CN112987733A - Automatic driving control system, method, readable storage medium and unmanned equipment - Google Patents
Automatic driving control system, method, readable storage medium and unmanned equipment Download PDFInfo
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Abstract
The present disclosure relates to an automatic driving control system, method, readable storage medium, and unmanned aerial vehicle to improve driving safety of the unmanned aerial vehicle. The system comprises: the system comprises a plurality of automatic driving systems, an evaluation module and a control module; each automatic driving system can be in an operating state at the same time, and can send target characteristic information of the unmanned equipment in the current driving state to the evaluation module in the operating state; the evaluation module is used for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information, determining the target automatic driving system according to the matching degree of each automatic driving system and the current driving environment information, and sending the identification of the target automatic driving system to the control module; the control module is used for determining a target control strategy according to the automatic driving system for controlling the unmanned equipment to run and the target automatic driving system, and switching to control the unmanned equipment to run by the target automatic driving system according to the target control strategy.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to an automatic driving control system, method, readable storage medium, and unmanned device.
Background
A Self-driving vehicle (Self-driving car), also called as an unmanned vehicle, a computer-driven vehicle, or a wheeled mobile robot, is an intelligent vehicle that realizes unmanned driving through a computer system. With the popularization of the autonomous vehicle, the autonomous vehicle may be used as a taxi or a public transportation, and when a passenger uses the autonomous vehicle, the passenger needs to input a destination, and the autonomous vehicle generates a driving route based on a current position and the destination and drives according to the generated driving route.
Generally, only one full-function autopilot system is deployed in an autopilot vehicle, and the one autopilot system is used for processing all driving scenes, such as a straight-driving scene, a turning scene, a merging-merging scene, an intersection scene, a diverging scene, a merging scene and the like, so that the autopilot system is a particularly complex system. When the automatic driving vehicle leaves the factory, the particularly complex automatic driving system needs to be debugged, so that the performance of the automatic driving system in all scenes is optimal, the debugging process is complex, the debugging efficiency of the automatic driving system is poor, and the driving safety of the automatic driving vehicle is affected.
Disclosure of Invention
The purpose of the present disclosure is to provide an automatic driving control system, method, readable storage medium and unmanned equipment, so as to improve the driving safety of the unmanned equipment.
In order to achieve the above object, the present disclosure provides an automatic driving control system including: the system comprises a plurality of automatic driving systems, an evaluation module and a control module;
the automatic driving systems are connected with the evaluation module, each automatic driving system can be in an operating state at the same time, each automatic driving system can send target characteristic information of the unmanned equipment in the current driving state to the evaluation module in the operating state, and the target characteristic information comprises current driving environment information of the unmanned equipment;
the evaluation module is connected with the control module and used for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information when the target characteristic information is received, determining a target automatic driving system for controlling the unmanned equipment to drive under the current driving environment information according to the matching degree of each automatic driving system and the current driving environment information, and sending the identification of the target automatic driving system to the control module;
and the control module is used for determining a target control strategy according to the automatic driving system for controlling the unmanned equipment to run and the target automatic driving system, and switching to control the unmanned equipment to run by the target automatic driving system according to the target control strategy.
Optionally, each of the automatic driving systems belongs to at least one special driving scene, and the target feature information further includes the special driving scene to which each of the automatic driving systems belongs;
and the evaluation module is used for determining a current driving scene according to the current driving environment information when target characteristic information is received, and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current driving scene and a special driving scene to which each automatic driving system belongs.
Optionally, the target characteristic information further includes current performance information of each of the automatic driving systems;
and the evaluation module is used for evaluating the matching degree of each automatic driving system and the current running environment information according to the current performance information and the current running environment information of each automatic driving system when the target characteristic information is received.
Optionally, each of the automatic driving systems belongs to at least one special driving scene, and the target feature information further includes the special driving scene to which each of the automatic driving systems belongs;
and the evaluation module is used for determining a current driving scene according to the current driving environment information when the target characteristic information is received, and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current performance information of each automatic driving system, the current driving scene and a special driving scene to which each automatic driving system belongs.
Optionally, the automatic driving control system includes a plurality of communication threads, the plurality of automatic driving systems correspond to the plurality of communication threads one to one, and the evaluation module is connected to the plurality of automatic driving systems through the plurality of communication threads respectively;
and each automatic driving system sends the target characteristic information to the evaluation module through a communication thread corresponding to the automatic driving system.
