CN111223321A

CN111223321A - Method, equipment and system for automatic driving planning

Info

Publication number: CN111223321A
Application number: CN201811418859.9A
Authority: CN
Inventors: 殷佳欣
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Cloud Computing Technologies Co Ltd
Priority date: 2018-11-26
Filing date: 2018-11-26
Publication date: 2020-06-02
Also published as: WO2020107991A1

Abstract

The application provides a method, equipment and a system for automatic driving planning, which can realize safe driving. The method comprises the following steps: the method comprises the steps that a server receives path planning information from a first terminal, wherein the path planning information comprises information of a target driving path of the first terminal; the server segments the target driving path of the first terminal according to the information of the target driving path to obtain N segmented driving paths; for any of the N segmental travel routes, the following processing is performed for the first segmental travel route: the server predicts the QoS on a first section driving path in a first time period to obtain a first QoS prediction result, wherein the first time period is the time period when the first terminal drives on the first section driving path; and the server sends the information of the first subsection driving path and the first QoS prediction result to the first terminal, wherein the first QoS prediction result is used for determining an automatic driving strategy when the first terminal drives on the first subsection driving path.

Description

Method, equipment and system for automatic driving planning

Technical Field

The present application relates to the field of communications technologies, and in particular, to a method, a device, and a system for automatic driving planning.

Background

The automatic driving is a method that a Vehicle (Vehicle) obtains the perception of the surrounding environment through a sensor carried by the Vehicle and other means under the condition of unmanned driving, and then controls the Vehicle to run on the road through a computer. According to Society of Automotive Engineers (SAE) definition of autodrive grades, autodrive is grouped in a total of 6 grades, including no automation from L0, L1 assisted driving, L2 partial automation, L3 conditional automation, L4 high automation, and L5 full automation. The capability of each driving class is different according to the differences of the dimensions of vehicle operation, environment monitoring, exception handling, applicable environment and the like. The higher the driving level of autodrive, the more dimensions are taken up by the system. In parallel, the higher the requirements of the system itself and the higher the requirements of the system for the perception of the surrounding environment.

The prerequisite of automatic driving is that the surrounding environment of the vehicle can be accurately perceived in real time, and a general vehicle relies on an Advanced Driver Assisted System (ADAS) carried by the vehicle to perceive the surrounding environment through a camera, a radar, a laser radar, a millimeter wave radar, or the like. ADAS does not achieve one hundred percent perception of the environment. In order to realize automatic driving, the vehicle needs to be assisted by other information, such as high-precision map information or road dynamic information. Such information is typically delivered directly to the vehicle via a vehicle to the vehicle (V2X) server over a network. The vehicle locally combines this information with the ADAS sensory information to determine the driving behavior of the vehicle.

However, these information are delivered through Long Term Evolution (LTE) -Uu interface. LTE-Uu, because it involves forwarding between air interfaces and multiple network elements, the transmission of such information is affected by network congestion, physical link collisions, and the number of connections, resulting in possible changes in the quality of service (QoS) of the communication network. The change of the communication network QoS directly affects the communication network QoS of the V2X server issuing high-precision map information or road dynamic information to the vehicle, such as time delay, reliability, bandwidth, packet loss rate, jitter, or the like. The change of the communication network QoS of the V2X server issuing high-precision map information or road dynamic information to the vehicle may affect the automatic driving of the vehicle. For example, the vehicle cannot determine its own lane information or cannot sense obstacle information on the road, and the like, and thus may cause that the automatic driving of the vehicle is not smoothly performed or the driving level of the vehicle needs to be degraded. However, such a switching of the driving rank due to the network quality requires a certain amount of advance. For example, an L4 driving class vehicle, which can no longer receive road dynamics information due to changes in the network status, needs to be assisted by the driver for environmental monitoring, and therefore needs to be switched to the L2 driving class. At this time, the vehicle needs to prompt the driver to return attention to the road before completing the switching of the driving level. If the driver's attention is not returned to the road and the vehicle suddenly completes the switching of the driving level, a serious traffic accident may be caused.

However, how to make the vehicle perform automatic driving planning in the driving process so as to realize safe driving is a problem to be solved urgently at present.

Disclosure of Invention

The embodiment of the application provides a method, equipment and a system for automatic driving planning, so that a first terminal can dynamically adjust an automatic driving strategy of the first terminal according to different communication network QoS conditions, driving accidents of the first terminal caused by changes of the communication network QoS are avoided, and safe driving can be realized.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

in a first aspect, a method of automated driving planning is provided, the method comprising: the method comprises the steps that a server receives path planning information from a first terminal, wherein the path planning information comprises information of a target driving path of the first terminal; the server segments the target driving path of the first terminal according to the information of the target driving path to obtain N segmented driving paths, wherein N is a positive integer greater than 1; for any of the N segmental travel routes, the following processing is performed for the first segmental travel route: the server predicts the QoS of the communication network on a first section driving path in a first time period to obtain a first QoS prediction result, wherein the first time period is the time period when the first terminal drives on the first section driving path; and the server sends the information of the first subsection driving path and the first QoS prediction result to the first terminal, wherein the first QoS prediction result is used for determining an automatic driving strategy when the first terminal drives on the first subsection driving path. Based on the scheme, after receiving the path planning information from the first terminal, the server segments the target driving path of the first terminal according to the information of the target driving path. And for each section traveling path, the server predicts the QoS of the communication network on the section traveling path in the time period when the first terminal passes through the section traveling path, after a corresponding QoS prediction result is obtained, the information of the section traveling path and the corresponding QoS prediction result are sent to the first terminal, and the first terminal determines the automatic driving strategy when the first terminal travels on the section traveling path according to the information of the section traveling path and the corresponding QoS prediction result. That is to say, in the embodiment of the present application, the first terminal may dynamically adjust the automatic driving policy of the first terminal according to different QoS conditions of the communication network, so that a driving accident of the first terminal due to a change in QoS of the communication network is avoided, and safe driving may be achieved.

In one possible design, the path planning information further includes speed matching information when the first terminal drives on the target driving path; the method further comprises the following steps: the server is used for determining the first time period according to the speed matching information. Based on this scheme, the server may determine a time period for the first terminal to travel through the first segment.

In one possible design, the path planning information further includes a target QoS, which is a communication network QoS index required by the first terminal when driving on the target driving path with the first driving class; after the server predicts the QoS of the communication network on the first segment of the travel path for the first time period, the method further comprises: if the first QoS prediction result does not meet the target QoS, the server determines that the QoS of the communication network on the first subsection driving path does not reach the standard; the server determines recommendation information corresponding to the first subsection driving path; and the server sends the recommendation information to the first terminal, wherein the recommendation information is used for determining the automatic driving strategy when the first terminal drives on the first subsection driving path. Based on the scheme, the first terminal can determine the automatic driving strategy when the first terminal drives on the first section driving path according to the recommendation information sent by the server.

In one possible design, the server determines recommendation information corresponding to the first segmented travel path, including: if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard in the first time period is a temporary reason, the server determines that the recommendation information corresponding to the first subsection driving path comprises: a recovery time is expected.

In one possible design, the server determines recommendation information corresponding to the first segmented travel path, including: if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard in the first time period is not a temporary reason, the server determines that the recommendation information corresponding to the first subsection driving path comprises one or more of the following items: if the first terminal signs a second mobile network operator MNO and a network of the second MNO capable of providing service for the first terminal exists on the first segment driving path, so that when the network of the second MNO provides service for the first terminal, the QoS of the communication network on the first segment driving path in the first time period is predicted, and the obtained second QoS prediction result meets the target QoS, the recommendation information includes: the network identifier of the second MNO, wherein the network identifier of the second MNO is used for switching the first terminal from the network of the first MNO to the network of the second MNO, and the network of the first MNO is the network of the MNO currently providing service for the first terminal; or, if there is a second segment travel path, so that the QoS of the communication network on the second segment travel path in the second time segment is predicted, and the obtained third QoS prediction result meets the target QoS, the recommendation information includes: information of the second segmental travel path, wherein the information of the second segmental travel path is used for switching the first terminal from the first segmental travel path to travel on the second segmental travel path, wherein a second time period is a time period when the first terminal travels on the second segmental travel path, the second segmental travel path is a travel path on an alternative path of the target travel path, a starting position of the target travel path is the same as a starting position of the alternative path, and an ending position of the target travel path is the same as an ending position of the alternative path; or, if the second terminal and the first terminal pass through the first segmental driving route at the same time and the first QoS prediction result meets a communication network QoS index required by the second terminal when the second terminal drives on the first segmental driving route with the second driving grade, the recommendation information includes: and the identifier of the second terminal is used for the formation of the first terminal and the second terminal.

In one possible design, if the recommendation information includes an identification of the second terminal, the method further includes: and the server sends a formation request to the second terminal, wherein the formation request is used for requesting the second terminal and the first terminal to form a formation to pass through the first subsection driving path. Based on the scheme, the second terminal can acquire the first terminal forming the formation with the presence request, and further can form the formation with the first terminal.

In one possible design, the autonomous driving strategy includes: the first segmental travel path is entered after the expected recovery time is reached.

In one possible design, the autonomous driving strategy includes: the first terminal enters the first segmented travel path after being switched from the network of the first MNO to the network of the second MNO.

In one possible design, the autonomous driving strategy includes: and switching the first terminal from the first subsection traveling path to the second subsection traveling path for traveling.

In one possible design, the autonomous driving strategy includes: and after successfully forming the formation with the second terminal, following the second terminal to enter the first subsection driving path, and after passing through the first subsection driving path, canceling the formation relationship with the second terminal.

In one possible design, the autonomous driving strategy includes: and continuing to enter the first subsection driving path.

In one possible design, the autonomous driving strategy includes: and entering the first subsection driving path after the driving grade of the first terminal is reduced.

In a possible design, the path planning information further includes a notification advance required when the first terminal travels on the target travel path; the server segments the target driving path of the first terminal according to the information of the target driving path, and the method comprises the following steps: and the server segments the target driving path of the first terminal according to the information of the target driving path and the notification advance, wherein the segmentation result meets the condition that the time of the first terminal passing through each segment of the segmented driving path is greater than or equal to the notification advance. Based on the scheme, when the first terminal carries out automatic driving strategy updating, the first terminal can have a certain time to prepare for automatic driving strategy updating.

In one possible design, the notification advance is greater than or equal to a maximum time required for the first terminal to switch between different driving classes. Based on the scheme, under the condition that the driving grade of the first terminal needs to be reduced, sufficient time can be reserved for the first terminal to respond.

In a second aspect, a method of automated driving planning is provided, the method comprising: the method comprises the steps that a first terminal sends path planning information to a server, wherein the path planning information comprises information of a target driving path of the first terminal, the information of the target driving path is used for segmenting the target driving path of the first terminal to obtain N segmented driving paths, and N is a positive integer greater than 1; for any of the N segmental travel routes, the following processing is performed for the first segmental travel route: the method comprises the steps that a first terminal receives information of a first subsection driving path and a first QoS prediction result from a server, wherein the first QoS prediction result is obtained by predicting communication network QoS on the first subsection driving path in a first time period, and the first time period is a time period when the first terminal drives on the first subsection driving path; and the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result. Based on the scheme, after receiving the path planning information from the first terminal, the server segments the target driving path of the first terminal according to the information of the target driving path. And for each section traveling path, the server predicts the QoS of the communication network on the section traveling path in the time period when the first terminal passes through the section traveling path, after a corresponding QoS prediction result is obtained, the information of the section traveling path and the corresponding QoS prediction result are sent to the first terminal, and the first terminal determines the automatic driving strategy when the first terminal travels on the section traveling path according to the information of the section traveling path and the corresponding QoS prediction result. That is to say, in the embodiment of the present application, the first terminal may dynamically adjust the automatic driving policy of the first terminal according to different QoS conditions of the communication network, so that a driving accident of the first terminal due to a change in QoS of the communication network is avoided, and safe driving may be achieved.

In one possible design, the path planning information further includes a target QoS, which is a communication network QoS index required by the first terminal when driving on the target driving path with the first driving class; before the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result, the method further comprises the following steps: the first terminal receives recommendation information corresponding to the first subsection driving path from the server; correspondingly, the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result and the first prediction accuracy, and the automatic driving strategy comprises the following steps: if the first QoS prediction result does not meet the target QoS, the first terminal determines a first time period, and the QoS of the communication network on the first section driving path does not reach the standard; and the first terminal determines an automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information. Based on the scheme, the first terminal can determine the automatic driving strategy when the first terminal drives on the first section driving path according to the recommendation information sent by the server.

In one possible design, the recommendation information includes an expected recovery time; correspondingly, the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information, and the automatic driving strategy comprises the following steps: the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: entering the first segment travel path after the expected recovery time is reached.

In one possible design, the recommendation information includes: a network identifier of a second mobile network operator MNO, wherein the network of the second MNO is a network of an MNO capable of serving the first terminal in the first segmented travel path; correspondingly, the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information, and the automatic driving strategy comprises the following steps: the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: and switching the first terminal from the network of the first MNO to the network of the second MNO, and then entering the first subsection driving path, wherein the network of the first MNO is the network of the MNO which provides service for the first terminal currently.

