CN114115207A - Remote driving control method, equipment and system - Google Patents
Remote driving control method, equipment and system Download PDFInfo
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Abstract
The application relates to a remote driving control method, equipment and system. The remote driving control method comprises the following steps: acquiring a control instruction about a vehicle; determining different working modes of the cloud remote operation according to different control instructions; and entering a working state corresponding to the working mode to execute control according to the determined working mode. According to the method, different control instructions correspond to different working modes, and the different working modes correspond to different driving application scenes, so that the method can be suitable for various different driving application scenes, and further the universality of the remote driving control scheme in the man-machine common driving mode is improved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a remote driving control method, equipment and system.
Background
At present, with the continuous development of automobile intellectualization, a new generation of cloud-based man-machine co-driving technology appears.
In 5G (5th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology), a vehicle (vehicle end for short) is connected with a remote control end (cloud end for short) through a 5G network, and the vehicle end is remotely controlled by a remote driver at the cloud end to realize remote driving. The cloud end acquires vehicle running environment information, vehicle running state information and the like of the vehicle in real time, a remote driver remotely performs operation control on the vehicle according to the acquired information, and the cloud end acquires a control instruction of the remote driver in real time and sends the control instruction to the controller of the vehicle end to realize remote driving.
In the related art, remote driving may involve various driving application scenarios, and currently, the remote driving control scheme in the man-machine driving mode lacks generality.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a remote driving control method, device and system, which can be applied to various different driving application scenes and improve the universality of a remote driving control scheme in a man-machine common driving mode.
The application provides a remote driving control method in a first aspect, which comprises the following steps:
acquiring a control instruction about a vehicle;
determining different working modes of the cloud remote operation according to different control instructions;
and entering a working state corresponding to the working mode to execute control according to the determined working mode.
In one embodiment, before the obtaining of the control instruction about the vehicle, the method further includes:
confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle;
the acquiring of the control instruction about the vehicle includes: after the vehicle environment is confirmed, a control instruction about the vehicle is acquired.
In an embodiment, the determining, according to the difference of the control instruction, different working modes of the cloud remote operation includes:
determining that the working mode of cloud remote operation is a cloud control mode according to the control command as a command for requesting to control the vehicle; or the like, or, alternatively,
and determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger-replacing parking instruction or an automatic parking instruction.
In an embodiment, after the entering of the working state corresponding to the working mode to execute control according to the determined working mode, the method further includes:
and when a preset switching condition is met, switching the different working modes.
In one embodiment, the switching the different operation modes when a preset switching condition is met includes:
under a cloud control mode, if a passenger parking instruction or an automatic parking instruction is obtained, switching to enter a cloud monitoring mode; or the like, or, alternatively,
in the cloud monitoring mode, if the vehicle is monitored to be blocked or to have a fault, switching to enter the cloud control mode.
In one embodiment, the confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle comprises:
receiving vehicle condition information and environment information around the vehicle, which are uploaded after the vehicle executes a self-checking program;
and confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle.
The second aspect of the present application provides a cloud device, including:
the command acquisition module is used for acquiring a control command related to the vehicle;
the mode determining module is used for determining different working modes of the cloud remote operation according to different control instructions acquired by the instruction acquiring module;
and the mode execution module is used for entering the working state corresponding to the working mode to execute control according to the working mode determined by the mode determination module.
In one embodiment, the apparatus further comprises: the environment confirmation module is used for confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle;
the instruction acquisition module acquires a control instruction about the vehicle after the environment confirmation module confirms the environment of the vehicle.
In one embodiment, the mode determination module comprises:
the cloud control mode module is used for determining that the working mode of cloud remote operation is a cloud control mode according to the control command as a command for requesting to control the vehicle; or the like, or, alternatively,
and the cloud monitoring mode module is used for determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger parking instruction or an automatic parking instruction.
