CN111186446B - Control method, apparatus and computer-readable storage medium for automatic driving - Google Patents
Control method, apparatus and computer-readable storage medium for automatic driving Download PDFInfo
- Publication number
- CN111186446B CN111186446B CN201811263939.1A CN201811263939A CN111186446B CN 111186446 B CN111186446 B CN 111186446B CN 201811263939 A CN201811263939 A CN 201811263939A CN 111186446 B CN111186446 B CN 111186446B
- Authority
- CN
- China
- Prior art keywords
- automatic driving
- driving level
- adjustment
- network
- internet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The disclosure relates to a control method and device for automatic driving and a computer readable storage medium, and relates to the technical field of vehicle networking. The method of the present disclosure comprises: acquiring quality information of a network connected with the Internet of vehicles terminal; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information of the network. The method comprises the steps of obtaining quality information of a network connected with a terminal of the internet of vehicles; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information of the network. The method and the device improve the reasonability of the automatic driving level adjustment and the driving safety by adapting the adjustment of the automatic driving level to the network quality.
Description
Technical Field
The present disclosure relates to the field of car networking technologies, and in particular, to a method and an apparatus for controlling automatic driving, and a computer-readable storage medium.
Background
The internet of vehicles will certainly become the second internet, and a series of industries and applications are promoted. But is still in the initial stage of development, so the standards are still imperfect.
According to the definition of the current 3GPP protocol, the demand category of the internet of vehicles has 5 grades, including: general requirements, vehicle arrangement, advanced driving, sensor expansion, and remote driving. The automatic driving level of the vehicle has 6 levels, specifically: 0-no automation, 1-driver assistance, 2-partial automation, 3-conditional automation, 4-high automation, 5-full automation.
The driver of the vehicle may make a request for adjusting the automatic driving level according to his or her own needs, for example, in the case of fatigue of the driver, a request for increasing the automatic driving level may be made. The core network of the operator initiates a resource request to the mobile network to provide resources for the adjustment of the automatic driving level.
Disclosure of Invention
The inventor finds that: different automatic driving levels correspond to different resource requirements of the mobile network, and the higher the automatic driving level is, the higher the requirement on network resources is. Due to the characteristics of low time delay and high reliability of the Internet of vehicles, the safety accidents of vehicles are easily caused by improving the automatic driving level without considering the network environment.
One technical problem to be solved by the present disclosure is: the reasonability of automatic driving level adjustment and the driving safety are improved.
According to some embodiments of the present disclosure, there is provided a control method of automatic driving, including: acquiring quality information of a network connected with the Internet of vehicles terminal; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information of the network.
In some embodiments, determining an adjustment to the automatic driving level of the vehicle based on the quality information of the network comprises: determining quality change information of the network according to the quality information of the network at different moments; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality change information of the network.
In some embodiments, determining an adjustment to the automatic driving level of the vehicle based on the quality change information of the network comprises: determining to increase an autonomous driving level of the vehicle if a current quality of the network increases by more than a first threshold relative to a quality at a previous time; determining to decrease the autonomous driving level of the vehicle in case the current quality of the network decreases with respect to the quality at the previous moment by more than a second threshold.
In some embodiments, determining an adjustment to the automatic driving level of the vehicle based on the quality information of the network comprises: and determining the adjustment degree of the automatic driving level of the vehicle according to the quality change value of the network.
In some embodiments, the method further comprises: acquiring road condition information of the Internet of vehicles terminal; the adjustment scheme for determining the automatic driving level of the vehicle according to the quality information of the network includes: and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information and the road condition information of the network.
In some embodiments, determining an adjustment to the automatic driving level of the vehicle based on the quality information and the traffic information of the network comprises: and determining the adjustment degree of the automatic driving level of the vehicle according to the change value of the current quality of the network relative to the quality at the previous moment and the change value of the current road condition parameter relative to the road condition parameter at the previous moment.
In some embodiments, the method further comprises: and sending the adjustment scheme to the Internet of vehicles terminal so that the Internet of vehicles terminal can adjust the automatic driving level of the vehicle according to the adjustment scheme.
