CN114217613B - Remote control method and device and remote driving system - Google Patents
Remote control method and device and remote driving system Download PDFInfo
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- CN114217613B CN114217613B CN202111502508.8A CN202111502508A CN114217613B CN 114217613 B CN114217613 B CN 114217613B CN 202111502508 A CN202111502508 A CN 202111502508A CN 114217613 B CN114217613 B CN 114217613B
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005286 illumination Methods 0.000 claims abstract description 40
- 230000007613 environmental effect Effects 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 16
- 238000012790 confirmation Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 11
- 230000004044 response Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the invention provides a remote control method, a remote control device and a remote driving system, wherein the method comprises the following steps: acquiring illumination information and image information; determining a confidence level according to the illumination information and the image information; generating a take-over request when the confidence coefficient is smaller than a first preset threshold value; transmitting the take-over request to the remote control device; the remote control device is used for responding to the takeover request and controlling the vehicle. According to the embodiment of the invention, the vehicle can be briefly taken over by the remote control equipment, so that the running risk of the vehicle under strong light irradiation in the automatic driving process is reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a remote control method, a remote control device and a remote driving system.
Background
The unmanned vehicle uses sensor technology, signal processing technology, communication technology, computer technology and the like, recognizes the environment and state of the automobile through integrating various vehicle-mounted sensors such as vision, laser radar, ultrasonic sensor, microwave radar, global positioning system, odometer, magnetic compass and the like, analyzes and judges according to the obtained road information, traffic signal information, vehicle position and obstacle information, and controls the steering and running speed of the vehicle according to the judging result.
In an unmanned scene, a visual sensor on a vehicle may be affected by the environment, so that the acquired data and the actual environment have larger deviation, and further the vehicle may execute an incorrect unmanned strategy, so that the running risk of the vehicle is increased.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are presented to provide a remote control method and a corresponding remote control device, a remote driving system, an electronic apparatus, a medium, which overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a remote control method, including:
acquiring illumination information and image information;
determining a confidence level according to the illumination information and the image information;
generating a take-over request when the confidence coefficient is smaller than a first preset threshold value;
transmitting the take-over request to the remote control device; the remote control device is used for responding to the takeover request and controlling the vehicle.
Optionally, the step of determining the confidence level according to the illumination information and the image information includes:
calculating a light intensity value by adopting the illumination information;
and calculating the confidence coefficient according to the image information when the light intensity value is larger than a second preset threshold value.
Optionally, the step of calculating the confidence level according to the image information includes:
identifying environmental features in the image information;
calculating the feature quantity of the environmental features;
and calculating the confidence degree based on the feature quantity.
Optionally, after the sending the take over request to the remote control device, the method further comprises:
acquiring a current planning path;
transmitting the planned path to the remote control device;
and when receiving the path confirmation information for the current planning path sent by the remote control equipment, continuing to run according to the current planning path.
Optionally, after the sending the take over request to the remote control device, the method further comprises:
receiving a driving control instruction of the remote control equipment; the running control instruction comprises running direction information and running speed information;
and running according to the running control instruction.
Optionally, the method further comprises:
generating an automatic control request when the confidence coefficient is larger than a second preset threshold value;
transmitting the self-control request to a remote control device; the remote control device is used for responding to the self-control request, stopping controlling the vehicle and disconnecting the vehicle.
The embodiment of the invention also discloses a remote control device, which comprises:
the information acquisition module is used for acquiring illumination information and image information;
the confidence determining module is used for determining confidence according to the illumination information and the image information;
the takeover request generation module is used for generating a takeover request when the confidence coefficient is smaller than a first preset threshold value;
the request sending module is used for sending the takeover request to the remote control equipment; the remote control device is used for responding to the takeover request and controlling the vehicle.
