein can be used between three to communicate, in this system,
Unmanned vehicle and remote assistance end send the request for establishing connection to information transfer server as client.Server exists always
Certain port listener connection request, client modules can attempt continuous reconnection when connection is broken.For remote assistance request etc.
Information, by the unmanned end based on robot operating system (Robot Operating System, ROS) to specified topic
Message is sent, information transfer server relays to remote assistance end after receiving related news, and remote assistance end disappears receiving
It is decoded after breath, and in page end real-time rendering.In this way, the assistance personnel of distal end can see nothing in real time
The remote assistance of people's vehicle sent for the perception of ambient enviroment and decision and unmanned vehicle is requested.
Step 120, in response to the assistance instruction at remote assistance end, the optional assistance purpose that is determined according to current reference information
Ground traveling, so that unmanned vehicle is detached from stranded state.
Wherein, the optional assistance purpose in assistance instruction is that unmanned vehicle requests the optional assistance purpose provided when remote assistance
It one in ground or is in addition provided by remote assistance end；Correspondingly, the optional assistance destination determined according to current reference information
Traveling, so that unmanned vehicle is detached from stranded state, comprising: control unmanned vehicle is according to route running corresponding with optional assistance destination
Optional assistance destination into assistance instruction；Wherein, the optional current vehicle position for assisting destination and route according to unmanned vehicle
It sets, road network information and obstacle information generate.The optional assistance destination that assistance instruction includes can be to be generated by unmanned vehicle
It can be the generation of remote assistance end.Namely unmanned vehicle in order to request remote assistance when generate multiple optional assistance destinations
And route, and it is supplied to remote assistance end.Assistance personnel can select wherein from the optional assistance destination that unmanned vehicle provides
One, at this point, unmanned vehicle can go to travel according to the optional correspondence route for assisting generation before the selection of destination, it can to arrive at this
Destination is assisted in choosing；Another situation, assistance personnel select one of them from the optional assistance destination that unmanned vehicle provides, and
It is provided in assistance instruction and is different from unmanned vehicle generation, the optional route for assisting destination is arrived at, at this point, unmanned vehicle can
It goes to travel according to the optional route for assisting destination that arrives at that remote assistance end provides；Another situation assists personnel in nothing
Except multiple optional assistance destinations that people's vehicle provides, optional assistance destination is in addition selected, to nobody in assistance instruction
Vehicle provides the optional assistance destination, and unmanned vehicle is arrived at according to the optional assistance destination and current reference information planning should
The optional route for assisting destination, and according to the route running；There are also a kind of situation, the personnel of assistance provide multiple in unmanned vehicle
Except optional assistance destination, an optional assistance destination has in addition been selected, and has provided and arrives at the optional assistance destination
Route, in assistance instruction to unmanned vehicle provide this it is optional assist destination and arrive at this it is optional assist destination road
Line, unmanned vehicle is according to the route running.It is exemplary, as shown in Figure 1B, there are barrier 103, and nobody before unmanned vehicle 101
The driving direction of vehicle 101 is that multilane can generate multiple in Figure 1B by taking two lanes as an example in 101 preset range of unmanned vehicle
Optional assistance destination, including the first optional assistance destination 102a, the second optional assistance destination 102b, the optional assistance of third
Destination 102c, the 4th optional assistance destination 102d, the 5th optional assistance destination 102e, the 6th optional assistance destination
102f, the 7th optional assistance destination 102g, the 8th optional assistance destination 102h, the 9th optional assistance destination 102i and
Ten optional assistance destination 102j, above-mentioned ten optional assistance destinations can choose lane locating for unmanned vehicle 101 and in the same direction
Position on lane can also be the position on opposite lane.In the case where the driving direction of unmanned vehicle 101 is multilane,
The 7th optional assistance destination in the optional assistance destination on adjacent lane in the same direction, such as selection Figure 1B can preferentially be selected
102g, the 8th optional assistance destination 102h, in the 9th optional optional assistance destination 102j of assistance destination 102i and the tenth
One, further, select on adjacent lane in the same direction position to be expert at and sail optional assistance destination forward on direction, such as select
Select the 7th optional assistance destination 102g in Figure 1B.As shown in Figure 1 C, there are barrier 103, and nothing before unmanned vehicle 101
The driving direction of people's vehicle 101 is bicycle road, and opposite is also bicycle road, can be generated in 101 preset range of unmanned vehicle it is multiple can
Destination is assisted in choosing, including the 11st optional assistance destination 102k, the 12nd optional assistance destination 102m, the 13rd optional
Assist destination 102n, the 14th optional assistance destination 102p, the 15th optional assistance destination 102q and the 16th optional
Destination 102r is assisted, above-mentioned six optional assistance destinations can choose on lane locating for unmanned vehicle 101 and opposite lane
Position.In the case where the driving direction and opposite direction of unmanned vehicle 101 are one-lane situation, 101 institute of unmanned vehicle can be preferentially selected
Locate the optional assistance destination on optional assistance destination of the position before barrier on lane, and opposite lane, such as
Select the 11st optional assistance destination 102k, the 12nd optional assistance destination 102m and the 15th optional assistance in Fig. 1 C
Destination 102q further selects optional assistance destination of the position before barrier on lane locating for unmanned vehicle 101,
Such as the 15th optional assistance destination 102q in selection Fig. 1 C.
