CN113192349B - Off-vehicle driving system and method for road vehicle - Google Patents

Abstract

The vehicle with the 3-level automatic driving establishes a connection with a vehicle-leaving driving unit arranged outside the vehicle through a wireless network, and completes the monitoring and the safety guarantee of the automatic driving, so that passengers can completely break away from driving operation in the driving process of the vehicle and enter a resting state, and the automatic driving is practical and commercialized. The off-car driving unit consists of a set of off-car driving operation system and at least two off-car driving operators, wherein the off-car driving operation system consists of communication equipment, a computer and a display screen, a steering wheel, an accelerator, a brake and an earphone. One of the drivers is a comprehensive operator, and the other is a remote driving operator.

Description

Off-vehicle driving system and method for road vehicle

The invention relates to an automatic driving technology of a road vehicle.

Autopilot is a long felt problem, often also referred to as "unmanned".

In 1925, 8, the world's first "autopilot" vehicle tried in new york: it is the rear vehicle that is radio signal remote controlled from the front vehicle, similar to the remote controlled toy vehicles of today.

By 1950-60 s, the universal automobile company in the united states successively introduced several unmanned laboratory vehicles called "firebirds", whose advertisements written the purpose of automatic driving: "electronic navigation system can let the car pass the expressway fast while the driver is resting". Subsequently, the uk road laboratory has drawn attention to the idea of reducing the rate of road traffic accidents using autopilot technology. Automatic driving techniques for road vehicles have been explored in many ways, including safety, speed, etc. Of course, "firebirds" do not actually fire, and highway unmanned systems certainly do not have the technology to be practical in the 20 th century as automatic (auxiliary) piloting systems of aircraft.

After the new century is entered, especially in 2010, with the addition of a lot of network digital technology companies such as google, the automatic driving technology attracts attention of numerous research institutions, traditional train enterprises and entrepreneurs in the world, and starts a new round of hot tide for automatic driving research and development.

On the basis of modern computer software and hardware technology and with the aid of modern communication technology, the current automatic driving technology takes detection sensing and intelligent mode identification and decision as basic technical characteristics, and can be further divided into two different technical routes of single-vehicle intelligent and vehicle-road cooperation.

The enterprise of main stream vehicles such as the Way mo under google flag, cruise of universal vehicles in the united states, dymler, BMW and the like, which early involves automatic driving, selects a single-vehicle intelligent strategy. The intelligent bicycle adopts a detection scheme of fusion of various sensors such as a laser radar, a millimeter wave radar, a camera and the like in the aspect of perception, a scene is restored by modeling through a higher-performance computer in the bicycle, and then the throttle or brake of the bicycle and square sucker operation are determined according to a driving task. Way mo only intervenes on occasion in the operating state of the vehicle in the already performed automatic driving road test of several tens of kilometers. The primary goal of the commercialization of Way mo company is to drive taxis automatically. In 2018, the master of Way mo corporation, clathruchy announced: "get rid of the safe person and get on line quickly. However, the real crunchy discounts the Way mo company commercialization scheme. Although the safety-free automatic driving vehicle has been tested, after a few years people wait until the "unmanned taxi" is not successfully landed, but the clavicol announces the departure.

Many enterprises that later enter the autopilot river have recently favored a "vehicle-road collaboration" strategy: at the vehicle end, sensors such as a radar and a camera are still maintained, and on the road, the radar and the camera are also arranged to collect road condition information in a wider visual field, the two information are fused through a high-speed channel (such as 5G), the scene is restored through computer modeling, and then the throttle or brake of the vehicle and the square sucker operation are determined according to the driving task. The unmanned driving of the vehicle-road cooperation needs to depend on the construction of road facilities, so that no large-scale experiment has been performed.

At present, automatic driving is classified into six grades according to the degree of automation from 0 to 5 at home and abroad. Level 0 is manual driving and level 5 is automatic driving completely separated from manual operation. 1-4, etc. are autopilots requiring manual intervention. Generally, 1-4 and the like have a significant difference in technical difficulty. However, the driving calculation including turning the steering wheel and stepping on the brake accelerator is not a heavy work, but is a work requiring endurance. The automatic driving makes driving easier, but the driving can not go off duty (sleep or put into other work), and the driving has no practical progress in the aspect of reducing the 'endurance' of passengers, so that the driving has no substantial meaning and the popularization and application progress is slow. In practice, many vehicles are equipped with an autopilot system (or a driver assistance system), but are not used for normal commute. If someone is drunk, and cannot use the automatic driving system equipped with the vehicle, a "driving substitute" is usually found.