In some embodiments, the method further comprises: receiving an automatic driving level adjustment request sent by a vehicle networking terminal, wherein the automatic driving level adjustment request is triggered by a driver and comprises the following steps: an automatic driving level to be adjusted; and determining whether the automatic driving level adjustment request is accepted or not according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returning an automatic driving level adjustment response to the Internet of vehicles terminal, so that the Internet of vehicles terminal prompts a driver whether the automatic driving level adjustment request is accepted or not.
According to still other embodiments of the present disclosure, there is provided an automatic driving control apparatus including: the information acquisition module is used for acquiring quality information of a network connected with the Internet of vehicles terminal; and the adjustment scheme determining module is used for determining the adjustment scheme of the automatic driving level of the vehicle according to the quality information of the network.
In some embodiments, the adjustment scheme determining module is configured to determine quality change information of the network according to quality information of the network at different times; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality change information of the network.
In some embodiments, the adjustment scheme determination module is to determine to increase the autonomous driving level of the vehicle if a current quality of the network increases by more than a first threshold relative to a quality at a previous time; determining to decrease the autonomous driving level of the vehicle in case the current quality of the network decreases with respect to the quality at the previous moment by more than a second threshold.
In some embodiments, the adjustment scheme determination module is configured to determine a degree of adjustment of the automatic driving level of the vehicle based on the quality change value of the network.
In some embodiments, the information acquisition module is further configured to acquire road condition information of the internet of vehicles terminal; the adjustment scheme determining module is further used for determining an adjustment scheme of the automatic driving level of the vehicle according to the quality information and the road condition information of the network.
In some embodiments, the adjustment scheme determining module is further configured to determine an adjustment degree of the automatic driving level of the vehicle according to a variation value of a current quality of the network with respect to a quality at a previous time and a variation value of a current road condition parameter with respect to a road condition parameter at a previous time.
In some embodiments, the apparatus further comprises: and the instruction sending module is used for sending the adjustment scheme to the Internet of vehicles terminal so that the Internet of vehicles terminal can adjust the automatic driving level of the vehicle according to the adjustment scheme.
In some embodiments, the apparatus further comprises: the request receiving module is used for receiving an automatic driving level adjusting request sent by the Internet of vehicles terminal, wherein the automatic driving level adjusting request is triggered by a driver, and the request receiving module comprises: an automatic driving level to be adjusted; and the request response module is used for determining whether to accept the automatic driving level adjustment request according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returning the automatic driving level adjustment response to the Internet of vehicles terminal so that the Internet of vehicles terminal can prompt the driver whether to accept the automatic driving level adjustment request.
According to still further embodiments of the present disclosure, there is provided a control apparatus for automatic driving, including: a memory; and a processor coupled to the memory, the processor configured to execute the control method of autonomous driving according to any of the foregoing embodiments based on instructions stored in the memory.
According to still further embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the control method of autonomous driving of any of the foregoing embodiments.
The method comprises the steps of obtaining quality information of a network connected with a terminal of the internet of vehicles; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information of the network. The method and the device improve the reasonability of the automatic driving level adjustment and the driving safety by adapting the adjustment of the automatic driving level to the network quality.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a flow diagram of a control method of autonomous driving of some embodiments of the present disclosure.
Fig. 2 shows a flow diagram of a control method of autonomous driving of further embodiments of the present disclosure.
Fig. 3 shows a schematic structural diagram of a control apparatus for automatic driving according to some embodiments of the present disclosure.
Fig. 4 is a schematic structural diagram of an autopilot control apparatus according to another embodiment of the present disclosure.
Fig. 5 shows a schematic configuration diagram of a control apparatus for automatic driving according to another embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The scheme is provided for solving the problems that under the condition that the network environment is not considered at present, the data transmission delay is long, the reliability is poor, the automatic driving level cannot be realized, and further the safety accidents of the vehicle are caused. Some embodiments of the disclosed control method for autonomous driving are described below in conjunction with fig. 1.
FIG. 1 is a flow chart of some embodiments of the disclosed control method for autonomous driving. As shown in fig. 1, the method of this embodiment includes: step S102 to step S104.
In step S102, quality information of a network to which the terminal of the internet of vehicles is connected is acquired.
