CN112130545B - Remote driving take-over system and method - Google Patents
Remote driving take-over system and method Download PDFInfo
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- CN112130545B CN112130545B CN202011039470.0A CN202011039470A CN112130545B CN 112130545 B CN112130545 B CN 112130545B CN 202011039470 A CN202011039470 A CN 202011039470A CN 112130545 B CN112130545 B CN 112130545B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
Abstract
The invention discloses a pipe connection system and a pipe connection method for remote driving, wherein the pipe connection system comprises: the remote driving system comprises a vehicle-mounted control module, a background server and a remote driving end, wherein the vehicle-mounted control module collects vehicle related information and transmits the vehicle related information to the remote driving end through the background server, the remote driving end determines a takeover mode corresponding to the vehicle related information according to a preset takeover decision and sends a takeover vehicle instruction corresponding to the takeover mode to the vehicle-mounted control module, and thus, the vehicle is remotely driven to take over. The invention does not simply rely on the fault diagnosis function of automatic driving and the remote driving takeover request for the remote driving takeover of the vehicle any more, and the takeover mode can be one of strong request takeover, weak request takeover and zero request takeover, thereby meeting the traditional takeover working condition of remote driving and expanding the application range of remote driving.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a pipe taking system and method for remote driving.
Background
The remote driving is used as an effective supplement and safety guarantee measure for the automatic driving function of the vehicle, can process scenes or working conditions which cannot be met by partial automatic driving, and can ensure the safe driving of the vehicle to a certain extent. In the existing remote driving, generally, after the automatic driving function of the vehicle breaks down, the vehicle actively sends a remote driving takeover request to a remote driving end, and after receiving a vehicle takeover instruction sent by the remote driving end, the vehicle is taken over by the remote driving. If the remote driving end does not receive the remote driving take-over request sent by the vehicle, the remote driving can not know when the vehicle needs to take over in the remote driving, and therefore the vehicle can not be taken over in the remote driving.
In summary, the existing method for taking over the remote driving sends the remote driving taking over request only after the automatic driving function fails, so that the method is highly dependent on the automatic driving fault diagnosis function and the remote driving taking over request, and the remote driving end can only judge when the vehicle is taken over by the remote driving according to the remote driving request. Therefore, the taking-over method is single, the application range of remote driving is limited, and the advantages of the remote driving cannot be fully exerted.
Disclosure of Invention
In view of the above, the present invention discloses a take-over system and a take-over method for remote driving, so as to implement a fault diagnosis function and a remote driving take-over request for the remote driving take-over of a vehicle that does not depend on automatic driving simply any more, and the take-over mode in the present invention may be one of a strong request take-over, a weak request take-over and a zero request take-over, so that the application range of remote driving is increased, and the advantages of remote driving can be fully exerted.
A remotely driven takeover system comprising: the system comprises a vehicle-mounted control module, a background server and a remote driving end;
the vehicle-mounted control module is used for collecting vehicle related information and transmitting the vehicle related information to the remote driving end through the background server;
the remote driving end is used for receiving the vehicle-related information, determining a takeover mode corresponding to the vehicle-related information according to a preset takeover decision, and sending a takeover vehicle instruction corresponding to the takeover mode to the vehicle-mounted control module to realize remote driving takeover of the vehicle, wherein the takeover mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover.
Optionally, the vehicle-related information at least includes: vehicle state information and vehicle video information, when the vehicle takes place the early warning, vehicle relevant information still includes: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle has both early warning and failure, the vehicle-related information further includes: a combination of the vehicle warning information and the remote driving request information.
Optionally, the preset takeover decision is:
when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the weak request takes over;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the zero request takes over.
Optionally, the working condition corresponding to the strong request takeover is:
when the automatic driving function of the vehicle fails, the automatic driving cannot be continued and the vehicle is automatically parked, the vehicle-mounted control module sends the vehicle-related information to the background server, wherein the vehicle-related information comprises: the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four information;
after receiving the vehicle-related information forwarded by the background server, the remote driving end judges whether the vehicle state information in the vehicle-related information meets a formula (1), if so, the remote driving end 30 sends a strong request takeover instruction corresponding to the strong request takeover to the vehicle-mounted control module 10, so as to realize the remote driving takeover of the vehicle, wherein the formula (1) is as follows:
wherein St is the steering wheel angle at which the vehicle takes over, StminLeft-hand steering wheel angle threshold for vehicle take-over, StminIs in a value range of 0 to StminNot more than 15, units are, StmaxFor right-hand steering wheel angle threshold, StmaxIs in a value range of 0 to StmaxLess than or equal to 15, the unit is DEG, Ap is the opening degree of the accelerator pedal when the vehicle takes overmaxThe maximum threshold value of the opening degree of the accelerator pedal when the vehicle takes over is expressed in percentage by ApmaxHas a value range of 0 to ApmaxLess than or equal to 1, Gs is the gear when the vehicle takes overPosition, Vs is the vehicle speed at which the vehicle takes over, VsmaxThe maximum threshold value of the vehicle speed when the vehicle takes over is km/h and VsmaxHas a value range of 0 to VsmaxLess than or equal to 3, and Ps is the parking state when the vehicle takes over the tube.