Designated driving is a business of driving a car of a car owner by a professional driver to a designated place and collecting agreed service fees when the car owner cannot or is inconvenient to drive the car to a destination.

The pilot driving service starts to be raised in the Chinese severe management of drunk driving at the beginning of the century, and is developed from drunk driving to travel pilot driving, business pilot driving and other application aspects. The institutions such as China automobile circulation society have formulated a lot of files such as "representative drive service management Specification," representative drive management service Specification, "and" automobile representative drive service safety management requirement "in the past several years, and are used for standardizing the representative drive service. Generally, the current driving generation is completely manually operated, the service cost is higher, and the charging is higher.

Based on the current automatic driving technology, a set of novel intelligent automatic driving system called 'off-car driving' is developed by utilizing a modern communication network, a computer intelligent technology and a man-machine interaction technology, on one hand, the commercial road of automatic driving can be opened, and on the other hand, the driving cost is greatly reduced from the aspect of the commercial application target of automatic driving is realized by adopting a novel 'driving mode'.

The off-car driving basic system comprises three parts: in addition to the road traffic vehicle V having the 3-level automatic driving function, off-vehicle driving units (which may be called "driving groups") and control stations composed of a plurality of control units and detection devices such as cameras provided on the road surface are provided outside the vehicle; the communication between the vehicle and the driving unit is realized by a mobile communication network. The network may be a 4G network that has been widely used, or a 5G network that is being generalized, or other communication network that is customized. The communication network is able to send the vehicle operating control status to the control unit C of the control station via the channel 1a-1b as required by the control unit and to send the control signal of the control unit C to the vehicle V via the other channel 2a-2 b. The communication network also transmits information collected by the detection devices such as road cameras and the like to the control unit of the control station through the channel 3. In short, the off-vehicle driving unit receives information collected by each detector transmitted by the vehicle through the mobile communication network, receives and analyzes road condition information of the road surface detection device, forms information interaction with the driving automatic vehicle, and monitors or remotely drives the driving automatic vehicle on the road surface.

In addition to the 3-level automatic driving function, the vehicle V should be provided with an optional vehicle travel information (position, speed, driving scene) information output channel and a receiving channel for receiving control information sent from the control station. The public network channels 1a and 2b are connected with the control unit of the off-vehicle drive, so that the position, speed, road condition and vehicle condition information of the vehicle are timely transmitted to the control station according to the requirements of the control station, and the control information of the control unit is received. The vehicle is provided with a loudspeaker and a microphone so that passengers can talk with the driving group at any time. The communication between the passenger and the representative group can be classified into chatting and emergency communication. Chat conversations may answer occupant questions via an artificial intelligence voice system. To better accommodate vehicle ride conditions, the vehicle may carry 3 occupants (herein "occupant" refers to a person who is assisting in vehicle traffic, not driving): in the cabin, a small bed J1 is arranged in the rear row of the driver's seat K1 in line with the co-driver's position, and a seat K2 may be arranged in the rear row of the co-driver's seat. The pillow of the small bed faces to the rear, and the front edge is provided with anti-collision buffer. In order to better utilize the vehicle space, the K1 and K2 seat directions can be finely adjusted, and the direction of the seat is not right forward when the small bed is unfolded. When the vehicle enters a driving-off state, one passenger can lie down to sleep, and the rest two passengers take a sitting posture to rest. In order to facilitate the passenger to lie down for rest on the small bed, the notch O arranged at the right lower part of the driving seat backrest can be thought that the notch does not greatly influence the comfort of the driving seat. When the person does not need to lie down for rest, the cabin should be able to resume the normal two-row four-seat state by appropriate adjustment or modification. If the vehicle body is relatively long, a simple (inflated) large bed of the same width as the vehicle body can be arranged in the cabin, so that the passenger can lie down for rest under the condition of driving off the vehicle.