In one possible design, the recommendation information includes: information of a second segmented traveling path, wherein the second segmented traveling path is a traveling path on an alternative path of the target traveling path, the starting position of the target traveling path is the same as the starting position of the alternative path, and the ending position of the target traveling path is the same as the ending position of the alternative path; correspondingly, the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information, and the automatic driving strategy comprises the following steps: the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: and switching the first terminal from the first subsection traveling path to the second subsection traveling path for traveling.

In one possible design, the recommendation information includes: an identity of the second terminal; correspondingly, the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information, and the automatic driving strategy comprises the following steps: the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: and after successfully forming the formation with the second terminal, following the second terminal to enter the first subsection driving path, and after passing through the first subsection driving path, canceling the formation relationship with the second terminal.

In one possible design, the determining, by the first terminal, the autonomous driving maneuver when the first terminal travels on the first segmental travel path according to the first QoS prediction result includes: if the first QoS prediction result meets the target QoS, the first terminal determines a first time period, and the QoS of the communication network on the first section driving path reaches the standard; the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows: and continuing to enter the first subsection driving path.

In one possible design, the determining, by the first terminal, the autonomous driving maneuver when the first terminal travels on the first segmental travel path according to the first QoS prediction result includes: if the first QoS prediction result does not meet the target QoS, the first terminal determines a first time period, and the QoS of the communication network on the first section driving path does not reach the standard; the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows: and entering the first subsection driving path after the driving grade of the first terminal is reduced.

In one possible design, the path planning information further includes a notification advance required for the first terminal to travel on the target travel path; the notification advance is used for segmenting a target driving path of the first terminal, wherein the segmentation result meets the condition that the time of the first terminal passing through each segment of segmented driving path is greater than or equal to the notification advance. Based on the scheme, when the first terminal carries out automatic driving strategy updating, the first terminal can have a certain time to prepare for automatic driving strategy updating.

In a third aspect, a server is provided, where the server has a function of implementing the method of the first aspect. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.

In a fourth aspect, a server is provided, comprising: a processor and a memory; the memory is configured to store computer-executable instructions that, when executed by the server, cause the server to perform a method of automated driving planning as described in any one of the above first aspects.

In a fifth aspect, a server is provided, including: a processor; the processor is configured to be coupled to the memory, and after reading the instructions in the memory, execute the method for automated driving planning according to any one of the first aspect.

In a sixth aspect, a computer-readable storage medium is provided, having stored therein instructions, which when run on a computer, cause the computer to perform the method of automated driving planning of any of the above first aspects.

In a seventh aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of automated driving planning of any of the above first aspects.

In an eighth aspect, an apparatus (e.g., the apparatus may be a system on a chip) is provided, which includes a processor configured to enable a server to implement the functions referred to in the first aspect, such as segmenting a target travel path of a first terminal according to information of the target travel path. In one possible design, the apparatus further includes a memory for storing program instructions and data necessary for the server. When the device is a chip system, the device may be composed of a chip, or may include a chip and other discrete devices.

For technical effects brought by any one of the design manners in the third aspect to the eighth aspect, reference may be made to technical effects brought by different design manners in the first aspect, and details are not described here.

In a ninth aspect, there is provided a first terminal having a function of implementing the method of the second aspect. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.

In a tenth aspect, there is provided a first terminal comprising: a processor and a memory; the memory is configured to store computer executable instructions, and when the first terminal runs, the processor executes the computer executable instructions stored in the memory, so as to enable the first terminal to perform the method for automatic driving planning according to any one of the second aspect.

In an eleventh aspect, there is provided a first terminal comprising: a processor; the processor is configured to be coupled with the memory, and after reading the instructions in the memory, execute the method for automated driving planning according to any one of the second aspects.

In a twelfth aspect, a computer-readable storage medium is provided, having instructions stored therein, which when run on a computer, cause the computer to perform the method of automated driving planning of any of the second aspects described above.

In a thirteenth aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of automated driving planning of any of the above second aspects.

In a fourteenth aspect, an apparatus (e.g., the apparatus may be a system on a chip) is provided, which includes a processor configured to enable the first terminal to implement the functions recited in the second aspect, such as determining an automatic driving policy when the first terminal travels on the first segmental travel path according to the first QoS prediction result. In one possible design, the apparatus further includes a memory for storing necessary program instructions and data for the first terminal. When the device is a chip system, the device may be composed of a chip, or may include a chip and other discrete devices.

The technical effects brought by any one of the design manners in the ninth aspect to the fourteenth aspect can be referred to the technical effects brought by different design manners in the second aspect, and are not described herein again.

A fifteenth aspect provides a communication system comprising a server according to any one of the above aspects and one or more first terminals according to any one of the above aspects.

These and other aspects of the present application will be more readily apparent from the following description of the embodiments.

Drawings

Fig. 1 is a schematic architecture diagram of a communication system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a communication device according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a method for automated driving planning provided by an embodiment of the present application;

fig. 4 is a schematic view of a driving route planning provided in the embodiment of the present application;

fig. 5 is a schematic diagram of segmenting a target travel path and a schematic diagram of a segmented prediction result according to an embodiment of the present application;

fig. 6 is a schematic flowchart of a process of determining recommendation information corresponding to a first segment travel path by a server according to an embodiment of the present application;

FIG. 7 is a first schematic view of a driving route provided in the embodiment of the present application;

fig. 8 is a schematic flowchart of determining an automatic driving strategy when the vehicle 1 travels on the first segmental travel path according to the embodiment of the present application;

FIG. 9 is a second schematic view of a driving route provided by the embodiment of the present application;

FIG. 10 is a third schematic view of a driving route provided by the embodiment of the present application;

FIG. 11 is a fourth schematic view of a driving route provided by the embodiment of the present application;

fig. 12 is a schematic structural diagram of a server according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a first terminal according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Where in the description of the present application, "/" indicates a relationship where the objects associated before and after are an "or", unless otherwise stated, for example, a/B may indicate a or B; in the present application, "and/or" is only an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. Also, in the description of the present application, "a plurality" means two or more than two unless otherwise specified. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

In addition, the network architecture and the service scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not constitute a limitation to the technical solution provided in the embodiment of the present application, and it can be known by a person skilled in the art that the technical solution provided in the embodiment of the present application is also applicable to similar technical problems along with the evolution of the network architecture and the appearance of a new service scenario.

As shown in fig. 1, a communication system 10 is provided in accordance with an embodiment of the present application. The communication system 10 includes a server 101 and one or more terminals 102 connected to the server 101.

Taking the server 101 shown in fig. 1 and any one of the one or more terminals 102 as an example of a first terminal interaction, then:

the first terminal 102 is configured to send path planning information to the server 101, where the path planning information includes information of a target driving path of the first terminal 102.

The server 101 is configured to receive the path planning information from the first terminal 102, and segment the target driving path of the first terminal 102 to obtain N segmented driving paths, where N is a positive integer greater than 1.

For any of the N segmental travel paths, the first terminal 102 and the server 101 also perform the following processing for the first segmental travel path:

the first terminal 102 is configured to send path planning information to the server, where the path planning information includes information of a target driving path of the first terminal.

The server 101 is further configured to receive the path planning information from the first terminal 102, predict QoS of the communication network on the first time period and the first segment driving path according to the information of the target driving path, and send the information of the first segment driving path and the first QoS prediction result to the first terminal 102 after obtaining a first QoS prediction result.

The first terminal 102 is further configured to receive the information of the first segment travel path and the first QoS prediction result from the server 101, and determine an automatic driving strategy when the first terminal 102 travels on the first segment travel path according to the first QoS prediction result.

Based on the communication system provided by the embodiment of the present application, in the embodiment of the present application, after receiving the path planning information from the first terminal, the server segments the target travel path of the first terminal according to the information of the target travel path. And for each section traveling path, the server predicts the QoS of the communication network on the section traveling path in the time period when the first terminal passes through the section traveling path, after a corresponding QoS prediction result is obtained, the information of the section traveling path and the corresponding QoS prediction result are sent to the first terminal, and the first terminal determines the automatic driving strategy when the first terminal travels on the section traveling path according to the information of the section traveling path and the corresponding QoS prediction result. That is to say, in the embodiment of the present application, the first terminal may dynamically adjust the automatic driving policy of the first terminal according to different QoS conditions of the communication network, so that a driving accident of the first terminal due to a change in QoS of the communication network is avoided, and safe driving may be achieved.

Optionally, the server in this embodiment of the present application may be, for example, a vehicle to electronic commerce (V2X) server, or a server operated by a Mobile Network Operator (MNO), or a server operated by an Original Equipment Manufacturer (OEM) or a road operator (roadoperator), and the like, which is not specifically limited in this embodiment of the present application.

Optionally, the terminal in the embodiment of the present application may be a vehicle (vehicle); or may be a vehicle-mounted terminal mounted on a vehicle for assisting the travel of the vehicle. The vehicle-mounted terminal may be a User Equipment (UE), an access terminal, a terminal unit, a terminal station, a mobile station, a remote terminal, a mobile device, a wireless communication device, a terminal agent, or a terminal device in a fifth generation (5G) network or a Public Land Mobile Network (PLMN) for future evolution. The access terminal may be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device with wireless communication capability, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device or wearable device, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, a wireless terminal in industrial control (industrial control) or a wireless terminal in self driving (self driving), and so on. The vehicle-mounted terminal can be mobile or fixed.

Optionally, in this embodiment of the application, the related functions of the terminal 102 and the server 101 in fig. 1 may be implemented by one device, or may be implemented by multiple devices together, or may be implemented by one or more functional modules in one device, which is not specifically limited in this embodiment of the application. It is understood that the above functions may be network elements in a hardware device, or software functions running on dedicated hardware, or a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

For example, the functions of the terminal 102 and the server 101 in fig. 1 in the embodiment of the present application may be implemented by the communication device 200 in fig. 2. Fig. 2 is a schematic structural diagram of a communication device 200 according to an embodiment of the present application. The communication device 200 includes one or more processors 201, a communication link 202, and at least one communication interface (illustrated in fig. 2 as including the communication interface 204 and one processor 201 by way of example only). Optionally, the communication device 200 may further include a memory 203.

The processor 201 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs in accordance with the present invention.

The communication link 202 may include a path for connecting different components.

The communication interface 204 may be a transceiver module for communicating with other devices or communication networks, such as ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc. For example, the transceiver module may be a transceiver, or the like. Optionally, the communication interface 204 may also be a transceiver circuit located in the processor 201 to realize signal input and signal output of the processor.

The memory 203 may be a device having a storage function. Such as, but not limited to, read-only memory (ROM) or other types of static storage devices that may store static information and instructions, Random Access Memory (RAM) or other types of dynamic storage devices that may store information and instructions, electrically erasable programmable read-only memory (EEPROM), compact disk read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be separate and coupled to the processor via communication line 202. The memory may also be integral to the processor.

The memory 203 is used for storing computer execution instructions for executing the scheme of the application, and is controlled by the processor 201 to execute. The processor 201 is configured to execute computer-executable instructions stored in the memory 203 to implement the method of automated driving planning provided in the embodiments of the present application.

Alternatively, in this embodiment of the present application, the processor 201 may also perform functions related to processing in the method for automatic driving planning provided in the following embodiments of the present application, and the communication interface 204 is responsible for communicating with other devices or a communication network, which is not specifically limited in this embodiment of the present application.

Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

In particular implementations, processor 201 may include one or more CPUs such as CPU0 and CPU1 in fig. 2, for example, as one embodiment.

In particular implementations, communication device 200 may include multiple processors, such as processor 201 and processor 208 in fig. 2, for example, as an example. Each of these processors may be a single core (s-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

In particular implementations, communication device 200 may also include an output device 205 and an input device 206, as one embodiment. The output device 205 is in communication with the processor 201 and may display information in a variety of ways. For example, the output device 205 may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 206 is in communication with the processor 201 and may receive user input in a variety of ways. For example, the input device 206 may be a mouse, a keyboard, a touch screen device, or a sensing device, among others.

The communication device 200 may also be sometimes referred to as a communication apparatus, which may be a general-purpose device or a special-purpose device. For example, the communication device 200 may be a desktop computer, a portable computer, a network server, a Personal Digital Assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, the terminal device, the network device, or a device with a similar structure as in fig. 2. The embodiment of the present application does not limit the type of the communication device 200.

The method for automatic driving planning provided by the embodiment of the present application will be specifically described below with reference to fig. 1 or fig. 2.

It should be noted that, in the following embodiments of the present application, names of messages between network elements or names of parameters in messages are only an example, and other names may also be used in a specific implementation, which is not specifically limited in this embodiment of the present application.

Taking the server 101 shown in fig. 1 and any one of the one or more terminals 102, for example, a first terminal as an example, as shown in fig. 3, a method for automated driving planning provided by the embodiment of the present application includes the following steps S301 to S305:

s301, the first terminal sends path planning information to the server. Accordingly, the server receives path planning information from the first terminal.

The path planning information comprises information of a target driving path of the first terminal.

S302, segmenting the target driving path of the first terminal by the information of the target driving path of the server to obtain N segmented driving paths, wherein N is a positive integer larger than 1.