The quality information of the network includes, for example, at least one of reference signal received quality (RSSI), Reference Signal Received Power (RSRP), signal to interference and noise ratio (SINR), bandwidth, and delay, which are not limited to the illustrated examples. Can install the car networking customer end on the car networking terminal, information that reference signal received quality, reference signal received power etc. can be obtained by the car networking terminal transmits the car networking customer end to the open interface of car networking customer end through the car networking terminal, sends the quality information of these networks to service platform by the car networking customer end again.
In step S104, an adjustment scheme of the automatic driving level of the vehicle is determined based on the quality information of the network.
In some embodiments, different quality parameter ranges may be divided according to statistical data for different levels of autonomous driving. And judging the parameter range of the quality parameter of the network, and further determining the corresponding automatic driving level.
In some embodiments, the quality change information of the network is determined according to the quality information of the network at different moments; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality change information of the network.
Further, determining to increase the autonomous driving level of the vehicle in case the current quality of the network increases by more than a first threshold relative to the quality at a previous moment; determining to decrease the autonomous driving level of the vehicle in case the current quality of the network decreases with respect to the quality at the previous moment by more than a second threshold. The quality of the network is improved, the automatic driving level of the vehicle can be improved, the quality of the network is reduced, the automatic driving level of the vehicle can be reduced, and the automatic driving level of the vehicle can be kept unchanged if the quality of the network is unchanged. At an initial time, an automatic driving level may be determined according to the quality of the network.
In some embodiments, the degree of adjustment of the automatic driving level of the vehicle is determined at the value of the change in quality of the network. For example, in the case where the current quality of the network is improved by more than a first threshold value with respect to the quality at the previous time, the degree of improvement of the automatic driving level of the vehicle is determined according to the improvement value; in the case where the current quality of the network decreases by more than a second threshold value with respect to the quality at the previous time, the degree of decrease in the automatic driving level of the vehicle is determined according to the decrease value. The quality change value of the network can be divided into different ranges, and the adjustment degrees, namely the automatic driving levels, of the automatic driving levels are adjusted by several levels corresponding to different automatic driving levels.
Further, a first degree of adjustment of the automatic driving level of the vehicle may be determined according to the quality change value of the network. The highest level of automatic driving currently available to the vehicle may be determined based on the current network quality, and a difference between the highest level of automatic driving available and the current level of automatic driving may be used as a second degree of adjustment for the level of automatic driving. In the case where the first adjustment degree and the second adjustment degree are different, an adjustment range, that is, a range from the first adjustment degree to the second adjustment degree, may be determined. For example, the first adjustment degree is determined to be level 2 according to the quality change value of the network, the highest currently available automatic driving level is level 4, and the current automatic driving level is level 1, the second adjustment degree is level 3, and the adjustment range is 1-3, that is, any one of level 1, level 2, and level 3 can be adjusted. The adjustment range can be transmitted to the car networking terminal and selected by a driver.
In some embodiments, the service platform sends the adjustment scheme to the vehicle networking terminal, and the vehicle networking terminal prompts the driver according to the adjustment scheme. The vehicle networking terminal prompts the adjustment scheme to the driver, for example, the adjustment scheme is prompted through a display screen or voice, and the driver confirms whether the adjustment is performed or not. This is suitable for the situation that when the automatic driving level is increased, the driver selects whether to adjust according to the self requirement. The vehicle networking terminal can adjust the automatic driving level of the vehicle according to the adjusting scheme and prompt a driver. In particular, when the automatic driving level is lowered, the safety of the vehicle can be improved by lowering the automatic driving level and presenting the driver.
In some embodiments, the service platform receives an automatic driving level adjustment request sent by the internet of vehicles terminal. And the service platform determines whether to accept the automatic driving level adjustment request according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returns an automatic driving level adjustment response to the Internet of vehicles terminal.