Optionally, the working condition corresponding to the weak request takeover is as follows:
when the vehicle has non-failure faults and needs the degraded driving of the automatic driving function; or when the early warning function of the vehicle-mounted control module has a potential risk, the automatic driving state of the vehicle and the current road condition are integrated, on the premise that the safety of road traffic participants except the vehicle is not affected, the remote driving end sends a weak request takeover instruction corresponding to the weak request takeover to the vehicle-mounted control module, the vehicle-mounted control module automatically stops the vehicle after receiving the weak request takeover instruction, meanwhile, the remote driving end judges whether the vehicle state information S in the vehicle-related information meets the formula (1), and if so, the vehicle is remotely driven to take over.
Optionally, the working condition corresponding to the zero-request takeover is as follows:
the vehicle has no fault or has a fault which is not found by the self-diagnosis function, and the early-warning diagnosis function of the vehicle-mounted control module does not find any potential risk or fault of the vehicle, but the vehicle needs to be remotely driven to take over;
the remote driving end carries out statistical analysis on historical driving data of the automatic driving function of the vehicle to obtain the position coordinates of the vehicle which is frequently taken over, and the coordinates (x) under a space rectangular coordinate system of a zero request taking over place are sete，ye，ze) Obtaining the parking time length before the vehicle is frequently taken over, and setting the parking time length as the maximum time threshold t of one-time parking allowed by the vehiclemaxAnd a maximum vehicle speed threshold value V for the allowable operation of the vehiclemax；
The remote driving end obtains the longitude and latitude of the position where the vehicle is located, the longitude and latitude of the position where the vehicle is located are converted into a space rectangular coordinate according to a longitude and latitude to geodetic coordinate system shown in a formula (2), and the formula (2) is as follows:
in the formula, x, y and z are coordinate points corresponding to the position of the vehicle in a rectangular space coordinate system, B is the latitude of the position of the vehicle, L0 is the longitude of the position of the vehicle, H is the altitude of the position of the vehicle, a is the earth major semi-axis, a is 6378.137km, and B is the earth minor semi-axis B is 6356.7523141 km;
calculating the distance L between the current position of the vehicle and the zero takeover request point according to a calculation formula of the distance between two points in the space shown in the formula (3), wherein the formula (3) is as follows:
in the formula (x)e，ye，ze) Taking over the coordinates of the set zero request taking over place under a space rectangular coordinate system;
when the distance L meets the formula (4), the remote driving end initiates zero request place take-over to the vehicle, and the formula (4) is as follows:
L≤Lmin(4)；
in the formula, LminDistance threshold taken over for zero request site in m, distance threshold LminHas a value range of 0 to Lmin≤150；
The remote driving end 30 judges whether the vehicle state information meets the formula (5), if yes, the zero-request working condition take-over is initiated to the vehicle-mounted control module, and the formula (5) is as follows:
wherein t is the duration of one-time parking of the vehicle, tmaxA maximum time threshold value of one time allowed for the vehicle, and the unit is min and tmaxHas a value range of t being not less than 3maxLess than or equal to 30; vs is the current vehicle speed, VmaxIs a vehicleThe maximum speed threshold value of the vehicle during the allowable running is km/h, VmaxHas a value range of 0 to VmaxLess than or equal to 130; l is the distance between the current position of the vehicle and the zero take-over request position, LmaxMaximum threshold value of allowable position distance of vehicle, and unit is km, LmaxHas a value range of 0 to Lmax≤100；
The remote driving end judges whether the vehicle state information in the vehicle related information meets the formula (5), if so, a zero request take-over instruction is sent to the vehicle-mounted control module;
and the vehicle-mounted control module receives the zero request take-over instruction, so that the vehicle is automatically stopped, meanwhile, the remote driving end judges whether the vehicle state information in the vehicle related information meets the formula (1), and if so, the vehicle is remotely driven to take over.
