CN114217555A - Low-delay remote control method and system based on digital twin scene - Google Patents
Low-delay remote control method and system based on digital twin scene Download PDFInfo
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- CN114217555A CN114217555A CN202111498181.1A CN202111498181A CN114217555A CN 114217555 A CN114217555 A CN 114217555A CN 202111498181 A CN202111498181 A CN 202111498181A CN 114217555 A CN114217555 A CN 114217555A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention discloses a low-delay remote control method and a low-delay remote control system based on a digital twin scene. According to the invention, the transmitted data only needs to be transmitted as the positioning information of the vehicle, and extremely low delay can be achieved without using 5G network transmission, so that the information of the vehicle in the scene can be quickly reflected.
Description
Technical Field
The invention belongs to the technical field of manual remote intervention in automatic driving, and particularly relates to a low-delay remote control method and system based on a digital twin scene.
Background
In automatic driving, because automatic driving at the level of L4/L5 cannot be completely realized at present, in many cases, an automatic driving vehicle cannot make a good judgment in the face of unknown conditions and enters an on-site standby state, and manual remote control intervention is needed in the situations. Remote control means that an operator needs to control a vehicle by inputting corresponding information to the environment where the vehicle is located, and remote control instructions are transmitted through a network to enable the vehicle to operate. In remote control, one of the main problems to be solved is that when information corresponding to the environment where the vehicle is located is transmitted, the time delay for transmitting data is low, and the current state of the vehicle needs to be monitored in real time; the other is to transmit the data volume of the data, compress the data volume as much as possible, so that the data transmitted by remote control can not occupy the network in large quantity, which causes network congestion.
At present, the remote control is mainly aimed at, and in a main technical scheme, such as a remote control scheme provided by Baidu, Huashi and Ali, the transmission delay of data acquired by a camera is mainly reduced through a 5G network, the acquired camera data is displayed on a screen, and a remote driver controls the running of a vehicle through the screen data. In the granted patent CN202021585796.9 "a remote control system for excavator based on 5G network", the 5G communication module is mainly used for capturing video images and receiving remote control commands to control the excavator. The network is still used to transmit video stream data with huge data volume, assuming that the frame rate of the picture is 20 frames, one frame of the picture is 800 × 600 size, the size of each frame of the image of YUV420 is 90KB, the flow rate required for one second is 1.8MB, and the flow rate required for one minute is close to 100 MB. In addition, the acquisition and encoding of video data to the decoding and playing of audio and video involve very long links, and experience the acquisition of audio and video, the encoding of audio and video, and the plug flow of the acquisition end, the collection of live stream, the transcoding of audio and video, the distribution of live stream of the streaming media server end, and the pull flow, the decoding of audio and video, the playing of audio and video of the receiving end, wherein each link can guarantee the quality of data transmission through certain technology, the measure used in order to guarantee the reliability, reduce the system bandwidth causes the problem of high delay in the video transmission process, generally speaking, in the local area network, the delay reaches 1 second under the data acquisition amount of 30 frames, which is unacceptable in the remote control process. In the research, if many optimization links are added, the data obtained is 5G fusion communication products from Ovid video company, the bidirectional transmission delay of 1080p video is controlled to be 100ms, or a certain delay exists.
In summary, the main disadvantages of the existing methods include:
1. in the process of transmitting remote control video data, the transmitted data is overlarge, so that the occupation of network bandwidth is overlarge, and network congestion is caused;
2. in the remote control data transmission process, the delay is unacceptable under the 4G technical condition because of the delay in the intermediate process. Even if 5G technology is added, certain delay still exists under the current technical condition, and certain potential safety hazard exists when the remote control device is used in remote control.
Disclosure of Invention
In order to solve the problem that the acquisition and transmission of information around a vehicle are delayed greatly in the driving process of the vehicle in the traditional automatic driving remote control, the invention provides a low-delay remote control method and a low-delay remote control system based on a digital twin scene.
The technical scheme of the invention is as follows:
the invention firstly provides a low-delay remote control method based on a digital twin scene, which comprises the following steps:
1) collecting point cloud of a real scene by using a laser radar, collecting point cloud data of the laser radar in a laser SLAM mode, constructing a point cloud map, converting three-dimensional scene information into OpenDrive format information of a road, and importing the OpenDrive format map into a visual simulator to obtain a three-dimensional reconstruction digital twin scene of the scene;
2) the pose information of the automatic driving vehicle in the running process is transmitted to the digital twin server, the digital twin server stores the acquired pose data in the database and synchronizes the pose data to the visual simulator at a certain frequency, and the visual simulator updates the state of the vehicle through the pose data, so that the vehicle can be observed by a remote controller; a remote controller remotely controls the vehicle in the real scene by observing the visual simulator, wherein the generated remote control instruction is transferred and sent to the vehicle in the real scene through the digital twin server;
3) in the running process of the vehicle, the pose information is updated and synchronously updated to the digital twin server, so that the pose of the vehicle in the visual simulator is further updated, and open-loop remote control is formed.