If the automatic driving level to be adjusted is higher than the highest available automatic driving level in the current period, the service platform does not accept the automatic driving level adjustment request, and returning an automatic driving level adjustment response to the internet of vehicles terminal comprises the following steps: the information not accepting the automatic driving level adjustment request may further include: information of the highest available automatic driving level of the current cycle. If the automatic driving level to be adjusted is lower than the highest available automatic driving level in the current period, the service platform receives the automatic driving level adjustment request, and the step of returning an automatic driving level adjustment response to the Internet of vehicles terminal comprises the following steps: the information for accepting the automatic driving level adjustment request may further include: information of the highest available automatic driving level of the current cycle.
Namely, under the condition that the current network quality is good, the service platform can issue a prompt for automatic driving level upgrading to the Internet of vehicles terminal, and a driver can select whether to upgrade according to the requirement of the driver. Or the driver requires to improve the automatic driving level, the service platform can determine whether to accept and issue corresponding instructions according to the network quality, and the service platform agrees with the request of the driver under the condition that the highest available automatic driving level is not exceeded. Under the condition that the network quality is not changed, the service platform can not send out an instruction, the driver requires to improve the automatic driving level, the service platform can refuse and reply, and the vehicle maintains the original automatic driving level. Under the condition that the network quality is poor, the service platform can issue a prompt for degradation of the automatic driving level to the Internet of vehicles terminal, or a driver requires to improve the automatic driving level, and the service platform can refuse and reply to reduce the automatic driving level.
The method of the embodiment obtains the quality information of the network connected with the terminal of the Internet of vehicles; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality information of the network. The method of the embodiment improves the reasonability of the automatic driving level adjustment and the driving safety by adapting the automatic driving level adjustment to the network quality.
The adjusting scheme determined according to the network quality can be combined with other judging conditions to further guide the adjustment of the automatic driving level, and the other judging conditions can be set according to actual requirements.
Further embodiments of the disclosed automated driving control method are described below in conjunction with fig. 2.
FIG. 2 is a flow chart of other embodiments of the disclosed autopilot control method. As shown in fig. 2, the method of this embodiment includes: step S202 to step S212.
In step S202, the service platform periodically obtains quality information and traffic information of a network connected to the terminal of the internet of vehicles.
For example, when the quality information of the network is the measurement information of the car networking terminal, the car networking terminal sends the quality information of the network to the car networking client, and the car networking client sends the quality information of the network to the service platform through the V1 interface according to the car networking related standard protocol. The road condition information is acquired, for example, by an in-vehicle sensor such as a speed sensor, a gyroscope, GPS navigation, a camera, and the like. Data acquired by the vehicle-mounted sensor can also be sent to the service platform through the Internet of vehicles client, and the service platform can acquire road conditions according to the data.
In step S204, the service platform determines an adjustment scheme of the automatic driving level of the vehicle according to the quality information and the traffic information of the network.
In some embodiments, different quality parameter ranges can be divided according to statistical data to correspond to different network quality levels, different road condition parameter ranges can be divided to correspond to different road condition levels, the network quality levels and the road condition levels are combined, and different combinations can correspond to different automatic driving levels. And judging the quality parameter range of the network quality parameter and the road condition parameter range of the road condition parameter, and further determining the corresponding automatic driving level.
In some embodiments, an adjustment scheme for an automatic driving level of a vehicle is determined based on quality change information and road condition change information of a network. Further, the adjustment degree of the automatic driving level of the vehicle is determined according to the change value of the current quality of the network relative to the quality at the previous moment and the change value of the current road condition parameter relative to the road condition parameter at the previous moment.
Different ranges of the quality parameter change of the network can be set to correspond to different automatic driving change levels as a first change level, and different ranges of the road condition parameter change correspond to different automatic driving change levels as a second change level. And carrying out weighted summation on the first change level and the second change level to obtain the adjustment degree of the automatic driving level. A negative change level indicates a decrease in the automated driving level. If the degree of adjustment to obtain the automatic driving level is not an integer, rounding may be performed downward. For example, the quality parameter change of the network is reduced by level 1 corresponding to the automatic driving level, the road condition parameter change is improved by level 1 corresponding to the automatic driving level, and the automatic driving level can be obtained to be kept unchanged according to the weighting.