A takeover method for remote driving is applied to a remote driving end in the takeover system, and comprises the following steps:
receiving vehicle related information forwarded by a background server, wherein the vehicle related information is collected by a vehicle-mounted control module and is sent to the background server;
determining a takeover mode corresponding to the vehicle-related information according to a preset takeover decision, wherein the takeover mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover;
and sending a vehicle taking-over command corresponding to the taking-over mode to the vehicle-mounted control module to realize the remote driving taking-over of the vehicle.
Optionally, the vehicle-related information at least includes: vehicle status information and vehicle video information;
when the vehicle is early-warned, the vehicle-related information further comprises: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle has both early warning and failure, the vehicle-related information further includes: a combination of the vehicle warning information and the remote driving request information.
Optionally, the preset takeover decision is:
when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the weak request takes over;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the zero request takes over.
From the above technical solution, the present invention discloses a take-over system and a take-over method for remote driving, wherein the take-over system comprises: the vehicle-mounted control module collects vehicle related information and transmits the vehicle related information to the remote driving end through the background server, the remote driving end receives the vehicle related information, a take-over mode corresponding to the vehicle related information is determined according to a preset take-over decision, a take-over vehicle command corresponding to the take-over mode is sent to the vehicle-mounted control module, and the vehicle is remotely driven to take over, wherein the take-over mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover. The vehicle-mounted control module forwards the vehicle related information to the remote driving end through the background server instead of directly sending the remote driving takeover request, and the remote driving end determines the takeover mode of the vehicle according to the vehicle related information so as to realize the remote takeover of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a remote driving takeover system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of information basis of three different takeover modes according to the embodiment of the present invention;
fig. 3 is a flowchart of a take-over method for remote driving according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a pipe taking system and a pipe taking method for remote driving, wherein the pipe taking system comprises the following components: the vehicle-mounted control module collects vehicle related information and transmits the vehicle related information to the remote driving end through the background server, the remote driving end receives the vehicle related information, a take-over mode corresponding to the vehicle related information is determined according to a preset take-over decision, a take-over vehicle command corresponding to the take-over mode is sent to the vehicle-mounted control module, and the vehicle is remotely driven to take over, wherein the take-over mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover. The vehicle-mounted control module forwards the vehicle related information to the remote driving end through the background server instead of directly sending the remote driving takeover request, and the remote driving end determines the takeover mode of the vehicle according to the vehicle related information so as to realize the remote takeover of the vehicle.
In addition, compared with the traditional scheme, when the vehicle request generation function fails, so that the vehicle cannot generate a remote driving takeover request, and the remote driving cannot work normally, the vehicle-mounted control module sends the vehicle-related information to the remote driving end through the background server, and the vehicle-related information is not influenced by the vehicle request generation function, so that the normal work of the remote driving function can be still ensured when the vehicle request generation function fails.
Referring to fig. 1, a schematic structural diagram of a remote driving takeover system disclosed in the embodiment of the present invention is shown, where the communication system includes: the vehicle-mounted control module 10, the background server 20 and the remote driving end 30.
Wherein:
the vehicle-mounted control module 10 is configured to collect vehicle-related information and send the vehicle-related information to the backend server 20.
The vehicle-related information includes at least: vehicle status information and vehicle video information.
Specifically, the vehicle state information S includes: steering wheel angle St, accelerator pedal opening Ap, brake pedal opening Bp, shift Gs, vehicle speed Vs, engine speed Es, and parking state Ps.
The vehicle video information V includes: a perceptual video of an environment inside the vehicle and a perceptual video of an environment outside the vehicle.
The vehicle-related information may further include: vehicle warning information or a combination of vehicle warning information and remote driving request information.
Specifically, when the vehicle takes place the early warning, vehicle relevant information still includes: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle is early-warned and failed at the same time, the vehicle-related information further comprises: a combination of vehicle warning information and remote driving request information.
It should be noted that the vehicle-mounted control module 10 has vehicle early warning and fault diagnosis functions, and can monitor the driving state of the vehicle in real time. When the vehicle has an early warning, the vehicle-mounted control module 10 is further configured to collect vehicle early warning information and send the vehicle early warning information to the background server 20 through the network; when the vehicle has a fault, the vehicle-mounted control module 10 is further configured to collect remote driving request information and send the remote driving request information to the background server 20 through the network.
The background server 20 is configured to receive the vehicle-related information sent by the vehicle-mounted control module 10, and forward the vehicle-related information to the remote driving end 30.
In practical applications, the background server 20 may forward the vehicle-related information to the remote driving end 30 when determining that the operating state of the remote driving end 30 is in the idle state.