When the vehicle is in a normal off-drive state (including automatic driving of the vehicle, correction of the driving of the vehicle by the drive-by-drive system and remote driving operation), the drive-by-drive group regularly sends a normal signal to the vehicle system. If the vehicle cannot receive the pilot driving normal signal, the passenger is called through the loudspeaker at the same time of calling the pilot driving system, and the passenger is reminded to exit the pilot driving state.

The basic unit for executing the off-car driving service is an off-car driving unit, and can also be called an off-car driving group for short. Each off-car driving group comprises an off-car driving operation system earphone E, a steering wheel F, an accelerator G and a brake H, wherein the off-car driving operation system earphone E consists of communication equipment, a computer D and a system display screen S. Each off-car drive unit has two off-car drive operators, one of which is a comprehensive operator a and the other of which is a remote drive operator B. The display screen S may be divided into a comprehensive display bar S1, a driving display screen S2, and standby display areas S3 and S4. The integrated display area S1 may be divided into an access area S12, an access area S13 and a main integrated area S11. On the integrated display strip S1, vehicles designated in the area are displayed in order according to the information of road surface monitoring and vehicle feeding. Sa is a pop-up display of the selected vehicle. Vb is the vehicle that is about to enter the designated drive zone, va is the vehicle that leaves the designated drive zone and has not yet been received by the next off-board designated drive unit. The vehicle to be entered into the designated road section, the vehicle traveling normally, and the vehicle that has a certain condition are displayed with different colors on the integrated display strip S1. When the cursor operated by the comprehensive operator is overlapped with a certain vehicle on the comprehensive display bar, the vehicle is displayed in a high-brightness mode, the running state parameters of the vehicle are displayed by using a popup window, the human-computer interface equipment clicks the vehicle, and the driving live-action or the model of the vehicle is displayed on the driving display area S2.

The off-car driving is realized by cooperation of a computer and a driving driver. The primary task of the off-car driving basic unit C is that the road condition information and the vehicle information which are sent by the vehicle are received and analyzed through the channels 1a-1b, meanwhile, the road condition information and the vehicle information which are collected by the road surface fixing facilities are received through the channel 3, and the computer timely and circularly analyzes and processes the running and driving operation data of the vehicle V. When the vehicle is driven normally and automatically, a normal signal is sent to the vehicle through the network at regular time. If it is determined that the operation and the operation of the vehicle C deviate slightly from the normal state, a command for adjusting the driving state should be sent to the vehicle through the channels 2a-2b in time, so that the driving signal of the vehicle is improved. If the vehicle is severely deviated from the normal state, the drive of the vehicle V should be taken over by the off-board drive control station. After the vehicle control system detects or restarts to return to normal, the control station C returns the vehicle driving control right to the vehicle V. If the fault cannot be removed, the vehicle should be safely stopped and the operation of leaving the vehicle for driving is stopped, and the driving operation is returned to the passenger according to the situation, or the driver of the control station goes to the vehicle V for on-site processing or manual driving.

When the obtained state of the driving group is different from the state of the vehicle, the display of the vehicle on the screen should be changed in color to prompt the operator of the driving group to leave the vehicle, for example, the vehicle with normal state can be displayed in green, the vehicle with light problem is yellow, and the vehicle with heavy problem is blue. In summary, the vehicle state is displayed by different colors on the integrated display bar S1.

Vehicles traveling in two directions on the same road section should travel on the same integrated display bar, and the same off-vehicle drive unit should monitor the drive, because serious accidents on one direction of the road often affect the normal traffic on the other direction of the road.

When the operator moves the cursor to coincide with a vehicle, there should be a pop-up window to display the position, speed, and autopilot status of the vehicle. Further clicking can display the vehicle view in the large S1 area in good time.

Further, the comprehensive operator A can pause the automatic driving state of the vehicle and enter the manual remote driving-substituting state of the remote driver B. After the off-vehicle driving system takes over the driving of the vehicle, the data stored by the off-vehicle driving system and the data timely obtained from the road surface and the vehicle are utilized, modeling is taken into consideration after the compensation of the information transmission delay, the modeling is displayed in a driving display area, and the modeling is taken as the operation basis of a remote driving operator B to control the accelerator, the brake and the steering wheel of the vehicle to carry out driving operation. In addition, the remote driving operator should listen to the sounds transmitted from the vehicle from the scene with headphones to achieve the effect of the live action. The above operation process is just like a driving game operation. Of course, the real driving operation is safe, and is not likely to be stimulated like a game operation, and the computer monitor program of the off-board driving system will filter and prohibit dangerous operation of a remote operator.