A third aspect of the present application provides a remote driving control system, including:
the cloud end is used for acquiring a control instruction about the vehicle; determining different working modes of the cloud remote operation according to different control instructions; entering a working state corresponding to the working mode to execute control according to the determined working mode;
and the vehicle end is used for executing driving under the control of the cloud end.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the scheme, the control instruction about the vehicle is acquired, different working modes of cloud remote operation are determined according to the difference of the control instruction, and then the working state corresponding to the working modes is entered to execute control according to the determined working modes. That is to say, according to the method, different control instructions correspond to different working modes, and the different working modes correspond to different driving application scenes, so that the method can be suitable for various different driving application scenes, and further the universality of the remote driving control scheme in the man-machine common driving mode is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic flow chart diagram illustrating a remote driving control method according to an embodiment of the present disclosure;
FIG. 2 is another flow chart of a remote driving control method according to an embodiment of the present disclosure;
FIG. 3 is another flow chart of a remote driving control method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a cloud device according to an embodiment of the present application;
fig. 5 is another schematic structural diagram of a cloud device according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating a remote driving control system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, remote driving may involve various driving application scenarios, and currently, the remote driving control scheme in the man-machine driving mode lacks generality. In order to solve the above problems, embodiments of the present application provide a remote driving control method, which is applicable to various different driving application scenarios, and improves the universality of a remote driving control scheme in a man-machine common driving mode.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a remote driving control method according to an embodiment of the present disclosure. The method can be applied to the cloud.
Referring to fig. 1, the method includes:
s101, a control instruction about the vehicle is acquired.
In this step, the sender of the control instruction of the vehicle may be a cloud driver, and the control instruction about the vehicle is acquired by the cloud. The control command may be a command for requesting control of the vehicle, or may be a passenger parking command or an automatic parking command.
And S102, determining different working modes of the cloud remote operation according to different control instructions.
In this step, the working mode of the cloud remote operation corresponds to the control instruction, and the working mode to be entered is determined according to the control instruction. For example, the working mode of the cloud remote operation can be determined to be a cloud control mode according to a command that the control command is a command for requesting control of the vehicle; or determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger-replacing parking instruction or an automatic parking instruction.
And S103, entering a working state corresponding to the working mode to execute control according to the determined working mode.
In the step, the cloud enters a corresponding working state according to the determined working mode, and executes control to perform corresponding operation on the vehicle, so that the vehicle adapts to different driving application scenes.
For example, the cloud enters a corresponding working state of remotely controlling vehicle driving by the cloud according to the fact that the determined working mode is the cloud control mode; or the cloud terminal enters the corresponding working state of the cloud terminal remote monitoring vehicle driving according to the determined working mode as the cloud terminal monitoring mode.
According to the embodiment, different control instructions correspond to different working modes, and the different working modes correspond to different driving application scenes, so that the method can be suitable for various different driving application scenes, and the universality of the remote driving control scheme in the man-machine common driving mode is improved.
Fig. 2 is another flowchart of a remote driving control method according to an embodiment of the present disclosure. Fig. 2 presents the solution of the embodiment of the invention in more detail than fig. 1.
In the application, the vehicle condition information of the remote vehicle and the environmental information around the vehicle can be transmitted to the cloud in real time through the 5G network, and a cloud driver can realize the remote monitoring, decision control, scheduling and other processing of the vehicle. In the state of remote control, 3 states can be included, namely environment confirmation, cloud control and cloud monitoring. The scheme of this application provides definition and statement to the man-machine of vehicle end and high in the clouds mode of driving altogether under remote control, has also made clear the task and the control subject of each mode of remote control.
Referring to fig. 2, the method includes:
s201, the vehicle environment is confirmed according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle.
After the cloud end is in communication connection with the vehicle, the vehicle uploads vehicle condition information and environment information around the vehicle to the cloud end, and the environment information around the vehicle can be in a picture or video format. At the moment, the cloud enters an environment confirmation link, namely the cloud confirms the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle.
In order to enable the cloud end to synchronize the vehicle condition information and the environment information of the vehicle in real time, the cloud end and the vehicle end can be in communication connection through a 5G network and the like. The vehicle can initiate the connection request, and the high in the clouds receives the connection request, and the high in the clouds driver can confirm the environmental information and the vehicle condition information etc. around the vehicle after the 5G video connection of high in the clouds and vehicle end is accomplished.
In this step, the vehicle condition information of the vehicle may include one or a combination of the following data: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state. Various data of the vehicle can be obtained through the vehicle condition information of the vehicle so as to judge the current state of the vehicle; the environmental information around the vehicle may include video information, radar information, or imaging information of the environment around the vehicle, and it is possible to know whether the vehicle is blocked by an obstacle, whether the vehicle is trapped, or the like, from the environmental information.
And S202, after the vehicle environment is confirmed to pass, acquiring a control command related to the vehicle.