Specifically, the background server 20 receives the working state information fed back by the remote driving end 30 in real time, judges whether the working state of the remote driving end 30 is in an idle state according to the working state information, and forwards the vehicle-related information to the remote driving end 30 when it is determined that the working state of the remote driving end 30 is in the idle state; on the contrary, when it is determined that the remote driving end 30 is in the normal working state, the background server 20 forwards the vehicle-related information to the remote driving end 30 when waiting for the remote driving end 30 to complete the current work and enter the idle state.
The remote driving end 30 is configured to receive the vehicle-related information, determine a takeover mode corresponding to the vehicle-related information according to a preset takeover decision, and send a vehicle takeover instruction corresponding to the takeover mode to the vehicle-mounted control module 10, so as to implement remote driving takeover of the vehicle.
Wherein, the pipe connection mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover.
Specifically, when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: a strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: weak request takeover;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: zero request take over.
Information of three different takeover modes, namely a strong request takeover mode, a weak request takeover mode and a zero request takeover mode, is shown in fig. 2, and in fig. 2, vehicle state information S, vehicle video information V, vehicle early warning information W and remote driving request information R all belong to vehicle related information.
The following three connection modes are described as follows:
strong request for taking over: when the vehicle-related information received by the remote driving end 30 includes: and when the vehicle state information S, the vehicle video information V, the vehicle early warning information W and the remote driving request information R exist, the remote driving uses the strong request to take over.
The working conditions corresponding to the strong request take-over are as follows: the automatic driving function of the vehicle is failed, and the automatic driving cannot be continued and the vehicle is automatically stopped, for example, the main sensor of the vehicle fails, and the sensing result cannot be provided for the vehicle. In this case, the vehicle-related information transmitted by the in-vehicle control module 10 to the backend server 20 includes: the vehicle state information S, the vehicle video information V, the vehicle early warning information W, and the remote driving request information R are four kinds of information, after the remote driving end 30 receives the vehicle-related information forwarded by the background server 20, the remote driving end 30 may determine whether the vehicle state information S satisfies the formula (1), if so, the remote driving end 30 sends a strong request takeover instruction corresponding to the strong request takeover to the vehicle-mounted control module 10, so as to implement the remote driving takeover of the vehicle. In the use process of remote driving, the strong request takes over the information definitely, can cover the normal operating mode of remote driving.
Wherein St is the steering wheel angle at which the vehicle takes over, StminLeft-hand steering wheel angle threshold for vehicle take-over, StminIs in a value range of 0 to StminNot more than 15, units are, StmaxFor right-hand steering wheel angle threshold, StmaxIs in a value range of 0 to StmaxLess than or equal to 15, the unit is DEG, Ap is the opening degree of the accelerator pedal when the vehicle takes overmaxThe maximum threshold value of the opening degree of the accelerator pedal when the vehicle takes over is expressed in percentage by ApmaxHas a value range of 0 to ApmaxLess than or equal to 1, Gs is the gear when the vehicle takes over, Vs is the speed when the vehicle takes overmaxThe maximum threshold value of the vehicle speed when the vehicle takes over is km/h and VsmaxHas a value range of 0 to VsmaxLess than or equal to 3, and Ps is the parking state when the vehicle takes over the tube.
② weak request take over: when the vehicle-related information received by the remote driving end 30 only includes: and when the vehicle state information S, the vehicle video information V and the vehicle early warning information W do not comprise the remote driving request information R, the remote driving uses the weak request to take over.
The corresponding working conditions of the weak request take-over are as follows: when the vehicle has non-failure faults and needs the degraded driving of the automatic driving function; or, when the early warning function of the vehicle-mounted control module 10 has a potential risk, such as a non-key component failure of the vehicle, in order to ensure the safety of the vehicle running process and the remote driving takeover process, and to integrate the automatic driving state of the vehicle and the current road condition, on the premise that the safety of road traffic participants outside the vehicle is not affected, the remote driving terminal 30 sends a takeover vehicle instruction corresponding to the weak request takeover to the vehicle-mounted control module 10, so as to realize the remote driving takeover of the vehicle.
The vehicle-mounted control module 10 in the vehicle automatically stops the vehicle after receiving the weak request take-over instruction, meanwhile, the remote driving end 30 judges whether the vehicle state information S in the vehicle related information meets the formula (1), and if so, the vehicle is subjected to remote driving take-over.
It should be noted that, when the takeover mode is weak request takeover, the weak request takeover judgment basis is as follows: the vehicle-related information includes vehicle state information S, vehicle video information V, and vehicle warning information W, but does not include the remote driving request information R. The weak request takes over the vehicle early warning information W as the basis for taking over the vehicle, so that the taking over range of remote driving can be expanded on the basis of the conventional use working condition of remote driving, and the remote driving taking over under the vehicle early warning condition and the potential risk condition is increased.