Optionally, the evaluation module includes an evaluation unit and a plurality of information storage units, where the plurality of information storage units are in one-to-one correspondence with the plurality of communication threads;
each information storage unit is used for acquiring and storing the target characteristic information sent by the automatic driving system connected with the communication thread through the communication thread corresponding to the information storage unit;
and the evaluation unit is connected with the plurality of information storage units and is used for determining the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information sent by each automatic driving system.
Optionally, the control module includes a switching unit and a policy storage unit, where the policy storage unit stores a control policy between every two of the automatic driving systems;
the switching unit is connected with the strategy storage unit and is used for inquiring the target control strategy switched from the automatic driving system which currently controls the unmanned equipment to the target automatic driving system according to the automatic driving system which currently controls the unmanned equipment to run and the target automatic driving system.
Optionally, the automatic driving control system further comprises a communication module in communication with a remote server;
and the communication module is connected with the strategy storage unit and used for updating the control strategy stored in the strategy storage unit according to the control strategy updating instruction sent by the remote server.
Optionally, the target automatic driving system is a remote control driving system, and the automatic driving control system further includes a driving parameter calibration module;
the control module is connected with the driving parameter calibration module and is used for responding to a remote control instruction to generate a first driving parameter adjustment instruction after the unmanned equipment is switched to be controlled by the remote control driving system and sending the first driving parameter adjustment instruction to the driving parameter calibration module;
the driving parameter calibration module is configured to calibrate the parameter adjustment value when the parameter adjustment value represented by the first driving parameter adjustment instruction is greater than a threshold value, generate a second driving parameter adjustment instruction according to the calibrated parameter adjustment value, and send the second driving parameter adjustment instruction to the vehicle control unit of the unmanned aerial vehicle, so that the vehicle control unit controls the unmanned aerial vehicle to drive according to the second driving parameter adjustment instruction.
Optionally, the automatic driving control system further comprises a data recording module;
and the data recording module is connected with the control module and is used for recording switching process data when the control module is switched to control the unmanned equipment to run by the target automatic driving system according to the target control strategy, wherein the switching process data comprises one or more of the target characteristic information, the automatic driving system before the current switching, the target automatic driving system and the target control strategy.
A second aspect of the present disclosure provides an automatic driving control method applied to the automatic driving control system provided in the first aspect of the present disclosure, the method including:
acquiring target characteristic information sent by each automatic driving system in the automatic driving control system in a running state, wherein the target characteristic information comprises current running environment information of the unmanned equipment, and each automatic driving system can be in the running state at the same time;
evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information;
determining a target automatic driving system for controlling the unmanned equipment to run under the current running environment information according to the matching degree of each automatic driving system and the current running environment information;
determining a target control strategy according to the automatic driving system for controlling the unmanned equipment to run and the target automatic driving system;
and switching to the control of the unmanned equipment by the target automatic driving system according to the target control strategy.
A third aspect of the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the second aspect of the present disclosure.
A fourth aspect of the present disclosure provides an unmanned aerial vehicle including the automatic driving control system provided in the first aspect of the present disclosure.
By the technical scheme, the optimal automatic driving system is determined under the current driving environment information of the unmanned equipment, and the optimal automatic driving system is used for controlling the unmanned equipment to drive, so that the driving safety of the unmanned equipment is effectively improved. In addition, the automatic driving control system can support a plurality of automatic driving systems to operate, and is organically combined with the plurality of automatic driving systems, so that the debugging work of the automatic driving control system can be accelerated, and the factory efficiency of the unmanned equipment is effectively improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
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The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic diagram illustrating an autonomous driving control system according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating another autopilot control system according to an exemplary embodiment.
FIG. 3 is a flow chart illustrating a method of automatic driving control according to an exemplary embodiment.
FIG. 4 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
As background, only one fully functional autonomous driving system is deployed in an autonomous vehicle in the related art. This, in addition to resulting in less efficient commissioning of the autopilot system, may also result in some critical algorithm modules (e.g., planning modules) not being able to coexist. Even though the automatic driving system can comprise a plurality of key algorithm modules, the key algorithm modules share the same vehicle resource, so that the key algorithm modules rob the same resource, and only the key algorithm modules robbing the vehicle resource can operate. In addition, even if the vehicle resources are sufficient and some parallel key algorithm modules can be operated at the same time, since the vehicle can be controlled to run only by the calculation result of one parallel key algorithm module at the same time, only one automatic driving system is deployed, so that only one key algorithm module can be operated at the same time to control the vehicle to run.