In this step, the passing of the confirmation of the vehicle environment may refer to the confirmation of the safety of the vehicle environment. The vehicle environment confirmation link can be executed by a cloud driver or a computer program in the cloud.
After the vehicle environment is confirmed, the cloud end acquires a control instruction about the vehicle. The control instruction about the vehicle acquired by the cloud may be a request control vehicle instruction, and may also be a valet parking instruction or an automatic parking instruction.
S203, determining that the working mode of the cloud remote operation is the cloud control mode according to the control command as a command for requesting to control the vehicle, and entering S204.
In the step, the cloud determines that the working mode of the cloud remote operation is the cloud control mode according to the acquired control command as a command for requesting to control the vehicle. The cloud control mode may also be referred to as a remote control mode.
And S204, entering a working state corresponding to the cloud control mode to execute control according to the determined cloud control mode.
Under the control mode of the cloud, the steering state of the steering wheel of the vehicle is consistent with that of the steering wheel of the cloud (the steering wheel of the cloud is the main part), the vehicle is controlled by a driver at the cloud, and the driver at the cloud sends vehicle body control instructions for controlling the steering wheel, the accelerator, the brake and the like of the vehicle to the vehicle so as to realize remote driving of the vehicle. In the cloud control mode, the vehicle is controlled by the cloud leader, the control right of the vehicle belongs to the cloud, a driver in the cloud drives the vehicle to a destination, the safety protection in the period is conducted by the cloud leader, and the vehicle end is assisted.
And S205, determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a valet parking instruction or an automatic parking instruction, and entering S206.
In the step, the cloud determines that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger parking instruction or an automatic parking instruction. For example, if the cloud driver triggers the valet parking assist system or the auto parking button, the vehicle enters an auto driving state, which is a cloud monitoring mode. The cloud monitoring mode may also be referred to as a remote monitoring mode.
Note that there is no sequential relationship between S205 and S203.
And S206, according to the determined cloud monitoring mode, entering a working state corresponding to the cloud monitoring mode to execute control.
Under the high in the clouds supervision mode, the steering state of high in the clouds steering wheel keeps unanimous with car end steering wheel (car end steering wheel is main), and the car end reports signals such as steering wheel corner, throttle, brake to the high in the clouds, and the high in the clouds keeps unanimous with the indicator, the double flashing light of car end, and the high in the clouds driver keeps watch on the peripheral condition of vehicle closely, can switch to high in the clouds control takeover when necessary. Therefore, the cloud driver can monitor the state of the vehicle in real time through the vehicle condition information of the vehicle and the environment information around the vehicle synchronized by the vehicle. Under the cloud monitoring mode, the cloud remote monitoring is carried out, the control right of the vehicle belongs to the vehicle end, the vehicle end enters the automatic driving mode, the vehicle automatically drives to the terminal, the safety protection during the driving is conducted by the vehicle end, and the cloud is used as the assistance. Of course, the cloud monitoring mode may also adapt the vehicle to other driving application scenarios, which are only exemplified by a parking scenario.
It can be seen from this embodiment that, the difference of the control instruction of the vehicle can make the cloud enter different working modes, the corresponding application scenarios are also different, and the control executed by the cloud is also correspondingly changed. According to the scheme, the control of the vehicle can correspond to different driving application scenes of the vehicle, and the universality of the remote driving control scheme in the man-machine driving mode is further improved.
Fig. 3 is another flowchart of a remote driving control method according to an embodiment of the present disclosure. Compared with fig. 2, fig. 3 describes the technical solution of the embodiment of the present invention in more detail, including the addition of the vehicle self-checking link and the mode switching process.
Referring to fig. 3, the method includes:
s301, the vehicle executes self-checking, and uploads vehicle condition information and environment information around the vehicle to the cloud.
When the cloud requests to control the vehicle, the vehicle generally performs self-inspection first to check whether the vehicle is normal. Meanwhile, the vehicle uploads the vehicle condition information and the environmental information around the vehicle to the cloud, and the environmental information around the vehicle can be in a picture or video format.
And S302, the cloud confirms the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle.
In the step, the cloud enters an environment confirmation link, namely the cloud confirms the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle. Step S302 may refer to the description in S201, and is not described herein again.
And S303, acquiring a control command about the vehicle after the vehicle environment is confirmed to pass.
In this step, the cloud acquires a control instruction about the vehicle after the vehicle environment is confirmed. The control instruction about the vehicle acquired by the cloud may be a request control vehicle instruction, and may also be a valet parking instruction or an automatic parking instruction.