For any of the N segmented travel paths, the first terminal and the server further process the first segmented travel path as follows:

s303, the server predicts the QoS of the communication network on the first section running path in the first time period to obtain a first QoS prediction result, wherein the first time period is the time period when the first terminal runs on the first section running path.

S304, the server sends the information of the first section traveling path and the first QoS prediction result to the first terminal. Accordingly, the first terminal receives the information of the first segment travel path and the first QoS prediction result from the server.

S305, the first terminal determines an automatic driving strategy when the first terminal drives on the first section driving path according to the first QoS prediction result.

The above steps S301 to S305 will be exemplarily explained below by taking the first terminal as the vehicle 1 as an example.

In the above step S301:

the vehicle 1 transmits path planning information of the vehicle 1, which includes information of a target travel path of the vehicle 1, to the server before the start of the travel.

The information of the target travel path of the vehicle 1 includes the target travel path of the vehicle 1. Optionally, the information of the target travel path of the vehicle 1 may further include a start position (which may also be understood as a current position of the vehicle 1) and an end position (which may also be understood as a destination of the vehicle 1) of the target travel path of the vehicle 1.

The above-described target travel path indicates what path the vehicle 1 will select to reach the destination. For example, as shown in fig. 4, there may be multiple paths, such as path 1 and path 2 in fig. 4, from the starting position a to the ending position B. Of course, the QoS of the communication network may be different on different paths at the same time, since different paths pass through different areas.

The start position and the end position both represent coordinates on a map, which may be absolute coordinates like longitude and latitude, or may be relative coordinates, for example, the vehicle 1 is located in the XX city government, or the vehicle 1 is located at the GXX high-speed 100 km.

Optionally, the path planning information in the embodiment of the present application may further include speed matching information when the vehicle 1 travels on the target travel path, where the speed matching information indicates a speed when the vehicle 1 travels on different road segments of the target travel path according to the plan. The speeds of the planned vehicle 1 during traveling on different road sections of the target traveling path may be the same or different, and this is not particularly limited in the embodiment of the present application. For example, assuming that the target driving route of the vehicle 1 is route 1 in fig. 3, the link 1, the link 2, and the link 3 in the route 1 may correspond to different pieces of pace information, and the result may be shown in table one.

Watch 1

Road section information	Pace information
		Road section
1	30km/h
		Road section
2	40km/h
		Road section
3	45km/h
		……	……

Optionally, the path planning information in the embodiment of the present application may further include a target QoS, where the target QoS is a communication network QoS index required when the vehicle 1 travels on the target travel path with the first driving class. The target QoS refers to a communication network QoS condition that needs to be guaranteed in order to maintain the first driving level. The target QoS may include, among other things, a threshold value for one or more QoS parameters and a minimum prediction accuracy (which may also be referred to as a minimum confidence). The one or more QoS parameters may include, for example, one or more of latency, jitter, bandwidth, reliability, or network type.

The above-mentioned minimum prediction accuracy represents the possibility that the prediction result required for the QoS prediction of the communication network is accurate, and is expressed by percentage. For example, the server predicts that the latency of the region becomes 100kbps after 5 minutes, which is 50% accurate, indicating that there is a 50% probability that the latency becomes 100kbps after 5 minutes.

In the embodiment of the application, the requirements of different driving grades on the QoS parameters are different. For example, if the vehicle 1 is in the L0 driving class or the L1 driving class, since the operation of the vehicle 1 is performed by the driver, the information that the network needs to provide to the driver includes the unexpected road information (congestion, vehicle breakdown, road closure, etc.), and the information needs to be pushed to the driver 5-10 minutes in advance so as to enable the driver to decide whether to re-plan the route, the amount of data that needs to be pushed is small, and thus the requirements on the bandwidth, delay, reliability, etc. provided by the network are relatively low. For example, the delay is 10s or the bandwidth is 100 kbps. Alternatively, for example, if the vehicle 1 is at the L2 driving level, the network needs to push high-precision map information in addition to road information to make the vehicle clear whether it is in the correct lane and direction because the vehicle 1 needs to be controlled. There is a need for greater guarantees on the bandwidth, latency, or reliability provided by the network. For example, the delay is 100ms, the bandwidth is 1Mbps, etc.

Optionally, the path planning information in the embodiment of the present application may further include a first driving level adopted when the vehicle 1 travels on the target travel path. The first driving class refers to what driving class the vehicle 1 is planned to pass through the road segment, for example the driving class L0-L5 defined by SAE or other driving classes defined in the future.

Optionally, the path planning information in the embodiment of the present application may further include a notification advance amount required when the vehicle 1 travels on the target travel path. The notification advance indicates how much time the vehicle 1 requests to be notified to the vehicle 1 at least in advance if the predicted communication network QoS will change.

Alternatively, in consideration of the fact that the vehicle 1 needs different time when coping with the driving level switching caused by the change in the communication network QoS, different notification advance amounts are required to ensure that sufficient time is available for preparation. For example, a vehicle with an L2 driving level may require less than 5 seconds to switch from an L2 driving level to an L0 or L1 driving level because the driver's attention remains on the road and driving. However, the L3 drive class vehicle may take 1 minute to switch from the L3 drive class to the L2 drive class because the driver's attention allows something else, such as reading or talking, to do without being on the road. For a vehicle with a driving level of L4 or a vehicle above the driving level of L4 (e.g., a driving level of L5), the times for switching to the driving level of L3, the driving level of L2, the driving level of L1 or the driving level of L0 may be very different because there may be no driver on the vehicle or the driver is not in the driving place. Therefore, the vehicle 1 sends the route planning information of the vehicle 1 to the server before the start of the journey, and the notification advance is included in the route planning information, and is used for informing the server of how long the QoS prediction result should be sent to the vehicle 1, so that the vehicle 1 can reserve enough time for the vehicle to take measures when determining that the driving level needs to be reduced according to the QoS prediction result.

Optionally, the notification advance in the embodiment of the present application is greater than or equal to the longest time required for the vehicle 1 to switch between different driving levels, such as the time required for the vehicle 1 to switch from the L5 driving level to the L0 driving level.

Alternatively, optionally, the notification advance in the embodiment of the present application is greater than or equal to the longest time required for the vehicle 1 to switch from the first driving level to any other driving level lower than the first driving level, and if the first driving level corresponds to the L3 driving level, the notification advance is greater than or equal to the time required for the vehicle 1 to switch from the L3 driving level to the L0 driving level.

Optionally, in the embodiment of the present application, one or more of the path planning information, the speed matching information, the target QoS, the first driving level, or the notification advance is sent to the server by the vehicle 1 as an example for explanation. Of course, in the embodiment of the present application, one or more of the path planning information, the speed matching information, the target QoS, the first driving class, or the notification advance may also be obtained by the server from other network devices or other servers instead of being sent to the server by the vehicle 1, which is not specifically limited in the embodiment of the present application.

In the above step S302:

after receiving the path planning information of the vehicle 1, the server may segment the target driving path according to the information of the target driving path in the path planning information.

Optionally, the server may segment the target driving path according to the information of the target driving path, in combination with the advance of notification in the path planning information. Wherein, the segmentation result satisfies that the time of the vehicle 1 passing through each segment of the segmented running path is greater than or equal to the notification advance.

Or, optionally, the server may segment the target travel path according to the information of the target travel path, in combination with a deployment situation of an access network device (for example, a base station) in the network. For example, assuming that a certain segment of the target driving path is in a region where the access network devices are more densely deployed (which may be considered as a better QoS of the communication network), the segment of the path may be divided into a segmented driving path.

Alternatively, the server may optionally segment the target travel path in an equidistant manner, or may also segment the target travel path in an equal time manner, which is not specifically limited in this embodiment of the application.

Or, optionally, the server may segment the target travel path according to the information of the target travel path, in combination with the notification advance in the path planning information and the deployment condition of the access network device (for example, may be a base station) in the network. For example, assuming that a certain segment of the target driving path is in a region where the access network devices are more densely deployed (which may be considered as a better QoS of the communication network), the segment of the path may be divided into a segmented driving path. Wherein, the segmentation result satisfies that the time of the vehicle 1 passing through each segment of the segmented running path is greater than or equal to the notification advance.

Or, optionally, the server may segment the target driving route in an equidistant manner by combining the notification advance in the route planning information, or segment the target driving route in an equal-time manner by combining the notification advance in the route planning information. Wherein, the segmentation result satisfies that the time of the vehicle 1 passing through each segment of the segmented running path is greater than or equal to the notification advance.

For example, the stroke of the target travel path may be as shown in (5a) of fig. 5. The target travel path is segmented in an equal time manner, and the segmentation result may be as shown in (5b) of fig. 5. Wherein, in (5b), the whole travel corresponding to the target travel path is divided into 10 segments, and t0, t1, t2, … … and t10 represent the time when the vehicle passes through the point.

In the above step S303:

the server may determine a time period when the vehicle 1 travels on the first segmental travel path (i.e., a time period when the vehicle 1 passes through the first segmental travel path, which is referred to as a first time period for convenience of description herein), and predict the QoS of the communication network on the first segmental travel path in the first time period to obtain a first QoS prediction result. That is, the server performs QoS prediction of the communication network according to two dimensions of time and geographic location. For example, after segmenting the entire journey corresponding to the target travel path shown in (5a) in fig. 5 and obtaining the geographical position of each segmented travel path shown in (5b) in fig. 5, it is also necessary to determine the time period for the vehicle 1 to pass through each segmented travel path.

Optionally, in a possible implementation manner, the server may determine, according to the speed matching information when the vehicle 1 travels on the target travel path, a time period for the vehicle 1 to pass through each segment travel path, which is not specifically limited in this embodiment of the present application.

Optionally, in this embodiment of the present application, the first QoS prediction result includes a prediction value and a prediction accuracy of one or more QoS parameters. The description of the one or more QoS parameters may refer to the description in step S301, and is not repeated herein.

Optionally, in this embodiment of the application, the server may predict the QoS of the communication network in the first time period and on the first segment driving path according to network data (such as data of time delay, bandwidth, jitter, or reliability) collected from the MNO, other information (such as information of city activity, weather, and people flow) collected from the internet, and path planning information maintained by the server, so as to obtain a first QoS prediction result. The first QoS prediction result is a result estimated from history data of the influence of these data on the QoS of the communication network. For example, historical data of QoS of a communication network each time the same traffic, similar weather conditions, approximately the same time period, has occurred since the past month. If similar people flow, weather conditions, etc. occur 10 minutes into the future, it can be assumed that the predicted value of the QoS of its communication network is also large enough to be the same result. And it is the probability that the substantially same result will occur, which is the prediction accuracy. Specifically, for the implementation of predicting the QoS of the communication network on a certain path in a certain time period, reference may be made to the existing implementation manner, which is not described in detail herein.

For example, the QoS of each segment travel path in (5b) shown in fig. 5 is predicted in a corresponding time period, and the prediction result may be as shown in (5c), (5d) or (5e) in fig. 5. The segmented traveling path filled by the pattern represents a segmented traveling path of which the QoS prediction result does not meet the target QoS; the segment travel path not filled with the pattern indicates a segment travel path whose QoS prediction result satisfies the target QoS. For example, in (5c) in fig. 5, the t2-t3 split running path, the t3-t4 split running path, the t4-t5 split running path, the t5-t6 split running path, the t7-t8 split running path, the t8-t9 split running path, and the t9-t10 split running path are split running paths for which the QoS prediction result does not satisfy the target QoS; and the t0-t1 sectional travel paths, the t1-t2 sectional travel paths, and the t6-t7 sectional travel paths are sectional travel paths whose QoS prediction results meet the target QoS. The cases in (5d) and (5e) in fig. 5 are similar to the case in (5c) described above, and will not be described in detail here.

In this embodiment, a tm-tn segmented travel path refers to a path with a position at a time tm as a start position and a position at a time tn as an end position, where n is m +1, and a value of m is any integer from 0 to 9, and is not described herein in a unified manner, and details thereof are not repeated below. For example, the t0-t1 split-level travel route refers to a route with the position at the time t0 as the starting position and the position at the time t1 as the ending position.

Optionally, in the embodiment of the present application, it is considered that the QoS prediction result does not meet the target QoS and does not reach the standard of the QoS of the communication network; and the QoS prediction result meets the target QoS and is regarded as the QoS of the communication network reaches the standard.