However, when the autonomous driving vehicle leaves the factory, the autonomous driving vehicle does not leave the factory if the comprehensive scene is represented correctly, but needs to be operated well in all scenes, and different key algorithm modules have respective advantages, so that in order to improve the driving safety of the autonomous driving vehicle, the key algorithm module with the best comprehensive effect is perfected and optimized, so that the key algorithm module with the best comprehensive effect is better, and the autonomous driving system does not support the simultaneous operation of a plurality of autonomous driving systems, and is organically combined to play a role in the driving scenes which are good at each other.
In view of the above, the present disclosure provides an automatic driving control system, method, readable storage medium and unmanned device to improve driving safety of the unmanned device.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a schematic diagram illustrating an autonomous driving control system according to an exemplary embodiment. As shown in fig. 1, the autopilot control system 100 may include a plurality of autopilot systems 101, an evaluation module 102, and a control module 103.
The multiple automatic driving systems 101 are all connected to the evaluation module 102, each automatic driving system can be in an operating state at the same time, and each automatic driving system can send target characteristic information of the unmanned device in the current driving state to the evaluation module 102 in the operating state, where the target characteristic information at least includes current driving environment information of the unmanned device. In addition, the unmanned device mentioned in the present disclosure refers to an unmanned device for the automatic driving control system to control, and the unmanned device may be an unmanned vehicle, an unmanned plane, or the like.
It should be noted that the plurality of automatic driving systems 101 may include a full-function automatic driving system which is already deployed in the unmanned device in the related art, and the construction and implementation of other automatic driving systems may refer to the construction and implementation of the full-function automatic driving system, and the construction and implementation of the automatic driving system is not particularly limited by the present disclosure.
For convenience of description, the following description will be given taking an example in which the automatic driving control system includes four automatic driving systems. As shown in FIG. 1, assume that the plurality of autonomous driving systems 101 includes four autonomous driving systems, each designated as a first autonomous driving systemSystem 1011Second automatic driving system 1012Third automatic driving system 1013And a fourth autopilot system 1014. For example, the first autopilot system 1011May be the fully functional autopilot system described above.
In the present disclosure, each of the automatic driving systems can acquire target characteristic information of the unmanned device in the current driving state in the operating state, and send the target characteristic information to the evaluation module 102, where the target characteristic information may include any information used when the evaluation module 102 evaluates the matching degree between each of the automatic driving systems and the current driving environment information. For example, the target characteristic information includes current driving environment information of the unmanned aerial device, that is, each of the automatic driving systems has the capability of acquiring the current driving environment information of the unmanned aerial device in an operating state, and the current driving environment information may include, but is not limited to: whether obstacles exist, whether the obstacles exist at the intersection, whether the traffic lights are abnormal, whether a construction area exists, whether the ground is abnormal and the like.
The evaluation module 102 is connected to the control module 103, and when receiving the target characteristic information, the evaluation module 102 evaluates the matching degree of each automatic driving system with the current driving environment information according to the target characteristic information, determines a target automatic driving system for controlling the unmanned equipment to drive under the current driving environment information according to the matching degree of each automatic driving system with the current driving environment information, and sends an identifier of the target automatic driving system to the control module.
In the present disclosure, the matching degree of the automatic driving system and the current driving environment information is used for representing whether it is appropriate to use the automatic driving system to control the unmanned device to drive under the current driving environment information, and the higher the matching degree is, the more appropriate to use the automatic driving system to control the unmanned device to drive under the current driving environment information is. For example, after evaluating the matching degree of each of the automatic driving systems with the current driving environment information, the evaluation module 102 may determine the automatic driving system with the highest matching degree as the target automatic driving system for controlling the unmanned device to run under the current driving environment information, so as to control the unmanned device to run by using the most suitable automatic driving system.
It should be noted that a flag may be set for each autopilot system in advance, so that after the evaluation module 102 determines a target autopilot system, the flag of the target autopilot system may be sent to the control module 103, so that the control module 103 may identify the target autopilot system from the plurality of autopilot systems according to the flag.
The control module 103 is configured to determine a target control strategy according to the current autopilot system and the target autopilot system for controlling the unmanned aerial vehicle to travel, and switch to control the unmanned aerial vehicle to travel by the target autopilot system according to the target control strategy.
By adopting the technical scheme, the optimal automatic driving system is determined under the current driving environment information of the unmanned equipment, and the optimal automatic driving system is utilized to control the unmanned equipment to drive, so that the driving safety of the unmanned equipment is effectively improved. In addition, the automatic driving control system can support a plurality of automatic driving systems to operate, and is organically combined with the plurality of automatic driving systems, so that the debugging work of the automatic driving control system can be accelerated, and the factory efficiency of the unmanned equipment is effectively improved.