When unmanned vehicle is travelled according to the optional assistance destination that current reference information determines, so that unmanned vehicle is detached from stranded shape
When state, unmanned vehicle is in assistance mode, with remotely take over it is maximum difference be whether by people come adapter tube vehicle, that is, people
To drive.As long-range adapter tube is driver onboard adapter tube vehicle is in distal end and driver, and remote assistance is then
From start to finish by the traveling of automatic Pilot process control vehicle, only it is stuck in vehicle or can not according to automatic Pilot program
When handling present case, some prompts and instruction are manually provided by assistance personnel, assist personnel's not adapter tube vehicle at this time
, but assist the operation of unmanned vehicle.Because of delay of the long-range adapter tube for network, bandwidth demand is relatively high, substantially can only be
It is used under 5G environment, and the driving for needing driver's simulator at the far end to complete to processing of remotely driving, not only difficulty is high
Driven in practical in the car, before getting rid of poverty, it is also desirable to driver's adapter tube vehicle always, thus consume driver time and
Energy.So the mode of remote assistance is more efficient quick.
The automatic driving mode of unmanned vehicle and assist mode be all by procedure auto-control vehicle driving, then, can all relate to
And the path planning of vehicle.But path planning includes two modules, and conventional path is planned (Structure Planning) and de-
Tired rule path planning (Freespace), the difference of the two be mainly conventional path planning be based on map, and it is unconventional
Path planning is not limited to the rule of map, while the two can all consider barrier.Conventional path planning application is automatic
Driving mode, unconventional path planning are applied in assistance mode.It can move backward for unconventional path planning, travel speed is lower
(for example, being no more than 10km/h), and can be closer (for example, being not less than 0.5 with obstacle distance with a distance from stationary obstruction
Rice).Therefore, unconventional path planning is more suitable for the unmanned vehicle situation stuck by barrier.
The technical solution of the present embodiment, by the way that the optional assistance destination for being in the unmanned vehicle of stranded state to be supplied to far
The assistance personnel of journey provide the assistance instruction got rid of poverty for unmanned vehicle by assistance personnel, so that unmanned vehicle is detached from stranded state, solve
It is real vulnerable to the influence of network speed fluctuation, and the problem of consume more human resources by the driving of the long-range adapter tube unmanned vehicle of staff
Consumption when unmanned vehicle is got rid of poverty to human resources is now reduced, the effect for avoiding network speed fluctuation bring from influencing.
Embodiment two
Fig. 2 is a kind of flow chart of unmanned remote assistance method provided by Embodiment 2 of the present invention, the present embodiment
Technical solution further refines based on the above technical solution, wherein this method specifically includes:
Step 210, when unmanned vehicle is in stranded state, generate multiple optional assistances destinations and the optional assistance mesh of arrival
Ground route, to request remote assistance；
Step 220, in response to the assistance instruction at remote assistance end, the optional assistance purpose that is determined according to current reference information
Ground traveling, so that unmanned vehicle is detached from stranded state.
Step 230, according to it is optional assist destination periphery obstacle information, determine whether unmanned vehicle is detached from stranded shape
State；
Wherein, it after unmanned vehicle reaches the optional assistance destination by assisting personnel's instruction, obtains and is directed to the optional assistance
The road and barrier situation on the periphery of destination locations, judging whether unmanned vehicle has been in may return to automatic driving mode
Under situation, if may return under automatic driving mode, it is meant that unmanned vehicle has been detached from stranded state, if automatic
Still there is the case where can not voluntarily handling under driving mode, it is meant that unmanned vehicle is assisted there is still a need for further, needs to repeat
Unconventional path planning redefines optional assistance destination, and is supplied to the assistance personnel of distal end.So until unmanned vehicle is de-
It is artificially taken over from predicament, or by staff to vehicle scene.