The embodiment of the invention also discloses a remote driving system which comprises a vehicle and remote control equipment;
the vehicle includes:
the information acquisition module is used for acquiring illumination information and image information;
the confidence determining module is used for determining confidence according to the illumination information and the image information;
the takeover request generation module is used for generating a takeover request when the confidence coefficient is smaller than a first preset threshold value;
the request sending module is used for sending the takeover request to the remote control equipment;
the remote control device is used for responding to the takeover request and controlling the vehicle.
The embodiment of the invention also discloses an electronic device, which comprises: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the steps of the remote control method as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the remote control method when being executed by a processor.
The embodiment of the invention has the following advantages:
in the automatic driving process of the vehicle, the first sensor assembly is called to acquire illumination information, the second sensor assembly is called to acquire image information, the confidence coefficient of the second sensor assembly is determined by combining the illumination information and the image information, when the confidence coefficient is smaller than a first preset threshold value, the fact that the image information acquired by the automatic driving vehicle is greatly different from the actual environment is determined, the vehicle actively sends a take-over request to the server, the server forwards the take-over request to the remote control equipment, the remote control equipment takes over the vehicle, and the vehicle is correspondingly controlled according to the image information, so that the driving risk of the vehicle is reduced.
Drawings
FIG. 1 is a schematic view of a remote driving scenario of the present invention;
FIG. 2 is a flow chart of the steps of an embodiment of a remote control method of the present invention;
FIG. 3 is a block diagram of a remote control device embodiment of the present invention;
fig. 4 is a block diagram of a remote driving system embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
One of the core concepts of the embodiment of the invention is that when the vehicle is detected to be subjected to illumination with certain intensity, the confidence coefficient of a sensing device for collecting image information is determined, when the confidence coefficient is lower than a first preset threshold value, the vehicle is determined to have certain automatic driving risk, and the vehicle actively requests the remote control equipment to take over the vehicle, and the vehicle is controlled to run through the remote control equipment, so that the running risk of the vehicle is reduced.
Referring to FIG. 1, a remote driving scenario diagram is shown; in the remote driving scenario, the remote control device 110 may communicate with the vehicle 120 through a mobile network (e.g., a fifth generation mobile communication technology network or a fourth generation mobile communication technology network) or the like. The remote control devices 110 may communicate with one another including, but not limited to: text data, video data, image data, audio data, control instructions, and the like. The remote control device 110 may be provided with a display component (e.g., a display) through which data received from the vehicle 120 is displayed, and the remote control device 110 may be further provided with an input component through which operational events related to an operator of the remote control device 110 can be received, which may include, but is not limited to: keyboard, mouse, handwriting pad, touch screen, throttle control subassembly, steering wheel, gear switching subassembly etc..
Referring to fig. 2, a flowchart illustrating steps of an embodiment of a remote control method of the present invention may specifically include the following steps:
step 201, obtaining illumination information and image information;
the vehicle 120 may be provided with a first sensor assembly for collecting illumination information in a traveling direction of the automatically driven vehicle 120, and a second sensor assembly for collecting image information in the traveling direction of the automatically driven vehicle 120.
The second sensor assembly may be comprised of one or more image sensors.
The driving direction may be a direction in which the moving vehicle 120 is driving at the current time, or a direction in which the moving vehicle 120 is driving at the next time.
Step 202, determining a confidence level according to the illumination information and the image information;
the confidence of the second sensor assembly is determined in combination with the illumination information and the image information collected along the direction of travel of the vehicle 120.
The confidence level may be a value within a predetermined range, such as: from 0 to 100, the greater the number, the higher the confidence.
Step 203, generating a take-over request when the confidence coefficient is smaller than a first preset threshold value;
when the current confidence coefficient of the second sensor assembly is smaller than the first preset threshold value, it is determined that the image information acquired by the second sensor assembly has a large difference from the current actual environment of the vehicle 120, that is, the automatic driving vehicle 120 has a large driving risk, and then a take-over request is generated.
Step 204, sending a take-over request to the remote control device 110; the remote control device 110 is configured to control the vehicle 120 in response to the takeover request.