The following describes an embodiment in which the evaluation module 102 determines the matching degree of each autopilot system with the current driving environment information.
In one embodiment, each automatic driving system belongs to at least one special driving scene, so that the target characteristic information sent by each automatic driving system in the running state can comprise the current driving environment information of the unmanned equipment and the special driving scene to which each automatic driving system belongs. In this embodiment, the evaluation module 102 may determine the current driving scenario according to the current driving environment information when receiving the target feature information, and then evaluate the matching degree of each autopilot system with the current driving environment information according to the current driving scenario and the dedicated driving scenario to which each autopilot system belongs.
Illustratively, can belong to thisThe matching degree of the automatic driving system of the current driving scene and the current driving environment information is determined to be 100%, and the matching degree of the automatic driving system not belonging to the current driving scene and the current driving environment information is determined to be 0. For example, the first autopilot system 1011The special driving scene is a comprehensive scene, and the second automatic driving system 1012The special driving scene is a side parking scene, and the third automatic driving system 1013The special driving scenes comprise a narrow-road passing scene and a car following scene, and the fourth automatic driving system 1014The special driving scenes are turning scenes and turning scenes. If the determined current driving scenario is an edge parking scenario, it may be determined that the second autonomous driving system 1012The degree of matching with the current running environment information is 100%, and the first automatic driving system 1011Third automatic driving system 1013Fourth automatic driving system 1014The matching degree with the current running environment information is 0. Thus, the second automatic driving system 101 can be used2A target automatic driving system for controlling the travel of the unmanned aerial vehicle under the current travel environment information is determined.
In another embodiment, the target characteristic information transmitted by each of the automatic driving systems in the operating state may include current performance information of each of the automatic driving systems in addition to the current driving environment information of the unmanned aerial vehicle. The current performance information may be evaluation scores of modules in the automatic driving system, or may be performance data of the automatic driving system. The evaluation score of the module is used for representing the processing capacity of the module, and the higher the processing capacity of the module is, the higher the evaluation score is. The performance data of the autopilot system may be, for example, the amount, speed, accuracy, etc. of the processed data.
In this embodiment, the evaluation module 102, upon receiving the target characteristic information, evaluates a degree of matching of each of the autonomous driving systems with the current driving environment information based on the current performance information and the current driving environment information of each of the autonomous driving systems.
In yet another embodiment, each of the autonomous driving systems belongs to at least one dedicated driving scenario, and the target feature information includes the dedicated driving scenario to which each of the autonomous driving systems belongs and current performance information of each of the autonomous driving systems. In this embodiment, the evaluation module 102 determines a current driving scenario according to the current driving environment information when receiving the target feature information, and evaluates a matching degree of each autopilot system with the current driving environment information according to the current performance information of each autopilot system, the current driving scenario, and a dedicated driving scenario to which each autopilot system belongs.
The matching degree between each automatic driving system and the current driving environment information may be evaluated by using a matching degree evaluation method in the related art, for example, an evaluation model may be trained in advance by using a deep learning method, and then the matching degree between each automatic driving system and the current driving environment information may be evaluated by using the evaluation model. The present disclosure does not specifically limit this.
FIG. 2 is a schematic diagram illustrating another autopilot control system according to an exemplary embodiment. As shown in fig. 2, the autopilot system 100 may further include a plurality of communication threads 104, the plurality of communication threads 104 correspond to the plurality of autopilot systems 101 one to one, and the evaluation module 102 is connected to the plurality of autopilot systems 101 through the plurality of communication threads 104, respectively. Each autopilot system sends target characteristic information to the assessment module 102 via its corresponding communication thread.
As shown in fig. 2, if the plurality of autopilot systems 101 are the four autopilot systems, the plurality of communication threads 104 are four communication threads, and are respectively denoted as first communication threads 1041A second communication line 1042A third communication line 1043And a fourth communication thread 1044. For example, the first autopilot system 1011By the first communication thread 1041Sending target characteristic information to the evaluation module 102, the second autopilot system 1012Through the second communication thread 1042Sending target characteristic information to the evaluation module 102, the third autopilot system 1013Through the third communication thread 1043The target feature information is sent to the assessment module 102,fourth autonomous driving system 1014Through the fourth communication thread 1044The target feature information is sent to the evaluation module 102.