③ zero request take over: when the vehicle-related information received by the remote driving end 30 only includes: vehicle state information S and vehicle video information V, and the vehicle-related information does not include: and when the vehicle early warning information W and/or the remote driving request information R exist, the remote driving uses zero request take-over.
The working condition corresponding to the zero request takeover is as follows: the vehicle has no fault or a fault which is not found by the self-diagnosis function, the early-warning diagnosis function of the vehicle-mounted control module 10 has no potential risk or fault of the vehicle, and the vehicle needs to be remotely driven to take over, for example, when an obstacle exists on a planned road, the automatic driving function cannot be avoided, so that the waiting time of the vehicle is too long.
Zero request take-over requires statistical analysis of historical driving data of the vehicle automatic driving function by the remote driving end 30, obtains position coordinates of the vehicle which frequently takes over and sets the coordinates (x) under a space rectangular coordinate system of a zero request take-over placee，ye，ze) Obtaining the frequent occurrence of the vehicle connecting pipeThe previous parking time length is set as the maximum time threshold t of one-time parking allowed by the vehiclemaxAnd a maximum vehicle speed threshold value V for the allowable operation of the vehiclemaxWherein, the historical driving data mainly comprises: the position coordinates and the corresponding times of the vehicle taken over (including manual taking over and remote driving taking over), the parking time before the vehicle is taken over (including manual taking over and remote driving taking over), the vehicle speed of the vehicle taken over (including manual taking over and remote driving taking over), and the like.
And establishing a zero request takeover judgment basis, setting a zero request takeover place or a zero request takeover working condition, and determining whether to take over the zero request according to the actual state of the vehicle when the vehicle is close to the zero request takeover place or meets the zero request takeover working condition.
The specific judgment basis of taking over the zero request place is as follows: the remote driving end 30 obtains the longitude and latitude of the position where the vehicle is located, converts the longitude and latitude of the position where the vehicle is located into a space rectangular coordinate according to a longitude and latitude to geodetic coordinate system shown in a formula (2), and the formula (2) is as follows:
in the formula, x, y, and z are coordinate points corresponding to the position of the vehicle in the rectangular space coordinate system, B is the latitude of the position of the vehicle, L0 is the longitude of the position of the vehicle, H is the altitude of the position of the vehicle, a is the earth major-axis (a is 6378.137km), and B is the earth minor-axis (B is 6356.7523141 km).
Calculating the distance L between the current position of the vehicle and the zero takeover request point according to a calculation formula of the distance between two points in the space shown in the formula (3), wherein the formula (3) is as follows:
in the formula, xe、ye、zeAnd taking over the coordinates of the site under the space rectangular coordinate system for the set zero request.
When the distance L satisfies the formula (4), the remote driving end 30 initiates a zero request place take-over to the vehicle, and the formula (4) is as follows:
L≤Lmin(4)；
in the formula, LminDistance threshold taken over for zero request site in m, distance threshold LminHas a value range of 0 to Lmin≤150。
The remote driving end 30 judges whether the vehicle state information meets the formula (5), if yes, the zero-request working condition take-over is initiated to the vehicle-mounted control module 10, and the formula (5) is as follows:
wherein t is the duration of one-time parking of the vehicle, tmaxA maximum time threshold value of one time allowed for the vehicle, and the unit is min and tmaxHas a value range of t being not less than 3maxLess than or equal to 30; vs is the current vehicle speed, VmaxThe maximum speed threshold value allowed by the vehicle in the unit of km/h and VmaxHas a value range of 0 to VmaxLess than or equal to 130; l is the distance between the current position of the vehicle and the zero take-over request position, LmaxMaximum threshold value of allowable position distance of vehicle, and unit is km, LmaxHas a value range of 0 to LmaxLess than or equal to 100, in practical application, LmaxThe value of (c) may vary from application scenario to application scenario.
The remote driving end 30 judges whether the vehicle state information in the vehicle related information satisfies the formula (5), and if so, sends a zero request take-over instruction to the vehicle-mounted control module 10;
the vehicle-mounted control module 10 receives a zero request take-over instruction, so that the vehicle is automatically stopped, meanwhile, the remote driving terminal 30 judges whether the vehicle state information S in the vehicle-related information meets the formula (1), and if so, the vehicle is subjected to remote driving take-over. The zero request takeover further expands the takeover range of remote driving, and the vehicle can be taken over in the remote driving mode under the condition of an unexpected external accident and/or when an undetected fault occurs, so that the driving safety of the vehicle is improved.