Optionally, in this embodiment of the present application, the QoS prediction result meeting the target QoS means that the predicted value of the QoS parameter meets the threshold requirement of the QoS parameter in the target QoS, and the prediction accuracy is not less than the minimum prediction accuracy in the target QoS; otherwise, the QoS prediction result is considered not to meet the target QoS. Wherein the server determines the QoS parameterThe way that the predicted values of the number satisfy the threshold value requirements of the QoS parameters in the target QoS is that the predicted values of the QoS parameters which have the threshold value requirements in the target QoS all satisfy the threshold value requirements of the corresponding QoS parameters. For example, for the L3 driving level, the wireless network coverage bandwidth is required to be at least 1Mbps, the delay is within 100ms, other parameters are not required, and the prediction accuracy is required to be more than 70% (i.e., the minimum prediction accuracy is 70%). The server determining whether the QoS of the communication network is up to standard comprises: and determining that the wireless network coverage bandwidth in the predicted value of the QoS parameter can at least reach 1Mbps, the time delay is within 100ms, and the prediction accuracy is not less than 70%. Wherein the server determines whether the predicted value of the QoS parameter meets the threshold requirement of the QoS parameter in the target QoS, and the locally obtained prediction result is multidimensional, for example, for t in (5b) shown in fig. 5₀-t₁On the road section, the result of the QoS prediction in the future 1 minute is that the bandwidth is 2Mbps, the time delay is 100ms, the reliability is 99.9%, the packet loss rate is 98% and the like, but as long as the server determines that the wireless network coverage bandwidth in the predicted value of the QoS parameter can at least reach 1Mbps, and the time delay is within 100ms, the predicted value of the QoS parameter can be determined to meet the threshold value requirement of the QoS parameter in the target QoS.

Optionally, in this embodiment of the application, if the server determines that the QoS of the communication network on the first segment driving path does not meet the standard, the server may further determine recommendation information corresponding to the first segment driving path. The recommendation information corresponding to the first segment travel path may include, for example: the expected recovery time, the network identification of the second MNO, information of the second segmental travel path, the identification of the vehicle 2, etc.

The expected recovery time is used for the vehicle 1 to select to enter the first segmental travel path after the expected recovery time is over.

The network identity of the second MNO is used for the vehicle 1 to enter the first segmented travel path after selecting a handover from the first MNO to the second MNO, the network of the first MNO being the network of the MNO currently serving the vehicle 1.

The information of the second segmental travel path is used for the vehicle 1 to select to travel from the first segmental travel path to the second segmental travel path, wherein the second segmental travel path is a segment of travel path on the alternative path of the target travel path, the starting position of the target travel path is the same as the starting position of the alternative path, and the ending position of the target travel path is the same as the ending position of the alternative path. For example, assuming that the target travel path is route 1 in fig. 4 and the alternative route is route 2 in fig. 4, the second segmental travel path here may be a certain segment of route on route 2.

Alternatively, it is not possible to just bypass a segment of a traffic network that does not meet the QoS standard, considering the actual traffic environment. Therefore, the start position of the detour road segment is usually selected to be no later than the start position of the communication network QoS non-compliant road segment, and the end position of the detour road segment is usually selected to be no earlier than the end position of the communication network QoS non-compliant road segment.

The following exemplary implementation that provides a specific implementation that the server determines the recommendation information corresponding to the first segment of the travel path includes, as shown in fig. 6, the following steps:

s601, the server determines a first time period, and the QoS of the communication network on the first section driving path does not reach the standard.

The description of step S601 may refer to the description parts shown in (5a) to (5e) in fig. 5, and is not repeated herein.

S602, the server determines whether the reason for the first time period and the reason for the unqualified communication network QoS on the first segment driving path is a temporary reason or a non-temporary reason (namely a long-term reason).

For example, the reason that the QoS of the communication network does not reach the standard is temporary reasons, such as large activities around the communication network, which results in excessive connections in the temporary area; or, in a short time, there is a thunderstorm weather, which causes a problem in signal reception; or, the base station in the area causes communication problems due to faults and the like. The main method for judging whether the reason that the QoS of the communication network does not meet the standard is the temporary reason is that the server judges according to the historical QoS of the communication network, if the first time period is up, the QoS of the communication network on the first subsection driving path is always normal historically, and the temporary reason can be determined only when the condition that the QoS of the communication network does not meet the standard momentarily occurs currently.

For example, the reason for the communication network QoS not meeting the standard is a non-temporary reason such as a tunnel, poor operator coverage, underground garage, etc. In the case where the reason why the communication network QoS does not reach the standard is the non-temporary reason, the communication network QoS cannot be expected to be recovered in a short time.

In the embodiment of the present application, the meaning of distinguishing whether the reason that the QoS of the communication network does not reach the standard is the temporary reason or the non-temporary reason is that if the problem is temporary, the vehicle 1 may select a deceleration or waiting mode and the like, and then pass through the road section after the QoS of the communication network meets the requirement. If not for temporary reasons, the vehicle 1 can only pass through the road section by other means. Specifically, if the temporary reason is, the following step S603 may be executed; if the reason is not temporary, the following step S604, step S606, or step S608 may be executed.

S603, the server analyzes the temporary reason that the QoS of the communication network on the first section running path does not reach the standard in the first time period, estimates the estimated recovery time, and determines the recommended information corresponding to the first section running path as the estimated recovery time.

In which, for the QoS of the communication network not meeting the standard due to the temporary reason, the QoS of the communication network may be recovered in a short time. The required estimated restoration time is a level at which the communication network QoS, which is obtained by the server by comprehensive judgment based on the network environment and the like, is restored to the target QoS required by the vehicle 1. The expected recovery time may be a relative time or an absolute time.

For example, a large campaign is held in the area, resulting in an excessive number of connections and thereby causing a decrease in the QoS of the communication network, and the expected recovery time is the end time of the campaign, for example, the expected recovery time is several hours. Or, the QoS of the communication network is reduced due to the failure of the base station, and the expected recovery time is the troubleshooting time scheduled by the operator or the time for putting the emergency communication vehicle into service, for example, if the emergency communication vehicle arrives in 30 minutes, the expected recovery time is half an hour. Or, in the QoS problem caused by thunderstorm weather, the expected recovery time is usually the time when the thunderstorm ends, for example, the expected recovery time is about 10 minutes when the thunderstorm ends in 10 minutes.

S604, the server determines whether the network of the second MNO enables the QoS of the communication network to reach the standard.

Specifically, the server determining whether a network of the second MNO exists to reach the QoS criteria includes: the server determines whether the vehicle 1 signs a second MNO and a network of the second MNO capable of providing service for the vehicle 1 exists on the first segmental driving path, so that when the network of the second MNO provides service for the vehicle 1, the QoS of the communication network on the first segmental driving path in the first time period is predicted, and the obtained second QoS prediction result meets the target QoS.

If the service area determines that the network of the second MNO meets the QoS standard, the following step S605 is executed.

S605, the server determines that the recommended information corresponding to the first subsection driving path is the network identification of the second MNO.

That is, assuming that the vehicle 1 maintains a subscription relationship with multiple MNOs at the same time, when detecting that the QoS of the communication network with other MNOs is better, the server may carry the network identifier of the MNO in the recommendation information for the vehicle 1 to select.

For example, in the same area, the signal strength of the a mobile operator may be higher than that of the B mobile operator due to the base station location and deployment density, and if the network currently serving the vehicle 1 is the network of the B mobile operator, the server may recommend that the vehicle 1 switch the network to the network of the a mobile operator.

S606, the server determines whether a second subsection driving path exists or not so that the QoS of the communication network can reach the standard.

Specifically, the server determining whether a second segmented driving path exists so that the QoS of the communication network reaches the standard comprises the following steps: the server determines whether a second segmental travel path exists so that a third QoS prediction result obtained by predicting the communication network QoS on the second segmental travel path for a second time period when the vehicle 1 travels on the second segmental travel path meets the target QoS. The second segmented running path is a segment of running path on the alternative path of the target running path, the starting position of the target running path is the same as the starting position of the alternative path, and the ending position of the target running path is the same as the ending position of the alternative path.

If the server determines that the second segment driving path exists, so that the QoS of the communication network on the second segment driving path in the second time segment is predicted, and the obtained third QoS prediction result meets the target QoS, the following step S607 is continuously executed.

S607, the server determines that the recommended information corresponding to the first section of the travel path is the information of the second section of the travel path.

That is, since the communication network QoS of each mobile operator in different areas is different, or the number of connections in different areas is different, when the starting position and the ending position are the same, the communication network QoS corresponding to different segmental travel paths in the same time slot may be different. If the server determines that the communication network QoS of other segment driving paths having the same starting position and ending position in a certain time period is better, switching the segment driving path, that is, recommending information to be information of the second segment driving path for the vehicle 1 to select, may be considered on the premise that the driving mileage is not increased or is increased as little as possible.

For example, as shown in fig. 4, the communication network QoS corresponding to route 1 and route 2 may not be the same in the same time period. Assuming that the first-segment driving path is route 1 in fig. 4, in the same time period, if the communication network QoS of route 1 does not meet the standard and the communication network QoS of route 2 meets the standard, the server may determine that the recommendation information is route 2.

S608, the server determines whether there is a vehicle 2 such that the communication network QoS is up to standard.

Specifically, the server determining whether there is a vehicle 2 to make the QoS of the communication network meet the standard includes: the server determines whether the vehicle 2 and the vehicle 1 simultaneously pass through the first subsection driving path, and the first QoS prediction result accords with a communication network QoS index required when the vehicle 2 drives on the first subsection driving path with the second driving level.

The description of the second driving level may refer to the first driving level, and is not repeated herein.

Optionally, in this embodiment of the application, after receiving the path planning information of the multiple vehicles, the server may establish a map locally, and manage a relationship between the path planning information of the multiple vehicles, so that a road segment shared by the two vehicles in time and place may be found. For example, as shown in fig. 7, there is a shared road segment of the vehicle 1 and the vehicle 2.

During the formation driving process, the responsibility of the head car on the driving environment monitoring and abnormal event processing is greater than that of the following vehicles. Therefore, the requirements for environmental monitoring and exception handling of the following vehicle are much lower. If the head car is driver driven or is driven automatically at a low driving level, the network requirements are not particularly high and the communication network QoS can generally be met.

If the server determines that the vehicle 2 exists so that the QoS of the communication network is up to the standard, the following step S609 is continuously performed.

And S609, the server determines that the recommendation information corresponding to the first section of the driving path is the identification of the vehicle 2.

For example, for the vehicle 1 with the L4 driving level, it is possible that only the L4 driving level can be adopted since the driver is not disposed on the vehicle. The L4 driving class can only stop waiting on site in case the communication network QoS does not meet the requirements, because the road dynamics information cannot be received. But if at the same time, exactly other vehicles with less reliance on the communication network QoS pass through the same road segment. For example, if the vehicle 2 with the L2 driving level passes through the same road segment, the server may determine to group the vehicle 1 and the vehicle 2, that is, the recommendation information is the identification of the vehicle 2 for the vehicle 1 to select.

For example, as shown in fig. 7, if the vehicle 1 and the vehicle 2 pass through the same road segment, and if the vehicle 1 can pass through the shared road segment only through the L4 driving level, and the vehicle 2 is driven manually or at the L2 driving level, the server may recommend the identification of the vehicle 2 to the vehicle 1. So that the vehicle 1 can wait on site and form a temporary formation with the vehicle 2 when the vehicle 2 passes by.

Optionally, in this embodiment of the application, after determining that the recommendation information corresponding to the first segment driving path is the identifier of the vehicle 2, the server may send the recommendation information to the vehicle 1. Meanwhile, the server transmits a formation request to the vehicle 2, the formation request being for requesting the vehicle 2 and the vehicle 1 to form a formation through the first segment travel path. At this time, if the vehicle 2 rejects the formation request, the server may send a recommendation information cancellation notification to the vehicle 1, which is not specifically limited in the embodiment of the present application.

Or, optionally, in this embodiment of the application, after determining that the recommendation information corresponding to the first segment driving path is the identifier of the vehicle 2, the server may send a formation request to the vehicle 2, where the formation request is used to request that the vehicle 2 and the vehicle 1 form a formation through the first segment driving path, and after the vehicle 2 agrees to form the formation, the server sends the recommendation information to the vehicle 1 again, which is not specifically limited in this embodiment of the application.

It should be noted that there is no necessary execution sequence among the step S604, the step S606, or the step S608, and any one or two of the three steps may be executed first, and then other steps may be executed; these three steps may also be performed simultaneously, which is not specifically limited in the embodiments of the present application.

In addition, optionally, in this embodiment of the application, when determining the recommendation information corresponding to the first segment travel path, the server may execute one or more of step S604, step S606, or step S608, which is not specifically limited in this embodiment of the application.

Optionally, in this embodiment of the application, after determining that the first QoS prediction result does not reach the standard, if the reason why the first QoS prediction result does not reach the standard can be known, the server may also perform adjustment in advance. For example, assuming that the communication network QoS of each of the segmental travel paths in (5b) shown in fig. 5 is predicted at the corresponding time period, and the prediction result is shown in (5c) in fig. 5, the server may adjust the communication network QoS on the segmental travel paths according to actual situations for the t2-t3 segmental travel paths, the t3-t4 segmental travel paths, the t4-t5 segmental travel paths, the t5-t6 segmental travel paths, or the like. For example, an emergency communication vehicle is added, the transmission power of a base station is increased, or traffic dispersion is performed, and the like, which is not specifically limited in the embodiment of the present application.

In the above step S304:

if the server determines the recommendation information corresponding to the first segment driving path in step S303, the server may further send the recommendation information corresponding to the first segment driving path to the vehicle 1, which is not specifically limited in this embodiment of the application.

In the above step S305:

after the vehicle 1 receives the information of the first segmental travel path and the first QoS prediction result from the server, if the first QoS prediction result satisfies the target QoS, that is, the first time period, and the QoS of the communication network on the first segmental travel path reaches the standard, the autonomous driving policy when the vehicle 1 travels on the first segmental travel path may be determined as follows: continuing to enter a first subsection driving path; otherwise, the vehicle 1 needs to determine other autonomous driving strategies through the first segment travel path.

In the first time period, when the communication network QoS on the first section driving path does not meet the standard, many factors are used to determine the automatic driving strategy when the vehicle 1 travels on the first section driving path, such as whether the vehicle 1 has a driver, what the driver is doing, the driving condition of an Automatic Driving Assistance System (ADAS) of the vehicle, the lighting condition of the surroundings, the coverage condition of a high-precision map, whether the surroundings have pedestrians, the environment where the surroundings are located, and the like. Moreover, the strategy for different vehicle factories to handle different external environmental influences may also be different. Therefore, implementation of the automatic driving strategy when it is determined that the vehicle 1 travels on the first-segment travel path is complicated. In the embodiment of the present application, the recommendation information sent by the server to the vehicle 1 is other information that cannot be sensed by the sensor of the vehicle 1 itself, and plays a very important role in making a decision on the vehicle 1.

For example, for a vehicle 1 traveling with an L4 driving class, the vehicle 1 first determines whether a driver is present, and if a driver is present, indicating that the vehicle has the ability to switch to an L3 driving class or an L2 driving class, the vehicle 1 may downgrade the driving class through the segment if the communication network QoS on the first segment travel path does not meet the criteria for the first time segment. If the vehicle 1 is not equipped with a driver, the vehicle 1 can only carry out the L4 automatic driving. At this time, the vehicle 1 may combine the recommendation information transmitted by the server, and in the case where the expected recovery time is short, the vehicle 1 may select to wait for the recovery of the communication network QoS on the first-segment travel path in the nearest safe parking area. Or in case of a long expected recovery time, the server finds a route for other communication networks to meet the QoS standard or other operator networks for other communication networks to meet the QoS standard, and the vehicle 1 may actively switch networks or switch routes. When the server does not find other available operator networks or switchable routes but other vehicles with shared paths, it is recommended that the vehicle 1 travels the first segment of the road section in a formation mode through the communication network with substandard QoS. For example, for a tunnel, poor network coverage may not receive road dynamics information, and there is no way to drive through the road segment using L4 driving classes. If there is a vehicle 2 that is also to pass through the tunnel, which is manually driven, the server may recommend that the vehicle 1 and the manually driven vehicle 2 form a formation to pass through the tunnel following the manually driven vehicle 2. After passing through the tunnel, the automatic driving state of the vehicle is switched back to the L4.

For example, the manner in which the vehicle 1 determines the autonomous driving maneuver when traveling on the first segmental travel path may be as shown in fig. 8, including the steps of:

s801, the vehicle 1 receives recommendation information corresponding to the first segment travel route from the server.

The step S303 may be referred to for the description of the recommendation information corresponding to the first segment driving route, and is not repeated herein.

S802, the vehicle 1 determines whether the QoS of the communication network on the first section driving path reaches the standard in the first time period.

The manner that the vehicle 1 determines the first time period and whether the QoS of the communication network on the first section driving path meets the standard may refer to the manner that the server determines the first time period and whether the QoS of the communication network on the first section driving path meets the standard in step S303, which is not described herein again.

If the vehicle 1 determines the first time period and the QoS of the communication network on the first segmental driving path reaches the standard, the following step S803 is continuously executed; otherwise, the following step S804 is continuously performed.

S803, if the vehicle 1 determines the first time period and the QoS of the communication network on the first segmental driving route reaches the standard, determining that the automatic driving policy when the vehicle 1 drives on the first segmental driving route is: and continuing to travel to enter the first subsection travel path.

For example, assuming that the communication network QoS of each of the segmental travel paths in (5b) shown in fig. 5 is predicted at the corresponding time period, and the prediction result is as shown in (5c) in fig. 5, the vehicle 1 may enter the t0-t1 segmental travel path.

S804, if the vehicle 1 determines the first time period and the QoS of the communication network on the first segmental driving path does not meet the standard, the vehicle 1 needs to determine how to pass through the first segmental driving path according to specific situations. In this example, the vehicle 1 may first confirm the driving level currently adopted by itself.

S805, when the vehicle 1 is running at the L2 driving level, it is determined that the driver is present and the driver is on standby at any time. The vehicle 1 determines that the autonomous driving strategy when traveling on the first segmental travel path is: the first split travel path is entered after the driving level is lowered to L1.

For example, assuming that the communication network QoS of each of the segmental travel paths in the corresponding time period in (5b) shown in fig. 5 is predicted and the prediction result is shown in (5d) in fig. 5, the vehicle 1 may enter the t0-t1 segmental travel path in a manner of traveling with the current L2 driving level. However, since the communication network QoS on the t1-t2 segmented travel path is not up to the standard in the time period when the vehicle 1 passes the t1-t2 segmented travel path, the driver still remains in the driving position considering that the driver responds to the abnormal situation in the L2 driving level situation, but the attention may not be completely on the road, so before entering the t1-t2 segmented travel path (such as the position where the vehicle is at the time t 0), the vehicle 1 should give an alarm to make the driver prepare for traveling at the L1 driving level in advance. Therefore, the time period corresponding to the t0-t1 split traveling path should be not less than the time required for the vehicle 1 to switch from the L2 driving level to the L1 driving level.

S806, when the vehicle 1 is driven at the L3 driving level or the L3 driving level or higher, it indicates that the attention of the driver may not be on the road or the driver may not be present. The vehicle 1 preferentially tries to continue on the QoS substandard road section through the communication network in the manner of the current driving class. Therefore, the vehicle 1 first determines whether the information of the second segmental travel path or the network identification of the second MNO is included in the recommendation information transmitted by the server.

S807, if the vehicle 1 determines that the recommendation information sent by the server includes the information of the second segmental travel path or the network identifier of the second MNO, the vehicle 1 determines that the automatic driving policy when traveling on the first segmental travel path is: switching the vehicle 1 from the first segmental travel path to the second segmental travel path; alternatively, the vehicle 1 enters the first segment travel path after switching from the network of the first MNO to the network of the second MNO.

S808, if the vehicle 1 determines that the recommendation information sent by the server does not include the information of the second segmental travel path or the network identifier of the second MNO, and the vehicle 1 is currently traveling at the L3 driving level, the vehicle 1 determines that the automatic driving policy when traveling on the first segmental travel path is: the first split travel path is entered after the driving level is lowered to L2.

For example, assuming that the communication network QoS of each segment travel path in (5b) shown in fig. 5 is predicted in the corresponding time period, and the prediction result is as shown in (5d) in fig. 5, and the current driving level of the vehicle 1 (i.e., the t0 position in fig. 5) is the L3 driving level, the vehicle 1 may enter the t0-t1 segment travel path in the manner of traveling with the current L3 driving level. However, since the communication network QoS on the t1-t2 segmented travel path is not up to the standard in the time period when the vehicle 1 passes the t1-t2 segmented travel path, the driver still remains in the driving position considering that the driver responds to an abnormal situation in the L3 driving level situation, but the attention may not be on the road, so before entering the t1-t2 segmented travel path (such as the position where the vehicle is at the time t 0), the vehicle 1 should give an alarm so that the driver is prepared to travel at the L2 driving level in advance. Therefore, the time period corresponding to the t0-t1 split traveling path should be not less than the time required for the vehicle 1 to switch from the L3 driving level to the L2 driving level.

Optionally, if the communication network QoS on the first segment driving route cannot guarantee that the vehicle 1 drives at the L2 driving level (that is, when the vehicle 1 passes through the first segment driving route in the L2 driving level driving manner in the first time period, the communication network QoS on the first segment driving route is predicted in the first time period, and the obtained QoS prediction result also does not meet the target QoS), the vehicle 1 may switch to the L1 driving level. The preparation time of the driver in this case is longer, that is, the time period corresponding to the t0-t1 split travel path should be not less than the time required for the vehicle 1 to switch from the L3 driving level to the L1 driving level.

And S809, if the vehicle 1 determines that the recommended information sent by the server does not include the information of the second subsection running path and the network identifier of the second MNO, and the vehicle 1 currently runs at the driving level of L4 or the driving level above the driving level of L4, the vehicle 1 determines whether a driver exists.

S810, if the vehicle 1 determines that there is a driver, the vehicle 1 determines that the automatic driving strategy when traveling on the first split traveling path is: the first split travel path is entered after the driving level is lowered to L3.

For example, assuming that the communication network QoS of each segment travel path in (5b) shown in fig. 5 is predicted in the corresponding time period, and the prediction result is as shown in (5d) in fig. 5, the vehicle 1 currently (i.e., at the t0 position in fig. 5) travels with the L4 driving level, the vehicle 1 may enter the t0-t1 segment travel path in a manner of traveling with the current L4 driving level. However, since the communication network QoS on the t1-t2 segmented travel path is not up to the standard in the time period when the vehicle 1 passes the t1-t2 segmented travel path, the driver still remains in the driving position considering that the driver responds to an abnormal situation in the L4 driving level situation, but the attention may not be on the road, so before entering the t1-t2 segmented travel path (such as the position where the vehicle is at the time t 0), the vehicle 1 should give an alarm so that the driver is prepared to travel at the L3 driving level in advance. Therefore, the time period corresponding to the t0-t1 split traveling path should be not less than the time required for the vehicle 1 to switch from the L4 driving level to the L3 driving level.

Optionally, if the QoS status of the communication network on the first-segment travel path cannot guarantee that the vehicle 1 travels at the L3 driving level (that is, when the vehicle 1 travels through the first-segment travel path in the L3 driving level manner in the first time segment, the QoS of the communication network on the first-segment travel path is predicted in the first time segment, and the obtained QoS prediction result also does not meet the target QoS), the vehicle 1 may be switched to the L2 driving level or the L1 driving level. The preparation time of the driver in this case is longer, that is, the time period corresponding to the t0-t1 split travel path should be not less than the time required for the vehicle 1 to switch from the L4 driving level to the L1 driving level or the L2 driving level.

S811, if the vehicle 1 determines that there is no driver, the vehicle 1 can only enter the first-segment travel route in the manner of traveling at the current L4 driving level. At this time, the vehicle 1 determines whether the expected recovery time is included in the recommendation information transmitted by the server and whether the expected recovery time is short.

S812, if the expected recovery time is short, the vehicle 1 determines that the autonomous driving policy when traveling on the first split traveling path is: the first segmental travel path is entered after the expected recovery time is reached.

For example, assuming that the communication network QoS of each of the segmental travel paths in (5b) shown in fig. 5 is predicted at the corresponding time period, and the prediction result is shown as (5e) in fig. 5, the vehicle 1 may choose to temporarily stop at a safe area and then enter the segmental travel path from t0 to t1 after the expected restoration time is over.

S813, if the expected recovery time is longer, the vehicle 1 determines whether the recommendation information sent by the server includes the identifier of the vehicle 2.

S814, if the vehicle 1 determines that the recommendation information sent by the server includes the identifier of the vehicle 2, the vehicle 1 determines that the automatic driving policy when driving on the first segment driving path is: after successful formation with the vehicle 2, the vehicle 2 is followed into the first segmental travel path, and after passing through the first segmental travel path, the formation relationship with the vehicle 2 is cancelled.

For example, assuming that the QoS of each of the segmental travel paths in (5b) shown in fig. 5 is predicted at the corresponding time period, and the prediction result is shown in (5e) in fig. 5, the vehicle 1 may choose to temporarily stop at a safe area, and after detecting the vehicle 2 and forming a formation with the vehicle 2, follow the vehicle 2 to re-enter the segmental travel path from t0 to t 1. After the travel path is segmented by t0-t1, the formation relationship is canceled with the vehicle 2.

S815, if the vehicle 1 determines that the recommendation information sent by the server does not include the identifier of the vehicle 2, the vehicle 1 determines that the automatic driving policy when the vehicle travels on the first segment travel path is: and returning to the safe area to wait for the next action.

The next action here may be to continue driving after the communication network QoS is restored for a long time, or to send a driver to drive a vehicle through by the travel service provider, or in other ways, which is not specifically limited in this embodiment of the present application.

It should be noted that fig. 8 is merely an exemplary implementation of the automatic driving strategy provided when the vehicle 1 determines to travel on the first segmental travel path. Of course, the vehicle 1 may also determine the autonomous driving maneuver when traveling on the first segment travel path in other ways. For example, regardless of which driving level is currently, after determining that the QoS of the communication network on the first segmental travel path does not meet the standard in the first time period, the vehicle 1 first determines whether the recommendation information sent by the server includes the information of the second segmental travel path or the network identifier of the second MNO. When the recommendation information sent by the server does not include the information of the second segment travel path and the network identifier of the second MNO, whether to reduce the driving level or to perform formation travel or the like is considered, which is not specifically limited in the embodiment of the present application.

The above steps S301 to S305 are described with reference to the segmentation result shown in (5b) in fig. 5 and the segmentation prediction result shown in (5c), (5d), or (5e) in fig. 5 as an example, and provide a method for automatic driving planning. Assuming that the vehicle 1 segments the driving route through t0-t1 according to the automatic driving planning method and reaches the position at the time of t1, the vehicle 1 continues to use the position at the time of t1 as the starting position of the whole driving process (i.e., the target driving route) and the position at the time of t2 as the starting position of the whole driving process (i.e., the target driving route), and performs subsequent automatic driving planning again according to the automatic driving planning method provided in the steps S301-S305, which is not described herein again.

It is assumed that the target travel path having the position at time t0 as the start position and the position at time t10 as the end position is referred to as target travel path 1; the target travel route having the position at the time t1 as the start position and the position at the time t10 as the end position may be referred to as the target travel route 2, and the segmentation result obtained by segmenting the target travel route 2 may not be the same as the segmentation result of the portion t1-t10 shown in (5b) in fig. 5, and since the server may adjust the communication network QoS on the route from the position at the time t1 to the position at the time t10 according to the actual situation when the vehicle 1 travels on the t0-t1 segmented travel route, or the communication network QoS on the route from the position at the time t1 to the position at the time t10 may be dynamically changed, the server may predict the communication network QoS on each segmented travel route from the position at the time t1 after segmenting the target travel route 2, and the prediction result obtained by predicting the communication network QoS on each segmented travel route of the vehicle 1 at the time t1 may also be the same as the target travel route 1 After the segmentation, the prediction results obtained by predicting the communication network QoS of the vehicle 1 on each segment travel path at the position of the server at the time t0 are different, and the description is unified here and will not be repeated.

In summary, according to the method for automatic driving planning provided by the embodiment of the present application, in the embodiment of the present application, after receiving the path planning information from the first terminal, the server segments the target driving path of the first terminal according to the information of the target driving path. And for each section traveling path, the server predicts the QoS of the communication network on the section traveling path in the time period when the first terminal passes through the section traveling path, after a corresponding QoS prediction result is obtained, the information of the section traveling path and the corresponding QoS prediction result are sent to the first terminal, and the first terminal determines the automatic driving strategy when the first terminal travels on the section traveling path according to the information of the section traveling path and the corresponding QoS prediction result. That is to say, in the embodiment of the present application, the first terminal may dynamically adjust the automatic driving policy of the first terminal according to different QoS conditions of the communication network, so that a driving accident of the first terminal due to a change in QoS of the communication network is avoided, and safe driving may be achieved.

The actions of the server in steps S301 to S305 or steps S601 to S609 may be executed by the processor 201 in the communication device 200 shown in fig. 2 calling the application code stored in the memory 203, which is not limited in this embodiment.

The actions of the first terminal in steps S301 to S305 or steps S801 to S815 may be executed by the processor 201 in the communication device 200 shown in fig. 2 calling the application code stored in the memory 203, which is not limited in this embodiment.

Several examples of automated driving plans are given below.

Example one, reducing Driving grade

Assume that the vehicle 1 plans to travel from the departure point to the destination in a manner that employs the L4 driving level. The L4 driving class requires a bandwidth of 2Mbps, a delay of 100ms, and a minimum prediction accuracy of 80%. The vehicle 1 has a driver thereon and, in an extreme case, may switch from the L4 driving level to the L1 driving level. Here, the preparation time for the vehicle 1 to switch from the L4 driving level to the L3 driving level is 10s, the preparation time for switching from the L4 driving level to the L2 driving level is 10s, and the preparation time for switching from the L4 driving level to the L1 driving level is 12 s. Then:

step 1, the vehicle 1 sends path planning information 1 to the server before departure, the path planning information 1 includes that the current position of the vehicle 1 is a coordinate point (1, 0), the destination is a coordinate point (7, 7), and the target driving path 1 is as shown in fig. 9. The adopted matching speed is 40 km/h. The target QoS is bandwidth > 2Mbps, delay < > 100ms, and prediction accuracy > 80%. The notification advance is 12 s. The whole journey is driven by the L4 driving level.

And 2, after receiving the path planning information 1 sent by the vehicle 1, the server segments the target running path 1 according to the notification advance 12s, and the segmentation result meets the condition that the time for the vehicle 1 to pass through each segment according to the current speed is at least 12 s. As shown in fig. 9, it is assumed that the time for the vehicle to pass each side of the square is 15 s. The path is segmented into 14 segments per edge of the square. The passing time of each link is (0s-15s), (15s-30s), (30s-45s), … …, and is incremented by this. And the server predicts the QoS of each segmented communication network to obtain a QoS prediction result.

For example, the bandwidth of the segmented running path 1 corresponding to the coordinate points (0, 0) to (1, 0) in (0s-15s) is 2Mbps, the time delay is 100ms, and the prediction accuracy is 80%, which indicates that the QoS of the communication network of the segmented running path 1 reaches the standard.

For example, if the bandwidth of the segmented running path 2 corresponding to the coordinate points (1, 0) to (2, 0) in (15s-30s) is 1Mbps, the time delay is 200ms, and the prediction accuracy is 90%, it indicates that the QoS of the communication network of the segmented running path 2 does not meet the standard.

Similarly, the server may predict the time period when the vehicle 1 passes through the other segment travel path, and the QoS of the communication network on the other segment travel path, and obtain the corresponding QoS prediction result.

And step 3, because the QoS of the communication network of the segmented traveling path 2 does not reach the standard, and the server does not find other available operator networks, paths or vehicles which can form a formation, the server sends the information of each segmented traveling path and the corresponding QoS prediction result to the vehicle 1, and does not send recommendation information to the vehicle 1.

And 4, normally driving the vehicle 1 at the L4 driving level on the subsection driving path 1, and simultaneously deciding how to pass through the subsection driving path 2. Since the server does not return the recommendation information to the vehicle 1 and the vehicle 1 is equipped with the driver, the vehicle 1 notifies the driver of being in position immediately after receiving the information of each of the segmental travel paths and the corresponding QoS prediction results transmitted from the server at the coordinate point (0, 0), and prepares to travel at the L3 driving class or the L2 driving class or the L1 driving class on the segmental travel path 2.

In step 5, the vehicle 1 switches the driving rank when reaching the coordinate point (1, 0), for example, switches the driving rank to the L1 driving rank. The L1 driving class requires a bandwidth of 100kbps, a time delay of 3s, and a minimum prediction accuracy of 50%, and at the same time, the vehicle 1 transmits the path planning information 2 to the server. The current position in the route planning information 2 transmitted this time is the coordinate point (1, 0), the destination is the coordinate point (7, 7), and the target travel route 2 is as shown in fig. 9 (overlapping with the route from the coordinate point (1, 0) to the coordinate point (7, 7) in the target travel route 1). The segmented travel path 2 corresponding to the coordinate points (1, 0) to (2, 0) is an L1 driving level, and the rest of the description is similar to step 1 in this example and is not repeated here.

The subsequent processes are executed in a loop in the manner of steps 2 to 5 in this example until the vehicle 1 reaches the destination.

Example two, switching routes

Assume that the vehicle 1 is planned to travel from the departure point to the destination with the driving level of L4. The L4 driving class requires a bandwidth of 2Mbps, a delay of 100ms, and a minimum prediction accuracy of 80%. The vehicle 1 has a driver thereon and, in an extreme case, may switch from the L4 driving level to the L1 driving level. Here, the preparation time for the vehicle 1 to switch from the L4 driving level to the L3 driving level is 10s, the preparation time for switching from the L4 driving level to the L2 driving level is 10s, and the preparation time for switching from the L4 driving level to the L1 driving level is 12 s. Then:

step 1 is the same as step 1 of the above example one, and step 2 is the same as step 2 of the above example one, wherein the target travel path 1 is shown as route 1 in fig. 10.

Step 3, it is assumed that, as shown in fig. 10, there is a sectional travel path 2 where the route 2 can bypass the coordinate points (1, 0) to (2, 0), and the position of the coordinate point (2, 2) coincides with the original route 1. At this time, the server may transmit recommendation information including information of another travel path from the coordinate point (1, 0) to the coordinate point (7, 7) as shown by a path from the coordinate point (1, 0) to the coordinate point (7, 7) on the route 2 in fig. 7 to the vehicle 1.

And 4, normally driving the vehicle 1 at the L4 driving level on the subsection driving path 1, and simultaneously deciding how to pass through the subsection driving path 2. Since the server transmits recommendation information including information of another travel path from the coordinate point (1, 0) to the coordinate point (7, 7) to the vehicle 1, the vehicle 1 can update the automated driving route locally at this time.

And 5, when the vehicle 1 reaches the coordinate point (1, 0), sending the path planning information 2 to the server. The current position in the route planning information 2 transmitted this time is the coordinate point (1, 0), the destination is the coordinate point (7, 7), and the target travel route is as shown from the coordinate point (1, 0) to the route in the coordinate point (7, 7) on the route 2 in fig. 10. The rest of the description is similar to step 1 in this example and is not repeated here.

Example three, following formation

step 1 is the same as step 1 of the above example one, and step 2 is the same as step 2 of the above example one, wherein the target travel path 1 is shown as route 1 in fig. 11.

Step 3, assuming that the driving route of the vehicle 2 is as shown in fig. 11 as the route 2, the server may determine that the vehicle 2 is the same as the vehicle 1 on the segment driving route 2 corresponding to the coordinate points (1, 0) to (2, 0), but the departure time is later than that of the vehicle 1, and the vehicle 1 needs to wait slightly on the segment driving route 1 corresponding to the coordinate points (0, 0) to (1, 0) or slightly before entering the segment driving route 2. At this time, the server may transmit recommendation information including the identification of the vehicle 2 to the vehicle 1.

And 4, normally driving the vehicle 1 at the L4 driving level on the subsection driving path 1, and simultaneously deciding how to pass through the subsection driving path 2. Since the server transmits recommendation information including the identification of the vehicle 2 to the vehicle 1, the vehicle 1 can determine that the vehicle 2 and the segmented travel path 2 form a formation and travel following the formation at this time.

After the vehicle 1 determines to receive the recommendation information, it may send a response to the server indicating that the recommendation information is received. The server may send a notification message to vehicle 2 informing vehicle 2 that vehicle 1 and him will form a formation in the segmented travel path 2 that is needed to travel in coordination therewith. The vehicle 1 waits for the vehicle 2 before reaching the coordinate point (1, 0) position. After the vehicle 2 is confirmed to arrive nearby, the formation with the vehicle 2 is performed.

And 5, forming a formation by the vehicle position at the coordinate point (1, 0) and the vehicle 2, and sending the path planning information 2 to the server. The current position in the route planning information 2 transmitted this time is the coordinate point (1, 0), the destination is the coordinate point (7, 7), the target travel route is shown as a route from the coordinate point (1, 0) to the coordinate point (7, 7) on the route 2 in fig. 11, the formation driving is performed on the segment travel route 2 corresponding to the coordinate points (1, 0) to (2, 0), and the travel of the links after the coordinate point (2, 0) is continued in the L4 driving level. The rest of the description is similar to step 1 in this example and is not repeated here.

The above-mentioned scheme provided by the embodiment of the present application is introduced mainly from the perspective of interaction between network elements. It is understood that the server or the first terminal includes a hardware structure and/or a software module for performing the respective functions in order to realize the functions. Those of skill in the art would readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the server or the first terminal may be divided into the functional modules according to the above method, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.

For example, in the case where the functional modules are divided in an integrated manner, fig. 12 shows a schematic configuration diagram of the server 120. The server 120 includes: a transceiver module 1202 and a processing module 1201. A transceiver module 1202, configured to receive path planning information from a first terminal, where the path planning information includes information of a target driving path of the first terminal; the processing module 1201 is configured to segment the target driving route of the first terminal according to the information of the target driving route to obtain N segmented driving routes, where N is a positive integer greater than 1; for any of the N segmental travel paths, the following processing is performed for the first segmental travel path: the processing module 1201 is further configured to predict QoS of the communication network on a first time period and a first segment travel path to obtain a first QoS prediction result, where the first time period is a time period when the first terminal travels on the first segment travel path; the transceiver module 1202 is further configured to send information of the first segment travel path and a first QoS prediction result to the first terminal, where the first QoS prediction result is used to determine an automatic driving policy when the first terminal travels on the first segment travel path.

Optionally, the path planning information further includes speed matching information when the first terminal drives on the target driving path; the processing module 1201 is further configured to determine the first time period according to the pace matching information.

Optionally, the path planning information further includes a target QoS, where the target QoS is a QoS index of a communication network required by the first terminal when the first terminal travels on the target travel path by using the first driving class; the processing module 1201 is further configured to determine that the QoS of the communication network on the first segment driving path does not meet the standard if the first QoS prediction result does not meet the target QoS; the processing module 1201 is further configured to determine recommendation information corresponding to the first segment driving path; the transceiver module 1202 is further configured to send recommendation information to the first terminal, where the recommendation information is used to determine an automatic driving policy when the first terminal travels on the first segment travel path.

Optionally, the processing module 1201 is configured to determine recommendation information corresponding to the first segment travel path, and includes: if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard in the first time period is a temporary reason, the recommendation information corresponding to the first subsection driving path is determined to comprise: a recovery time is expected.

Optionally, the processing module 1201 is configured to determine recommendation information corresponding to the first segment travel path, and includes: if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard in the first time period is not a temporary reason, determining that the recommendation information corresponding to the first subsection driving path comprises one or more of the following items:

if the first terminal signs a second MNO and a network of the second MNO capable of providing service for the first terminal exists on the first segment driving path, so that when the network of the second MNO provides service for the first terminal, the QoS of the communication network on the first segment driving path in the first time period is predicted, and an obtained second QoS prediction result meets the target QoS, the recommendation information includes: a network identifier of a second MNO, wherein the network identifier of the second MNO is used to handover the first terminal from the network of the first MNO to the network of the second MNO, and the network of the first MNO is the network of the MNO currently serving the first terminal.

Or if a second segmented running path exists, so that the QoS of the communication network on the second segmented running path in the second time segment is predicted, and an obtained third QoS prediction result meets the target QoS, the recommendation information comprises: and information of a second segmental travel path, wherein the information of the second segmental travel path is used for switching the first terminal to travel on the second segmental travel path from the first segmental travel path, the second time period is a time period when the first terminal travels on the second segmental travel path, the second segmental travel path is a travel path on an alternative path of the target travel path, the starting position of the target travel path is the same as the starting position of the alternative path, and the ending position of the target travel path is the same as the ending position of the alternative path.

Or, if the second terminal and the first terminal pass through the first subsection driving path at the same time, and the first QoS prediction result meets a communication network QoS index required by the second terminal when the second terminal drives on the first subsection driving path by adopting the second driving grade, the recommendation information includes: and the identifier of the second terminal is used for the formation of the first terminal and the second terminal.

Optionally, if the recommendation information includes an identifier of the second terminal, the transceiver module 1202 is further configured to send a formation request to the second terminal, where the formation request is used to request that the second terminal and the first terminal form a formation to pass through the first segment driving path.

Optionally, the path planning information further includes a notification advance required when the first terminal travels on the target travel path; the processing module 1201 is configured to segment the target travel path of the first terminal according to the information of the target travel path, and includes: and the system is used for segmenting the target driving path of the first terminal according to the information of the target driving path and the notification advance, wherein the segmentation result meets the condition that the time for the first terminal to pass through each segment of the segmented driving path is greater than or equal to the notification advance.

All relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again.

In the present embodiment, the server 120 is presented in a form of dividing each functional module in an integrated manner. A "module" herein may refer to a particular ASIC, a circuit, a processor and memory that execute one or more software or firmware programs, an integrated logic circuit, and/or other device that provides the described functionality. In a simple embodiment, one skilled in the art will recognize that the server 120 may take the form shown in FIG. 2.

For example, the processor 201 in fig. 2 may execute the instructions by calling a computer stored in the memory 203, so that the server 120 executes the method of automatic driving planning in the above method embodiment.

In particular, the functions/implementation procedures of the transceiver module 1202 and the processing module 1201 in fig. 12 may be implemented by the processor 201 in fig. 2 calling a computer executing instruction stored in the memory 203. Alternatively, the functions/implementation procedures of the processing module 1201 in fig. 12 may be implemented by the processor 201 in fig. 2 calling a computer executing instruction stored in the memory 203, and the functions/implementation procedures of the transceiver module 1202 in fig. 12 may be implemented by the communication interface 204 in fig. 2.

Since the server 120 provided in this embodiment can execute the above automatic driving planning method, the technical effects obtained by the server can refer to the above method embodiment, and are not described herein again.

Optionally, an apparatus (for example, the apparatus may be a chip system) is further provided in an embodiment of the present application, where the apparatus includes a processor, and is configured to support a server to implement the above automatic driving planning method, for example, to segment a target driving path of a first terminal according to information of the target driving path. In one possible design, the apparatus further includes a memory. The memory is used for storing program instructions and data necessary for the server. Of course, the memory may not be in the device. When the device is a chip system, the device may be composed of a chip, and may also include a chip and other discrete devices, which is not specifically limited in this application embodiment.

Alternatively, for example, in the case of dividing each functional module in an integrated manner, fig. 13 shows a schematic structural diagram of the first terminal 130. The first terminal 130 includes: a processing module 1301 and a transceiver module 1302;

a transceiver module 1302, configured to send path planning information to a server, where the path planning information includes information of a target driving path of a first terminal, where the information of the target driving path is used to segment the target driving path of the first terminal to obtain N segmented driving paths, where N is a positive integer greater than 1; for any of the N segmental travel paths, the following processing is performed for the first segmental travel path: the transceiver module 1302 is further configured to receive information of the first segment traveling path from the server and a first QoS prediction result, where the first QoS prediction result is obtained by predicting a QoS of the communication network on the first segment traveling path in a first time period, and the first time period is a time period when the first terminal travels on the first segment traveling path. And the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segment travel path according to the first QoS prediction result.

Optionally, the path planning information further includes a target QoS, and the target QoS is a QoS index of a communication network required by the first terminal when the first terminal travels on the target travel path with the first driving class. The transceiver module 1302 is further configured to receive recommendation information corresponding to the first segment driving path from the server; accordingly, the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segmental travel path according to the first QoS prediction result, and includes: if the first QoS prediction result does not meet the target QoS, determining that the QoS of the communication network on the first section driving path does not reach the standard in a first time period; and determining an automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information.

In one possible implementation, the recommendation information includes a projected recovery time; correspondingly, the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segmental travel path according to the recommendation information, and includes: the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: the first segmental travel path is entered after the expected restoration time is reached.

Alternatively, in a possible implementation manner, the recommendation information includes: a network identifier of a second MNO, wherein the network of the second MNO is a network of an MNO capable of providing a service for the first terminal in the first segment travel path; correspondingly, the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segmental travel path according to the recommendation information, and includes: the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: and switching the first terminal from the network of the first MNO to the network of the second MNO, and then entering the first subsection driving path, wherein the network of the first MNO is the network of the MNO which provides service for the first terminal currently.

Alternatively, in a possible implementation manner, the recommendation information includes: information of a second segmented traveling path, wherein the second segmented traveling path is a traveling path on an alternative path of the target traveling path, the starting position of the target traveling path is the same as the starting position of the alternative path, and the ending position of the target traveling path is the same as the ending position of the alternative path; correspondingly, the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segmental travel path according to the recommendation information, and includes: the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: and switching the first terminal from the first subsection traveling path to the second subsection traveling path for traveling.

Alternatively, in a possible implementation manner, the recommendation information includes: an identity of the second terminal; correspondingly, the processing module 1301 is configured to determine an automatic driving strategy when the first terminal travels on the first segmental travel path according to the recommendation information, and includes: the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: and after successfully forming a formation with the second terminal, entering the first subsection driving path along with the second terminal, and after passing through the first subsection driving path, canceling the formation relation with the second terminal.

Optionally, the processing module 1301 is configured to determine, according to the first QoS prediction result, an automatic driving policy when the first terminal travels on the first segment travel path, where the automatic driving policy includes: the QoS prediction method comprises the steps of determining a first time period and enabling the QoS of a communication network on a first section driving path to reach the standard if a first QoS prediction result meets a target QoS; determining an autonomous driving strategy for the first terminal while traveling on the first split travel path as follows: and continuing to enter the first subsection driving path.

Optionally, the processing module 1301 is configured to determine, according to the first QoS prediction result, an automatic driving policy when the first terminal travels on the first segment travel path, where the automatic driving policy includes: if the first QoS prediction result does not meet the target QoS, determining that the QoS of the communication network on the first section driving path does not reach the standard in a first time period; determining an autonomous driving strategy for the first terminal while traveling on the first split travel path as follows: and entering the first subsection driving path after reducing the grade of the driving grade of the first terminal.

In the present embodiment, the first terminal 130 is presented in a form of dividing each functional module in an integrated manner. A "module" herein may refer to a particular ASIC, a circuit, a processor and memory that execute one or more software or firmware programs, an integrated logic circuit, and/or other device that provides the described functionality. In a simple embodiment, one skilled in the art may appreciate that the first terminal 130 may take the form shown in fig. 2.

For example, the processor 201 in fig. 2 may execute the instructions by calling a computer stored in the memory 203, so that the first terminal 130 executes the method of the automatic driving planning in the above method embodiment.

In particular, the functions/implementation procedures of the transceiver module 1302 and the processing module 1301 of fig. 13 can be implemented by the processor 201 of fig. 2 calling computer-executable instructions stored in the memory 203. Alternatively, the function/implementation procedure of the processing module 1301 in fig. 13 may be implemented by the processor 201 in fig. 2 calling a computer executing instruction stored in the memory 203, and the function/implementation procedure of the transceiver module 1302 in fig. 13 may be implemented by the communication interface 204 in fig. 2.

Since the first terminal 130 provided in this embodiment can execute the above automatic driving planning method, the technical effects obtained by the method can be obtained by referring to the above method embodiment, and are not described herein again.

Optionally, an apparatus (for example, the apparatus may be a chip system) provided in this embodiment of the present application, where the apparatus includes a processor, and is configured to support the first terminal to implement the above-mentioned method for planning automatic driving, for example, determine an automatic driving policy when the first terminal travels on the first segmental travel path according to the first QoS prediction result. In one possible design, the apparatus further includes a memory. The memory is used for storing program instructions and data necessary for the first terminal. Of course, the memory may not be in the device. When the device is a chip system, the device may be composed of a chip, and may also include a chip and other discrete devices, which is not specifically limited in this application embodiment.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application are all or partially generated upon loading and execution of computer program instructions on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or can comprise one or more data storage devices, such as a server, a data center, etc., that can be integrated with the medium. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others. In the embodiment of the present application, the computer may include the aforementioned apparatus.

While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method of automated driving planning, the method comprising:

the method comprises the steps that a server receives path planning information from a first terminal, wherein the path planning information comprises information of a target driving path of the first terminal;

the server segments the target driving path of the first terminal according to the information of the target driving path to obtain N segmented driving paths, wherein N is a positive integer greater than 1;

for any of the N segmental travel paths, the following processing is performed for a first segmental travel path:

the server predicts the service quality QoS of the communication network on the first subsection driving path in a first time slot to obtain a first QoS prediction result, wherein the first time slot is the time slot when the first terminal drives on the first subsection driving path;

and the server sends the information of the first subsection driving path and the first QoS prediction result to the first terminal, wherein the first QoS prediction result is used for determining an automatic driving strategy when the first terminal drives on the first subsection driving path.

2. The method of claim 1, wherein the path planning information further includes pace information when the first terminal is traveling on the target travel path; the method further comprises the following steps:

and the server determines the first time period according to the pace matching information.

3. The method according to claim 1 or 2, wherein the path planning information further comprises a target QoS, the target QoS being a communication network QoS indicator required for the first terminal to travel on the target travel path with the first driving class; after the server predicts the QoS of the communication network on the first segment travel path in the first time period, the method further comprises:

if the first QoS prediction result does not meet the target QoS, the server determines the first time period, and the QoS of the communication network on the first section driving path does not reach the standard;

the server determines recommendation information corresponding to the first subsection driving path;

and the server sends the recommendation information to the first terminal, wherein the recommendation information is used for determining an automatic driving strategy when the first terminal drives on the first subsection driving path.

4. The method according to claim 3, wherein the server determines recommendation information corresponding to the first segmented travel path, and comprises:

if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard in the first time period is a temporary reason, the server determines that the recommendation information corresponding to the first subsection driving path comprises: a recovery time is expected.

5. The method according to claim 3, wherein the server determines recommendation information corresponding to the first segmented travel path, and comprises:

if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard is not a temporary reason in the first time section, the server determines that the recommendation information corresponding to the first subsection driving path comprises one or more of the following items:

if the first terminal signs a second mobile network operator MNO and a network of the second MNO capable of providing service for the first terminal exists on the first segment driving path, so that when the network of the second MNO provides service for the first terminal, the QoS of the communication network on the first segment driving path in the first time period is predicted, and an obtained second QoS prediction result meets the target QoS, the recommendation information includes: a network identifier of the second MNO, wherein the network identifier of the second MNO is used for switching the first terminal from a network of a first MNO to a network of the second MNO, and the network of the first MNO is a network of an MNO currently serving the first terminal;

or, if a second segment driving path exists, so that the QoS of the communication network on the second segment driving path is predicted for a second time segment, and an obtained third QoS prediction result meets the target QoS, the recommendation information includes: information of the second segmental travel path, wherein the information of the second segmental travel path is used for switching the first terminal to travel on the second segmental travel path from the first segmental travel path, wherein the second time period is a time period when the first terminal travels on the second segmental travel path, the second segmental travel path is a travel path on an alternative path of the target travel path, a starting position of the target travel path is the same as a starting position of the alternative path, and an ending position of the target travel path is the same as an ending position of the alternative path;

or, if a second terminal and the first terminal pass through the first segmental travel path at the same time and the first QoS prediction result meets a communication network QoS index required by the second terminal when the second terminal travels on the first segmental travel path with a second driving class, the recommendation information includes: and the identifier of the second terminal is used for the formation of a formation by the first terminal and the second terminal.

6. The method of claim 5, wherein if the recommendation information includes an identification of the second terminal, the method further comprises:

the server sends a formation request to the second terminal, wherein the formation request is used for requesting the second terminal and the first terminal to form a formation to pass through the first subsection driving path.

7. The method of claim 4, wherein the autonomous driving maneuver comprises: entering the first segment travel path after the expected recovery time is reached.

8. The method of claim 5, wherein the autonomous driving maneuver comprises: switching the first terminal from the network of the first MNO to the network of the second MNO and then entering the first segmented traveling path;

alternatively, the autonomous driving strategy comprises: switching the first terminal from the first segmental travel path to travel on the second segmental travel path;

alternatively, the autonomous driving strategy comprises: and after successfully forming a formation with the second terminal, entering the first subsection driving path along with the second terminal, and after passing through the first subsection driving path, canceling the formation relation with the second terminal.

9. The method of claim 1 or 2, wherein the autonomous driving strategy comprises: continuing to enter the first subsection driving path;

alternatively, the autonomous driving strategy comprises: and entering the first subsection driving path after the driving grade of the first terminal is reduced.

10. The method according to any one of claims 1-9, wherein the path planning information further includes a notification advance amount required for the first terminal to travel on the target travel path;

the server segments the target driving path of the first terminal according to the information of the target driving path, and the method comprises the following steps:

and the server segments the target driving path of the first terminal according to the information of the target driving path and the notification lead, wherein the segmentation result meets the condition that the time of the first terminal passing through each segment of the segmented driving path is greater than or equal to the notification lead.

11. The method of claim 10, wherein the notification advance is greater than or equal to a maximum time required for the first terminal to switch between different driving classes.

12. A method of automated driving planning, the method comprising:

a first terminal sends path planning information to a server, wherein the path planning information comprises information of a target driving path of the first terminal, the information of the target driving path is used for segmenting the target driving path of the first terminal to obtain N segmented driving paths, and N is a positive integer greater than N;

the first terminal receives information of the first subsection driving path and a first QoS prediction result from the server, wherein the first QoS prediction result is obtained by predicting communication network QoS on the first subsection driving path in a first time period, and the first time period is a time period when the first terminal drives on the first subsection driving path;

and the first terminal determines an automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result.

13. The method of claim 12, wherein the path plan information further includes a target QoS, the target QoS being a communication network QoS indicator required for the first terminal to travel on the target travel path with the first driving class; before the first terminal determines the automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result, the method further comprises the following steps:

the first terminal receives recommendation information corresponding to the first subsection driving path from the server;

correspondingly, the determining, by the first terminal, the automatic driving strategy when the first terminal travels on the first segmental travel path according to the first QoS prediction result includes:

if the first QoS prediction result does not meet the target QoS, the first terminal determines the first time period, and the QoS of a communication network on the first section driving path does not reach the standard;

and the first terminal determines an automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information.

14. The method of claim 13, wherein the recommendation information includes a projected recovery time;

correspondingly, the determining, by the first terminal, the automatic driving strategy when the first terminal drives on the first section driving path according to the recommendation information includes:

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: entering the first segment travel path after the expected recovery time is reached.

15. The method of claim 13, wherein the recommendation information comprises: a network identifier of a second mobile network operator MNO, wherein the network of the second MNO is a network of an MNO capable of serving the first terminal in the first segmented travel path;

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: and switching the first terminal from the network of the first MNO to the network of the second MNO and then entering the first subsection driving path, wherein the network of the first MNO is the network of the MNO which provides service for the first terminal currently.

16. The method of claim 13, wherein the recommendation information comprises: information of a second segmented traveling path, wherein the second segmented traveling path is a traveling path on an alternative path of the target traveling path, a starting position of the target traveling path is the same as a starting position of the alternative path, and an ending position of the target traveling path is the same as an ending position of the alternative path;

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: switching the first terminal from the first segmental travel path to travel on the second segmental travel path.

17. The method of claim 13, wherein the recommendation information comprises: an identity of the second terminal;

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows according to the recommendation information: and after successfully forming a formation with the second terminal, entering the first subsection driving path along with the second terminal, and after passing through the first subsection driving path, canceling the formation relation with the second terminal.

18. The method of claim 12, wherein determining, by the first terminal, the autonomous driving maneuver when the first terminal is traveling on the first segmented travel path based on the first QoS prediction comprises:

if the first QoS prediction result meets the target QoS, the first terminal determines the first time period, and the QoS of the communication network on the first section driving path reaches the standard;

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows: and continuing to enter the first subsection driving path.

19. The method of claim 12, wherein determining, by the first terminal, the autonomous driving maneuver for the first terminal to travel on the first segmented travel path based on the first QoS prediction comprises:

the first terminal determines that the automatic driving strategy when the first terminal drives on the first subsection driving path is as follows: and entering the first subsection driving path after reducing the grade of the driving grade of the first terminal.

20. The method according to any one of claims 12-19, wherein the path planning information further comprises an advance amount of notification required for the first terminal to travel on the target travel path; the notification advance is used for segmenting a target driving path of the first terminal, and the segmentation result meets the condition that the time of the first terminal passing through each segment of segmented driving path is greater than or equal to the notification advance.

21. The method of claim 20, wherein the notification advance is greater than or equal to a maximum time required for the first terminal to switch between different driving classes.

22. A server, characterized in that the server comprises: a transceiver module and a processing module;

the transceiver module is configured to receive path planning information from a first terminal, where the path planning information includes information of a target driving path of the first terminal;

the processing module is used for segmenting the target driving path of the first terminal according to the information of the target driving path to obtain N segmented driving paths, wherein N is a positive integer greater than 1;

the processing module is further configured to predict quality of service QoS of the communication network on the first segment travel path in a first time period to obtain a first QoS prediction result, where the first time period is a time period when the first terminal travels on the first segment travel path;

the transceiver module is further configured to send information of the first segment travel path and the first QoS prediction result to the first terminal, where the first QoS prediction result is used to determine an automatic driving policy when the first terminal travels on the first segment travel path.

23. The server of claim 22, the path planning information further comprising pace information for the first terminal while traveling on the target travel path;

the processing module is further configured to determine the first time period according to the pace matching information.

24. The server according to claim 22 or 23, wherein the path planning information further comprises a target QoS, the target QoS being a communication network QoS indicator required for the first terminal to travel on the target travel path with the first driving class;

the processing module is further configured to determine, if the first QoS prediction result does not satisfy the target QoS, that the QoS of the communication network on the first segment driving path does not reach the standard within the first time period;

the processing module is further configured to determine recommendation information corresponding to the first segment driving path;

the transceiver module is further configured to send the recommendation information to the first terminal, where the recommendation information is used to determine an automatic driving strategy when the first terminal is driving on the first segment driving path.

25. The server according to claim 24, wherein the processing module is configured to determine recommendation information corresponding to the first segment travel path, and includes:

if the reason that the QoS on the first segmental travel path does not meet the standard in the first time period is a temporary reason, determining that the recommendation information corresponding to the first segmental travel path includes: a recovery time is expected.

26. The server according to claim 24, wherein the processing module is configured to determine recommendation information corresponding to the first segment travel path, and includes:

if the reason that the QoS of the communication network on the first subsection driving path does not reach the standard is not a temporary reason, determining that the recommendation information corresponding to the first subsection driving path comprises one or more of the following items:

if the first terminal signs a second mobile network operator MNO and a network of the second MNO capable of providing service for the first terminal exists on the first segment driving path, so that when the network of the second MNO provides service for the first terminal, the QoS of the communication network during driving on the first segment driving path in the first time period is predicted, and an obtained second QoS prediction result meets the target QoS, the recommendation information includes: a network identifier of the second MNO, wherein the network identifier of the second MNO is used for switching the first terminal from a network of a first MNO to a network of the second MNO, and the network of the first MNO is a network of an MNO currently serving the first terminal;

or, if a second segment driving path exists, so that the QoS on the second segment driving path in the second time segment is predicted, and an obtained third QoS prediction result meets the target QoS, the recommendation information includes: information of the second segmental travel path, wherein the information of the second segmental travel path is used for switching the first terminal to travel on the second segmental travel path from the first segmental travel path, wherein the second time period is a time period when the first terminal travels on the second segmental travel path, the second segmental travel path is a travel path on an alternative path of the target travel path, a starting position of the target travel path is the same as a starting position of the alternative path, and an ending position of the target travel path is the same as an ending position of the alternative path;

27. The server according to claim 26, wherein if the recommendation information includes an identification of the second terminal,

the transceiver module is further configured to send a formation request to the second terminal, where the formation request is used to request that the second terminal and the first terminal form a formation to pass through the first segment driving path.

28. The server according to any one of claims 22 to 27, wherein the path planning information further includes a notification advance amount required for the first terminal to travel on the target travel path;

the processing module is configured to segment the target travel path of the first terminal according to the information of the target travel path, and includes:

and the system is used for segmenting the target driving path of the first terminal according to the information of the target driving path and the notification advance, wherein the segmentation result meets the condition that the time of the first terminal passing through each segment of segmented driving path is greater than or equal to the notification advance.

29. A first terminal, characterized in that the first terminal comprises: the device comprises a processing module and a transmitting-receiving module;

the transceiver module is configured to send path planning information to a server, where the path planning information includes information of a target driving path of the first terminal, where the information of the target driving path is used to segment the target driving path of the first terminal to obtain N segmented driving paths, where N is a positive integer greater than 1;

the transceiver module is further configured to receive information of the first segment travel path and a first QoS prediction result from the server, where the first QoS prediction result is obtained by predicting a QoS of a communication network on the first segment travel path in a first time period, and the first time period is a time period when the first terminal travels on the first segment travel path;

and the processing module is used for determining an automatic driving strategy when the first terminal drives on the first subsection driving path according to the first QoS prediction result.

30. The first terminal of claim 29, wherein the path plan information further includes a target QoS, and the target QoS is a QoS indicator of a communication network required for the first terminal to travel on the target travel path with the first driving class;

the transceiver module is further configured to receive recommendation information corresponding to the first segment travel path from the server;

correspondingly, the processing module is configured to determine, according to the first QoS prediction result, an automatic driving policy when the first terminal travels on the first segmental travel path, and includes:

the QoS prediction module is used for determining the first time period if the first QoS prediction result does not meet the target QoS, and the QoS of a communication network on the first section driving path does not reach the standard; and determining an automatic driving strategy when the first terminal drives on the first subsection driving path according to the recommendation information.

31. The first terminal of claim 30, wherein the recommendation information includes an expected recovery time;

correspondingly, the processing module is configured to determine, according to the recommendation information, an automatic driving strategy when the first terminal travels on the first segmental travel path, and includes:

the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: entering the first segment travel path after the expected recovery time is reached.

32. The first terminal of claim 30, wherein the recommendation information comprises: a network identifier of a second mobile network operator MNO, wherein the network of the second MNO is a network of an MNO capable of serving the first terminal in the first segmented travel path; correspondingly, the processing module is configured to determine, according to the recommendation information, an automatic driving strategy when the first terminal travels on the first segmental travel path, and includes:

the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: and switching the first terminal from the network of the first MNO to the network of the second MNO and then entering the first subsection driving path, wherein the network of the first MNO is the network of the MNO which provides service for the first terminal currently.

33. The first terminal of claim 30, wherein the recommendation information comprises: information of a second segmented traveling path, wherein the second segmented traveling path is a traveling path on an alternative path of the target traveling path, a starting position of the target traveling path is the same as a starting position of the alternative path, and an ending position of the target traveling path is the same as an ending position of the alternative path; correspondingly, the processing module is configured to determine, according to the recommendation information, an automatic driving strategy when the first terminal travels on the first segmental travel path, and includes:

the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: switching the first terminal from the first segmental travel path to travel on the second segmental travel path.

34. The first terminal of claim 30, wherein the recommendation information comprises: an identity of the second terminal; correspondingly, the processing module is configured to determine, according to the recommendation information, an automatic driving strategy when the first terminal travels on the first segmental travel path, and includes:

the automatic driving strategy used for determining that the first terminal drives on the first subsection driving path according to the recommendation information is as follows: and after successfully forming a formation with the second terminal, entering the first subsection driving path along with the second terminal, and after passing through the first subsection driving path, canceling the formation relation with the second terminal.

35. The first terminal of claim 29, wherein the processing module is configured to determine an autopilot maneuver for the first terminal while traveling on the first segment travel path based on the first QoS prediction, and comprises:

the QoS prediction module is used for determining the first time period and enabling the QoS of a communication network on the first section driving path to reach the standard if the first QoS prediction result meets the target QoS; determining an autopilot policy for the first terminal while traveling on the first segmented travel path as: and continuing to enter the first subsection driving path.

36. The first terminal of claim 29, wherein the processing module is configured to determine an autopilot maneuver for the first terminal while traveling on the first segment travel path based on the first QoS prediction, and comprises:

the QoS prediction module is used for determining the first time period if the first QoS prediction result does not meet the target QoS, and the QoS of a communication network on the first section driving path does not reach the standard; determining an autopilot policy for the first terminal while traveling on the first segmented travel path as: and entering the first subsection driving path after the driving grade of the first terminal is reduced.