It should be noted that the current driving environment information of the unmanned aerial vehicle sent by each of the autonomous driving systems is the same, and the evaluation module 102 may use the current driving environment information sent by any of the autonomous driving systems to evaluate when evaluating the matching degree between each of the autonomous driving systems and the current driving environment information. Or, in practical application, the current driving environment information of the unmanned aerial vehicle sent by different automatic driving systems may be different, and at this time, the final current driving environment information may be determined according to the current driving environment information sent by a plurality of automatic driving systems, and the final current driving environment information is used for evaluation. The present disclosure does not specifically limit this.
Furthermore, as shown in fig. 2, the evaluation module 102 may further include an evaluation unit 1021 and a plurality of information storage units 1022, and the plurality of information storage units 1022 are in one-to-one correspondence with the plurality of communication threads 104. Each information storage unit acquires and stores target characteristic information sent by the automatic driving system connected with the communication thread through the communication thread corresponding to the information storage unit, the evaluation unit 1021 is connected with the plurality of information storage units 1022, and the matching degree of each automatic driving system and the current driving environment information is determined according to the target characteristic information sent by each automatic driving system.
In fig. 2, the plurality of information storage units 1022 are respectively denoted as first information storage units 10221A second information storage unit 10222A third information storage unit 10223And a fourth information storage unit 10224. First information storage unit 10221By the first communication thread 1041Acquiring and storing a first autopilot system 1011Transmitted target feature information, second information storage unit 10222Through the second communication thread 1042Acquiring and storing a second autopilot system 1012The transmitted target feature information, the third information storage unit 10223Through the third communication thread 1043Acquiring and storing a third autopilot system 1013The transmitted target feature information, fourth information storage unit 10224Through the fourth communication thread 1044Acquiring and storing the fourth autopilot system 1014And sending the target characteristic information.
Alternatively, as shown in fig. 2, the control module 103 may include a switching unit 1031 and a strategy storage unit 1032, and the strategy storage unit 1032 stores control strategies between two automated driving systems of the plurality of automated driving systems. The switching unit 1031 is connected to the policy storage unit 1032, and the switching unit 1031 may query, from the policy storage unit 1032, a target control policy for switching the automatic driving system currently controlling the driving of the unmanned aerial vehicle to the target automatic driving system according to the automatic driving system currently controlling the driving of the unmanned aerial vehicle and the target automatic driving system.
Following the above example, assume that the current autopilot system controlling the unmanned vehicle to travel is the third autopilot system 101 applied in the following scene3The target automatic driving system is a second automatic driving system 101 applied in a side parking scene2Then the determined target control strategy is by the third autopilot system 1013Switching to a second autopilot system 1012The control strategy of (1). For example, the target control strategy may be parking before being controlled by the second autopilot system 1012And controlling the unmanned equipment to run.
The control strategy between two autopilot systems stored in the strategy storage unit 1032 may be preset by a technician. In order to facilitate the modification of the control strategy stored in the strategy storage unit 1032 during the subsequent use of the unmanned aerial vehicle, in an embodiment, as shown in fig. 2, the automatic driving control system 100 further includes a communication module 105 in communication with the remote server, and the communication module 105 is connected to the strategy storage unit 1032 and configured to update the control strategy stored in the strategy storage unit according to a control strategy update instruction sent by the remote server.
In this embodiment, in addition to the fact that a technician may preset a control policy between two of the multiple autonomous driving systems when the unmanned aerial vehicle leaves a factory, the control policy stored in the policy storage unit 1032 may be updated by the communication module 105 communicating with the remote server during the driving of the unmanned aerial vehicle, so that the control policy may be updated without sending the unmanned aerial vehicle to a manufacturer when the control policy needs to be updated, thereby improving the flexibility of the autonomous driving control system and the switching efficiency of the autonomous driving system.
In practical application, when the unmanned equipment is controlled to run by using the remote control driving system, a remote security guard remotely controls the unmanned equipment, so that no intuitive cognition exists on the running change of the unmanned equipment. For example, the unmanned vehicle may not have intuitive knowledge of the brake pedal adjustment parameter, the accelerator pedal adjustment parameter, the steering wheel angle adjustment parameter, and the like, which may result in a larger brake pedal adjustment parameter, accelerator pedal adjustment parameter, and steering wheel angle adjustment parameter, and thus cause unstable driving of the unmanned vehicle.
Thus, in one embodiment, where the target autopilot system is a remote autopilot system, the autopilot control system 100 may further include a driving parameter calibration module 106, and the driving parameter calibration module 106 may be coupled to the control module 103.