If step 240, unmanned vehicle are detached from stranded state, are sent to remote assistance end and assist ending message.
Wherein, if unmanned vehicle may return to automatic driving mode, carry out path planning go to it is stranded before originally arrive at
Destination.Unmanned vehicle sends to remote assistance end and assists ending message.After being detached from stranded state, remote assistance can terminate, association
Helping ending message includes the vehicle ID of unmanned vehicle, so that remote assistance end terminates to assist, assistance personnel can also be waited after catcher
Assistance work.
In addition, unmanned vehicle may return under automatic driving mode after unmanned vehicle has been got rid of poverty, continue to former destination
Traveling.It is driven to get rid of poverty and assists destination, unmanned vehicle may be prevented from arriving at former destination according to stranded preceding route,
It is therefore desirable to which the location information of the optional assistance destination according to locating for current vehicle, is based on conventional path planning mode, determine
Travel route, such unmanned vehicle can travel under automatic driving mode according to travel route, to arrive at former destination.
The technical solution of the present embodiment, after unmanned vehicle arrives at optional assistance destination, unmanned vehicle is further according to optional
The obstacle information of destination is assisted to judge whether vehicle gets rid of poverty.Automatic driving mode is returned to so as to unmanned vehicle or be again de-
It is tired to carry out the optional path planning for assisting destination.
Embodiment three
Fig. 3 is a kind of flow chart of the remote assistance method for unmanned vehicle that the embodiment of the present invention three provides, and the present embodiment can
It gets into a difficult position suitable for unmanned vehicle, needs the case where getting rid of poverty, this method can be executed by unmanned remote assistance device, should
Device can be realized by hardware and/or software, and can be generally integrated in remote assistance equipment, and this method specifically includes as follows
Step:
Step 310 is requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, is shown and is worked as to assistance personnel
Preceding reference information, multiple optional routes assisted destination and arrive at optional assistance destination；
Wherein, optional assistance destination is located near unmanned vehicle.When remote assistance termination receives the long-range of unmanned vehicle transmission
Request is assisted, the task of will assist in distributes to the assistance personnel that can undertake the assistance task.Selection can undertake same task type
Assistance personnel, and assist personnel be in idle condition or currently processed task quantity allow its receive new assistance appoint
Business, the task of will assist in distribute to assistance personnel.Optionally, it when getting remote assistance request, is searched from assistance personnel's queue
Rope and remote assistance request the assistance personal information to match, issue to the assistance personnel of successful match and assist request prompt letter
Breath.Assistance personnel access the Web service at remote assistance end by browser, when remote assistance request is assigned to a contributor
After member, will will pop up one when he receives the remote assistance request of vehicle includes that information of vehicles and the prompting frame for content of seeking help are same
When be accompanied by prompt tone.If personnel's confirmation of assistance receives this assistance task, ACK button, Zhi Houbian are clicked in prompting frame
It can show current reference information, multiple optional assistance destinations at automatic Pilot visual interface and arrive at optional assistance destination
Route.Optionally, current reference information includes the current location information, road network information and obstacle information of unmanned vehicle.Webpage
On will show the current location information for vehicle of seeking help and the road network information of peripheral map, the visualization interface of automatic Pilot program
And camera picture, these information are used to help the barrier situation that assistance personnel understand vehicle periphery.In automatic Pilot journey
On the visualization interface of sequence, multiple optional assistance destinations generated by unmanned vehicle and corresponding route can be also shown.
Step 320, according to assist personnel selection optional assistance destination, to unmanned vehicle send assistance instruction so that nothing
People's vehicle is detached from stranded state.
Wherein, personnel are assisted to select a nothing by observation vehicle periphery actual road conditions and the automatic Pilot state of vehicle
He thinks relatively reasonable optional assistance destination and clicks confirmation in multiple optional assistance destinations that people's vehicle provides.Optionally,
According to the optional assistance destination for assisting personnel selection, assistance instruction is sent to unmanned vehicle, comprising: obtains assistance personnel automatic
Drive the optional assistance destination coordinate inputted on visual interface；It is converted by coordinate system, it will be on automatic Pilot visual interface
The optional absolute coordinate for assisting destination coordinate to be converted to opposite base station location；It include opposite base station location to unmanned vehicle transmission
The assistance instruction of absolute coordinate.Absolute coordinate of the unmanned vehicle with respect to base station location is determined according to unmanned vehicle current location information, is led to
Coordinate system conversion is crossed, by the assistance destination coordinate relative to current vehicle location under map coordinates system, is converted to opposite base
The absolute coordinate of station location, so that unmanned vehicle can determine the coordinate of assistance destination.
If the optional assistance destination that staff thinks that unmanned vehicle provides all is unable to meet demand, can visualize
A position is clicked in interface as optional assistance destination.Assistance instruction can be sent to information transfer server, with notelet
Breath transfer server will assist in instruction and be sent to unmanned vehicle, so that unmanned vehicle is travelled to optional assistance destination.Assistance instruction packet
The optional assistance destination for assisting personnel selection is included, can also include arriving at the optional route for assisting destination.Optionally, when
It gets the optional assistance destination for assisting personnel selection and arrives at the optional route for assisting destination, include to unmanned vehicle transmission
The optional assistance instruction for assisting destination and route；Wherein, the optional current vehicle for assisting destination and route according to unmanned vehicle
Position, road network information and obstacle information generate.
Also, the personnel of assistance can choose an optional assistance destination as most when selecting optional assistance destination
Whole optional assistance destination；It is also an option that two optional assistance destinations, it is one of as preliminary optional assistance mesh
Ground, another is as final optional assistance destination, that is, unmanned vehicle is allowed first to arrive at preliminary optional assistance destination,
Final optional assistance destination is arrived at from preliminary optional assistance destination again.When only selecting an optional assistance destination,
Although the optional assistance destination can allow unmanned vehicle to get rid of poverty, unmanned vehicle is voluntarily to arrive at, and non-artificial adapter tube, so supporting
It is not easy to plan up to the optional route for assisting destination；And two optional assistance destinations are selected, allow unmanned vehicle to be divided to two sections of routes
Traveling, can improve route and be not easy the case where planning.It is understood that allowing nothing in addition to selecting two optional assistance destinations
People's vehicle is divided to two sections of route runnings, it is also an option that more optional assistance destinations, allow unmanned vehicle to divide more multistage route running.With
For road conditions shown in Fig. 1 C, when unmanned vehicle 101 is closer apart from barrier 103, unmanned vehicle 101 directly takes steering to go
Sail be difficult to ensure under the premise of not touching barrier 103 drive to the 11st optional assistance destination 102k, the 12nd can
The optional assistance destination 102q of destination 102m and the 15th is assisted in choosing.At this point it is possible to select two optional assistance destinations, example
Such as select the 15th optional optional assistance destination 102r of assistance destination 102q and the 16th.Wherein, the 16th optional assistance
Destination 102r is as preliminary optional assistance destination, and the 15th optional assistance destination 102q is as final optional assistance
Destination.In this way, unmanned vehicle 101 can first reverse travel to the 16th optional assistance destination 102r, thus and obstacle
Object 103 pulls open enough distances, then turns to drive to object lane, and finally travels to the 16th optional assistance destination
102r completes cut-through object 103 and is detached from stranded state.
The technical solution of the present embodiment provides prompt of getting rid of poverty for unmanned vehicle by assistance personnel so that unmanned vehicle be detached from by
Tired state solves vulnerable to the influence of network speed fluctuation, and to consume more manpower money by the driving of the long-range adapter tube unmanned vehicle of staff
The problem of source, realizes the consumption reduced when unmanned vehicle is got rid of poverty to human resources, the effect for avoiding network speed fluctuation bring from influencing.
Example IV
Fig. 4 is a kind of flow chart of the remote assistance method for unmanned vehicle that the embodiment of the present invention four provides, the present embodiment
Technical solution further refines based on the above technical solution, wherein this method specifically includes:
Step 410 is requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, is shown and is worked as to assistance personnel
Preceding reference information, multiple optional routes assisted destination and arrive at optional assistance destination；
Step 420, according to assist personnel selection optional assistance destination, to unmanned vehicle send assistance instruction so that nothing
People's vehicle is detached from stranded state.
Step 430, the assistance ending message sent according to unmanned vehicle, terminate the remote assistance process of assistance personnel.
Wherein, it gets rid of poverty if unmanned vehicle is realized according to assistance instruction, unmanned vehicle can send assistance ending message, when long-range
Assistance end receives assistance ending message, can terminate the remote assistance process of assistance personnel.Assistance personnel and remote assistance are requested
Corresponding assistance task unbundlings.Optionally, two queues are pre-established, queue A is used for storing aid lists of persons, and queue B is used
In storing vehicle list to be assisted.A vehicle to be assisted is removed from the head queue B every time, then since the head of queue A
Matching is capable of handling the assistance personnel of the problem, after distribution by assistance personnel and the vehicle respectively from queue A and queue B
It takes out then composition one (key, value) and is stored in an associated container M.One independent thread is for monitoring associated container M
In all assistance personnel and vehicle composition key-value pair state, when assist terminate, receive assist ending message after, thread should
Key-value pair is removed from M, and will assist personnel and vehicle that the tail of the queue of A and B is added in the key-value pair respectively.
Whether the technical solution of the present embodiment has taken off after unmanned vehicle arrives at optional assistance destination according to unmanned vehicle
It is tired, terminate assistance process, so that the personnel of assistance return to idle state, subsequent assistance task can be taken over.
Embodiment five
Fig. 5 is a kind of structural schematic diagram for unmanned remote assistance device that the embodiment of the present invention five provides, the device
It can generally be integrated in unmanned vehicle, specifically include:
Remote assistance request module 510, for generating multiple optional assistance destinations when unmanned vehicle is in stranded state
With arrive at it is optional assist destination route, to request remote assistance；
Unmanned vehicle is got rid of poverty module 520, for the assistance instruction in response to remote assistance end, is determined according to current reference information
Optional assistance destination traveling so that unmanned vehicle is detached from stranded state；
Wherein, optional assistance destination is located near the unmanned vehicle.
The technical solution of the present embodiment, by the way that the optional assistance destination for being in the unmanned vehicle of stranded state to be supplied to far
The assistance personnel of journey provide the assistance instruction got rid of poverty for unmanned vehicle by assistance personnel, so that unmanned vehicle is detached from stranded state, solve
It is real vulnerable to the influence of network speed fluctuation, and the problem of consume more human resources by the driving of the long-range adapter tube unmanned vehicle of staff
Consumption when unmanned vehicle is got rid of poverty to human resources is now reduced, the effect for avoiding network speed fluctuation bring from influencing.
Optionally, unmanned remote assistance device further include:
It is detached from stranded state determining module, for being believed according to current reference in the assistance instruction in response to remote assistance end
The determining optional assistance destination traveling of breath, so that unmanned vehicle is detached from after stranded state, according to the optional week for assisting destination
Side obstacle information, determines whether unmanned vehicle is detached from stranded state；
Ending message sending module is assisted, if being detached from stranded state for unmanned vehicle, sends and assists to remote assistance end
Ending message.
Optionally, the optional assistance purpose in assistance instruction is in the optional assistance destination for requesting to provide when remote assistance
One or in addition provided by remote assistance end；
Unmanned vehicle module 520 of getting rid of poverty is specifically used for:
Control optional assistance mesh of the unmanned vehicle according to route running corresponding with optional assistance destination into assistance instruction
Ground；Wherein, optional assistance destination and route are raw according to the current vehicle location, road network information and obstacle information of unmanned vehicle
At.
Embodiment six
Fig. 6 is a kind of structural schematic diagram for unmanned remote assistance device that the embodiment of the present invention six provides, the device
It can generally be integrated in remote assistance equipment, specifically include:
Remote assistance request display module 610, for according to the remote assistance of unmanned vehicle request, automatic Pilot can visual field
Face shows current reference information, multiple optional roads assisted destination and arrive at the optional assistance destination to the personnel of assistance
Line；Wherein, optional assistance destination is located near the unmanned vehicle；
Assistance instruction sending module 620, for being sent to unmanned vehicle according to the optional assistance destination for assisting personnel selection
Assistance instruction, so that unmanned vehicle is detached from stranded state.
The technical solution of the present embodiment provides prompt of getting rid of poverty for unmanned vehicle by assistance personnel so that unmanned vehicle be detached from by
Tired state solves vulnerable to the influence of network speed fluctuation, and to consume more manpower money by the driving of the long-range adapter tube unmanned vehicle of staff
The problem of source, realizes the consumption reduced when unmanned vehicle is got rid of poverty to human resources, the effect for avoiding network speed fluctuation bring from influencing.