The vehicle 120 may be connected to a server in advance, and after the takeover request is generated, forwarded by the server to the specified remote control device 110, and the vehicle 120 is controlled by the remote control device 110 after responding to the takeover request. The risk of automatic travel of the vehicle 120 is reduced by controlling the vehicle 120 to continue moving or stop moving by the remote control device 110.
Further, the remote control device 110 may be controlled by a remote driver, and the remote driver may determine the environment of the vehicle 120 according to the image information transmitted by the vehicle 120, and control the vehicle 120 after the remote driver determines the environment of the vehicle 120.
In the embodiment of the invention, in the automatic driving process of the vehicle 120, the first sensor assembly is called to acquire illumination information, the second sensor assembly is called to acquire image information, the confidence coefficient of the second sensor assembly is determined by combining the illumination information and the image information, when the confidence coefficient is smaller than a first preset threshold value, the fact that the image information acquired by the vehicle 120 in automatic driving is greatly different from the actual environment is determined, the vehicle 120 actively transmits a take-over request to a server, the server forwards the take-over request to the remote control equipment 110, the remote control equipment 110 is connected with and takes over the vehicle 120, and the vehicle 120 is correspondingly controlled according to the image information, so that the driving risk of the vehicle 120 is reduced.
In an alternative embodiment of the present invention, step 202 includes:
s11, calculating a light intensity value by adopting the illumination information;
the first sensor assembly may include one or more light intensity meters from which illumination information is collected to determine a current light intensity value of the vehicle 120 in the direction of travel.
When the first sensor assembly comprises a plurality of light intensity timers, the current light intensity value can be an average value of a plurality of light intensity values obtained by illumination information corresponding to the light intensity timers respectively.
And a substep S12, calculating the confidence coefficient according to the image information when the light intensity value is greater than a second preset threshold value.
When the light intensity value is greater than the second preset threshold, it is determined that the vehicle 120 is under intense light (e.g., by a high beam of the front vehicle 120 or by a spotlight in the front area). When the vehicle 120 is under intense light, the image acquired by the second sensor assembly may have a large area of illuminated white, and the area outside the white area is darker, so that it is more difficult to acquire a real image of the environment in the driving direction, and the confidence of the second sensor assembly is calculated from the image information.
In an alternative embodiment of the invention, substep S12 comprises:
sub-step S121, identifying environmental features in the image information;
environmental features contained in the image information are identified, which may include a variety of preset types including, but not limited to, obstacle features, travelable area features, traffic identification features.
A substep S122 of calculating a feature quantity of the environmental feature;
the feature number may be the number of features of the same type in the above-described preset type, or the number of features of a plurality of types in the above-described preset type.
Substep S123, calculating the confidence level based on the feature quantity.
The corresponding relation between the feature quantity and the confidence level can be preset and established, so that when the feature quantity is obtained based on the currently acquired image information, the confidence level of the second sensor assembly for acquiring the image information can be determined according to the corresponding relation.
The fewer the number of features, the fewer the environmental features that can be identified from the image information, and the higher the distortion level of the acquisition environment caused by the second sensor component being irradiated by strong light, the lower the confidence level.
Due to the small number of features, the environmental features contained in the image information may have a lack of leakage, and the lack of the environmental features may enable the vehicle 120 to autonomously formulate an incorrect automatic driving strategy. For example: since the vehicle 120 is irradiated by strong light, the image information does not include the obstacle feature in the existing driving direction, and the automatic driving strategy of the vehicle 120 does not avoid the physical obstacle corresponding to the obstacle feature in the environment, thereby causing the driving risk of the vehicle 120.
In an alternative embodiment of the present invention, after step 204, the embodiment of the present invention further includes: acquiring a current planning path; transmitting the planned path to the remote control device 110; and when receiving the path confirmation information for the current planned path sent by the remote control device 110, continuing to run according to the current planned path.
After the remote control device 110 is connected with the vehicle 120, the vehicle 120 transmits a current planned path, which is a path that the vehicle 120 is currently automatically traveling, to the remote control device 110.
The remote control device 110 may display the current planned path and the image information through the display component, and the remote driver may determine whether the vehicle 120 continues to travel according to the current planned path and the image information.
When the remote driver determines from the image information that the vehicle 120 can continue traveling along the current planned path, the remote control device 110 is controlled to transmit path confirmation information for the current planned path to the vehicle 120, and the vehicle 120 can continue traveling along the current planned path in response to the path confirmation information.
In order to reduce the risk of traveling, the vehicle 120 stops traveling after the vehicle 120 transmits the take-over request and when no route confirmation information is received.
In an alternative embodiment of the present invention, after step 204, the embodiment of the present invention further includes: receiving a travel control instruction of the remote control device 110; the running control instruction comprises running direction information and running speed information; and running according to the running control instruction.
In some cases, if the vehicle 120 is not moving, the image information may be continuously irradiated by strong light, so that it is difficult to collect a real environment image, and a remote driver is required to control the vehicle 120 to a certain extent so as to leave the current location.
After the remote control device 110 responds to the take over request, the remote driver can issue a driving control instruction including driving direction information and driving speed information to the vehicle 120 through the remote control device 110, and the vehicle 120 can recognize and respond to the driving control instruction and drive according to the driving direction information and the driving speed information, thereby realizing remote driving of the vehicle 120 by the remote driver and enabling the vehicle 120 to leave the current position.
In an alternative embodiment of the present invention, the embodiment of the present invention further includes:
generating an automatic control request when the confidence coefficient is larger than a second preset threshold value; transmitting the self-control request to the remote control device 110; the remote control device 110 is configured to stop controlling the vehicle 120 and disconnect the vehicle 120 in response to the self-control request.
The vehicle 120 may repeatedly perform step 202 during the take over process of the remote control device 110 to continuously update the confidence level, and when the confidence level is updated from less than the first preset threshold value to greater than the second preset threshold value, it is determined that the vehicle 120 is able to specify an accurate autopilot strategy based on the image information, an autopilot request is generated, and the autopilot request is transmitted to the remote control device 110.
The remote driver can determine whether to stop taking over the vehicle 120 according to the current image information, and if the remote driver determines that the remote control device 110 stops taking over the vehicle 120, the remote control device 110 is controlled to disconnect from the vehicle 120, so that the remote control device stops controlling the running of the vehicle 120.
In the embodiment of the invention, in the automatic driving process of the vehicle 120, the first sensor assembly is called to acquire illumination information and the second sensor assembly is called to acquire image information, the confidence level of the second sensor assembly is determined by combining the illumination information and the image information, when the confidence level is smaller than a first preset threshold value, the fact that the automatic driving of the vehicle 120 is subjected to strong light irradiation is determined, the image information acquired by the second sensor assembly is greatly different from the actual environment, the vehicle 120 actively transmits a take-over request to a server, the server forwards the take-over request to the remote control device 110, the remote control device 110 is connected with and takes over the vehicle 120, the image information is used for correspondingly controlling the vehicle 120, when the confidence level is updated to be smaller than the first preset threshold value and larger than the second preset threshold value, the vehicle 120 is determined to generate an accurate automatic driving strategy based on the image information, the automatic driving risk of the vehicle 120 is lower, the remote control device 110 stops taking over the vehicle 120, and the vehicle 120 is briefly taken over by the remote control device 110, so that the running risk of the vehicle 120 under the strong light irradiation in the automatic driving process is reduced.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 3, a block diagram of an embodiment of a remote control device of the present invention is shown, and may specifically include the following modules:
an information acquisition module 301 for acquiring illumination information and image information;
a confidence determining module 302, configured to determine a confidence level according to the illumination information and the image information;
a takeover request generating module 303, configured to generate a takeover request when the confidence coefficient is smaller than a first preset threshold;
a request sending module 304, configured to send a takeover request to the remote control device 110; the remote control device 110 is configured to control the vehicle 120 in response to the takeover request.