The control module 103 generates a first travel parameter adjustment instruction in response to the remote control instruction after switching the unmanned equipment to be controlled by the remote control driving system, and sends the first travel parameter adjustment instruction to the travel parameter calibration module 106.
When the unmanned device is controlled by the remote control driving system, the remote security officer sends a remote control instruction to the control module 103, and the remote control instruction is used for controlling at least one of a brake pedal, an accelerator pedal and a steering wheel so as to achieve the purpose of controlling the unmanned device to run. For example, the control command may include a parameter adjustment value, such as at least one of a brake pedal parameter adjustment value, an accelerator pedal parameter adjustment value, a steering wheel parameter adjustment value. In this manner, the control module 103 may generate a first driving parameter adjustment instruction upon receiving the remote control instruction and send the first driving parameter adjustment instruction to the driving parameter calibration module 106.
When the parameter adjustment value represented by the first driving parameter adjustment instruction is greater than the threshold value, the driving parameter calibration module 106 calibrates the parameter adjustment value, generates a second driving parameter adjustment instruction according to the calibrated parameter adjustment value, and sends the second driving parameter adjustment instruction to the vehicle controller 200 of the unmanned aerial vehicle, so that the vehicle controller 200 controls the unmanned aerial vehicle to drive according to the second driving parameter adjustment instruction. The calibrated parameter adjustment value is smaller than or equal to the threshold value, so that the defect that unmanned equipment is unstable in running due to large changes of brake pedal parameters, accelerator pedal parameters and steering wheel angle parameters is avoided.
For example, the driving parameter calibration module 106 may be connected to the vehicle control unit 200 of the unmanned device through a serial bus system canbus (controller Area Network bus), so that after the driving parameter calibration module 106 generates a second driving parameter adjustment instruction according to the calibrated parameter adjustment value, the second driving parameter adjustment instruction may be issued to the vehicle control unit 200 of the unmanned device through the serial bus system canbus, and the vehicle control unit 200 executes an operation corresponding to the second driving parameter adjustment instruction to control the unmanned device to drive according to the second driving parameter adjustment instruction.
By adopting the technical scheme, after the unmanned equipment is switched to be controlled by the remote control driving system, the parameter adjustment value input by a remote security officer is calibrated through the driving parameter calibration module, the defect that the driving of the unmanned equipment is unstable due to the large parameter adjustment value is avoided, and the driving safety of the unmanned equipment is further improved.
In addition, in fig. 2, the automatic driving control system 100 may further include a data recording module 107, and the data recording module 107 is connected to the control module 103. The data recording module 107 is used for recording switching process data when the control module 103 is switched to control the unmanned equipment to run by the target automatic driving system according to the target control strategy. And the switching process data comprises one or more of target characteristic information, an automatic driving system before the switching, a target automatic driving system and a target control strategy. Therefore, in a subsequent off-line state, a technician can analyze the recorded switching process data to verify whether the determined target automatic driving system for controlling the unmanned equipment to run under the current running environment information is accurate, and/or whether the determined target control strategy is accurate, and the like, so that the running safety of the unmanned equipment is further improved.
Based on the same inventive concept, the disclosure also provides an automatic driving control method. Fig. 3 is a flowchart illustrating an automatic driving control method applied to the automatic driving control system shown in fig. 1 or 2 according to an exemplary embodiment. As shown in fig. 3, the automatic driving control method may include the following steps.
In step 301, target characteristic information sent by each automatic driving system in the automatic driving control system in an operating state is obtained, the target characteristic information includes current driving environment information of the unmanned equipment, and each automatic driving system can be in the operating state at the same time;
in step 302, the matching degree of each automatic driving system and the current driving environment information is evaluated according to the target characteristic information;
in step 303, determining a target automatic driving system for controlling the unmanned equipment to run under the current running environment information according to the matching degree of each automatic driving system and the current running environment information;
in step 304, determining a target control strategy according to the automatic driving system and the target automatic driving system which currently control the unmanned equipment to run;
in step 305, the unmanned vehicle is controlled by the target autonomous driving system to travel according to the target control strategy.
Optionally, each of the automatic driving systems belongs to at least one special driving scene, and the target feature information further includes the special driving scene to which each of the automatic driving systems belongs; the method for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information comprises the following steps:
when target characteristic information is received, determining a current driving scene according to the current driving environment information;
and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current driving scene and the special driving scene to which each automatic driving system belongs.