Optionally, assistance instruction sending module 620 is specifically used for:
Obtain the optional assistance destination coordinate that assistance personnel input on automatic Pilot visual interface；
It is converted by coordinate system, the optional assistance destination coordinate on automatic Pilot visual interface is converted into opposite base station
The absolute coordinate of position；
It include the assistance instruction of the absolute coordinate of opposite base station location to unmanned vehicle transmission.
Optionally, assistance instruction sending module 620 is specifically used for:
When getting the optional assistance destination for assisting personnel selection and arriving at the optional route for assisting destination, to nobody
It includes the optional assistance instruction for assisting destination and route that vehicle, which is sent,；Wherein, optional assistance destination and route are according to unmanned vehicle
Current vehicle location, road network information and obstacle information generate.
Optionally, unmanned remote assistance device further include:
Remote assistance process ending module, for according to assist personnel selection optional assistance destination, to unmanned vehicle
After sending assistance instruction, according to the assistance ending message that unmanned vehicle is sent, terminate the remote assistance process of assistance personnel.
Unmanned remote assistance device provided by the embodiment of the present invention can be performed any embodiment of that present invention and be provided
Unmanned vehicle remote assistance method, have the corresponding functional module of execution method and beneficial effect.
Embodiment seven
Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention seven provides, as shown in fig. 7, the equipment includes place
Manage device 710, memory 720, input unit 730 and output device 740；In equipment the quantity of processor 710 can be one or
It is multiple, in Fig. 7 by taking a processor 710 as an example；Processor 710, memory 720, input unit 730 and output dress in equipment
Setting 740 can be connected by bus or other modes, in Fig. 7 for being connected by bus.
Memory 720 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, if the corresponding program instruction/module of the remote assistance method of the unmanned vehicle in the embodiment of the present invention is (for example, nothing
Module 520 or unmanned long-range that people drives remote assistance request module 510 in remote assistance device and unmanned vehicle is got rid of poverty
Assist the remote assistance request display module 610 and assistance instruction sending module 620 in device).Processor 710 is deposited by operation
Software program, instruction and module in memory 720 are stored up, at the various function application and data of equipment
Reason, that is, realize above-mentioned unmanned remote assistance method.
Memory 720 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 720 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 720 can be into one
Step includes the memory remotely located relative to processor 710, these remote memories can pass through network connection to equipment.On
The example for stating network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 730 can be used for receiving the number or character information of input, and generate with the user setting of equipment with
And the related key signals input of function control.Output device 740 may include that display screen etc. shows equipment.
Embodiment eight
The embodiment of the present invention eight also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction is used to execute a kind of unmanned remote assistance method when being executed by computer processor, this method comprises:
When unmanned vehicle is in stranded state, generates multiple optional assistance destinations and arrive at the optional assistance destination
Route, to request remote assistance；
In response to the assistance instruction at remote assistance end, the optional assistance destination row determined according to current reference information
It sails, so that the unmanned vehicle is detached from stranded state；
Wherein, the optional assistance destination is located near the unmanned vehicle.
Alternatively, this method comprises:
It is requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, shows current reference letter to the personnel of assistance
Breath, multiple optional routes assisted destination and arrive at the optional assistance destination；Wherein, the optional assistance purpose status
Near the unmanned vehicle；
According to the optional assistance destination for assisting personnel selection, Xiang Suoshu unmanned vehicle sends assistance instruction, so that institute
It states unmanned vehicle and is detached from stranded state.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed provided by any embodiment of the invention unmanned
Relevant operation in remote assistance method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, in the embodiment of above-mentioned unmanned remote assistance device, included each unit and mould
Block is only divided according to the functional logic, but is not limited to the above division, and is as long as corresponding functions can be realized
It can；In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection model being not intended to restrict the invention
It encloses.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of unmanned remote assistance method characterized by comprising
When unmanned vehicle is in stranded state, multiple optional roads assisted destination and arrive at the optional assistance destination are generated
Line, to request remote assistance；
In response to the assistance instruction at remote assistance end, travelled according to the optional assistance destination that current reference information determines,
So that the unmanned vehicle is detached from stranded state；
Wherein, the optional assistance destination is located near the unmanned vehicle.
