CN114326727A

CN114326727A - Driving method and system

Info

Publication number: CN114326727A
Application number: CN202111604162.2A
Authority: CN
Inventors: 汪沛伟; 王辉; 蒋少峰; 陈树雄; 钟飞
Original assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-04-12

Abstract

The embodiment of the invention provides a driving method and a system, wherein the method comprises the following steps: when a service order is received, sending service information corresponding to the service order to the vehicle through the cloud platform server; when the vehicle meets a preset condition in the automatic driving process, sending a first switching instruction to the vehicle, and sending an auxiliary instruction to a remote driving control end; the vehicle is switched to a remote control mode, and the remote driving control end remotely controls the vehicle; when the preset condition is relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; and the remote driving control end disconnects the remote control, and the vehicle is switched to an automatic driving mode to continue automatic driving until the service order is completed. The vehicle and the remote driving control end are managed in a unified mode through the cloud platform server, the remote control function and the automatic driving function are effectively linked, an unmanned scene is achieved, the remote driving control end is not needed to be on line in real time, and the using efficiency is improved.

Description

Driving method and system

Technical Field

The invention relates to the technical field of intelligent vehicles, in particular to a driving method and a driving system.

Background

An Autonomous vehicle (also called an unmanned vehicle), a computer-driven vehicle, or a wheeled mobile robot is an intelligent vehicle that can realize unmanned driving through a computer system. By means of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, the automatic driving vehicle can complete the driving process without the operation of the driver.

However, even if the automatic driving vehicle needs a safety guard or a driving user on site, when the automatic driving vehicle cannot handle the situation, such as traffic control, construction, traffic jam, etc., ahead, the safety guard or the driving user can only give an instruction or perform manual driving. Therefore, the existing automatic driving still has limitations, and cannot completely replace manual driving, so that the user experience cannot be well improved.

Disclosure of Invention

In view of the above, embodiments of the present invention are proposed in order to provide a driving method that overcomes or at least partially solves the above mentioned problems.

The embodiment of the invention also provides a driving device to ensure the implementation of the method.

In order to solve the above problem, an embodiment of the present invention discloses a driving method, which is applied to a cloud platform server, and the method includes:

when a business order is received, a matched vehicle is distributed to the business order, and business information corresponding to the business order is sent to the vehicle;

when it is monitored that the vehicle meets a preset condition in the automatic driving process based on the service information, a first switching instruction is sent to the vehicle, and an auxiliary instruction is sent to a remote driving control end; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

when the preset condition is monitored to be relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so that the vehicle continues to carry out automatic driving until the vehicle finishes the service order.

Optionally, the service order includes location information, and the method further includes:

generating a starting instruction, and planning a first route for the vehicle according to the position information;

generating service information corresponding to the service order according to the starting instruction and the first route; and enabling the vehicle to start an automatic driving mode according to the starting instruction and automatically drive according to the first route.

Optionally, the method further comprises:

determining whether a third-party information acquisition end exists on the first route; the third-party information acquisition terminal is used for acquiring road monitoring information;

if the third party information exists, communication is established with the third party information acquisition terminal;

receiving road monitoring information sent by the third-party information acquisition terminal, and sending the road monitoring information to the vehicle; so that the vehicle adopts the road monitoring information for automatic driving.

Optionally, the remote driving control end comprises a plurality of service nodes; the method further comprises the following steps:

establishing communication with the remote driving control terminal to monitor the states of the plurality of service nodes;

the sending of the first switching instruction to the vehicle comprises:

determining a target service node in an idle state from the plurality of service nodes;

acquiring address information of the target service node, and generating a first switching instruction according to the address information;

sending the first switching instruction to the vehicle; and enabling the vehicle to be switched to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, when it is monitored that the preset condition is released, sending a disconnection instruction to the remote driving control terminal includes:

receiving the released information sent by the target service node; the released information is used for representing that the preset condition is released;

generating a disconnection instruction according to the processed information, and sending the disconnection instruction to the target service node; so that the target service node disconnects the communication with the vehicle according to the disconnection instruction.

Optionally, the sending a second switching instruction to the vehicle includes:

planning a second route for the vehicle, and generating a second switching instruction according to the second route;

sending the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing automatic driving according to the second route.