In an alternative embodiment of the present invention, the confidence determining module 302 includes:
an environmental feature recognition sub-module for recognizing environmental features in the image information;
the characteristic quantity calculating operator module is used for calculating the characteristic quantity of the environmental characteristic;
and the confidence coefficient calculating sub-module is used for calculating the confidence coefficient based on the feature quantity.
In an alternative embodiment of the invention, the apparatus further comprises:
the path acquisition module is used for acquiring a current planning path;
a path transmitting module, configured to transmit the planned path to the remote control device 110;
and a path continuing driving module, configured to continue driving according to the current planned path when receiving the path confirmation information for the current planned path sent by the remote control device 110.
In an alternative embodiment of the invention, the apparatus further comprises:
a travel control instruction receiving module for receiving a travel control instruction of the remote control apparatus 110; the running control instruction comprises running direction information and running speed information;
and the running control instruction response module is used for running according to the running control instruction.
In an alternative embodiment of the invention, the apparatus further comprises:
the automatic control request generation module is used for generating an automatic control request when the confidence coefficient is larger than a second preset threshold value;
a self-control request transmitting module for transmitting the self-control request to the remote control device 110; the remote control device 110 is configured to stop controlling the vehicle 120 and disconnect the vehicle 120 in response to the self-control request.
Referring to fig. 4, there is shown a block diagram of an embodiment of a remote driving system of the present invention, including a vehicle 120 and a remote control device 110;
the vehicle 120 includes:
an information acquisition module 301 for acquiring illumination information and image information;
a confidence determining module 302, configured to determine a confidence level according to the illumination information and the image information;
a takeover request generating module 303, configured to generate a takeover request when the confidence coefficient is smaller than a first preset threshold;
a request sending module 304, configured to send a takeover request to the remote control device 110;
the remote control device 110 is configured to control the vehicle 120 in response to the takeover request.
In an alternative embodiment of the present invention, the confidence determining module 302 includes:
an environmental feature recognition sub-module for recognizing environmental features in the image information;
the characteristic quantity calculating operator module is used for calculating the characteristic quantity of the environmental characteristic;
and the confidence coefficient calculating sub-module is used for calculating the confidence coefficient based on the feature quantity.
In an alternative embodiment of the present invention, the vehicle 120 further includes:
the path acquisition module is used for acquiring a current planning path;
a path transmitting module, configured to transmit the planned path to the remote control device 110;
and a path continuing driving module, configured to continue driving according to the current planned path when receiving the path confirmation information for the current planned path sent by the remote control device 110.
In an alternative embodiment of the present invention, the vehicle 120 further includes:
a travel control instruction receiving module for receiving a travel control instruction of the remote control apparatus 110; the running control instruction comprises running direction information and running speed information;
and the running control instruction response module is used for running according to the running control instruction.
In an alternative embodiment of the present invention, the vehicle 120 further includes:
the automatic control request generation module is used for generating an automatic control request when the confidence coefficient is larger than a second preset threshold value;
a self-control request transmitting module for transmitting the self-control request to the remote control device 110; the remote control device 110 is configured to stop controlling the vehicle 120 and disconnect the vehicle 120 in response to the self-control request.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also discloses an electronic device, which comprises: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the steps of the remote control method as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the remote control method when being executed by a processor.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has described in detail a remote control method, a remote control device and a remote driving system provided by the present invention, and specific examples have been applied herein to illustrate the principles and embodiments of the present invention, the above examples being provided only to assist in understanding the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (8)
1. A remote control method, comprising:
acquiring illumination information and image information;
determining a confidence level according to the illumination information and the image information;
generating a take-over request when the confidence coefficient is smaller than a first preset threshold value;
transmitting the take-over request to the remote control device; the remote control device is used for responding to the takeover request and controlling the vehicle;
the step of determining the confidence level according to the illumination information and the image information comprises the following steps:
calculating a light intensity value by adopting the illumination information;
when the light intensity value is larger than a second preset threshold value, calculating the confidence coefficient according to the image information;
the step of calculating the confidence coefficient according to the image information comprises the following steps:
identifying environmental features in the image information;
calculating the feature quantity of the environmental features;
calculating the confidence level based on the feature quantity;
the calculating the confidence based on the feature quantity includes:
establishing a corresponding relation between the feature quantity and the confidence level; wherein, the smaller the feature quantity, the lower the confidence.