Further, the degree of adjustment of the automatic driving level obtained according to the above method is taken as a third degree of adjustment. The highest automatic driving level currently available for the vehicle can be obtained according to the current quality of the network and the current road condition information, and the difference between the highest automatic driving level and the current automatic driving level can be used as a fourth adjustment degree of the automatic driving level. In the case where the third adjustment degree and the fourth adjustment degree are different, the adjustment range, that is, the range from the third adjustment degree to the fourth adjustment degree, may be determined.
In step S206, the service platform sends the adjustment scheme to the car networking terminal, and the car networking terminal prompts the driver according to the adjustment scheme.
The vehicle networking terminal prompts the adjustment scheme to the driver, for example, the adjustment scheme is prompted through a display screen or voice, and the driver confirms whether the adjustment is performed or not. This is suitable for the situation that when the automatic driving level is increased, the driver selects whether to adjust according to the self requirement. The vehicle networking terminal can adjust the automatic driving level of the vehicle according to the adjusting scheme and prompt a driver. In particular, when the automatic driving level is lowered, the safety of the vehicle can be improved by lowering the automatic driving level and presenting the driver.
In step S208, the service platform receives an automatic driving level adjustment request sent by the internet of vehicles terminal.
The automatic driving level adjustment request is triggered by the driver and includes: the level of automatic driving to be adjusted. The driver can adjust the automatic driving level according to the self demand request. For example, driver fatigue may request an adjustment to an autopilot level.
In step S210, the service platform determines whether to accept the automatic driving level adjustment request according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returns an automatic driving level adjustment response to the internet of vehicles terminal.
And the service platform determines an adjustment scheme of the automatic driving level of the vehicle in the current period according to the quality information and the road condition information of the network. If the automatic driving level adjustment request is received, the automatic driving level to be adjusted is compared with the adjustment degree or the adjustment range of the automatic driving level in the adjustment scheme or the highest available automatic driving level in the current period, and whether the automatic driving level adjustment request is received or not is determined.
If the automatic driving level to be adjusted is higher than the highest available automatic driving level in the current period, the service platform does not accept the automatic driving level adjustment request, and returning an automatic driving level adjustment response to the internet of vehicles terminal comprises the following steps: the information not accepting the automatic driving level adjustment request may further include: information of the highest available automatic driving level of the current cycle. If the automatic driving level to be adjusted is lower than the highest available automatic driving level in the current period, the service platform receives the automatic driving level adjustment request, and the step of returning an automatic driving level adjustment response to the Internet of vehicles terminal comprises the following steps: the information for accepting the automatic driving level adjustment request may further include: information of the highest available automatic driving level of the current cycle.
In step S212, the in-vehicle network terminal prompts the driver whether or not the automatic driving level adjustment request is accepted, and if so, adjusts the automatic driving level of the vehicle.
The terminal of the internet of vehicles may ask the driver to confirm again and then control to adjust the automatic driving level of the vehicle in the case that the automatic driving level adjustment request is accepted.
Steps S208 to S212 are parallel steps, not in sequence with step S206.
And under the condition that the vehicle confirms that the automatic driving level needs to be adjusted, a service establishment request is sent to the access network side through the vehicle networking terminal, and the vehicle runs at the adjusted automatic driving level after the access network side establishes services for the vehicle networking terminal and the like. This part can be referred to the prior art and will not be described in detail herein.
The method of the embodiment adopts an automatic driving classification method assisted by network environment and road condition information, the network quality can be opened to the Internet of vehicles client through a terminal bottom chip, and the service platform is periodically uploaded for the service platform to be considered comprehensively, so that the condition that the service level issued by the service platform is not matched with the network resource or road condition information is avoided, the reliability of automatic driving level adjustment is ensured, the decision accuracy and efficiency are improved, the vehicle level change indication is issued timely, the automation degree of the vehicle is improved, the user experience is improved, the operation such as error indication when the network resource is insufficient is also avoided, the network signaling interaction is increased, and the automatic driving safety is improved.
The present disclosure also provides an automatic driving control device, which can be disposed on the service platform in the foregoing embodiment, and is described below with reference to fig. 3.
FIG. 3 is a block diagram of some embodiments of the disclosed autonomous driving control apparatus. As shown in fig. 3, the apparatus 30 of this embodiment includes: an information acquisition module 302 and an adjustment scheme determination module 304.