The off-car drive control station C has three working modes. The first off-board driving mode is to set an off-board driving unit and an off-board driving station according to a road section or an area, and provides off-board driving service for vehicles entering and passing through the road section or the area like a civil aviation air traffic control. And when the vehicle leaves the road section, the driving service is handed over to the driving-off unit of the next station. The second off-car drive mode is "one stop to bottom", and the off-car drive unit provides off-car drive service in the whole course from the departure to the destination. The third mode is a follow-up drive, in which a nearby follow-up drive service is performed on a traveling vehicle.

For the first working mode, since the driving group processes the driving vehicles on a road section with a limited length, all the vehicles can be presented on the integrated display strip S1 in sequence, while for the second working mode, the driving vehicles travel on different routes, and it is difficult to uniformly display on one integrated display strip. The road section with limited length is convenient for the pilot driving group to finish intensive 'lessons' on the road section, and finish high-quality and high-efficiency pilot driving service.

Before the driver enters the driver zone, the driver is first in a preparation state, the color can be gray, the driver is expected to enter the driver section for a short time (for example, 1 minute) to turn yellow, the driver is not received as blue after entering, and the driver enters the driver zone and turns into a common green after receiving. The designated driving area of the out-of-drive zone turns blue, and the vehicle disappears from the comprehensive display strip after the next designated driving station receives the vehicle.

The number of vehicles serviced by each of the groups should set an upper limit. The initial period is less, and the number of vehicles driven by each driving group at the starting time is estimated to be about 10. With the improvement of the system, the operation quantity can be steadily increased. The initial stage should be mainly the dolly, after the business is ripe, can the business gradually advance to truck, even bus direction. If the number of the driving vehicles in the service section exceeds the number of the driving groups capable of being serviced, the service section can be split, and two or more driving groups are started to perform segmentation (small-section) operation, wherein the number of the driving groups is controlled within an allowable range.

The disadvantage of the off-vehicle driving working mode of 'one station to one end' is that one driving group can complete any selected driving route, so that the problems of insufficient road data and difficult modeling exist, and the problem of difficult adaptation can also exist. Of course, when the initial off-car ride complete network has not been formed, the "staging" is not an option and one may have to choose "one station to the bottom".

The steering wheel performing the off-road drive operation of the vehicle should be made with a human-machine interface, i.e. display and control inputs, to make an improved design. The display should be mounted on a rotating mount mounted on and coaxial with the steering wheel which rotates in a reverse direction to maintain the display up and in a substantially fixed position for normal display and touch screen operation. The data input control is to introduce a "touch search, press confirm composite button keyboard" disclosed in 2009102211862 patent, to perform keyboard input operation, and also to complete mouse operation under appropriate conditions. And the pilot mode can be adopted when the driver is driven away from the vehicle.

For off-car driving management, the performance of the vehicle needs necessary technical performance inspection and demonstration, and the vehicle meeting the requirements can apply off-car driving service. Such checks and demonstrations should be made regularly (chronologically or quarterly). Every time the driver applies for the off-car driving service, the vehicle should be identified, the automatic driving state of the vehicle should be briefly detected, the passenger should be identified through face-sweeping or other modes, and the health insurance mode of the passenger should be confirmed, so that the passengers cannot get tangled when the health reasons of the passengers are unexpected. If the detection fails, the vehicle is overhauled and debugged, and the off-vehicle driving service can be obtained after the detection passes. In the aspect of establishing the off-vehicle driving specification, the established driving specification has important reference significance.

The charging may be done after the service is completed. These include trip monitoring base tolls, and remote drives should charge some additional fees. The manner of pricing should inform the user in advance. Compared with the existing 'on-vehicle' driving, the off-vehicle driving cost has obvious advantages: the driving operator has no return demand; human-computer cooperation, one person can operate a plurality of vehicles; the driver can change the driver at any time to execute the off-vehicle driving operation; the operation site of the off-vehicle representative driving can be replaced so as to execute the operation nearby; the off-vehicle driver does not occupy the seats of the off-vehicle driver.

FIG. 1 is a schematic diagram of an off-board drive system.