As a preferred scheme of the present invention, in step 1), the data of the real scene acquired by the laser radar includes point cloud data. The invention constructs a point cloud map based on a front-end lidar odometer according to the point cloud data acquired by the lidar.
As a preferred embodiment of the present invention, in step 1), the converting the three-dimensional scene information into the OpenDrive format information of the road specifically includes converting the three-dimensional scene information in the laser radar point cloud map into the OpenDrive format information of the road manually or automatically by CAD software.
As a preferable scheme of the invention, in the step 2), the digital twin server is constructed in a Spring-Boot manner, and the automatic driving vehicle uploads self pose information to the digital twin server through a frequency of 10-100HZ by using an NDT positioning manner.
As a preferred embodiment of the present invention, in step 2), the visualization simulator sends a control command to the digital twin server, wherein the control command is transmitted through a TCP connection.
The invention also discloses a low-delay remote control system based on the digital twin scene, which comprises the following components:
the visual simulator is internally provided with a three-dimensional reconstructed digital twin scene, and the visual simulator updates the vehicle state in the digital twin scene according to the vehicle pose data synchronized by the digital twin server; a remote controller observes the position of a vehicle in the visual simulator, generates a remote control instruction of the vehicle in a scene by using remote control, and sends the remote control instruction to the digital twin server for transfer;
the digital twin server acquires and stores pose information of the automatic driving vehicle in the driving process and synchronizes the pose information into the visual simulator at a certain frequency, and the digital twin server also transmits a remote control instruction sent by the visual simulator to the vehicle in a real scene;
and the automatic driving vehicle acquires self pose information based on the point cloud map and the laser radar data in a matching manner, transmits the pose information to the digital twin server in real time, and controls the automatic driving vehicle according to a control instruction transmitted by the digital twin server.
The method for acquiring the three-dimensional reconstruction digital twin scene comprises the following steps: the method comprises the steps of collecting data of a real scene by using a laser radar, collecting laser radar point cloud data in a 3D-SLAM mode, constructing a point cloud map, converting three-dimensional information of the scene into information of a road in an Opendrive format, and guiding the map in the Opendrive format into a visual simulator to obtain a three-dimensional reconstruction digital twin scene of the scene.
Compared with the traditional mode that the environmental information of the target vehicle needs to be collected and transmitted through the network in the remote control process, the remote control mode is redefined, the environmental information of the target vehicle does not need to be collected any more, the environmental information is completely defined in the simulation in advance, the vehicle positioning information transmitted through the network in the simulation directly visualizes the vehicle in the simulation, and a remote controller can carry out remote control by observing the position of the vehicle in the simulation environment, so that the vehicle is remotely controlled from one place to another place through the simulation of the remote control. The method has the main points that a road needs to be reconstructed in an OpenDrive-based format in a real scene, a building on the roadside is reconstructed through 3D software, and the other main point is that a vehicle needs to provide position information of the vehicle in the scene through sensor positioning, so that the positioning of the vehicle is accurately visualized and displayed in simulation.
According to the invention, the traditional method for acquiring the vehicle surrounding information in remote control is redefined in a network transmission mode, a digital twin environment consistent with reality is pre-constructed, the vehicle visualization in the simulation environment is realized by transmitting the vehicle positioning data, and the mode of transmitting the video stream through the network is replaced by a rendering mode, so that the network bandwidth occupied in the transmission process is reduced.
According to the invention, the transmitted data only needs to be transmitted as the positioning information of the vehicle, and extremely low delay can be achieved without using 5G network transmission, so that the information of the vehicle in the scene can be quickly reflected.
Drawings
Fig. 1 is a schematic flow chart of a three-dimensional reconstruction digital twin scene.
FIG. 2 is a schematic diagram of a system and method for achieving digital twin remote control of a vehicle after obtaining a three-dimensional scene reconstruction result.
FIG. 3 is a schematic diagram of the effect of a three-dimensional reconstruction digital twin scene introduction simulator.
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The described embodiments are merely exemplary of the disclosure and are not intended to limit the scope thereof. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
As shown in fig. 1 and 2, the working principle of the present invention is to redefine the traditional mode of acquiring the environment information of the target vehicle and transmitting the information through the network in the remote control process, so as to not acquire the environment information of the target vehicle any more, but to completely define the environment information in the simulation in advance, and to directly visualize the vehicle in the simulation through the vehicle positioning information transmitted through the network in the simulation, and the remote controller can remotely control the vehicle from one place to another place through observing the vehicle positioning in the simulation environment, thereby remotely controlling the vehicle from one place to another place through the simulation of remote control. The method has the main points that a road needs to be reconstructed in an OpenDrive-based format in a real scene, a building on the roadside is reconstructed through 3D software, and the other main point is that a vehicle needs to provide position information of the vehicle in the scene through sensor positioning, so that the positioning of the vehicle is accurately displayed in a visual mode in simulation.
In the embodiment, a laser radar is adopted to collect point cloud data of a whole scene, the collected data is digitized in three dimensions, and a laser radar point cloud map of the scene is constructed by using algorithms such as Fast-lio and the like in a laser radar SLAM mode; the method comprises the steps of converting scene three-dimensional information into road Opendrive format information in a manual mode through CAD software such as RoadRunner and the like, and importing the map in the Opendrive format into a visual simulator such as CARLA, so that a three-dimensional reconstruction digital twin scene of the scene can be obtained. The specific import simulator effect is shown in fig. 3.
The method for positioning the vehicle can be an NDT positioning method, the error of the NDT positioning can be controlled within 10cm, the positioning precision is high, the vehicle pose acquired by a positioning algorithm is uploaded to a digital twin cloud platform (a digital twin server) through a network method in the running process of the vehicle, after the cloud platform acquires the positioning information, the corresponding vehicle pose information is transmitted through a network direction visualization simulator, and the visualization simulator updates the state of the vehicle through the specific vehicle pose information, so that the vehicle can be observed by a remote controller. And through an interactive interface provided by a remote machine, a remote controller can directly send a remote control instruction to a vehicle in the real world through a digital twin cloud platform and control the vehicle to run, and positioning information is updated during the running process of the vehicle and can be synchronously updated to a digital twin server, so that the pose of the simulator is further updated, and an open-loop remote control scheme is formed.
The visual simulator sends a control instruction to the digital twin server, wherein the control instruction is transmitted through a TCP connection, and the control instruction comprises the following components:
| field(s) | Means of | Data type |
| Version | Version of a protocol | String |
| Type | Type of protocol representation | Int |
| Ack | In response to the identification, 0 indicates success | Int |
| RequestId | Unique request representation | Int |
| Vin | Unique identification of vehicle | String |
| data | Protocol content field | Dict |
In the control command, the Type of the control command is defined to be 0x23, data required by the control vehicle are contained in the data, and after the vehicle end in a real scene receives the control command, the control is carried out according to the data in the data, wherein the data in the data are shown in the following table.
| Field(s) | Means of | Data type |
| Speed | Speed of vehicle to be controlled | Double |
| Steer | Corner of vehicle tyre | Double |
| Brake | Vehicle brake | Int |
| Shift | Vehicle gear | Int |
On one hand, the data volume required to be transmitted by the vehicle in the automatic driving remote control can be greatly reduced, because human intervention intervenes in the vehicle, much information acquired by the camera is redundant, the information is not required to be transmitted to be displayed, and only the positioning information of the vehicle is required to be acquired, so that the visualization effect of the corresponding vehicle can be rendered in a simulation environment and provided for remote control reference. The invention can also carry out remote control management on a plurality of vehicles according to different vehicles needing remote control.
According to experimental data, the delay of remote video monitoring is about 1s based on a 4G network, while the digital twin remote control method of the invention is about 100ms at most in delay, reduces network delay, and transmits about 100B data per second, and video flow is about 1.8MB data per second.
As shown in fig. 2, another embodiment of the present invention provides a low latency remote control system based on a digital twin scene, which includes:
the visual simulator is internally provided with a three-dimensional reconstructed digital twin scene, and the visual simulator updates the vehicle state in the digital twin scene according to the vehicle pose data synchronized by the digital twin server; a remote controller can observe the position of a vehicle in the visual simulator through the visual simulator, generate a remote control instruction of the vehicle in a scene by using remote control and send the remote control instruction to the digital twin server for transfer;
the digital twin server (digital twin cloud platform) acquires and stores pose information of the automatic driving vehicle in the driving process, synchronizes the pose information into the visual simulator at a certain frequency, and transmits a remote control instruction sent by the visual simulator to the vehicle in a real scene;
and the automatic driving vehicle acquires the self pose information and transmits the pose information to the digital twin server in real time, and the automatic driving vehicle controls the automatic driving vehicle according to the control instruction transmitted by the digital twin server.
Specifically, as shown in fig. 1, the construction process of the three-dimensional reconstruction digital twin scene is as follows: in the process of collecting data of a vehicle, a laser radar is adopted to collect point cloud data of a whole scene, the collected data is subjected to three-dimensional digitization in the second step, a laser radar point cloud map of the scene is constructed by using algorithms such as a laser radar SLAM mode, such as Fast-lio, the third step is carried out, three-dimensional information of the scene is converted into information of an OpenDrive format of a road in an artificial mode through CAD software such as RoadRunner, the map of the OpenDrive format is led into a simulator, such as CARLA, and a three-dimensional reconstruction digital twin scene of the scene can be obtained.
After the content of FIG. 1 is finished, a digital twin server is constructed in a Spring-Boot mode, vehicles run in a scene, self positioning information is uploaded to the server in an NDT positioning mode, the server synchronizes to a simulator after acquiring the positioning information, an observer observes the positions of the vehicles in the simulator, and for the vehicles needing to be controlled, the observer transmits a remote control instruction to the server by using an interactive interface provided by a front end, and the server acquires the remote control instruction and transmits the remote control instruction to the corresponding vehicle to form an open-loop remote control mode.
According to the invention, the traditional method for acquiring the surrounding information of the vehicle in remote control is redefined in a network transmission mode, a digital twin environment consistent with the reality is pre-constructed, the vehicle visualization reality in the simulation environment is completed by transmitting the vehicle positioning data, and the mode of transmitting the video stream through the network is replaced by a rendering mode, so that the network bandwidth occupied in the transmission process is reduced.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A low-delay remote control method based on a digital twin scene is characterized by comprising the following steps:
1) collecting data of a real scene by using a laser radar, collecting laser radar point cloud data in a laser SLAM mode, constructing a point cloud map, converting three-dimensional scene information into OpenDrive format information of a road, and importing the OpenDrive format map into a visual simulator to obtain a three-dimensional reconstruction digital twin scene of the scene;
2) the method comprises the steps that position and pose information obtained by positioning an automatic driving vehicle based on a point cloud map in the driving process is transmitted to a digital twin server, the digital twin server stores obtained position and pose data in a database and synchronizes the position and pose data to a visual simulator at a certain frequency, and the visual simulator updates the state of the vehicle through the position and pose data, so that the vehicle can be observed by a remote controller; a remote controller remotely controls the vehicle in the real scene by observing the visual simulator, wherein the generated remote control instruction is transferred and sent to the vehicle in the real scene through the digital twin server;
3) in the running process of the vehicle, the pose information is updated and synchronously updated to the digital twin server, so that the pose of the vehicle in the visual simulator is further updated, and open-loop remote control is formed.
2. The digital twin scene-based low-latency remote control method according to claim 1, wherein in the step 1), the data of the real scene collected by the laser radar is point cloud data.
3. The digital twin scene-based low-latency remote control method according to claim 1, wherein in the step 1), the converting of the three-dimensional scene information into the OpenDrive format road information is specifically that the three-dimensional scene information in the laser radar point cloud map is converted into the OpenDrive format road information manually or automatically through CAD software.
4. The low-delay remote control method based on the digital twin scene as claimed in claim 1, wherein in step 2), the digital twin server is constructed in a Spring-Boot manner, and the autonomous driving vehicle uploads self pose information to the digital twin server through a frequency of 10 HZ to 100HZ by using an NDT positioning manner.
5. The digital twin scene-based low-latency remote control method according to claim 1, wherein in step 2), the visualization simulator sends a control instruction to the digital twin server, wherein the control instruction is transmitted through a TCP connection, and the control instruction comprises the following components:
6. the digital twin scene-based low-latency remote control method according to claim 5, wherein the Type of the control command is defined as 0x23, the data includes data required for controlling the vehicle, and the vehicle end in a real scene receives the control command and then performs control according to the data in the data.
7. The digital twin scene-based low-latency remote control method according to claim 6, wherein the data in the data comprises: the speed the vehicle needs to control, the turning angle of the vehicle tires, the vehicle brakes, and the vehicle gear.
8. A low-delay remote control system based on a digital twin scene is characterized by comprising:
the visual simulator is internally provided with a three-dimensional reconstructed digital twin scene, and the visual simulator updates the vehicle state in the digital twin scene according to the vehicle pose data synchronized by the digital twin server; a remote controller observes the position of a vehicle in the visual simulator, generates a remote control instruction of the vehicle in a scene by using remote control, and sends the remote control instruction to the digital twin server for transfer;
the digital twin server acquires and stores pose information of the automatic driving vehicle in the driving process and synchronizes the pose information into the visual simulator at a certain frequency, and the digital twin server also transmits a remote control instruction sent by the visual simulator to the vehicle in a real scene;
and the automatic driving vehicle acquires self pose information based on the point cloud map and the laser radar data in a matching manner, transmits the pose information to the digital twin server in real time, and controls the automatic driving vehicle according to a control instruction transmitted by the digital twin server.
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