Optionally, the target characteristic information further includes current performance information of each of the automatic driving systems; the method for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information comprises the following steps:
and when the target characteristic information is received, evaluating the matching degree of each automatic driving system and the current driving environment information according to the current performance information and the current driving environment information of each automatic driving system.
Optionally, each of the automatic driving systems belongs to at least one special driving scene, and the target feature information further includes the special driving scene to which each of the automatic driving systems belongs;
the method for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information comprises the following steps:
when the target characteristic information is received, determining a current driving scene according to the current driving environment information;
and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current performance information of each automatic driving system, the current driving scene and the special driving scene to which each automatic driving system belongs.
Optionally, the obtaining target feature information sent by each of the automatic driving systems in the automatic driving control system in the running state includes:
and each automatic driving system sends the target characteristic information to the evaluation module through a communication thread corresponding to the automatic driving system.
Optionally, the determining a target control strategy according to the automatic driving system currently controlling the unmanned aerial vehicle to run and the target automatic driving system includes:
and inquiring the target control strategy switched from the automatic driving system which currently controls the unmanned equipment to the target automatic driving system from the preset control strategies between every two automatic driving systems in the plurality of automatic driving systems according to the automatic driving system which currently controls the unmanned equipment to run and the target automatic driving system.
Optionally, the method may further include:
and updating the control strategy between every two automatic driving systems according to a control strategy updating instruction sent by the remote server.
Optionally, the target automatic driving system is a remote control driving system, and the method may further include:
generating a first driving parameter adjustment instruction in response to a remote control instruction after switching the unmanned device to be controlled by the remote control driving system;
when the parameter adjustment value represented by the first driving parameter adjustment instruction is larger than a threshold value, calibrating the parameter adjustment value;
and generating a second driving parameter adjusting instruction according to the calibrated parameter adjusting value, and sending the second driving parameter adjusting instruction to a vehicle control unit of the unmanned equipment so that the vehicle control unit controls the unmanned equipment to drive according to the second driving parameter adjusting instruction.
Optionally, the method may further include:
when the control module is switched to control the unmanned equipment to run by the target automatic driving system according to the target control strategy, recording switching process data, wherein the switching process data comprises one or more of the target characteristic information, the automatic driving system before the current switching, the target automatic driving system and the target control strategy.
With regard to the automatic driving control method in the above-described embodiment, the specific manner of each step has been described in detail in the embodiment related to the automatic driving control system, and will not be elaborated here.
Based on the same inventive concept, the present disclosure also provides an unmanned aerial vehicle including the automatic driving control system provided by the present disclosure.
FIG. 4 is a block diagram illustrating an electronic device in accordance with an example embodiment. As shown in fig. 4, the electronic device 400 may include: a processor 401 and a memory 402. The electronic device 400 may also include one or more of a multimedia component 403, an input/output (I/O) interface 404, and a communications component 405.
The processor 401 is configured to control the overall operation of the electronic device 400, so as to complete all or part of the steps in the automatic driving control method. The memory 402 is used to store various types of data to support operation at the electronic device 400, such as instructions for any application or method operating on the electronic device 400 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 402 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 403 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 402 or transmitted through the communication component 405. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 404 provides an interface between the processor 401 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the electronic device 400 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 405 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the automatic driving control method described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above described autopilot control method is also provided. For example, the computer readable storage medium may be the memory 402 described above including program instructions executable by the processor 401 of the electronic device 400 to perform the autopilot control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described autopilot control method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (13)
1. An automatic driving control system, characterized by comprising: the system comprises a plurality of automatic driving systems, an evaluation module and a control module;
the automatic driving systems are connected with the evaluation module, each automatic driving system can be in an operating state at the same time, each automatic driving system can send target characteristic information of the unmanned equipment in the current driving state to the evaluation module in the operating state, and the target characteristic information comprises current driving environment information of the unmanned equipment;
the evaluation module is connected with the control module and used for evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information when the target characteristic information is received, determining a target automatic driving system for controlling the unmanned equipment to drive under the current driving environment information according to the matching degree of each automatic driving system and the current driving environment information, and sending the identification of the target automatic driving system to the control module;
and the control module is used for determining a target control strategy according to the automatic driving system for controlling the unmanned equipment to run and the target automatic driving system, and switching to control the unmanned equipment to run by the target automatic driving system according to the target control strategy.
2. The automatic driving control system according to claim 1, wherein each of the automatic driving systems belongs to at least one dedicated driving scenario, and the target feature information further includes the dedicated driving scenario to which each of the automatic driving systems belongs;
and the evaluation module is used for determining a current driving scene according to the current driving environment information when target characteristic information is received, and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current driving scene and a special driving scene to which each automatic driving system belongs.
3. The automatic driving control system according to claim 1, wherein the target characteristic information further includes current performance information of each of the automatic driving systems;
and the evaluation module is used for evaluating the matching degree of each automatic driving system and the current running environment information according to the current performance information and the current running environment information of each automatic driving system when the target characteristic information is received.
4. The automatic driving control system according to claim 3, wherein each of the automatic driving systems belongs to at least one dedicated driving scenario, and the target feature information further includes the dedicated driving scenario to which each of the automatic driving systems belongs;
and the evaluation module is used for determining a current driving scene according to the current driving environment information when the target characteristic information is received, and evaluating the matching degree of each automatic driving system and the current driving environment information according to the current performance information of each automatic driving system, the current driving scene and a special driving scene to which each automatic driving system belongs.
5. The autopilot control system of claim 1 wherein the autopilot control system includes a plurality of communication threads, the plurality of autopilot systems are in one-to-one correspondence with the plurality of communication threads, and the evaluation module is connected to the plurality of autopilot systems via the plurality of communication threads, respectively;
and each automatic driving system sends the target characteristic information to the evaluation module through a communication thread corresponding to the automatic driving system.
6. The automatic driving control system according to claim 5, wherein the evaluation module includes an evaluation unit and a plurality of information storage units, the plurality of information storage units corresponding one-to-one to the plurality of communication threads;
each information storage unit is used for acquiring and storing the target characteristic information sent by the automatic driving system connected with the communication thread through the communication thread corresponding to the information storage unit;
and the evaluation unit is connected with the plurality of information storage units and is used for determining the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information sent by each automatic driving system.
7. The autopilot control system of claim 1 wherein the control module includes a switching unit and a strategy storage unit that stores a control strategy between two of the plurality of autopilot systems;
the switching unit is connected with the strategy storage unit and is used for inquiring the target control strategy switched from the automatic driving system which currently controls the unmanned equipment to the target automatic driving system according to the automatic driving system which currently controls the unmanned equipment to run and the target automatic driving system.
8. The autopilot control system of claim 7 further comprising a communication module in communication with a remote server;
and the communication module is connected with the strategy storage unit and used for updating the control strategy stored in the strategy storage unit according to the control strategy updating instruction sent by the remote server.
9. The autopilot control system of claim 1 wherein the target autopilot system is a remote control autopilot system, the autopilot control system further comprising a driving parameter calibration module;
the control module is connected with the driving parameter calibration module and is used for responding to a remote control instruction to generate a first driving parameter adjustment instruction after the unmanned equipment is switched to be controlled by the remote control driving system and sending the first driving parameter adjustment instruction to the driving parameter calibration module;
the driving parameter calibration module is configured to calibrate the parameter adjustment value when the parameter adjustment value represented by the first driving parameter adjustment instruction is greater than a threshold value, generate a second driving parameter adjustment instruction according to the calibrated parameter adjustment value, and send the second driving parameter adjustment instruction to the vehicle control unit of the unmanned aerial vehicle, so that the vehicle control unit controls the unmanned aerial vehicle to drive according to the second driving parameter adjustment instruction.
10. The autopilot control system of claim 1 wherein the autopilot control system further includes a data logging module;
and the data recording module is connected with the control module and is used for recording switching process data when the control module is switched to control the unmanned equipment to run by the target automatic driving system according to the target control strategy, wherein the switching process data comprises one or more of the target characteristic information, the automatic driving system before the current switching, the target automatic driving system and the target control strategy.
11. An automatic driving control method applied to an automatic driving control system according to any one of claims 1 to 10, the method comprising:
acquiring target characteristic information sent by each automatic driving system in the automatic driving control system in a running state, wherein the target characteristic information comprises current running environment information of the unmanned equipment, and each automatic driving system can be in the running state at the same time;
evaluating the matching degree of each automatic driving system and the current driving environment information according to the target characteristic information;
determining a target automatic driving system for controlling the unmanned equipment to run under the current running environment information according to the matching degree of each automatic driving system and the current running environment information;
determining a target control strategy according to the automatic driving system for controlling the unmanned equipment to run and the target automatic driving system;
and switching to the control of the unmanned equipment by the target automatic driving system according to the target control strategy.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 11.
13. An unmanned aerial device comprising an autopilot control system according to any one of claims 1 to 10.
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