In summary, the invention discloses a take-over system for remote driving, comprising: the vehicle-mounted control system comprises a vehicle-mounted control module 10, a background server 20 and a remote driving end 30, wherein the vehicle-mounted control module 10 collects vehicle related information and sends the vehicle related information to the background server 20, the background server 20 is used for receiving the vehicle related information and forwarding the vehicle related information to the remote driving end, the remote driving end 30 receives the vehicle related information, a take-over mode corresponding to the vehicle related information is determined according to a preset take-over decision, a take-over vehicle command corresponding to the take-over mode is sent to the vehicle-mounted control module, and remote driving take-over of a vehicle is achieved, wherein the take-over mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover. According to the invention, the vehicle-mounted control module 10 does not directly send a remote driving takeover request, but forwards the vehicle related information to the remote driving end 30 through the background server 20, and the remote driving end 30 determines the takeover mode of the vehicle according to the vehicle related information, so that the remote takeover of the vehicle is realized.
In addition, compared with the traditional scheme, when the vehicle request generation function fails, so that the vehicle cannot generate a remote driving takeover request, and the remote driving cannot work normally, the vehicle-mounted control module sends the vehicle-related information to the remote driving end through the background server, and the vehicle-related information is not influenced by the vehicle request generation function, so that the normal work of the remote driving function can be still ensured when the vehicle request generation function fails.
Corresponding to the embodiment of the take-over system, the invention also discloses a take-over method for remote driving.
Referring to fig. 3, a flowchart of a method for taking over remote driving according to an embodiment of the present invention is applied to a remote driving end in the embodiment shown in fig. 1, and the method includes:
s101, receiving vehicle related information forwarded by a background server;
wherein, vehicle relevant information is gathered and is sent to backend server by on-vehicle control module, and vehicle relevant information includes at least: vehicle status information and vehicle video information.
Specifically, the vehicle state information S includes: steering wheel angle St, accelerator pedal opening Ap, brake pedal opening Bp, shift Gs, vehicle speed Vs, engine speed Es, and parking state Ps.
The vehicle video information V includes: a perceptual video of an environment inside the vehicle and a perceptual video of an environment outside the vehicle.
The vehicle-related information may further include: vehicle warning information or a combination of vehicle warning information and remote driving request information.
Specifically, when the vehicle takes place the early warning, vehicle relevant information still includes: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle is early-warned and failed at the same time, the vehicle-related information further comprises: a combination of vehicle warning information and remote driving request information.
It should be noted that the vehicle-mounted control module has vehicle early warning and fault diagnosis functions, and can monitor the driving state of the vehicle in real time. When the vehicle is early-warned, the vehicle-mounted control module is also used for acquiring vehicle early-warning information and sending the vehicle early-warning information to the background server through the network; when the vehicle breaks down, the vehicle-mounted control module is also used for collecting remote driving request information and sending the remote driving request information to the background server through the network.
In practical application, the background server receives working state information fed back by the remote driving end in real time, judges whether the working state of the remote driving end is in an idle state or not according to the working state information, and forwards vehicle related information to the remote driving end when the working state of the remote driving end is determined to be in the idle state; on the contrary, when the remote driving end is determined to be in the normal working state, the background server forwards the vehicle related information to the remote driving end when waiting for the remote driving end to finish the current work and enter the idle state.
Step S102, determining a takeover mode corresponding to the vehicle related information according to a preset takeover decision;
wherein, the pipe connection mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover.
Specifically, when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: a strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: weak request takeover;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: zero request take over.
Information of three different takeover modes, namely a strong request takeover mode, a weak request takeover mode and a zero request takeover mode, is shown in fig. 2, and in fig. 2, vehicle state information S, vehicle video information V, vehicle early warning information W and remote driving request information R all belong to vehicle related information.
The taking over basis of the three taking over modes can refer to the corresponding parts of the method embodiment, and the description is omitted here.
And S103, sending a vehicle taking-over command corresponding to the taking-over mode to the vehicle-mounted control module to realize the remote driving taking-over of the vehicle.
To sum up, in the method for taking over in remote driving disclosed by the invention, the vehicle-mounted control module acquires vehicle-related information and sends the vehicle-related information to the background server, the background server forwards the vehicle-related information to the remote driving end, the remote driving end receives the vehicle-related information, determines a taking over mode corresponding to the vehicle-related information according to a preset taking over decision, and sends a vehicle taking over command corresponding to the taking over mode to the vehicle-mounted control module, so as to realize the remote driving taking over of the vehicle, wherein the taking over mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover. The vehicle-mounted control module forwards the vehicle related information to the remote driving end through the background server instead of directly sending the remote driving takeover request, and the remote driving end determines the takeover mode of the vehicle according to the vehicle related information so as to realize the remote takeover of the vehicle.
In addition, compared with the traditional scheme, when the vehicle request generation function fails, so that the vehicle cannot generate a remote driving takeover request, and the remote driving cannot work normally, the vehicle-mounted control module sends the vehicle-related information to the remote driving end through the background server, and the vehicle-related information is not influenced by the vehicle request generation function, so that the normal work of the remote driving function can be still ensured when the vehicle request generation function fails.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A remotely piloted takeover system, comprising: the system comprises a vehicle-mounted control module, a background server and a remote driving end;
the vehicle-mounted control module is used for collecting vehicle related information and transmitting the vehicle related information to the remote driving end through the background server;
the remote driving end is used for receiving the vehicle-related information, determining a takeover mode corresponding to the vehicle-related information according to a preset takeover decision, and sending a takeover vehicle instruction corresponding to the takeover mode to the vehicle-mounted control module to realize remote driving takeover of the vehicle, wherein the takeover mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover;
when the takeover mode is weak request takeover, the working conditions corresponding to the weak request takeover are as follows:
when the vehicle has non-failure faults and needs the degraded driving of the automatic driving function; or when the early warning function of the vehicle-mounted control module has a potential risk, the automatic driving state and the current road condition of the vehicle are integrated, on the premise that the safety of road traffic participants except the vehicle is not affected, the remote driving end sends a weak request takeover instruction corresponding to the weak request takeover to the vehicle-mounted control module, the vehicle-mounted control module automatically stops the vehicle after receiving the weak request takeover instruction, meanwhile, the remote driving end judges whether the vehicle state information in the vehicle-related information meets a preset condition, and if so, the vehicle is remotely driven to take over.
2. The takeover system of claim 1 wherein said vehicle-related information includes at least: vehicle status information and vehicle video information;
when the vehicle is early-warned, the vehicle-related information further comprises: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle has both early warning and failure, the vehicle-related information further includes: a combination of the vehicle warning information and the remote driving request information.
3. The takeover system of claim 2 wherein the preset takeover decision is:
when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the weak request takes over;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the zero request takes over.
4. The takeover system of claim 3 wherein the strong request takeover corresponds to a condition that:
when the automatic driving function of the vehicle fails, the automatic driving cannot be continued and the vehicle is automatically parked, the vehicle-mounted control module sends the vehicle-related information to the background server, wherein the vehicle-related information comprises: the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four information;
after receiving the vehicle-related information forwarded by the background server, the remote driving end judges whether the vehicle state information in the vehicle-related information meets a formula (1), if so, the remote driving end sends a strong request takeover instruction corresponding to the strong request takeover to a vehicle-mounted control module, so that the vehicle is remotely driven to take over, wherein the formula (1) is as follows:
wherein St is the steering wheel angle at which the vehicle takes over, StminLeft-hand steering wheel angle threshold for vehicle take-over, StminIs in a value range of 0 to StminNot more than 15, units are, StmaxFor right-hand steering wheel angle threshold, StmaxIs in a value range of 0 to StmaxLess than or equal to 15, the unit is DEG, Ap is the opening degree of the accelerator pedal when the vehicle takes overmaxThe maximum threshold value of the opening degree of the accelerator pedal when the vehicle takes over is expressed in percentage by ApmaxHas a value range of 0 to ApmaxLess than or equal to 1, Gs is the gear when the vehicle takes over, Vs is the speed when the vehicle takes overmaxThe maximum threshold value of the vehicle speed when the vehicle takes over is km/h and VsmaxHas a value range of 0 to VsmaxLess than or equal to 3, and Ps is the parking state when the vehicle takes over the tube.
5. The takeover system of claim 4 wherein the zero-request takeover corresponds to the following operating conditions:
the vehicle has no fault or has a fault which is not found by the self-diagnosis function, and the early-warning diagnosis function of the vehicle-mounted control module does not find any potential risk or fault of the vehicle, but the vehicle needs to be remotely driven to take over;
the remote driving end carries out statistical analysis on historical driving data of the automatic driving function of the vehicle to obtain the position coordinates of the vehicle which is frequently taken over, and the coordinates (x) under a space rectangular coordinate system of a zero request taking over place are sete，ye，ze) Obtaining the parking time before the vehicle is frequently taken over, and setting a maximum time threshold value of one-time parking allowed by the vehicle and a maximum speed threshold value of running allowed by the vehicle;
the remote driving end obtains the longitude and latitude of the position where the vehicle is located, the longitude and latitude of the position where the vehicle is located are converted into a space rectangular coordinate according to a longitude and latitude to geodetic coordinate system shown in a formula (2), and the formula (2) is as follows:
in the formula, x, y and z are coordinate points corresponding to the position of the vehicle in a rectangular space coordinate system, B is the latitude of the position of the vehicle, L0 is the longitude of the position of the vehicle, H is the altitude of the position of the vehicle, a is the earth major semi-axis, a is 6378.137km, and B is the earth minor semi-axis B is 6356.7523141 km;
calculating the distance L between the current position of the vehicle and the zero takeover request point according to a calculation formula of the distance between two points in the space shown in the formula (3), wherein the formula (3) is as follows:
in the formula (x)e，ye，ze) Taking over the coordinates of the set zero request taking over place under a space rectangular coordinate system;
when the distance L meets the formula (4), the remote driving end initiates zero request place take-over to the vehicle, and the formula (4) is as follows:
L≤Lmin (4)；
in the formula, LminDistance threshold taken over for zero request site in m, distance threshold LminHas a value range of 0 to Lmin≤150；
The remote driving end 30 judges whether the vehicle state information meets the formula (5), if yes, the zero-request working condition take-over is initiated to the vehicle-mounted control module, and the formula (5) is as follows:
wherein t is the duration of one-time parking of the vehicle, tmaxA maximum time threshold value of one time allowed for the vehicle, and the unit is min and tmaxHas a value range of t being not less than 3maxLess than or equal to 30; vs is the current vehicle speed, VmaxThe maximum speed threshold value allowed by the vehicle in the unit of km/h and VmaxHas a value range of 0 to VmaxLess than or equal to 130; l is the distance between the current position of the vehicle and the zero take-over request position, LmaxMaximum threshold value of allowable position distance of vehicle, and unit is km, LmaxHas a value range of 0 to Lmax≤100；
The remote driving end judges whether the vehicle state information in the vehicle related information meets the formula (5), if so, a zero request take-over instruction is sent to the vehicle-mounted control module;
and the vehicle-mounted control module receives the zero request take-over instruction, so that the vehicle is automatically stopped, meanwhile, the remote driving end judges whether the vehicle state information in the vehicle related information meets the formula (1), and if so, the vehicle is remotely driven to take over.
6. A takeover method of remote driving, which is applied to a remote driving end in the takeover system of any one of claims 1-5, and comprises the following steps:
receiving vehicle related information forwarded by a background server, wherein the vehicle related information is collected by a vehicle-mounted control module and is sent to the background server;
determining a takeover mode corresponding to the vehicle-related information according to a preset takeover decision, wherein the takeover mode is as follows: one of a strong request takeover, a weak request takeover, and a zero request takeover;
sending a vehicle taking-over command corresponding to the taking-over mode to the vehicle-mounted control module to realize the remote driving taking-over of the vehicle;
when the takeover mode is weak request takeover, the working conditions corresponding to the weak request takeover are as follows:
when the vehicle has non-failure faults and needs the degraded driving of the automatic driving function; or when the early warning function of the vehicle-mounted control module has a potential risk, the automatic driving state and the current road condition of the vehicle are integrated, on the premise that the safety of road traffic participants except the vehicle is not affected, the remote driving end sends a weak request takeover instruction corresponding to the weak request takeover to the vehicle-mounted control module, the vehicle-mounted control module automatically stops the vehicle after receiving the weak request takeover instruction, meanwhile, the remote driving end judges whether the vehicle state information in the vehicle-related information meets a preset condition, and if so, the vehicle is remotely driven to take over.
7. A takeover method according to claim 6 characterised in that said vehicle-related information comprises at least: vehicle status information and vehicle video information;
when the vehicle is early-warned, the vehicle-related information further comprises: vehicle early warning information;
when the vehicle is out of order, the vehicle-related information further includes: remote driving request information;
when the vehicle has both early warning and failure, the vehicle-related information further includes: a combination of the vehicle warning information and the remote driving request information.
8. The takeover method of claim 7 wherein the preset takeover decision is:
when the vehicle-related information includes: when the vehicle state information, the vehicle video information, the vehicle early warning information and the remote driving request information are four kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the strong request takes over;
when the vehicle-related information includes: when the vehicle state information, the vehicle video information and the vehicle early warning information are three kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the weak request takes over;
when the vehicle-related information includes: when the vehicle state information and the vehicle video information are two kinds of information, the taking over mode corresponding to the vehicle related information is as follows: the zero request takes over.
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