The information obtaining module 302 is configured to obtain quality information of a network connected to the terminal of the internet of vehicles.
And an adjustment scheme determining module 304, configured to determine an adjustment scheme for an automatic driving level of the vehicle according to the quality information of the network.
In some embodiments, the adjustment scheme determining module 304 is configured to determine quality change information of the network according to quality information of the network at different time instants; and determining an adjusting scheme of the automatic driving level of the vehicle according to the quality change information of the network.
In some embodiments, the adjustment scheme determination module 304 is to determine to increase the autonomous driving level of the vehicle if the current quality of the network increases above a first threshold relative to the quality at a previous time; determining to decrease the autonomous driving level of the vehicle in case the current quality of the network decreases with respect to the quality at the previous moment by more than a second threshold.
In some embodiments, the adjustment scheme determination module 304 is configured to determine a degree of adjustment of the automatic driving level of the vehicle based on the quality change value of the network.
In some embodiments, the information obtaining module 302 is further configured to obtain traffic information of the internet of vehicles terminal. The adjustment scheme determining module 304 is further configured to determine an adjustment scheme for an automatic driving level of the vehicle according to the quality information and the road condition information of the network.
Further, the adjustment scheme determining module 304 is further configured to determine an adjustment degree of the automatic driving level of the vehicle according to a variation value of the current quality of the network with respect to the quality at the previous time and a variation value of the current road condition parameter with respect to the road condition parameter at the previous time.
In some embodiments, the apparatus 30 further comprises: and the instruction sending module 306 is used for sending the adjustment scheme to the vehicle networking terminal so that the vehicle networking terminal can adjust the automatic driving level of the vehicle according to the adjustment scheme.
In some embodiments, the apparatus 30 further comprises: a request receiving module 308 and a request responding module 310.
The request receiving module 308 is configured to receive an automatic driving level adjustment request sent by the internet of vehicles terminal, where the automatic driving level adjustment request is triggered by a driver, and includes: the level of automatic driving to be adjusted.
And the request response module 310 is configured to determine whether to accept the automatic driving level adjustment request according to a comparison between the adjustment scheme and the automatic driving level adjustment request, and return an automatic driving level adjustment response to the internet of vehicles terminal, so that the internet of vehicles terminal prompts the driver whether to accept the automatic driving level adjustment request.
The control devices of the automated driving in the embodiments of the present disclosure may each be implemented by various computing devices or computer systems, which are described below in conjunction with fig. 4 and 5.
FIG. 4 is a block diagram of some embodiments of the disclosed autonomous driving control apparatus. As shown in fig. 4, the apparatus 40 of this embodiment includes: a memory 410 and a processor 420 coupled to the memory 410, the processor 420 configured to execute a control method of autonomous driving in any of the embodiments of the present disclosure based on instructions stored in the memory 410.
Fig. 5 is a block diagram of another embodiment of an autopilot control apparatus of the present disclosure. As shown in fig. 5, the apparatus 50 of this embodiment includes: memory 510 and processor 520 are similar to memory 410 and processor 420, respectively. An input output interface 530, a network interface 540, a storage interface 550, and the like may also be included. These interfaces 530, 540, 550 and the connections between the memory 510 and the processor 520 may be, for example, via a bus 560. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networking devices, such as a database server or a cloud storage server. The storage interface 550 provides a connection interface for external storage devices such as an SD card and a usb disk.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (8)
1. A control method of automatic driving, comprising:
acquiring quality information of a network connected with the Internet of vehicles terminal;
acquiring road condition information of the Internet of vehicles terminal;
determining an adjusting scheme of an automatic driving level of the vehicle according to the quality information and the road condition information of the network;
wherein, the adjusting scheme for determining the automatic driving level of the vehicle according to the quality information and the road condition information of the network comprises the following steps:
determining a first adjustment degree of an automatic driving level of a vehicle according to a change value of the current quality of the network relative to the quality at the previous moment and a change value of the current road condition parameter relative to the road condition parameter at the previous moment;
determining the highest automatic driving level currently available for the vehicle according to the current quality of the network and the current road condition information, and taking the difference between the highest automatic driving level and the current automatic driving level as a second adjustment degree of the automatic driving level;
and determining the adjustment range of the automatic driving level as the range from the first adjustment degree to the second adjustment degree under the condition that the first adjustment degree and the second adjustment degree are different.
2. The control method according to claim 1, further comprising:
and sending the adjustment scheme to the Internet of vehicles terminal so that the Internet of vehicles terminal can adjust the automatic driving level of the vehicle according to the adjustment scheme.
3. The control method according to claim 1 or 2, further comprising:
receiving an automatic driving level adjustment request sent by the Internet of vehicles terminal, wherein the automatic driving level adjustment request is triggered by a driver, and the automatic driving level adjustment request comprises the following steps: an automatic driving level to be adjusted;
and determining whether to accept the automatic driving level adjustment request according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returning an automatic driving level adjustment response to the Internet of vehicles terminal, so that the Internet of vehicles terminal prompts whether the automatic driving level adjustment request of the driver is accepted.
4. An automatic driving control device comprising:
the information acquisition module is used for acquiring quality information of a network connected with the Internet of vehicles terminal and road condition information of the Internet of vehicles terminal;
the adjustment scheme determining module is used for determining an adjustment scheme of the automatic driving level of the vehicle according to the quality information and the road condition information of the network;
the adjustment scheme determining module is used for determining a first adjustment degree of an automatic driving level of a vehicle according to a change value of the current quality of the network relative to the quality at the previous moment and a change value of the current road condition parameter relative to the road condition parameter at the previous moment; determining the highest automatic driving level currently available for the vehicle according to the current quality of the network and the current road condition information, and taking the difference between the highest automatic driving level and the current automatic driving level as a second adjustment degree of the automatic driving level; and determining the adjustment range of the automatic driving level as the range from the first adjustment degree to the second adjustment degree under the condition that the first adjustment degree and the second adjustment degree are different.
5. The control device of claim 4, further comprising:
and the instruction sending module is used for sending the adjustment scheme to the Internet of vehicles terminal so that the Internet of vehicles terminal can adjust the automatic driving level of the vehicle according to the adjustment scheme.
6. The control device according to claim 4 or 5, further comprising:
a request receiving module, configured to receive an automatic driving level adjustment request sent by the internet of vehicles terminal, where the automatic driving level adjustment request is triggered by a driver, and the request receiving module includes: an automatic driving level to be adjusted;
and the request response module is used for determining whether to accept the automatic driving level adjustment request according to the comparison between the adjustment scheme and the automatic driving level adjustment request, and returning an automatic driving level adjustment response to the Internet of vehicles terminal so as to prompt whether the automatic driving level adjustment request of the driver is accepted or not by the Internet of vehicles terminal.
7. An automatic driving control device comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute the autopilot control method of any of claims 1-3 based on instructions stored in the memory.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263939.1A CN111186446B (en) | 2018-10-29 | 2018-10-29 | Control method, apparatus and computer-readable storage medium for automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263939.1A CN111186446B (en) | 2018-10-29 | 2018-10-29 | Control method, apparatus and computer-readable storage medium for automatic driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111186446A CN111186446A (en) | 2020-05-22 |
| CN111186446B true CN111186446B (en) | 2022-02-01 |
Family
ID=70703207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811263939.1A Active CN111186446B (en) | 2018-10-29 | 2018-10-29 | Control method, apparatus and computer-readable storage medium for automatic driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111186446B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113132184B (en) * | 2020-06-18 | 2022-10-11 | 钧捷智能（深圳）有限公司 | Low-delay low-error-rate communication system for automatic driving automobile |
| CN112141125A (en) * | 2020-10-28 | 2020-12-29 | 安徽江淮汽车集团股份有限公司 | Intelligent hierarchical interaction method, device and equipment for automatic driving and storage medium |
| CN113885402A (en) * | 2021-10-28 | 2022-01-04 | 北京三快在线科技有限公司 | Control method, device and equipment for remotely controlling driving vehicle and storage medium |
| CN114228742A (en) * | 2021-11-30 | 2022-03-25 | 国汽智控(北京)科技有限公司 | Method, device and equipment for outputting reliability of automatic driving system and storage medium |
| CN116456388A (en) * | 2022-01-06 | 2023-07-18 | 腾讯科技（深圳）有限公司 | Network-connected automatic driving method, device, storage medium and program product |
| CN117104253A (en) * | 2022-05-17 | 2023-11-24 | 腾讯科技（深圳）有限公司 | Remote driving control method, device, computer equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102067052A (en) * | 2008-06-20 | 2011-05-18 | 丰田自动车株式会社 | Driving assistance apparatus and driving assistance method |
| CN106997203A (en) * | 2016-01-26 | 2017-08-01 | 通用汽车环球科技运作有限责任公司 | Vehicle is automated and operator participates in grade forecast |
| CN107176169A (en) * | 2016-03-11 | 2017-09-19 | 丰田自动车株式会社 | The automatic Pilot control system of vehicle |
| CN108304986A (en) * | 2017-12-15 | 2018-07-20 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of assessment method of automatic driving vehicle behavior safety |
| CN108447289A (en) * | 2017-02-16 | 2018-08-24 | 丰田自动车株式会社 | Vehicular communication system and controller of vehicle |
-
2018
- 2018-10-29 CN CN201811263939.1A patent/CN111186446B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102067052A (en) * | 2008-06-20 | 2011-05-18 | 丰田自动车株式会社 | Driving assistance apparatus and driving assistance method |
| CN106997203A (en) * | 2016-01-26 | 2017-08-01 | 通用汽车环球科技运作有限责任公司 | Vehicle is automated and operator participates in grade forecast |
| CN107176169A (en) * | 2016-03-11 | 2017-09-19 | 丰田自动车株式会社 | The automatic Pilot control system of vehicle |
| CN108447289A (en) * | 2017-02-16 | 2018-08-24 | 丰田自动车株式会社 | Vehicular communication system and controller of vehicle |
| CN108304986A (en) * | 2017-12-15 | 2018-07-20 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of assessment method of automatic driving vehicle behavior safety |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111186446A (en) | 2020-05-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111186446B (en) | Control method, apparatus and computer-readable storage medium for automatic driving | |
| CN104972990B (en) | Workload estimation for mobile device function integration | |
| CN111182503A (en) | Intelligent vehicle insurance evaluation method and system based on multi-data fusion analysis | |
| CN109947101B (en) | Path smoothing processing method and device | |
| US20090031011A1 (en) | Device management system and method for setting configuration-valve therein | |
| CN105760230A (en) | Method and device for automatically adjusting operation of cloud host | |
| CN110784848B (en) | Electric drive vehicle control method and device based on Internet of vehicles and cloud server | |
| EP4329358A1 (en) | Network slice self-optimization method, base station, and storage medium | |
| US12010596B2 (en) | Control device configured for and method of determining a data format | |
| CN110843791B (en) | Vehicle control method, device, storage medium and electronic equipment | |
| CN113758689A (en) | Method and device for testing chassis characteristics of drivable equipment | |
| CN114202821A (en) | Vehicle data processing method and device | |
| CN108770014B (en) | Calculation evaluation method, system and device of network server and readable storage medium | |
| JP2019161392A (en) | Vehicle information processing system, management device, and method and program for vehicle information processing | |
| CN115273473A (en) | Method and device for processing perception information of road side equipment and automatic driving vehicle | |
| CN114138466A (en) | Task cooperative processing method and device for intelligent highway and storage medium | |
| CN111524389B (en) | Vehicle driving method and device | |
| CN114500508A (en) | Gas meter upgrading method and device and electronic equipment | |
| US10142893B2 (en) | Predictive reservation of radio cells for interruption-free communication with a data cloud | |
| CN104796274A (en) | Matching method and device for operation and maintenance | |
| EP4258721A1 (en) | Radio-wave-map providing device, radio-wave-map providing method, and radio-wave-map providing program | |
| CN116801382B (en) | Vehicle positioning method, system and computer readable storage medium | |
| CN112860417B (en) | Data processing method, device, equipment, system and storage medium | |
| CN110808894B (en) | Data transmission method and device based on CAN bus | |
| CN109583933B (en) | Address information judging method, device, equipment and storage medium thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |