CN112000106A - Unmanned vehicle remote driving processing system and method - Google Patents
Unmanned vehicle remote driving processing system and method Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The embodiment of the application discloses unmanned vehicle remote driving safety control method, system and unmanned vehicle, wherein the method comprises the following steps: detecting the real-time speed of the unmanned vehicle, network delay from a remote driving end to the unmanned vehicle end and remote control information of the remote driving end; and controlling the unmanned vehicle to brake according to the real-time vehicle speed, the network delay and the remote control information. By executing the technical scheme, different safety control strategies can be executed according to the remote control information of the remote driving end under the conditions of different network delays and different vehicle speeds, and the safety of the remote driving of the unmanned vehicle is ensured.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned driving, in particular to a method and a system for remotely driving and safely controlling an unmanned vehicle and the unmanned vehicle.
Background
With the progress of science and technology, vehicles increasingly enter the lives of people, wherein the unmanned vehicle technology is increasingly emphasized, for example, in the industries of logistics, people carrying, catering and the like.
At present, the remote driving of the unmanned vehicle is mainly controlled in a network form, namely, a remote driving end controls the unmanned vehicle end through a network, when the unmanned vehicle is in a remote driving state, the requirement on the network is very high, on one hand, the requirement on the bandwidth exists, and on the other hand, the requirements on the network stability, the reliability and the delay are low.
However, the problem of delay of network transmission signals is inevitable, in some specific scenes, the situation of network interruption even occurs in the remote driving control of the unmanned vehicle, and the remote driving vehicle has potential safety hazards due to the existence of network delay.
The remote driving of the unmanned vehicle seriously depends on the time delay of an internet of vehicles, the time delay of a mobile network is high, the remote driving end loses the real-time control on the vehicle, the vehicle has a collision accident and is limited by the influence of network delay, the current remote driving unmanned vehicle has lower overall speed which is averagely between 5KM/h and 10KM/h, the speed of the unmanned vehicle in operation needs to be integrally increased in order that the unmanned vehicle can enter a social section with partial integration rules, so that the requirement is that the speed of the unmanned vehicle in remote driving needs to be integrally increased to about 20KM/h-30KM/h so as not to influence the passing of other social vehicles, and after the speed is increased, a corresponding safe braking method under high-speed driving is lacked at present.
Disclosure of Invention
The embodiment of the application provides a remote driving safety control method for an unmanned vehicle, which can execute different safety control strategies according to control information of a remote driving end and the unmanned vehicle end under the conditions of different network delays and different vehicle speeds, and ensure the safety of remote driving of the unmanned vehicle.
In a first aspect, an embodiment of the present application provides a method for controlling safety of remote driving of an unmanned vehicle, where the method includes: detecting the real-time speed of the unmanned vehicle, network delay from a remote driving end to the unmanned vehicle end and remote control information of the remote driving end; and controlling the unmanned vehicle to brake according to the real-time vehicle speed, the network delay and the remote control information.
By executing the technical scheme, different safety control strategies can be executed according to the remote control information of the remote driving end under the conditions of different network delays and different vehicle speeds, and the safety of the remote driving of the unmanned vehicle is ensured.
In a second aspect, the embodiment of the application provides an unmanned vehicle remote driving safety control system, and the unmanned vehicle remote driving safety control method is applied, the system comprises an unmanned vehicle end and a remote control end, the unmanned vehicle end and the remote driving end are connected through a network, the remote control end comprises a steering wheel, a brake pedal, an accelerator pedal and a remote driving industrial control host, and when the real-time vehicle speed of the unmanned vehicle is higher than a first vehicle speed threshold value, the system controls vehicle braking according to the real-time vehicle speed, network delay from the remote control end to the unmanned vehicle end and remote control information.
By executing the technical scheme, the unmanned vehicle remote driving safety control system can control the unmanned vehicle to brake when the real-time speed of the unmanned vehicle is higher than the first vehicle speed threshold value according to the fact that the real-time speed, the network delay from the remote control end to the unmanned vehicle end, the maximum steering angle of the steering wheel of the remote control end, the damping of the steering wheel, the deceleration value of the brake pedal and the acceleration value of the accelerator pedal meet preset conditions, and the safety of the unmanned vehicle remote driving is guaranteed.
Drawings
Fig. 1 is a flowchart of a method for controlling safety of remote driving of an unmanned vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of another unmanned vehicle remote driving safety control method provided by the embodiment of the application;
fig. 3 is a schematic structural diagram of an unmanned vehicle remote driving safety control system provided in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a method for controlling safety of remote driving of an unmanned vehicle according to an embodiment of the present application, where the method includes the following steps:
s11, detecting the real-time speed of the unmanned vehicle, the network delay from a remote driving end to the unmanned vehicle end and the remote control information of the remote driving end;
and S12, controlling the brake of the unmanned vehicle according to the real-time vehicle speed, the network delay and the remote control information.
In this embodiment, in the step of detecting the real-time speed of the unmanned vehicle, the network delay from the remote driving end to the unmanned vehicle end, and the remote control information of the remote driving end, the real-time speed of the unmanned vehicle may be obtained by a speed sensor at the unmanned vehicle end, for example, by combining parameters such as an inertial navigation system, a wheel speed meter, and an engine tachometer; the network delay from the remote driving end to the unmanned vehicle end can be obtained by the following method: when the remote driving end sends a control command to the unmanned vehicle end, the control command comprises a timestamp for sending the command, the time of the remote driving end and the time of the unmanned vehicle end are kept synchronous through network connection, and when the unmanned vehicle end receives the control command, the timestamp can be read and compared with the time of the current unmanned vehicle to obtain the network delay from the remote driving end to the unmanned vehicle end.
Optionally, the remote control information includes at least one of: the maximum steering angle of a steering wheel of the remote driving end, the steering damping of the steering wheel of the remote driving end, the deceleration value of a brake pedal of the remote driving end and the acceleration value of an accelerator pedal of the remote driving end. Wherein, the maximum steering angle of the steering wheel at the remote driving end can be represented by an interval [ -a, a ], wherein-a represents the deflection angle when the steering wheel rotates counterclockwise, and correspondingly, a represents the deflection angle when the steering wheel rotates clockwise, the deflection angle can be set according to the actual situation, for example, [ -a, a ] can be [ -5 °,5 ° ], can be [ -10 °,10 ° ] or [ -540 °, 540 ° ], and the maximum steering angle of the steering wheel can be obtained by an angle sensor mounted on the steering wheel at the remote control end or can be calculated by an algorithm at the remote control end, which is not specifically limited herein; the steering damping of the steering wheel at the remote driving end is directly related to factors such as the rotating angular velocity of the steering wheel, the resistance setting of a damper, external acting force and the like, can be obtained through a damping sensor arranged at the remote driving end, can also be obtained through algorithm calculation of a remote control end, and is not specifically limited herein; the deceleration value of the brake pedal of the remote driving end can be represented by B, and B represents a value of speed reduction in unit time, namely an absolute value of acceleration, and can be obtained by calculating the real-time speed of the unmanned vehicle end in combination with time parameters; similarly, the accelerator pedal acceleration value of the remote driving end can be represented by C, and C represents a value of speed increase in unit time, namely acceleration, and can be obtained by calculating the real-time vehicle speed of the unmanned vehicle end in combination with the time parameter.
In this embodiment, in the step of controlling the braking of the unmanned vehicle according to the real-time vehicle speed, the network delay and the remote control information, the braking of the unmanned vehicle is controlled when the real-time vehicle speed, the network delay and the remote control information meet preset conditions.
Example two
Fig. 2 is a flowchart of a method for controlling safety of remote driving of an unmanned vehicle according to an embodiment of the present application, where the method includes the following steps:
s21, detecting the real-time speed of the unmanned vehicle, the network delay from a remote driving end to the unmanned vehicle end and the remote control information of the remote driving end;
s22, when the real-time vehicle speed is not less than a first vehicle speed threshold value and not more than a second vehicle speed threshold value, and the network delay is not higher than a delay threshold value, if the remote control information meets a first preset condition, controlling the vehicle to brake;
when the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is not greater than the delay threshold value, if the remote control information meets a second preset condition, controlling the vehicle to brake;
when the real-time vehicle speed is not less than the first vehicle speed threshold value and not more than the second vehicle speed threshold value, and the network delay is higher than the delay threshold value, if the remote control information meets a third preset condition, controlling the vehicle to brake;
and when the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is greater than the delay threshold value, if the remote control information meets a fourth preset condition, controlling the vehicle to brake.
In this embodiment, after the step of detecting the real-time vehicle speed of the unmanned vehicle, the network delay from the remote driving end to the unmanned vehicle end, and the remote control information of the remote driving end, the method can be divided into four cases according to the real-time vehicle speed and the network delay:
the first condition is as follows:
and when the real-time vehicle speed is not less than a first vehicle speed threshold value and not more than a second vehicle speed threshold value, and the network delay is not higher than a delay threshold value, if the remote control information meets a first preset condition, controlling the vehicle to brake. The first vehicle speed threshold may be 10km/h, the second vehicle speed threshold may be 20km/h, and the delay threshold may be 100ms, which may be specifically set according to an actual situation, and is not specifically limited herein.
Optionally, the first preset condition includes at least one of the following: the absolute value of the maximum steering angle of the steering wheel of the remote driving end is larger than a first angle threshold; or the steering wheel steering damping of the remote driving end is greater than a first damping threshold; or the acceleration value of the accelerator pedal of the remote driving end is larger than a first acceleration value threshold value. Wherein the first angle threshold may be 10 °, the first damping threshold may be 30% of the standard value, the standard value may be 80N/(m/s), and the first acceleration threshold may be 0.2m/s ^ 2.
Case two:
and when the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is not greater than the delay threshold value, if the remote control information meets a second preset condition, controlling the vehicle to brake.
Optionally, the second preset condition includes at least one of the following: the absolute value of the maximum steering angle of the steering wheel of the remote driving end is greater than a second angle threshold; or the steering wheel steering damping of the remote driving end is greater than a second damping threshold; or the acceleration value of the accelerator pedal of the remote driving end is larger than a second acceleration value threshold value. Wherein the second angle threshold may be 5 °, the second damping threshold may be 50% of the standard value, the standard value may be 80N/(m/s), and the second acceleration threshold may be 0.1m/s ^ 2.
Optionally, the second angle threshold is smaller than the first angle threshold, the second damping threshold is larger than the first damping threshold, and the second acceleration threshold is smaller than the first acceleration threshold;
optionally, the setting of the angle threshold value is reduced with the increase of the vehicle speed value, the setting of the damping threshold value is increased with the increase of the vehicle speed value, and the setting of the acceleration threshold value is reduced with the increase of the vehicle speed.
Case three:
and when the real-time vehicle speed is not less than the first vehicle speed threshold value and not more than the second vehicle speed threshold value, and the network delay is higher than the delay threshold value, if the remote control information meets a third preset condition, controlling the vehicle to brake.
Optionally, the third preset condition includes at least one of the following: the absolute value of the maximum steering angle of the steering wheel of the remote driving end is larger than a third angle threshold; or the steering wheel steering damping of the remote driving end is greater than a third damping threshold value; or the deceleration value of the brake pedal at the remote driving end is larger than the first deceleration value threshold.
Optionally, the third angle threshold may be 8 ° or 10 °, which is the same as the first angle threshold; the third damping threshold value can be 35% of the standard value, the standard value can be 80N/(m/s), or can be 30% of the standard value, and is the same as the first damping threshold value; the first deceleration value threshold may be 20m/s 2.
Case four:
and when the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is greater than the delay threshold value, if the remote control information meets a fourth preset condition, controlling the unmanned vehicle to brake.
Optionally, the fourth preset condition includes at least one of: the absolute value of the maximum steering angle of the steering wheel of the remote driving end is larger than a fourth angle threshold; or the steering wheel steering damping of the remote driving end is greater than a fourth damping threshold value; or the deceleration value of the brake pedal at the remote driving end is larger than the second deceleration value threshold value.
Optionally, the fourth angle threshold may be 4 ° or 5 °, which is the same as the second angle threshold; the fourth damping threshold value can be 45% of the standard value, the standard value can be 80N/(m/s), or can be 50% of the standard value, which is the same as the second damping threshold value; the second deceleration value threshold may be 40m/s 2.
Alternatively, the absolute value of the deceleration threshold increases with increasing vehicle speed.
Optionally, when the real-time vehicle speed is greater than the second vehicle speed threshold and the network delay is greater than the delay threshold, the unmanned vehicle end disables remote driving and performs vehicle braking.
When the real-time vehicle speed is too high, for example, the second vehicle speed threshold may be 20km/h, and the network delay is too high, for example, the delay threshold is 100ms, it may happen that a command of the remote driving end cannot be transmitted to the unmanned vehicle end through the network to complete braking of the vehicle, and at this time, the control information of the remote driving end does not help safety control, and the unmanned vehicle end is required to complete braking of the vehicle under the condition that the remote driving safety control fails, so as to ensure the operation safety of the vehicle. Under the limit condition, the network connection can be interrupted, and in a remote driving mode, the unmanned vehicle end must have a safety control strategy to directly complete vehicle braking, so that the running safety of the unmanned vehicle end is ensured.
Example three:
fig. 3 is a schematic structural diagram of a remote driving safety control system of an unmanned vehicle according to an embodiment of the present application, where the system includes an unmanned vehicle end and a remote driving end, the unmanned vehicle end and the remote driving end are connected via a network, the remote control end includes a steering wheel, a brake pedal, an accelerator pedal and a remote driving industrial control host, and when a real-time vehicle speed of the unmanned vehicle is higher than a first vehicle speed threshold, the system may control braking of the unmanned vehicle according to the real-time vehicle speed, a network delay from the remote control end to the unmanned vehicle end, and remote control information.
Optionally, the remote driving industrial control host is configured to be used for communication transmission between a remote control end and an unmanned vehicle end, parameter transmission of unmanned vehicle control devices such as a steering wheel, an accelerator pedal and a brake pedal, switching of vehicle gears, parking and parking releasing of the vehicle, and the like.
Optionally, the unmanned vehicle end includes a remote Driving Control end unit PDU (parallel Driving unit) and a vehicle native Control unit VCU (vehicle Control unit), where the PDU is configured to perform communication transmission handshake between the remote Control end and the unmanned vehicle end, obtain unmanned vehicle Control parameters such as an unmanned vehicle end steering wheel, an accelerator pedal, and a brake pedal, respond to unmanned vehicle gear shifting, park and release, transmit the unmanned vehicle Control parameters to a VCU CAN (Controller Area Network), and obtain real-time feedback; and the VCU controls the chassis of the unmanned vehicle to drive the unmanned vehicle in real time according to the unmanned vehicle control parameters transmitted by the PDU and feeds back a driving result.
Optionally, the remote driving end further includes a display device for displaying the state information of the unmanned vehicle transmitted by the unmanned vehicle end, where the state information may include a real-time position of the unmanned vehicle, a real-time speed of the vehicle, a network delay from the remote control end to the unmanned vehicle end, a vehicle gear, and environmental information around the unmanned vehicle. The environmental information around the unmanned vehicle may be a real-time picture around the unmanned vehicle.
According to the technical scheme, when the real-time vehicle speed exceeds the preset speed, the unmanned vehicle can be controlled according to different network delay conditions and remote control information of a remote driving end. By executing the technical scheme, different safety control strategies can be executed according to remote control information of a remote driving end under the conditions of different network delays and different vehicle speeds, the safety of remote driving of the unmanned vehicle is guaranteed, vehicle safety accidents caused by the network and the vehicle speed during remote driving are reduced, and basic safety guarantee is provided for operation under the high-speed environment during remote driving.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A method for remotely controlling driving safety of an unmanned vehicle is characterized by comprising the following steps:
detecting the real-time speed of the unmanned vehicle, network delay from a remote driving end to the unmanned vehicle end and remote control information of the remote driving end;
and controlling the unmanned vehicle to brake according to the real-time vehicle speed, the network delay and the remote control information.
2. The method of claim 1, wherein the remote control information comprises at least one of:
the device comprises a remote driving end, a steering wheel maximum steering angle of the remote driving end, steering wheel steering damping of the remote driving end, a brake pedal deceleration value of the remote driving end and an accelerator pedal acceleration value of the remote driving end.
3. The method of claim 2, wherein said controlling said unmanned vehicle brakes as a function of said real-time vehicle speed, said network delay, and said remote control information comprises
When the real-time vehicle speed is not less than a first vehicle speed threshold value and not more than a second vehicle speed threshold value, and the network delay is not higher than a delay threshold value, if the remote control information meets a first preset condition, the unmanned vehicle is controlled to brake, and the first preset condition comprises at least one of the following conditions:
the absolute value of the maximum steering angle of the steering wheel of the remote driving end is larger than a first angle threshold; or
The steering wheel steering damping of the remote driving end is greater than a first damping threshold value; or
The acceleration value of an accelerator pedal of the remote driving end is larger than a first acceleration value threshold value.
4. The method of claim 3, wherein controlling a vehicle based on the network delay, the real-time vehicle speed, the remote control information, and the vehicle control information further comprises
When the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is not greater than the delay threshold value, if the remote control information meets a second preset condition, the unmanned vehicle is controlled to brake, and the second preset condition comprises at least one of the following conditions:
the absolute value of the maximum steering angle of the steering wheel of the remote driving end is greater than a second angle threshold; or
The steering wheel steering damping of the remote driving end is greater than a second damping threshold value; or
And the acceleration value of an accelerator pedal of the remote driving end is greater than a second acceleration value threshold.
5. The method of claim 5,
the second angle threshold is less than the first angle threshold;
the second damping threshold is greater than the first damping threshold;
the second acceleration value threshold is less than the first acceleration value threshold.
6. The method of claim 3, wherein controlling a vehicle based on the network delay, the real-time vehicle speed, the remote control information, and the vehicle control information further comprises
When the real-time vehicle speed is not less than the first vehicle speed threshold value and not greater than the second vehicle speed threshold value, and the network delay is higher than the delay threshold value, if the remote control information meets a third preset condition, controlling the unmanned vehicle to brake, wherein the third preset condition comprises at least one of the following conditions:
the absolute value of the maximum steering angle of the steering wheel of the remote driving end is larger than a third angle threshold; or
The steering wheel steering damping of the remote driving end is greater than a third damping threshold value; or
The deceleration value of the brake pedal of the remote driving end is larger than a first deceleration value threshold value.
7. The method of claim 3, wherein controlling a vehicle based on the network delay, the real-time vehicle speed, the remote control information, and the vehicle control information further comprises
When the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is greater than the delay threshold value, if the remote control information meets a fourth preset condition, the unmanned vehicle is controlled to brake, and the fourth preset condition comprises at least one of the following conditions:
the absolute value of the maximum steering angle of the steering wheel of the remote driving end is greater than a fourth angle threshold; or
The steering wheel steering damping of the remote driving end is greater than a fourth damping threshold value; or
And the deceleration value of the brake pedal of the remote driving end is greater than a second deceleration value threshold value.
8. The method of claim 7,
the fourth angle threshold is less than the third angle threshold;
the fourth damping threshold is greater than the third damping threshold;
the second deceleration value threshold is greater than the first deceleration value threshold.
9. The method of claim 7, further comprising
And when the real-time vehicle speed is greater than the second vehicle speed threshold value and the network delay is greater than the delay threshold value, the unmanned vehicle end forbids remote driving and executes vehicle braking.
10. Unmanned vehicle remote driving safety control system applying the method of claims 1-9, characterized in that the system comprises
The system comprises an unmanned vehicle end and a remote control end, wherein the unmanned vehicle end is connected with the remote driving end through a network, the remote control end comprises a steering wheel, a brake pedal, an accelerator pedal and a remote driving industrial control host, and when the real-time speed of the unmanned vehicle is higher than a first vehicle speed threshold value, the system controls the braking of the unmanned vehicle according to the real-time speed, network delay from the remote control end to the unmanned vehicle end and remote control information.
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| CN112526980A (en) * | 2020-12-22 | 2021-03-19 | 北京百度网讯科技有限公司 | Remote control method, cockpit, cloud server and automatic driving vehicle |
| CN112737909A (en) * | 2020-12-28 | 2021-04-30 | 智动时代(北京)科技有限公司 | Self-adaptive fusion communication algorithm for multiple buses and multiple networks |
| CN113419520A (en) * | 2021-07-28 | 2021-09-21 | 东风悦享科技有限公司 | Parallel driving system and method based on public network condition |
| CN113848935A (en) * | 2021-10-12 | 2021-12-28 | 广州小鹏自动驾驶科技有限公司 | Braking method, device and system for remote driving |
| CN114063531A (en) * | 2021-11-29 | 2022-02-18 | 东软睿驰汽车技术（沈阳）有限公司 | Remote driving method, device and system |
| CN115195849A (en) * | 2022-05-27 | 2022-10-18 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle remote control method and device |
| CN116125983A (en) * | 2023-01-03 | 2023-05-16 | 广州汽车集团股份有限公司 | Vehicle speed limit adjustment method, device, electronic equipment and storage medium |
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