Fig. 2 is a schematic diagram of a vehicle deployment cot for off-board driving.

FIG. 3 is a schematic diagram of a drive-off unit.

Fig. 4 is a schematic diagram of a drive-off unit display screen.

FIG. 5 is a schematic illustration of a steering wheel-hold position display screen and key bar combination.

To elaborate, autopilot, often referred to as "unmanned," is misleading in its existence. Unmanned, this is actually a wrong extension and extrapolation, as opposed to "driving where none of the people is involved". "autopilot" should be understood more precisely as "driving in which the occupant is not involved". For drunk situations, if "unmanned" is used to understand that all people are not involved in driving, then the drunk people cannot move and can only stay in place in the hotel. After drunk, the driver is not required to drive the vehicle, and other artificial drivers are not required to drive the vehicle. If it is understood that "driving in which the occupant is not involved", it is obvious that the driving operation can be completed by the driver of the generation. In fact, the occupant is not involved in driving, as the occupant may need to rest, or may not drive, which is an objective reason. Autopilot is understood as one of the possible contributors to "unmanned" is "autopilot completely eliminates accidents", thus creating a paradoxically close embarrassment: if an accident occurs in an unmanned vehicle, whether the occupant sleeping on the vehicle is responsible for the accident or the vehicle manufacturer is responsible for the accident? Thus, people have an unrealizable goal, and the practical and commercialized automatic driving cannot be landed for a long time.

In contrast to current autopilot concepts, "off-drive" makes the vehicle operational responsibility clear (off-drive units are responsible for safety and insurance when the vehicle is traveling). The driver operator in the generation can play the role of the safety personnel on the vehicle. In addition, the off-car driving management company should be used as a construction owner of road monitoring and data transmission in a 'car-road cooperation' way. The monitoring equipment of the road surface is invested and managed by the off-vehicle driving unit and the affiliated company, so that the automatic driving vehicle road collaborative construction is more convenient to push in a marketing mode.

On the basis of modern information technology, automatic driving except passengers can be realized by only needing not much resources.

Similar to the goals pursued by the american general company "fire bird" in 1960, the primary market goal of off-board driving should be to "face to" travel by means of a mileage on the highway of 500-1000 km (rather than the "unmanned taxis" that people are now enthusiast). This makes it possible for a cross-province exploratory trip on Saturday, two days of the week: friday night gets on sleep, wakes up once in the morning, reaches a destination, can be used for plumping and putting into social or public service activities, returns on sunday and evening, returns to the original place once wakes up, and can be directly used for unit work. If necessary, the off-car driving company also provides matched services, such as washing, breakfast and the like when the journey is finished.

Business is more demanding "drive-through" from the car's drive. If traveling in the daytime, the hotel at night needs to be paid for, and the bus is also paid in the daytime. Therefore, the "sunset to" highway off "off-drive" that allows the occupant to get a good sleep should have a very good commercial value.

For the expressway off-car driving, a driving control station is used for driving the expressway off-car, and a driving group is arranged in an expressway service area. If necessary, the person operating the off-board driver can collide with the passenger in the service area.

If autopilot can successfully cut in off-board drive to highway traffic (the first to come), it can gradually progress to urban commuter traffic. Unlike highways, urban roads are not closed, and thus off-vehicle driving operations are more complex. However, if the off-highway driving is successful, the promotion to the urban area is only a time problem.

The off-car driving will make the automatic driving of the road vehicle practical and commercialized, thereby changing the travel mode of people.

Claims (7)