2. The method of any of claims 1, wherein after the sending of the take over request to the remote control device, the method further comprises:
acquiring a current planning path;
transmitting the planned path to the remote control device;
and when receiving the path confirmation information for the current planning path sent by the remote control equipment, continuing to run according to the current planning path.
3. The method of any of claims 1, wherein after the sending of the take over request to the remote control device, the method further comprises:
receiving a driving control instruction of the remote control equipment; the running control instruction comprises running direction information and running speed information;
and running according to the running control instruction.
4. The method according to claim 1, wherein the method further comprises: generating an automatic control request when the confidence coefficient is larger than a second preset threshold value;
transmitting the self-control request to a remote control device; the remote control device is used for responding to the self-control request, stopping controlling the vehicle and disconnecting the vehicle.
5. A remote control apparatus, comprising:
the information acquisition module is used for acquiring illumination information and image information;
the confidence determining module is used for determining confidence according to the illumination information and the image information; the takeover request generation module is used for generating a takeover request when the confidence coefficient is smaller than a first preset threshold value;
the request sending module is used for sending the takeover request to the remote control equipment; the remote control device is used for responding to the takeover request and controlling the vehicle;
the determining the confidence according to the illumination information and the image information comprises the following steps:
calculating a light intensity value by adopting the illumination information;
when the light intensity value is larger than a second preset threshold value, calculating the confidence coefficient according to the image information;
the confidence determining module further includes:
an environmental feature recognition sub-module for recognizing environmental features in the image information;
the characteristic quantity calculating operator module is used for calculating the characteristic quantity of the environmental characteristic;
a confidence calculating sub-module for calculating the confidence based on the feature quantity;
the calculating the confidence based on the feature quantity includes:
establishing a corresponding relation between the feature quantity and the confidence level; wherein, the smaller the feature quantity, the lower the confidence.
6. A remote driving system comprising a vehicle and a remote control device;
the vehicle includes:
the information acquisition module is used for acquiring illumination information and image information;
the confidence determining module is used for determining confidence according to the illumination information and the image information;
the takeover request generation module is used for generating a takeover request when the confidence coefficient is smaller than a first preset threshold value;
the request sending module is used for sending the takeover request to the remote control equipment;
the remote control device is used for responding to the takeover request and controlling the vehicle;
the determining the confidence according to the illumination information and the image information comprises the following steps: calculating a light intensity value by adopting the illumination information;
when the light intensity value is larger than a second preset threshold value, calculating the confidence coefficient according to the image information;
the confidence determining module further includes:
an environmental feature recognition sub-module for recognizing environmental features in the image information;
the characteristic quantity calculating operator module is used for calculating the characteristic quantity of the environmental characteristic;
a confidence calculating sub-module for calculating the confidence based on the feature quantity;
the calculating the confidence based on the feature quantity includes:
establishing a corresponding relation between the feature quantity and the confidence level; wherein, the smaller the feature quantity, the lower the confidence.
7. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor carries out the steps of the remote control method according to any one of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the remote control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502508.8A CN114217613B (en) | 2021-12-09 | 2021-12-09 | Remote control method and device and remote driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502508.8A CN114217613B (en) | 2021-12-09 | 2021-12-09 | Remote control method and device and remote driving system |
Publications (2)
| Publication Number | Publication Date |
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| CN114217613A CN114217613A (en) | 2022-03-22 |
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| CN110363818A (en) * | 2018-04-11 | 2019-10-22 | 杭州海康机器人技术有限公司 | The method for detecting abnormality and device of binocular vision system |
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Effective date of registration: 20240228 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |