CN111572458A - Method, device, medium and vehicle for controlling rotation of holder - Google Patents
Method, device, medium and vehicle for controlling rotation of holder Download PDFInfo
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- CN111572458A CN111572458A CN202010451630.6A CN202010451630A CN111572458A CN 111572458 A CN111572458 A CN 111572458A CN 202010451630 A CN202010451630 A CN 202010451630A CN 111572458 A CN111572458 A CN 111572458A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- B60R11/0211—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for record carriers apparatus, e.g. video recorders, tape players or CD players
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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Abstract
The present specification discloses a method, an apparatus, a medium, and a vehicle for controlling rotation of a pan/tilt head, including: the vehicle is provided with a remote driving auxiliary system, the remote driving auxiliary system comprises a cloud deck, the cloud deck is provided with an image acquisition device, the cloud deck is used for driving the image acquisition device to rotate, the vehicle determines rotation information for controlling the rotation of the cloud deck according to the current running pose information of the vehicle, and the automatic control of the rotation of the cloud deck is realized based on the rotation information. Like this, on the one hand can reduce remote driver's operation burden, on the other hand under the circumstances that the environment of going changes, effectively expand remote driving auxiliary system's visual scope, provide better visual assistance for remote driver, and then promoted remote driving's security.
Description
Technical Field
The specification relates to the technical field of unmanned driving, in particular to a method, a device, a medium and a vehicle for controlling rotation of a holder.
Background
The unmanned technology integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, and is a product of high development of computer science, mode recognition and intelligent control technology. It also has a process of gradual development of technology, like the development of other things. The method mainly comprises the following stages: an auxiliary driving stage, a semi-automatic driving stage and a full-automatic driving stage.
In the driving assistance phase, a remote driving assistance system that provides a visual assistance function is regarded as an important component of an unmanned vehicle (hereinafter, simply referred to as "vehicle") as the "eyes" of a remotely controlled driver. When a vehicle runs on a road, the remote driving auxiliary system collects environmental information of the running road through image collection equipment (such as a camera) and transmits the collected environmental information to a remote control driver, so that the remote control driver can know the environmental information around the vehicle in time and adjust a driving strategy to ensure the driving safety of the vehicle.
Research shows that when the remote driving assistance system provides visual assistance for a driver, the driver needs to carry out remote control, namely the driver controls the rotation of the image acquisition equipment, so that the driver in remote control needs to control the image acquisition equipment while controlling the vehicle to run, the control burden of the driver is increased, and the driving danger of the vehicle is easily caused.
Disclosure of Invention
The present specification provides a method, an apparatus, a medium, and a vehicle for controlling rotation of a pan/tilt head, so as to partially solve the problems of the prior art.
The technical scheme adopted by the specification is as follows:
the method for controlling the rotation of the cradle head provided by the specification is applied to a vehicle with a remote driving auxiliary system, the remote driving auxiliary system is used for providing a visual auxiliary function, the remote driving auxiliary system comprises the cradle head, an image acquisition device is installed on the cradle head, and the cradle head is used for driving the image acquisition device to rotate, and the method comprises the following steps:
detecting whether the running state of the vehicle changes or not in the process of remote driving and advancing;
acquiring current running pose information under the condition of determining that the running state changes;
determining rotation information for controlling the rotation of the holder according to the current pose information;
and sending the rotation information to the holder so as to control the holder to execute rotation operation according to the rotation information.
Optionally, the method further includes:
and under the condition that the driving state is determined not to be changed, sending reset information to the holder to indicate that the holder is restored to the initial position.
Optionally, detecting whether the driving state of the vehicle changes specifically includes:
monitoring whether an intersection appears on a traveling road;
under the condition that the crossing on the traveling road is determined to appear, a remote control instruction is obtained;
judging whether the vehicle turns or not according to the remote control instruction; if the judgment result is turning, determining that the driving state changes; otherwise, determining that the driving state is not changed.
Optionally, monitoring whether an intersection appears on a traveling road specifically includes:
reading map information and current positioning information;
and judging whether the intersection appears on the traveling road according to the map information and the positioning information.
Optionally, determining that an intersection appears on the travel road specifically includes:
receiving image information sent by the image acquisition equipment, wherein the image information is environmental information on a traveling road;
and judging whether the intersection appears on the traveling road or not based on an image recognition algorithm and the image information.
Optionally, the obtaining of the remote control instruction specifically includes:
receiving a remote control instruction sent by a remote driver;
and executing the traveling action corresponding to the remote control instruction according to the remote control instruction.
Optionally, determining rotation information for controlling rotation of the pan/tilt head according to the current driving pose information specifically includes:
determining the rotation direction of the vehicle according to the attitude information contained in the current driving pose information;
determining the rotation angle of the vehicle according to the current running pose information;
and calculating the rotation angle of the holder according to the rotation angle, and determining the rotation direction of the holder according to the rotation direction.
This specification provides a rotatory device of control cloud platform, the device is applied to in the vehicle that possesses remote driving auxiliary system, remote driving auxiliary system is used for providing vision auxiliary function, remote driving auxiliary system contains the cloud platform, install image acquisition equipment on the cloud platform, the cloud platform is used for driving image acquisition equipment is rotatory, the device includes:
the detection unit is used for detecting whether the running state of the remote driving vehicle changes or not in the process of remote driving;
the acquiring unit is used for acquiring current running pose information under the condition that the running state is determined to be changed;
the processing unit is used for determining rotation information for controlling the rotation of the holder according to the current running pose information;
and the sending unit is used for sending the rotation information to the holder so as to control the holder to execute rotation operation according to the rotation information.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described method of controlling the rotation of a pan/tilt head.
In the vehicle provided by the specification, a remote driving auxiliary system is installed on the vehicle, and is used for providing a visual auxiliary function, the remote driving auxiliary system comprises a cradle head, an image acquisition device is installed on the cradle head, and the cradle head is used for driving the image acquisition device to rotate;
the vehicle comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the method for controlling the rotation of the holder.
The technical scheme adopted by the specification can achieve the following beneficial effects:
according to the method, the device, the medium and the vehicle for controlling the rotation of the cradle head, whether the running state of the vehicle changes or not is detected in the remote driving running process of the vehicle, the rotation information for controlling the rotation of the cradle head is determined according to the current running pose information under the condition that the running state changes, and the automatic control of the rotation of the cradle head is realized based on the rotation information. Therefore, for the vehicle with the remote driving assistance system, on one hand, the operation burden of a remote driver can be reduced, on the other hand, under the condition that the driving environment changes, the visual range of the remote driving assistance system is effectively expanded, better visual assistance is provided for the remote driver, and the safety of remote driving is further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flowchart of a method for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure;
fig. 2(a), fig. 2(b), fig. 2(c), fig. 2(d), fig. 2(e) and fig. 2(f) are schematic diagrams illustrating that the vehicle according to the embodiment of the present disclosure controls the pan/tilt head to rotate when making a left turn;
fig. 3 is a schematic structural diagram of an apparatus for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure.
Detailed Description
Implementations of current remote driving assistance systems that provide visual assistance include, but are not limited to, the following:
first, an image capture device comprising a plurality of fixed view angles. The image capturing device here may be a camera, or may be a device having a camera or an image capturing function. For example: 1 image acquisition device with fixed angle is respectively arranged in 4 directions of the front, the back, the left and the right of the vehicle.
In this way, in order to better provide visual assistance to the remotely controlled driver, high-definition image acquisition equipment is required, which puts high demands on the network bandwidth used by the vehicle. In addition, because the position of the image acquisition equipment is fixed, a blind field of view inevitably exists in the use process, so that hidden dangers exist in the aspect of the safety of a driver for controlling the vehicle.
Second, a pan-tilt camera apparatus is used on a vehicle. The pan/tilt/zoom apparatus herein may be understood as an apparatus in which an image pickup apparatus is mounted on a pan/tilt, and a remotely controlled driver controls the pan/tilt to rotate to realize the rotation of the image pickup apparatus.
In this way, the remote driver needs to control the vehicle and also needs to control the pan-tilt remotely. Thus, the control burden of the remote driver is heavy, and danger is likely to occur.
Based on the above, the present specification provides a method for controlling rotation of a pan-tilt, which detects whether a driving state of a vehicle changes during a remote driving process, and acquires current driving pose information when it is determined that the driving state changes; determining rotation information for controlling the rotation of the holder according to the current running pose information; and sending the rotation information to the holder to instruct the holder to execute rotation operation according to the rotation information. By the method, the automatic control of the vehicle to the cloud deck can be realized, in addition, for the vehicle with the remote driving auxiliary system, the rotation of the vehicle automatic control cloud deck can reduce the operation burden of a remote driver on one hand, and on the other hand, under the condition that the driving environment changes, the visual range of the remote driving auxiliary system is effectively expanded, better visual assistance is provided for the remote driver, and the safety of remote driving is further improved.
The remote control command described in the embodiments of the present specification refers to a command issued by a remote driver to control the travel of a vehicle, and includes, for example: a straight-ahead command, a turn command, a back command, etc., rather than a command to control the rotation of the head.
The vehicle described in the embodiments of the present description may be a vehicle having a vision assistance function provided by a remote driving image vision system, or may be a vehicle capable of full-automatic driving or semi-automatic driving, that is, the manner of controlling the rotation of the pan/tilt head provided by the present description may be applied to a vehicle having a vision assistance function provided by a remote driving image vision system, or may be applied to a vehicle capable of full-automatic driving or semi-automatic driving.
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure. The method may be as follows. The execution main part of this specification embodiment is the vehicle, installs remote driving auxiliary system on this vehicle, wherein, remote driving auxiliary system is used for providing vision auxiliary function, include the cloud platform in the remote driving auxiliary system, install image acquisition equipment on the cloud platform, the cloud platform is used for driving image acquisition equipment is rotatory.
In the embodiments provided in this specification, during the remote driving travel of the vehicle, the remotely controlled driver sends a remote control instruction to the vehicle, the remote control instruction being used to instruct the vehicle to travel, for example: straight line commands, turn commands, and the like.
Then, in the case where the vehicle receives the remote control instruction, the vehicle executes a traveling action corresponding to the remote control instruction according to the remote control instruction, for example: if the received remote control instruction is a straight-going instruction, the vehicle continues to run forwards; and if the received remote control instruction is a turning instruction, executing turning operation when the vehicle receives the turning instruction.
In particular, the remote control command described in the embodiments of the present specification is not a command for controlling the rotation of the pan/tilt head.
In order to better provide visual assistance for a remote driver, a remote driving assistance system and a cloud deck are installed on the vehicle described in the specification, and an image acquisition device (such as a forward-looking camera device) is installed on the cloud deck, so that the vehicle can realize rotation control of the image acquisition device by controlling the rotation of the cloud deck.
Specifically, a program for automatically controlling the rotation of the pan/tilt head is installed on the vehicle, and when the vehicle detects a condition for starting the program, the program is triggered to be executed.
Specifically, "conditions for starting the program" include, but are not limited to, the following:
first, the running state of the vehicle changes.
And in the process of remote driving and advancing of the vehicle, detecting whether the running state of the vehicle changes or not in real time. Once the driving state (such as the driving direction) changes, the driving environment (such as the driving road condition) is changed. In order to ensure the driving safety of remote driving, under the condition that the driving environment of the vehicle changes, a remote driver needs more and wider visual angle information, and the vehicle can rotate through the autonomous control holder, so that the acquisition range of the image acquisition equipment is expanded, and better visual angle assistance is provided for remote driving.
At the moment, the vehicle starts the program to autonomously control the holder, so that the operation burden of a remote driver is relieved, and the range of visual angle assistance is effectively expanded.
How the vehicle detects whether its running state is to be changed will be described in detail below.
The method comprises the steps that a vehicle detects whether an intersection appears on a traveling road, and a remote control instruction is obtained under the condition that the intersection appears on the traveling road; judging whether the vehicle turns or not according to the remote control instruction; if the judgment result is turning, determining that the driving state changes; otherwise, determining that the driving state is not changed.
Specifically, when the vehicle detects that the intersection is present on the travel road, it means that the travel state of the vehicle may change. And the remote control driver sends a remote control instruction to the vehicle under the condition that the driver determines that the vehicle needs to be controlled to turn at the upcoming intersection according to the navigation line, wherein the remote control instruction is used for instructing the vehicle to execute a turning action. And then, under the condition that the vehicle determines that the intersection appears on the traveling road, judging whether the vehicle turns according to the remote control instruction by acquiring the remote control instruction sent by the remote-controlled driver, and determining that the traveling state changes when the vehicle turns according to the judgment result.
Implementations of "sending remote control commands to the vehicle" herein include, but are not limited to: and a turning control is arranged in the remote control interface, and a remote driver clicks the control under the condition of determining that the vehicle needs to turn according to the navigation line, so that the remote control instruction is considered to be sent to the vehicle.
Specifically, the vehicle detects whether an intersection appears on a traveling road, and specifically includes:
the vehicle reads map information and current positioning information; and judging whether the intersection appears on the traveling road according to the map information and the positioning information.
Specifically, the map here may refer to a high-precision map. The vehicle reads the high-precision map information and determines the crossing to be passed on the road according to the high-precision map information and the navigation line information; and then, by combining the acquired current positioning information, judging whether the crossing needs to pass through in a future period of time, namely whether the crossing appears on the traveling road in the future period of time.
The "in the future period of time" may be determined according to actual needs, or may be determined according to experimental data, and the period of time is not limited herein.
Optionally, the vehicle detects whether an intersection appears on a traveling road, and specifically includes:
the method comprises the steps that a vehicle receives image information sent by image acquisition equipment, wherein the image information is environment information on a traveling road; and judging whether the intersection appears on the traveling road or not based on an image recognition algorithm and the image information.
Specifically, under the condition that the map information is not acquired, the vehicle can identify the image information sent by the image acquisition equipment through an image identification algorithm, and further judge whether the image information contains intersection information, wherein the intersection information is that the vehicle passes through the intersection, and the intersection is about to appear; if not, the intersection is not passed, and no intersection appears in the future period of time.
Second, the vehicle receives a launch control command from a remote driver.
The starting control instruction can be understood as indicating the vehicle to start a control pan/tilt rotation program, and is only in a starting layer, so that how to specifically control pan/tilt rotation, the vehicle performs autonomous control through the technical scheme provided by the specification, and a remote driver does not need to execute specific operation of controlling pan/tilt rotation.
Specifically, the remote driver may send a start control instruction to the vehicle to instruct the vehicle to start the control pan/tilt rotation program upon determining that the remote driving assistance system provides a greater range of visual assistance.
Implementations of "sending a launch control instruction to a vehicle" herein include, but are not limited to: a one-key starting control holder control is arranged in the remote control interface, and a remote driver clicks the control while controlling the vehicle to move, so that the remote control interface is regarded as sending a starting control instruction to the vehicle.
Step 103: and acquiring current running pose information by the vehicle under the condition of determining that the running state changes.
Specifically, under the condition that the vehicle determines that the running state changes, a rotating program of a control holder is started, and current running pose information is triggered and acquired.
Optionally, the vehicle starts a control pan-tilt rotation program to trigger acquisition of current running pose information when receiving a control pan-tilt rotation instruction sent by a remote driver.
The "running pose information" described in the embodiments of the present specification refers to attitude information and position information during the vehicle running process, wherein the attitude information may be determined based on data fed back by a sensor, and the position information may be obtained based on positioning by a GPS or other positioning means.
Step 105: and the vehicle determines rotation information for controlling the rotation of the holder according to the current running pose information.
In an embodiment provided by the present specification, the vehicle determines its own rotation direction according to attitude information included in the current driving pose information; determining the rotation angle of the vehicle according to the current running pose information; and then calculating the rotation angle of the holder according to the rotation angle, and determining the rotation direction of the holder according to the rotation direction.
Optionally, the determining, by the vehicle, a rotation direction of the vehicle according to the posture information included in the current driving posture information specifically includes:
and the vehicle determines the rotation direction of the vehicle according to the current driving posture information and the received remote control information.
It should be noted that "the vehicle determines the rotation information for controlling the rotation of the pan/tilt head according to the current driving pose information" may be obtained based on algorithm calculation, or may be obtained based on a trained model, and a specific manner adopted for "determining" is not limited herein.
Step 107: and the vehicle sends the rotation information to the cloud deck so as to control the cloud deck to execute rotation operation according to the rotation information.
In an embodiment provided by the present specification, the vehicle sends the rotation information to the pan/tilt head, so that the pan/tilt head performs a rotation operation according to a rotation angle and a rotation direction included in the rotation information.
Optionally, the method further includes:
and the vehicle sends reset information to the holder under the condition that the running state is determined not to change, wherein the reset information is used for controlling the holder to recover to the initial position.
Optionally, the method further includes:
the vehicle receives a remote reset instruction sent by a remote driver, wherein the remote reset instruction is used for controlling the holder to restore to an initial position;
and the vehicle sends reset information to the holder according to the remote reset instruction.
By the method, the vehicle automatically calculates and controls the rotation angle and the rotation direction of the cradle head according to a plurality of information such as navigation information, positioning information, map information, current pose information and the like, so that the cradle head is automatically controlled. For a vehicle with a remote driving assistance system, the method can reduce the operation burden of a remote driver, and effectively expand the visual range of the remote driving assistance system under the condition of changing the driving environment, so that better visual assistance is provided for the remote driver, and the safety of remote driving is further improved. Particularly, in some special tasks with complex working environments, since people cannot personally perform the special tasks, the robot or the vehicle with the remote driving assistance system can be thrown into the working environment to perform the special tasks. Therefore, in the process that the robot or the vehicle executes tasks, a remote controller can know the actual situation of the working environment through a remote driving auxiliary system on the robot or the vehicle by using the technical scheme provided by the specification, and further realize the accurate control of the robot or the vehicle.
Fig. 2 is a schematic flowchart of a method for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure. The method may be as follows.
Step 201: the vehicle receives the remote control instruction and executes the traveling action according to the remote control instruction.
Step 203: during the traveling action of the vehicle, it is determined whether the vehicle is turning according to the remote control command, and if the vehicle is turning, step 205 is executed.
Step 205: and the vehicle acquires the current running pose information.
Step 207: and the vehicle determines the rotation direction of the vehicle according to the attitude information contained in the current running pose information.
Step 209: and the vehicle determines the rotation angle of the vehicle according to the current running pose information.
Step 211: and the vehicle calculates the rotation angle of the holder according to the rotation angle, and determines the rotation direction of the holder according to the rotation direction.
Step 213: and the vehicle sends the rotation angle and the rotation direction to the holder so as to control the holder to execute rotation operation according to the rotation information.
Step 215: and the vehicle sends reset information to the holder under the condition that the turning is determined to be finished, wherein the reset information is used for controlling the holder to recover to the initial position.
Fig. 2(a), fig. 2(b), fig. 2(c), fig. 2(d), fig. 2(e), and fig. 2(f) are schematic diagrams illustrating the control of the rotation of the pan/tilt head when the vehicle performs a left turn according to the embodiment of the present disclosure.
As can be seen from fig. 2(a), 2(b), 2(c), 2(d), 2(e) and 2(f), the dashed arrow line indicates the navigation path, and when the vehicle reaches the position shown in fig. 2(a), the control pan/tilt head rotation program is started; fig. 2(b), 2(c), 2(d) and 2(e) show the control of the rotation of the pan/tilt head while the vehicle is moving; fig. 2(f) shows that the control console is reset after the vehicle turns.
The method for controlling the rotation of the holder provided by the specification can be applied to a remote driving auxiliary system connected with the unmanned vehicle and can also be applied to various application scenes of the unmanned vehicle in running. The unmanned vehicle may be an unmanned delivery vehicle. The unmanned delivery vehicle can be applied to the field of delivery by using the unmanned delivery vehicle, such as delivery scenes of express delivery, takeaway and the like by using the unmanned delivery vehicle.
Based on the same idea, the present specification further provides a corresponding apparatus, a storage medium, and an electronic device.
Fig. 3 is a schematic structural diagram of a device for controlling rotation of a pan/tilt head according to an embodiment of the present disclosure. The device is applied to the vehicle that possesses remote driving auxiliary system, remote driving auxiliary system is used for providing vision auxiliary function, remote driving auxiliary system contains the cloud platform, install image acquisition equipment on the cloud platform, the cloud platform is used for driving image acquisition equipment is rotatory. The device comprises: a detection unit 301, an acquisition unit 302, a processing unit 303 and a transmission unit 304, wherein:
a detection unit 301, configured to detect whether a driving state changes during a remote driving process;
an obtaining unit 302, configured to obtain current driving pose information when it is determined that the driving state changes;
the processing unit 303 is configured to determine rotation information for controlling rotation of the pan/tilt head according to the current driving pose information;
a sending unit 304, configured to send the rotation information to the pan/tilt head, so as to control the pan/tilt head to perform a rotation operation according to the rotation information.
In another embodiment provided in the present specification, the sending unit 304 is further configured to send reset information to the pan/tilt head to control the pan/tilt head to return to the initial position when it is determined that the driving state does not change.
In another embodiment provided in this specification, the detecting unit 301 detects whether the driving state thereof changes, and specifically includes:
detecting whether an intersection appears on a traveling road;
under the condition that the crossing on the traveling road is determined to appear, a remote control instruction is obtained;
judging whether the vehicle turns or not according to the remote control signal instruction; if the judgment result is turning, determining that the driving state changes; otherwise, determining that the driving state is not changed.
In another embodiment provided in this specification, the detecting unit 301 detects whether an intersection appears on a traveling road, and specifically includes:
reading map information and current positioning information;
and judging whether the intersection appears on the traveling road according to the map information and the positioning information.
In another embodiment provided in this specification, the detecting unit 301 detects whether an intersection appears on a traveling road, and specifically includes:
receiving image information sent by the image acquisition equipment, wherein the image information is environmental information on a traveling road;
and judging whether the intersection appears on the traveling road or not based on an image recognition algorithm and the image information.
In another embodiment provided in this specification, the acquiring, by the detecting unit 301, a remote control instruction specifically includes:
receiving a remote control instruction sent by a remote driver;
and executing the traveling action corresponding to the remote control instruction according to the remote control instruction.
In another embodiment provided in this specification, the determining, by the processing unit 303, rotation information for controlling rotation of the pan/tilt head according to the current driving pose information specifically includes:
determining the rotation direction of the vehicle according to the attitude information contained in the current driving pose information;
determining the rotation angle of the vehicle according to the current running pose information;
and calculating the rotation angle of the holder according to the rotation angle, and determining the rotation direction of the holder according to the rotation direction.
It should be noted that the device for controlling the rotation of the pan/tilt head provided in the embodiment of the present specification may be implemented in a hardware manner, or may be implemented in a software manner, where the implementation manner is not specifically limited. The control device acquires current running pose information; determining rotation information for controlling the rotation of the holder according to the current running pose information; and sending the rotation information to the holder so as to control the holder to execute rotation operation according to the rotation information. The automatic control to the cloud platform is realized like this, can reduce remote driver's operation burden on the one hand, and on the other hand is under the circumstances that the environment of going changes, effectively expands remote driving auxiliary system's visual scope, provides better visual assistance for remote driver, and then has promoted remote driving's security.
The present specification also provides a computer-readable storage medium storing a computer program, which when executed by a processor is operable to perform the method of controlling the rotation of a head as provided above with respect to fig. 1.
Based on the method for controlling the rotation of the pan/tilt head shown in fig. 1, the embodiment of the present specification further provides a schematic structural diagram of the vehicle shown in fig. 4. As shown in fig. 4, on a hardware level, a remote driving assistance system is installed on the vehicle, the remote driving assistance system is used for providing visual assistance, the remote driving assistance system includes a cradle head, an image acquisition device is installed on the cradle head, the cradle head is used for driving the image acquisition device to rotate, the vehicle further includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and certainly, the vehicle may further include hardware required by other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for controlling the rotation of the pan/tilt head described in fig. 1. The automatic control to the cloud deck is realized through this kind of mode, can reduce remote driver's operation burden on the one hand, and on the other hand under the circumstances that driving environment changes, effectively extends remote driving auxiliary system's visual scope, provides better visual assistance for remote driver, and then has promoted remote driving's security.
Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardsradware (Hardware Description Language), vhjhd (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or Flash memory (Flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. The utility model provides a method for controlling cloud platform is rotatory, its characterized in that, is applied to in the vehicle that possesses remote driving auxiliary system, remote driving auxiliary system is used for providing visual auxiliary function, remote driving auxiliary system contains the cloud platform, install image acquisition equipment on the cloud platform, the cloud platform is used for driving image acquisition equipment is rotatory, the method includes:
detecting whether the running state of the vehicle changes or not in the process of remote driving and advancing;
acquiring current running pose information under the condition of determining that the running state changes;
determining rotation information for controlling the rotation of the holder according to the current pose information;
and sending the rotation information to the holder so as to control the holder to execute rotation operation according to the rotation information.
2. The method of claim 1, further comprising:
and under the condition that the driving state is determined not to be changed, sending reset information to the holder to control the holder to recover to the initial position.
3. The method according to claim 1, wherein detecting whether the driving state changes comprises:
detecting whether an intersection appears on a traveling road;
under the condition that the crossing on the traveling road is determined to appear, a remote control instruction is obtained;
judging whether the vehicle turns or not according to the remote control instruction; if the judgment result is turning, determining that the driving state changes; otherwise, determining that the driving state is not changed.
4. The method according to claim 3, wherein detecting whether an intersection appears on a travel road specifically comprises:
reading map information and current positioning information;
and judging whether the intersection appears on the traveling road according to the map information and the positioning information.
5. The method according to claim 3, wherein detecting whether an intersection appears on a travel road specifically comprises:
receiving image information sent by the image acquisition equipment, wherein the image information is environmental information on a traveling road;
and judging whether the intersection appears on the traveling road or not based on an image recognition algorithm and the image information.
6. The method of claim 3, wherein obtaining the remote control command specifically comprises:
receiving a remote control instruction sent by a remote driver;
and executing the traveling action corresponding to the remote control instruction according to the remote control instruction.
7. The method according to any one of claims 1 to 6, wherein determining rotation information for controlling rotation of the pan/tilt head according to the current driving pose information specifically comprises:
determining the rotation direction of the vehicle according to the attitude information contained in the current driving pose information;
determining the rotation angle of the vehicle according to the current running pose information;
and calculating the rotation angle of the holder according to the rotation angle, and determining the rotation direction of the holder according to the rotation direction.
8. The utility model provides a rotatory device of control cloud platform, its characterized in that, the device is applied to in the vehicle that possesses remote driving auxiliary system, remote driving auxiliary system is used for providing vision auxiliary function, remote driving auxiliary system contains the cloud platform, install image acquisition equipment on the cloud platform, the cloud platform is used for driving image acquisition equipment is rotatory, the device includes:
the detection unit is used for detecting whether the running state of the remote driving vehicle changes or not in the process of remote driving;
the acquiring unit is used for acquiring current running pose information under the condition that the running state is determined to be changed;
the processing unit is used for determining rotation information for controlling the rotation of the holder according to the current running pose information;
and the sending unit is used for sending the rotation information to the holder so as to control the holder to execute rotation operation according to the rotation information.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.
10. A vehicle is provided with a remote driving auxiliary system, the remote driving auxiliary system is used for providing a visual auxiliary function, the remote driving auxiliary system comprises a cloud deck, an image acquisition device is arranged on the cloud deck, and the cloud deck is used for driving the image acquisition device to rotate;
the vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any of claims 1 to 7.
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| CN202010451630.6A CN111572458A (en) | 2020-05-25 | 2020-05-25 | Method, device, medium and vehicle for controlling rotation of holder |
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| CN202010451630.6A CN111572458A (en) | 2020-05-25 | 2020-05-25 | Method, device, medium and vehicle for controlling rotation of holder |
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