1. An automatic driving system called off-car driving realized by means of a mobile communication network, characterized in that: outside the vehicle, setting a drive-off unit and a drive-off station consisting of a plurality of drive-off units according to the road section or the area where the vehicle passes; the off-car driving unit consists of a set of off-car driving operation system and at least two off-car driving operators; the off-car driving operation system is composed of communication equipment, a computer and display screen, a steering wheel, an accelerator, a brake and an earphone; the display screen comprises a comprehensive display bar, a driving display area and a plurality of standby display areas; one of the two off-vehicle driver operators is a comprehensive operator, and the other is a remote driver; the off-car driving unit provides supervision and service for the automatic driving vehicles in the specific road section and takes responsibility for safe driving; the computer system in the off-vehicle driving unit receives vehicle running state information sent by a vehicle driven by the off-vehicle driving unit, and meanwhile receives road conditions and vehicle information collected by a road surface camera and a radar; the computer system performs timely and cyclic analysis processing on all vehicles in the road section according to the information acquired from the vehicles and the information acquired from the road surface, and sequentially displays the processing results on the comprehensive display strip; the vehicle which is to enter the driving road section, the vehicle which normally runs and the vehicle which has a certain condition are displayed on the comprehensive display bar by different colors; if no abnormality is found, a normal signal is sent to the vehicle at regular time through the mobile network; if the running or the operation of the vehicle is determined to be slightly abnormal, sending an automatic driving adjusting instruction to the vehicle; when the cursor operated by the comprehensive operator is overlapped with a certain vehicle on the comprehensive display bar, the vehicle is displayed in a high-brightness mode, and the running state parameters of the vehicle are displayed by using a popup window; if the vehicle is severely deviated from the normal state, the comprehensive operator clicks the vehicle through the human-computer interface equipment to pause the automatic driving state of the vehicle, the driving live-action of the vehicle is displayed in a driving display area, and the remote driver takes over the driving of the vehicle; the driving live-action is a vehicle driving live-action image which is synthesized by taking data transmission delay and compensation into account and integrating vehicle and pavement data modeling; a remote driving operator wears a headset to listen to the on-site sound of the designated driving vehicle, and operates a steering wheel accelerator and a steering wheel brake in the off-vehicle designated driving unit according to the live-action image to remotely drive the vehicle; after the automatic driving system of the vehicle is recovered to be normal through adjustment or restarting operation, the off-vehicle driving unit returns driving control right to the automatic driving system of the vehicle; when the fault cannot be removed, the vehicle is controlled to exit the remote driving operation and safely stop, and the driving operation is returned to the passenger according to the situation, or the driver is dispatched to the site for processing by the off-vehicle driving unit to perform the manual driving; after the vehicle leaves the road section, the driving service is handed over to a driving unit of the next station; if the number of the driving vehicles in the service section exceeds the number of the services allowed by one driving group, splitting the service section, and starting two or more driving units to perform the operation of separating from the driving.

2. The automatic driving system of off-car driving according to claim 1, wherein before the vehicle obtains the qualification of the off-car driving service, the performance of the vehicle needs to be demonstrated and tested, the off-car driving service can be applied for by the vehicle according to the requirement, and the charging standard of the off-car driving service is determined; the manner of pricing should inform the user in advance.

3. The automated driving system of off-car driving according to claim 1, wherein each time an off-car driving service is applied, a brief detection of a vehicle state is required, and the off-car driving service is obtained through the detection; before the off-car driving is started, the identity of the passenger is also required to be identified, and the health insurance mode of the passenger is confirmed so as to determine the charge amount of the off-car driving; the charge may be paid after the off-board drive service is completed.

4. The off-car ride automatic driving system according to claim 1, wherein the road surface monitoring equipment required by the off-car ride is designed, invested and managed by the off-car ride unit and the affiliated company.

5. The off-car ride automatic driving system according to claim 1, wherein the automatically driven vehicle has an interface for transmitting vehicle condition data to the off-car ride unit, and an interface for receiving the data transmitted from the off-car ride unit; the lower part of the backrest of the driving seat of the vehicle is provided with a notch which is convenient for passengers to lie down and rest on the small bed; if the car body is longer, a simple large bed with the same width as the car body is arranged in the car cabin; the vehicle is provided with a microphone and a loudspeaker; if the vehicle cannot receive the signals of the off-car drive unit at fixed time, the passenger should be called through the loudspeaker to remind the passenger that the vehicle is in an abnormal off-car drive state, and the passenger can communicate with the off-car drive unit.

6. The system of claim 1, wherein the off-board unit and the off-board station are located in a service area if the road section is a highway.

7. The automatic driving system for off-vehicle driving as defined in claim 1, wherein a plurality of vehicles in the same row can execute off-vehicle driving operation by one of the vehicles, a vehicle steering wheel for executing off-vehicle driving is provided with a rotating seat coaxial with the steering wheel, and a display screen is mounted on the rotating seat; when the steering wheel rotates, the rotating seat rotates in the opposite direction, and the display screen is maintained to be upwards.