S304, determining that the working mode of the cloud remote operation is the cloud control mode according to the control command which is a command for requesting to control the vehicle, and entering S305.
In the step, the cloud determines that the working mode of the cloud remote operation is the cloud control mode according to the acquired control command as a command for requesting to control the vehicle.
S305, according to the determined cloud control mode, entering a working state corresponding to the cloud control mode to execute control.
Under the control mode of the cloud, the steering state of the steering wheel of the vehicle is consistent with that of the steering wheel of the cloud (the steering wheel of the cloud is the main part), the vehicle is controlled by a driver at the cloud, and the driver at the cloud sends vehicle body control instructions for controlling the steering wheel, the accelerator, the brake and the like of the vehicle to the vehicle so as to realize remote driving of the vehicle. In the cloud control mode, the vehicle is controlled by the cloud leader, the control right of the vehicle belongs to the cloud, a driver in the cloud drives the vehicle to a destination, the safety protection in the period is conducted by the cloud leader, and the vehicle end is assisted.
S306, determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a valet parking instruction or an automatic parking instruction, and entering S307.
In the step, the cloud determines that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger parking instruction or an automatic parking instruction. For example, if the cloud driver triggers the valet parking assist system or the auto parking button, the vehicle enters an auto driving state, which is a cloud monitoring mode.
It should be noted that there is no sequential relationship between S304 and S306.
And S307, according to the determined cloud monitoring mode, entering a working state corresponding to the cloud monitoring mode to execute control.
Under the high in the clouds supervision mode, the steering state of high in the clouds steering wheel keeps unanimous with car end steering wheel (car end steering wheel is main), and the car end reports signals such as steering wheel corner, throttle, brake to the high in the clouds, and the high in the clouds keeps unanimous with the indicator, the double flashing light of car end, and the high in the clouds driver keeps watch on the peripheral condition of vehicle closely, can switch to high in the clouds control takeover when necessary. Therefore, the cloud driver can monitor the state of the vehicle in real time through the vehicle condition information of the vehicle and the environment information around the vehicle synchronized by the vehicle. Under the cloud monitoring mode, the cloud remote monitoring is carried out, the control right of the vehicle belongs to the vehicle end, the vehicle end enters the automatic driving mode, the vehicle automatically runs to the terminal, the safety protection in the period is conducted by the vehicle end, and the cloud is used as the assistance.
And S308, switching the cloud control mode and the cloud monitoring mode when a preset switching condition is met.
In this step, when a preset switching condition is met, the cloud control mode is switched to the cloud monitoring mode, or the cloud monitoring mode is switched to the cloud control mode, so that the vehicle can meet the change of different driving application scenes.
For example, in the cloud control mode, if a valet parking instruction or an automatic parking instruction is newly acquired, the cloud monitoring mode is switched to enter. Under the cloud control mode, the vehicle is under the leading control of the cloud, and the vehicle end is under the auxiliary control. When the cloud newly acquires a passenger parking instruction or an automatic parking instruction, and a vehicle is about to enter a driving application scene such as automatic parking, the cloud is switched from a cloud control mode to a cloud monitoring mode. In the cloud monitoring mode, the vehicle is controlled by the vehicle end master control and the cloud is controlled in an auxiliary mode, and the vehicle completes automatic parking and other operations. After the cloud driver monitors the vehicle to complete parking and other operations, the cloud driver can manually exit the cloud monitoring mode so as to power off the vehicle.
For example, in the cloud monitoring mode, if it is monitored that the vehicle is blocked or has a fault, the cloud control mode is switched to. Under the cloud monitoring mode, the vehicle is controlled by the vehicle end leading control and the cloud is controlled in an auxiliary mode. When the cloud monitors that the vehicle is blocked or fails, the cloud is switched from the cloud monitoring mode to the cloud control mode. Under the cloud control mode, the vehicle is controlled by the cloud master, and the vehicle is remotely driven by a cloud driver to be free from being trapped, so that the vehicle can adapt to the change of driving application scenes such as switching from other driving application scenes to the situation that the vehicle is trapped or breaks down.
It can be seen from this embodiment that, after the cloud end enters the cloud end control mode and the cloud end monitoring mode, the cloud end control mode and the cloud end monitoring mode can be switched according to condition changes when preset switching conditions are met, so that the application is more flexible, the remote driving of the vehicle can cover more driving application scenes, and the universality of the remote driving control scheme in the man-machine co-driving mode is greatly improved.
The remote driving control method is introduced in detail, and correspondingly, the cloud device, the remote driving control system and related embodiments are further provided.
Fig. 4 is a schematic structural diagram of a cloud device according to an embodiment of the present application.
Referring to fig. 4, the cloud device 40 includes: an instruction acquisition module 41, a mode determination module 42, and a mode execution module 43.
And the instruction acquisition module 41 is used for acquiring a control instruction about the vehicle. The control instruction may include a request control vehicle instruction, a valet parking instruction, an automatic parking instruction, or other instructions.
And a mode determining module 42, configured to determine different working modes of the cloud remote operation according to different control instructions obtained by the instruction obtaining module 41. The working mode of the cloud remote operation corresponds to the control instruction, and the working mode to be entered is determined according to the control instruction.
And a mode executing module 43, configured to enter an operating state corresponding to the operating mode according to the operating mode determined by the mode determining module 42 to execute control. The cloud enters a corresponding working state according to the working mode determined by the mode execution module 43, and executes control to perform corresponding operation on the vehicle, so that the vehicle adapts to different driving application scenes.
It can be seen from this embodiment that, according to the scheme of this application, through obtaining the control command about the vehicle, then according to the difference of control command, confirm the different mode of high in the clouds remote operation, and then according to the mode of confirming, enter the operating condition execution control that mode corresponds. That is to say, according to the method, different control instructions correspond to different working modes, and the different working modes correspond to different driving application scenes, so that the method can be suitable for various different driving application scenes, and further the universality of the remote driving control scheme in the man-machine common driving mode is improved.
Fig. 5 is another schematic structural diagram of a cloud device according to an embodiment of the present application.
Referring to fig. 5, the cloud device 40 includes: the system comprises an instruction acquisition module 41, a mode determination module 42, a mode execution module 43, an environment confirmation module 44 and a mode switching module 45.
The functions of the instruction obtaining module 41, the mode determining module 42, and the mode executing module 43 may refer to the description in fig. 4, and are not described herein again.
And the environment confirmation module 44 is used for confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle. The instruction acquisition module 41 acquires a control instruction regarding the vehicle after the environment confirmation module 44 has passed the confirmation of the vehicle environment. The vehicle condition information of the vehicle may include one or a combination of the following data: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state. Various data of the vehicle can be obtained through the vehicle condition information of the vehicle so as to judge the current state of the vehicle; the environmental information around the vehicle may include video information, radar information, or imaging information of the environment around the vehicle, and it is possible to know whether the vehicle is blocked by an obstacle, whether the vehicle is trapped, or the like, from the environmental information.
And the mode switching module 45 is used for switching different working modes when a preset switching condition is met.
For example, in the cloud control mode, if the valet parking instruction or the automatic parking instruction is obtained, the mode switching module 45 switches to enter the cloud monitoring mode; or, in the cloud monitoring mode, if the vehicle is monitored to be blocked or to have a fault, switching to enter the cloud control mode.
The mode determination module 42 may include: a cloud control mode module 421 and a cloud monitoring mode module 422.
The cloud control mode module 421 is configured to determine that a working mode of the cloud remote operation is a cloud control mode according to the control command as a command for requesting control of the vehicle.
The cloud monitoring mode module 422 is configured to determine that a working mode of the cloud remote operation is a cloud monitoring mode according to whether the control instruction is a valet parking instruction or an automatic parking instruction.
It can be seen from this embodiment that, the difference of the control instruction of the vehicle can cause the working mode of the cloud remote operation to change correspondingly, the corresponding application scenarios are also different, and the control executed by the cloud is also changed correspondingly. In addition, after the cloud enters the cloud control mode and the cloud monitoring mode, the cloud control mode and the cloud monitoring mode can be switched according to condition changes when preset switching conditions are met, and application is flexible. Therefore, the control of the vehicle can correspond to different driving application scenes of the vehicle by the scheme, and the universality of the remote driving control scheme in the man-machine common driving mode is further improved.
Fig. 6 is a schematic structural diagram illustrating a remote driving control system according to an embodiment of the present invention.
As shown in fig. 6, the remote driving control system 60 includes: cloud 61 and vehicle end 62.
A cloud 61 for acquiring a control instruction regarding the vehicle; determining different working modes of the remote operation of the cloud 61 according to different control instructions; and according to the determined working mode, entering a working state corresponding to the working mode to execute control.
And the vehicle end 62 is used for driving under the control of the cloud end 61. When the cloud 61 requests to control the vehicle end 62, the vehicle end 62 generally performs self-checking to check whether the vehicle state is normal. Meanwhile, the vehicle end 62 uploads the vehicle condition information and the environment information around the vehicle, which may be in a picture or video format, to the cloud end 61. The cloud 61 confirms the vehicle environment according to the vehicle condition information uploaded by the vehicle end 62 and the environment information around the vehicle.
The structure and function of the cloud 61 may refer to the descriptions in fig. 4 and fig. 5, and are not described herein again.
According to the embodiment, different control instructions correspond to different working modes, and the different working modes correspond to different driving application scenes, so that the method can be suitable for various different driving application scenes, and the universality of the remote driving control scheme in the man-machine common driving mode is improved.
Fig. 7 is a schematic structural diagram of an electronic device shown in an embodiment of the present application. The electronic device may be, for example, a cloud device.
Referring to fig. 7, an electronic device 700 includes a memory 710 and a processor 720.
Processor 720 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 710 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are required by processor 720 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. In addition, the memory 710 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 710 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 710 has stored thereon executable code that, when processed by the processor 720, may cause the processor 720 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the various steps of the above-described methods in accordance with the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A remote driving control method, characterized by comprising:
acquiring a control instruction about a vehicle;
determining different working modes of the cloud remote operation according to different control instructions;
and entering a working state corresponding to the working mode to execute control according to the determined working mode.
2. The method of claim 1,
before the obtaining of the control instruction about the vehicle, the method further comprises: confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle;
the acquiring of the control instruction about the vehicle includes: after the vehicle environment is confirmed, a control instruction about the vehicle is acquired.
3. The method of claim 1, wherein determining different working modes of cloud remote operation according to the different control commands comprises:
determining that the working mode of cloud remote operation is a cloud control mode according to the control command as a command for requesting to control the vehicle; or the like, or, alternatively,
and determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger-replacing parking instruction or an automatic parking instruction.
4. The method according to claim 3, wherein after entering the working state corresponding to the working mode and executing the control according to the determined working mode, the method further comprises:
and when a preset switching condition is met, switching the different working modes.
5. The method according to claim 4, wherein the switching the different operation modes when a preset switching condition is met comprises:
under a cloud control mode, if a passenger parking instruction or an automatic parking instruction is obtained, switching to enter a cloud monitoring mode; or the like, or, alternatively,
in the cloud monitoring mode, if the vehicle is monitored to be blocked or to have a fault, switching to enter the cloud control mode.
6. The method of claim 2, wherein the confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle comprises:
receiving vehicle condition information and environment information around the vehicle, which are uploaded after the vehicle executes a self-checking program;
and confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle.
7. A cloud device, comprising:
the command acquisition module is used for acquiring a control command related to the vehicle;
the mode determining module is used for determining different working modes of the cloud remote operation according to different control instructions acquired by the instruction acquiring module;
and the mode execution module is used for entering the working state corresponding to the working mode to execute control according to the working mode determined by the mode determination module.
8. The apparatus of claim 7, further comprising:
the environment confirmation module is used for confirming the vehicle environment according to the vehicle condition information uploaded by the vehicle and the environment information around the vehicle;
the instruction acquisition module acquires a control instruction about the vehicle after the environment confirmation module confirms the environment of the vehicle.
9. The apparatus of claim 7 or 8, wherein the mode determination module comprises:
the cloud control mode module is used for determining that the working mode of cloud remote operation is a cloud control mode according to the control command as a command for requesting to control the vehicle; or the like, or, alternatively,
and the cloud monitoring mode module is used for determining that the working mode of the cloud remote operation is a cloud monitoring mode according to the fact that the control instruction is a passenger parking instruction or an automatic parking instruction.
10. A remote driving control system, comprising:
the cloud end is used for acquiring a control instruction about the vehicle; determining different working modes of the cloud remote operation according to different control instructions; entering a working state corresponding to the working mode to execute control according to the determined working mode;
and the vehicle end is used for executing driving under the control of the cloud end.
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| CN202111391707.6A CN114115207A (en) | 2021-11-23 | 2021-11-23 | Remote driving control method, equipment and system |
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| CN202111391707.6A CN114115207A (en) | 2021-11-23 | 2021-11-23 | Remote driving control method, equipment and system |
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