2. unmanned remote assistance method according to claim 1, which is characterized in that described in response to remote assistance end
Assistance instruction, travelled according to optional the assistances destination that current reference information determines so that unmanned vehicle disengaging by
After tired state, further includes:
According to the optional periphery obstacle information for assisting destination, determine whether the unmanned vehicle is detached from the stranded shape
State；
If the unmanned vehicle is detached from the stranded state, Xiang Suoshu remote assistance end, which is sent, assists ending message.
3. unmanned remote assistance method according to claim 1, which is characterized in that described in the assistance instruction can
Choosing assist purpose be request remote assistance when provide it is described it is optional assistance destination in one or by the remote assistance end
In addition it provides；
It is described to be travelled according to the optional assistance destination that current reference information determines, so that the unmanned vehicle is detached from stranded shape
State, comprising:
The unmanned vehicle is controlled according to the route running corresponding with the optional assistance destination into the assistance instruction
The optional assistance destination；Wherein, the optional assistance destination and the route work as front truck according to the unmanned vehicle
Position, road network information and obstacle information generate.
4. a kind of unmanned remote assistance method characterized by comprising
It is requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, shows current reference information, more to the personnel of assistance
A optional route assisted destination and arrive at the optional assistance destination；Wherein, the optional assistance destination is located at institute
It states near unmanned vehicle；
According to the optional assistance destination for assisting personnel selection, Xiang Suoshu unmanned vehicle sends assistance instruction, so that the nothing
People's vehicle is detached from stranded state.
5. unmanned remote assistance method according to claim 4, which is characterized in that described according to assistance personnel selection
The optional assistance destination, Xiang Suoshu unmanned vehicle send assistance instruction, comprising:
Obtain the optional assistance destination coordinate that assistance personnel input on the automatic Pilot visual interface；
It is converted by coordinate system, the optional assistance destination coordinate on the automatic Pilot visual interface is converted to relatively
The absolute coordinate of base station location；
The assistance instruction of the absolute coordinate including the opposite base station location is sent to the unmanned vehicle.
6. unmanned remote assistance method according to claim 4, which is characterized in that described according to assistance personnel selection
The optional assistance destination, Xiang Suoshu unmanned vehicle send assistance instruction, comprising:
The optional assistance destination of personnel selection and the arrival optional route for assisting destination are assisted when getting, to
It includes the optional assistance instruction for assisting destination and the route that the unmanned vehicle, which is sent,；Wherein, the optional association
Destination and the route is helped to be generated according to the current vehicle location, road network information and obstacle information of the unmanned vehicle.
7. unmanned remote assistance method according to claim 4, which is characterized in that described according to the personnel of assistance choosing
The optional assistance destination selected, Xiang Suoshu unmanned vehicle are sent after assistance instruction, further includes:
According to the assistance ending message that the unmanned vehicle is sent, terminate the remote assistance process of assistance personnel.
8. a kind of unmanned remote assistance device characterized by comprising
Remote assistance request module, for generating multiple optional assistance destinations and arrival when unmanned vehicle is in stranded state
The optional route for assisting destination, to request remote assistance；
Unmanned vehicle is got rid of poverty module, for the assistance instruction in response to remote assistance end, determined according to current reference information described in
Optional assistance destination traveling, so that the unmanned vehicle is detached from stranded state；
Wherein, the optional assistance destination is located near the unmanned vehicle.
9. a kind of remote assistance device of unmanned vehicle characterized by comprising
Remote assistance requests display module, for being requested according to the remote assistance of unmanned vehicle, in automatic Pilot visual interface, to association
The person of helping others shows current reference information, multiple optional routes assisted destination and arrive at the optional assistance destination；Wherein,
The optional assistance destination is located near the unmanned vehicle；
Assistance instruction sending module, for according to the optional assistance destination for assisting personnel selection, Xiang Suoshu unmanned vehicle hair
Assistance instruction is sent, so that the unmanned vehicle is detached from stranded state.
10. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as unmanned remote assistance method as claimed in any one of claims 1-3, or realize such as institute any in claim 4-7
The unmanned remote assistance method stated.
11. a kind of storage medium comprising computer executable instructions, which is characterized in that the computer executable instructions by
For execution such as unmanned remote assistance method as claimed in any one of claims 1-3 when computer processor executes, or
Realize the unmanned remote assistance method as described in any in claim 4-7.
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| CN111162991A (en) * | 2019-12-24 | 2020-05-15 | 广东天创同工大数据应用有限公司 | Online interconnection method based on unmanned vehicle intelligent-connection assisting system |
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Application publication date: 20191122 |