Optionally, the preset condition includes one of temporary traffic control, road construction and road congestion.

The embodiment of the invention also provides another driving method which is applied to a vehicle and comprises the following steps:

receiving service information sent by a cloud platform server, and starting an automatic driving mode according to the service information to carry out automatic driving;

when a preset condition is met in the automatic driving process, receiving a first switching instruction sent by the cloud platform server, switching to a remote control mode according to the first switching instruction, establishing communication with a remote driving control terminal, and driving according to control information sent by the remote driving control terminal;

and when the preset condition is relieved, receiving a second switching instruction sent by the cloud platform server, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service information includes a start instruction and a first route; the starting of the automatic driving mode according to the service information for automatic driving comprises the following steps:

and starting an automatic driving mode according to the starting instruction, and carrying out automatic driving according to the first route.

Optionally, the method further comprises:

receiving road monitoring information forwarded by the cloud platform server; the road monitoring information is information acquired by the cloud platform server from a third-party information acquisition terminal when the cloud platform server determines that the third-party information acquisition terminal exists on the first route;

and adopting the road monitoring information to carry out automatic driving.

Optionally, the remote driving control end comprises a plurality of service nodes; the switching to the remote control mode according to the first switching instruction and establishing communication with a remote driving control terminal comprise:

receiving a first switching instruction sent by the cloud platform server; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state;

and switching to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, the switching to the automatic driving mode according to the second switching instruction to continue automatic driving includes:

receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server;

and switching to the automatic driving mode according to the second switching instruction, and continuing automatic driving according to the second route.

The embodiment of the invention also provides a driving system, which comprises a cloud platform server, a vehicle and a remote driving control end;

the cloud platform server is used for receiving a service order and sending service information corresponding to the service order to the vehicle;

the vehicle is used for starting an automatic driving mode according to the service information so as to carry out automatic driving;

the cloud platform server is used for sending a first switching instruction to the vehicle and sending an auxiliary instruction to the remote driving control terminal when monitoring that the vehicle meets a preset condition in the automatic driving process;

the vehicle is used for switching to a remote control mode according to the first switching instruction and establishing communication with the remote driving control terminal;

the remote driving control end is used for remotely controlling the vehicle according to the auxiliary instruction;

the cloud platform server is used for sending a disconnection instruction to the remote driving control terminal and sending a second switching instruction to the vehicle when the preset condition is monitored to be relieved;

the remote driving control end is used for disconnecting the remote control according to the disconnection instruction;

and the vehicle is used for switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service order includes location information,

the cloud platform server is further used for generating a starting instruction, planning a first route for the vehicle according to the position information, and generating service information corresponding to the service order according to the starting instruction and the first route;

the vehicle is used for starting an automatic driving mode according to the starting instruction and automatically driving according to the first route.

Optionally, the cloud platform server is further configured to determine whether a third-party information collection end exists on the first route;

the third-party information acquisition terminal is used for acquiring road monitoring information;

if the vehicle monitoring information exists, the cloud platform server is further used for establishing communication with the third-party information acquisition terminal so as to receive the road monitoring information sent by the third-party information acquisition terminal and send the road monitoring information to the vehicle;

the vehicle is also used for automatic driving by adopting the road monitoring information.

Optionally, the remote driving control end comprises a plurality of service nodes;

the cloud platform server is further used for establishing communication with the remote driving control end so as to monitor the states of the plurality of service nodes, determining a target service node in an idle state from the plurality of service nodes, acquiring address information of the target service node, generating a first switching instruction according to the address information, and sending the first switching instruction to the vehicle;

and the vehicle is used for switching to a remote control mode according to the first switching instruction and establishing communication with the target service node according to the address information.

Optionally, the target service node is configured to send dismissed information to the cloud platform server; the released information is used for representing that the preset condition is released;

the cloud platform server is used for generating a disconnection instruction according to the processed information and sending the disconnection instruction to the target service node;

the target service node is used for disconnecting communication with the vehicle according to the disconnection instruction.

Optionally, the cloud platform server is configured to plan a second route for the vehicle, generate a second switching instruction according to the second route, and send the second switching instruction to the vehicle;

and the vehicle is used for switching to the automatic driving mode according to the second switching instruction and continuing automatic driving according to the second route.

The embodiment of the invention also provides a driving device, which is applied to a cloud platform server, and the device comprises:

the distribution module is used for distributing matched vehicles to the business orders and sending business information corresponding to the business orders to the vehicles when the business orders are received;

the auxiliary module is used for sending a first switching instruction to the vehicle and sending an auxiliary instruction to a remote driving control terminal when the situation that the vehicle meets a preset condition in the automatic driving process based on the service information is monitored; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

the disconnection module is used for sending a disconnection instruction to the remote driving control terminal and sending a second switching instruction to the vehicle when the preset condition is monitored to be relieved; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so that the vehicle continues to carry out automatic driving until the vehicle finishes the service order.

Optionally, the service order includes location information, and the apparatus further includes:

the first route planning module is used for generating a starting instruction and planning a first route for the vehicle according to the position information;

a service information generating module, configured to generate service information corresponding to the service order according to the starting instruction and the first route; and enabling the vehicle to start an automatic driving mode according to the starting instruction and automatically drive according to the first route.

Optionally, the apparatus further comprises:

the road monitoring information determining module is used for determining whether a third-party information acquisition end exists on the first route; the third-party information acquisition terminal is used for acquiring road monitoring information;

the first establishing module is used for establishing communication with the third-party information acquisition terminal if the first establishing module exists;

Optionally, the remote driving control end comprises a plurality of service nodes; the device further comprises:

the second establishing module is used for establishing communication with the remote driving control end so as to monitor the states of the plurality of service nodes;

the auxiliary module includes:

the target service node determining submodule is used for determining a target service node in an idle state from the plurality of service nodes;

the first switching instruction generation submodule is used for acquiring the address information of the target service node and generating a first switching instruction according to the address information;

the first switching instruction sending submodule is used for sending the first switching instruction to the vehicle; and enabling the vehicle to be switched to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, the disconnection module comprises:

a released information receiving submodule, configured to receive released information sent by the target service node; the released information is used for representing that the preset condition is released;

a disconnection instruction sending submodule, configured to generate a disconnection instruction according to the processed information, and send the disconnection instruction to the target service node; so that the target service node disconnects the communication with the vehicle according to the disconnection instruction.

Optionally, the disconnection module comprises:

the second switching instruction generation submodule is used for planning a second route for the vehicle and generating a second switching instruction according to the second route;

the second switching instruction sending submodule is used for sending the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing automatic driving according to the second route.

The embodiment of the invention also provides a driving device, which is applied to a vehicle, and the device comprises:

the starting module is used for receiving the service information sent by the cloud platform server and starting an automatic driving mode according to the service information so as to carry out automatic driving;

the first switching module is used for receiving a first switching instruction sent by the cloud platform server when meeting a preset condition in the automatic driving process, switching to a remote control mode according to the first switching instruction, establishing communication with a remote driving control terminal, and driving according to control information sent by the remote driving control terminal;

and the second switching module is used for receiving a second switching instruction sent by the cloud platform server when the preset condition is relieved, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service information includes a start instruction and a first route; the starting module comprises:

and the automatic driving submodule is used for starting an automatic driving mode according to the starting instruction and carrying out automatic driving according to the first route.

Optionally, the apparatus further comprises:

the road monitoring information receiving module is used for receiving the road monitoring information forwarded by the cloud platform server; the road monitoring information is information acquired by the cloud platform server from a third-party information acquisition terminal when the cloud platform server determines that the third-party information acquisition terminal exists on the first route;

and the road monitoring information adopting module is used for adopting the road monitoring information to carry out automatic driving.

Optionally, the remote driving control end comprises a plurality of service nodes; the first switching module includes:

the first switching instruction receiving submodule is used for receiving a first switching instruction sent by the cloud platform server; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state;

and the first switching submodule is used for switching to a remote control mode according to the first switching instruction and establishing communication with the target service node according to the address information.

Optionally, the second switching module includes:

the second switching instruction receiving submodule is used for receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server;

and the second switching submodule is used for switching to the automatic driving mode according to the second switching instruction and continuing automatic driving according to the second route.

Embodiments of the present invention also provide an electronic device, including a memory, and one or more programs, where the one or more programs are stored in the memory, and configured to be executed by the one or more processors includes a driving method for performing any of the embodiments of the present invention.

Embodiments also provide a vehicle comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs configured to be executed by the one or more processors include instructions for performing any of the driving methods according to embodiments of the present invention.

Embodiments of the present invention further provide a readable storage medium, where instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform a driving method according to any one of the embodiments of the present invention.

Compared with the prior art, the embodiment of the invention has the following advantages:

in the embodiment of the invention, when a service order is received, service information corresponding to the service order is sent to a vehicle through a cloud platform server; when the vehicle meets a preset condition in the automatic driving process, sending a first switching instruction to the vehicle, and sending an auxiliary instruction to a remote driving control end; the vehicle is switched to a remote control mode, and the remote driving control end remotely controls the vehicle; when the preset condition is relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; and the remote driving control end disconnects the remote control, and the vehicle is switched to an automatic driving mode to continue automatic driving until the service order is completed. The vehicle and the remote driving control end are managed in a unified mode through the cloud platform server, the remote control function and the automatic driving function are effectively linked, an unmanned scene is achieved, the remote driving control end is not needed to be on line in real time, and the using efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart illustrating steps of a driving method according to an embodiment of the present invention;

FIG. 2 is a flow chart illustrating steps of another driving method provided by an embodiment of the present invention;

fig. 3 is a communication diagram relating to a user terminal, a cloud platform server, a vehicle, a third-party information collection terminal, and a remote driving control terminal in an embodiment of the present invention;

fig. 4 is a block diagram of a driving device according to an embodiment of the present invention;

fig. 5 is a block diagram of another driving device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a flowchart illustrating steps of a driving method provided in an embodiment of the present invention is shown, and the method is applied to a cloud platform server, and specifically may include the following steps:

step 101, when a service order is received, allocating a matched vehicle to the service order, and sending service information corresponding to the service order to the vehicle.

The embodiment of the invention can be applied to a cloud platform server, and the cloud platform server receives the service orders issued by the users. The user can order through the terminal loaded with the APP, and the terminal can include but is not limited to a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted terminal and the like. Additionally, the service order may be a service from point a to point B, and the service order may include, but is not limited to, automatic vehicle parking, automatic vehicle washing, automatic vehicle charging, vehicle calling to a fixed point, automatic vehicle pickup, etc., which are not limited by the present invention.

In the embodiment of the invention, the service order is issued by the user until the vehicle finishes the service order, and during the period, the service order can be taken over by the cloud platform server in the whole process without the need of the user or a security officer in the vehicle or on the spot, so that an unmanned scene can be realized.

In the embodiment of the invention, the service order can comprise vehicle identification information, and the cloud platform server can establish communication with the vehicle matched with the service order according to the vehicle identification information. The vehicle identification information may include, but is not limited to, a license plate number, a mobile phone number of a user bound to the vehicle, and a public network IP Address (Internet Protocol Address) of a vehicle management platform for managing the vehicle.

In a specific implementation, the cloud platform server may locate a vehicle matched with the service order through the vehicle identification information, and then may actively establish a first communication channel with the vehicle. Or the cloud platform server can communicate with the vehicle management platform based on the public network IP address of the vehicle management platform, so that the vehicle management platform can be informed, the vehicle management platform can be informed of the vehicle, the vehicle can adopt the public network IP address of the cloud platform server, and the first communication channel can be actively established with the cloud platform server.

In a specific implementation, after the first communication channel is established, the cloud platform server may generate service information according to the service order, and then may send the service information to the vehicle based on the first communication channel, so that the vehicle may execute the service information.

It should be noted that, the first Communication channel has low requirement on real-time performance and is not a strong safety item, and a 4G (4th Generation Mobile Communication Technology, fourth Generation Mobile Communication Technology) network or a 5G (5th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology) network may be provided, and may be determined according to the capability of the actual Communication module of the vehicle and the traffic charges.

In an optional embodiment of the present invention, the service order includes location information, and the method may further include:

In a specific implementation, the cloud platform server may generate a start instruction, and the vehicle may be remotely controlled to start the automatic driving mode through the start instruction. In addition, the service order may include location information, the location information may include a destination location, a current first location of the vehicle may be located via a Global Positioning System (GPS), and a first route may be planned for the vehicle according to the first location and the destination location.

In a specific implementation, after the start instruction and the first route are obtained, the cloud platform server may use the start instruction and the first route as service information corresponding to the service order, so that based on the first communication channel, the service information may be sent to the vehicle, the vehicle may start an automatic driving mode according to the start instruction, and in the automatic driving mode, the vehicle may automatically drive according to the first route.

In an optional embodiment of the invention, the method may further comprise:

In specific implementation, the vehicle can sense the surrounding environment of the vehicle through collecting devices such as radars and cameras, however, the sensing range of the collecting devices has limitations, for example, an anchored vehicle stops at a curve ahead of a road, but the vehicle is just at the curve, and at this time, the collecting device based on the vehicle is difficult to detect, so that a collision event is easily caused.

In order to reduce the occurrence probability of the collision event, whether a third-party information acquisition terminal exists on the first route or not can be determined through the cloud platform server, the third-party information acquisition terminal can acquire road monitoring information, and the road monitoring information can include environment monitoring information, parking space monitoring information, roadside obstacle monitoring information and the like. When determining that the third-party information acquisition terminal exists on the first route, the cloud platform server can establish a second communication channel with the third-party information acquisition terminal, then can receive road monitoring information sent by the third-party information acquisition terminal based on the second communication channel, and then can generate the road monitoring information to a vehicle based on the first communication channel, so that the vehicle can adopt the road monitoring information and can carry out automatic driving by combining acquisition equipment of the vehicle.

It should be noted that the vehicle generally has no public network IP address, and some third party information collection terminals are private network IP addresses, for example, the parking space monitoring system in the parking lot is a private network IP address, the vehicle and the parking space monitoring system cannot directly communicate with each other, the vehicle has no way to directly acquire parking space monitoring information, and if the vehicle directly acquires all road monitoring information, the load pressure of the vehicle is greatly increased.

The embodiment of the invention can adopt the cloud platform server as the transfer end, and utilize the cloud platform server with strong filtering and computing capabilities to solve the problems. Specifically, the cloud platform server can receive road monitoring information acquired by the third-party information acquisition end based on the second communication channel, then can filter and calculate the road monitoring information, and finally can send the processed road monitoring information to the vehicle based on the first communication channel, so that the difficulty that the vehicle cannot communicate with the third-party information acquisition end based on the private network IP address can be overcome, and the load pressure of the vehicle can be greatly reduced.

It should be noted that some third party information collection terminals are public network IP addresses, for example, the drive test infrastructure is a public network IP address, the vehicle can directly communicate with the drive test infrastructure, the vehicle can directly obtain roadside obstacle monitoring information, and the roadside obstacle monitoring information needs to be adopted in real time for automatic driving when the vehicle turns, so that if the roadside obstacle monitoring information is forwarded by the cloud platform server, there is a possibility of information reception delay.

According to the embodiment of the invention, the public network IP address of the third-party information acquisition terminal can be acquired through the cloud platform server based on the second communication channel, and then the public network IP address of the third-party information acquisition terminal can be sent to the vehicle based on the first communication channel, so that the vehicle can adopt the public network IP address to establish the third communication channel with the third-party information acquisition terminal, and thus the vehicle can directly receive the road monitoring information acquired by the third-party information acquisition terminal with the public network IP address based on the third communication channel, the possibility of information receiving delay can be avoided, the information is synchronized with the vehicle in real time, and the risk of automatic driving is reduced.

It should be noted that the second communication channel has no high requirement for real-time performance, and is not a strong item of safety, and may be set as a 4G network or a 5G network, and may be determined according to the capability of the actual communication module of the vehicle and the traffic charge, while the third communication channel is related to driving safety, and for the higher requirement for real-time performance, may be set as a 5G network and a network with an order of 5G or more.

102, when it is monitored that the vehicle encounters a preset condition in the automatic driving process based on the service information, sending a first switching instruction to the vehicle, and sending an auxiliary instruction to a remote driving control end; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle.

In specific implementation, in the process of automatically driving the vehicle based on the service information, the cloud platform server can monitor the condition of the vehicle in real time. When a support request uploaded by a vehicle is received, the cloud platform server can determine that the vehicle meets a preset condition which cannot be processed by the vehicle, at the moment, the cloud platform server can send a first switching instruction to the vehicle, the vehicle can be instructed to be switched to a remote control mode through the first switching instruction, the cloud platform server can send an auxiliary instruction to a remote driving control end, the remote driving control end can be instructed to carry out remote control on the vehicle through the auxiliary instruction, and the vehicle can be handed over to the remote driving control end to process the preset condition.

In an optional embodiment of the present invention, the preset condition includes one of temporary traffic control, road construction, and road congestion.

In specific implementation, when the vehicle encounters a preset condition which cannot be solved by itself, such as temporary traffic control, road construction and road congestion, the vehicle can generate a support request, and then the support request can be sent to the cloud platform server through the first communication channel, so that the cloud platform server can call the remote driving control terminal to remotely control the vehicle, the preset condition can be processed through the remote driving control terminal, a user or a security guard does not need to send an instruction or perform manual driving on the spot, and an unmanned scene is realized.

In an optional embodiment of the invention, the remote driving control end comprises a plurality of service nodes; the method may further comprise:

and establishing communication with the remote driving control terminal to monitor the states of the plurality of service nodes.

It should be noted that the cloud platform server may interface a plurality of vehicles, so that the cloud platform server and the remote driving control terminal may be in a communication state before the vehicle matched with the service order is automatically driven. Specifically, the cloud platform server may establish a fourth communication channel with the remote driving control end, and through the fourth communication channel, the cloud platform server may schedule available resources of the remote driving control end in a large range.

In a specific implementation, the remote driving control end may be a service queue for providing a remote control service, the service queue may include a plurality of service nodes, and the cloud platform server may monitor states of the plurality of service nodes based on the fourth communication channel. Wherein the status may include, but is not limited to, an idle status, a busy status, a suspended status. The idle state may be used to characterize that the service node may provide remote control service at that time, the busy state may be used to characterize that the service node is performing remote control work on other vehicles at that time, and the suspended state may be used to characterize that the service node has suspended remote control service at that time.

It should be noted that the fourth communication channel has low requirements on real-time performance and is not a strong item of safety, and a 4G network or a 5G network can be set, and the fourth communication channel can be determined according to the capacity of an actual communication module of a vehicle and the traffic charge.

In an alternative embodiment of the present invention, the step 102 may comprise the following sub-steps:

and a substep S11 of determining a target serving node in an idle state from the plurality of serving nodes.

In a specific implementation, the cloud platform server may monitor states of the plurality of service nodes based on the fourth communication channel, and then may determine a target service node in an idle state according to the states of the plurality of service nodes, so that the target service node may be invoked to provide a remote control service for the vehicle.

And a substep S12, acquiring address information of the target service node, and generating a first switching instruction according to the address information.

In specific implementation, after determining the target service node in the idle state, the cloud platform server may obtain address information of the target service node from the remote driving control terminal. The address information may be an IP address, and the cloud platform server may generate a first switching instruction for remotely controlling the vehicle according to the IP address of the target service node.

Substep S13, sending the first switching instruction to the vehicle; and enabling the vehicle to be switched to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

In specific implementation, the cloud platform server may send the first switching instruction carrying the address information of the target service node to the vehicle in the preset condition, so that the vehicle may be switched to the remote control mode according to the first switching instruction, and may establish communication with the target service node by using the address information.

It should be noted that the vehicle may include a vehicle-side network master control node and a vehicle-side automatic driving controller. Because the vehicle carries out the autopilot process through car end autopilot controller, the function safety requires extremely high, can not bear too much, too big load pressure. Therefore, the embodiment of the invention can enable the vehicle-side network main control node to undertake the work of communicating with the cloud platform server, for example, the vehicle-side network main control node performs data transmission with the cloud platform server based on the first communication channel, and because the requirement on the function safety of the vehicle-side network main control node is not high, the vehicle-side network main control node can deliver the interaction function outside the vehicle to the vehicle-side network main control node for execution, for example, the vehicle-side network main control node can undertake the work content of audio and video entertainment.

In a specific implementation, the vehicle-side network master control node may receive address information of the target service node sent by the cloud platform server based on the first communication channel, and the vehicle-side network master control node may establish a fifth communication channel with the target service node by using the address information. The vehicle-end network main control node can collect audio data from a microphone and a loudspeaker, collect video data from cameras loaded at various positions of a vehicle, and upload audio and video data to the target service node based on the fifth communication channel, so that the target service node can remotely control the vehicle according to the audio and video data.

It should be noted that the vehicle-end Network master control node may transmit the address information of the target service node to the vehicle-end automatic driving Controller through an ETH (ethernet) channel or a CAN (Controller Area Network) channel of the vehicle.

In a specific implementation, the vehicle-side autopilot controller may establish a sixth communication channel with the target service node using the address information. The vehicle-end automatic driving controller can collect real-time sensing data from collecting equipment such as radars and cameras, and then can upload the real-time sensing data to a target service node based on a sixth communication channel, so that the target service node can perform remote control on a vehicle according to the real-time sensing data.

In the embodiment of the invention, the vehicle end network main control node and the vehicle end automatic driving controller are respectively communicated with the target service node, and the vehicle end network main control node and the vehicle end automatic driving controller respectively upload different vehicle data to the target service node, so that the load capacity of the vehicle end automatic driving controller can be effectively reduced, and the automatic driving function with extremely high safety requirements can be greatly met.

The fifth communication channel and the sixth communication channel are related to driving safety, and a 5G network and a network with an order of 5G or more may be provided for high real-time requirement.

It should be noted that the order may be determined according to the development stage of the mobile communication technology, for example, the order corresponding to the second generation mobile communication technology is 2 orders, the order corresponding to the third generation mobile communication technology is 3 orders, the order corresponding to the fourth generation mobile communication technology is 4 orders, and the order corresponding to the fifth generation mobile communication technology is 5 orders. If the network Technology is advanced to the sixth Generation Mobile Communication Technology, the 6G (6th Generation Mobile Communication Technology, sixth Generation Mobile Communication Technology) network is a 5G or higher order network.

103, when the preset condition is monitored to be relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so that the vehicle continues to carry out automatic driving until the vehicle finishes the service order.

In specific implementation, in the process of remotely controlling the vehicle by the target service node, the cloud platform server can monitor the conditions of the target service node and the vehicle in real time. When the preset condition is relieved, the cloud platform server can send a disconnection instruction to the remote driving control end based on the fourth communication channel, the remote driving control end can forward the disconnection instruction to the target service node, and the target service node can be instructed to disconnect the remote control of the vehicle through the disconnection instruction. And the cloud platform server can send a second switching instruction to the vehicle based on the first communication channel, and the vehicle can be instructed to be switched to an automatic driving mode through the second switching instruction, so that the vehicle can continue to carry out automatic driving until the vehicle completes a service order.

In an alternative embodiment of the present invention, the step 103 may comprise the following sub-steps:

substep S21, receiving the released information sent by the target service node; the released information is used for representing that the preset condition is released.

In a specific implementation, when the target service node completes the preset condition of the release, the target service node may generate the released information, and then based on the fourth communication channel, the released information may be sent to the cloud platform server, and the cloud platform server may determine that the preset condition is released according to the released information, so that it may be determined that the vehicle at this time has fallen out of the predicament.

Substep S22, generating a disconnection instruction according to the processed information, and sending the disconnection instruction to the target service node; so that the target service node disconnects the communication with the vehicle according to the disconnection instruction.

In specific implementation, when it is determined that the preset condition is released according to the processed information, the cloud platform server may generate a disconnection instruction, and then, based on the fourth communication channel, may send the disconnection instruction to the target service node, so that the target service node responds to the disconnection instruction, and disconnects the fifth communication channel and the sixth communication channel from the vehicle, thereby disconnecting remote control over the vehicle, and a remote driving control terminal is not required to be on-line in real time.

and a substep S31 of planning a second route for the vehicle and generating a second switching instruction according to the second route.

In a specific implementation, the current second position of the vehicle may be located by the GPS, then a second route may be planned for the vehicle again according to the second position and the destination position in the service order, and then a second switching instruction may be generated according to the second route.

Substep S32, sending the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing automatic driving according to the second route.

In specific implementation, the cloud platform server may send the second switching instruction to the vehicle based on the first communication channel, so that the vehicle may be switched to an automatic driving mode according to the second switching instruction, and in the automatic driving mode, the vehicle may continue to perform automatic driving according to the second route.

Referring to fig. 2, a flow chart illustrating steps of another driving method provided by the embodiment of the invention is applied to a vehicle, and the method specifically includes the following steps:

step 201, receiving service information sent by a cloud platform server, and starting an automatic driving mode according to the service information to perform automatic driving.

In the embodiment of the invention, the method and the device can be applied to vehicles, the vehicles can establish a first communication channel with the cloud platform server, and based on the first communication channel, the vehicles can receive the service information distributed by the cloud platform server. The service information may be generated by the cloud platform server according to a service order issued by the user, the user may place an order through a terminal loaded with the APP, the service order may be a service from a point a to a point B, and the service order may include, but is not limited to, an automatic vehicle parking, an automatic vehicle washing, an automatic vehicle charging, a vehicle call to a fixed point, an automatic vehicle call to a sender, and the like.

In the embodiment of the invention, the service order is issued by the user until the vehicle finishes the service order, and the vehicle can be taken over by the cloud platform server in the whole process, so that when the vehicle receives the service information sent by the cloud platform server, no user or security personnel exists in the vehicle or on the spot, and an unmanned scene can be realized.

It should be noted that, the first communication channel has low requirements on real-time performance and is not a strong item of safety, and a 4G or 5G network may be set, and may be determined according to the capability of the actual communication module of the vehicle and the traffic charge.

In an optional embodiment of the present invention, the service information includes a start instruction and a first route; the step 201 may comprise the following sub-steps:

In a specific implementation, the service information may include a start instruction and a first route, where the first route may be obtained by planning by the cloud platform server according to the location information in the service order, and the vehicle may start an automatic driving mode according to the start instruction, and in the automatic driving mode, the vehicle may automatically drive according to the first route.

In an optional embodiment of the invention, the method may further comprise:

and adopting the road monitoring information to carry out automatic driving.

In order to reduce the occurrence probability of the collision event, the vehicle may receive road monitoring information forwarded by the cloud platform server, where the road monitoring information may be information obtained by the cloud platform server from a third-party information acquisition terminal when the cloud platform server determines that the third-party information acquisition terminal exists on the first route. Specifically, when the cloud platform server determines that the third-party information acquisition terminal exists on the first route, a second communication channel with the third-party information acquisition terminal can be established, then the cloud platform server can acquire road monitoring information from the third-party information acquisition terminal based on the second communication channel, and then the cloud platform server can forward the road monitoring information to the vehicle based on the first communication channel, so that the vehicle can adopt the road monitoring information and carry out automatic driving by combining with the acquisition equipment of the vehicle.

The third-party information acquisition end may be used as a redundant backup, and may also be used for monitoring a blind area, for example, all information of the vehicle on the other side of a turn or a curve is unknown to a sensor of the vehicle, so that the road monitoring information may refer to field-end information other than the vehicle, that is, the road monitoring information may be information deployed outside the vehicle, and the road monitoring information may include environment monitoring information, parking space monitoring information, roadside obstacle monitoring information, and the like, which is not limited in this embodiment of the present invention.

In the embodiment of the invention, the vehicle can receive the road monitoring information forwarded by the cloud platform server based on the first communication channel, and the road monitoring information can be obtained after being filtered and calculated by the cloud platform server, so that the difficulty that the vehicle and a third-party information acquisition terminal based on a private network IP address cannot communicate can be overcome, and the load pressure of the vehicle can be greatly reduced.

In the embodiment of the invention, the vehicle can receive the road monitoring information forwarded by the cloud platform server based on the first communication channel, and can establish a third communication channel with a third-party information acquisition terminal with a public network IP address. Specifically, the vehicle can receive a public network IP address of a third-party information acquisition terminal sent by the cloud platform server based on the first communication channel, and then the vehicle adopts the public network IP address to establish a third communication channel with the third-party information acquisition terminal, so that the vehicle can directly receive road monitoring information acquired by the third-party information acquisition terminal with the public network IP address based on the third communication channel, the possibility of information receiving delay can be avoided, the information is synchronized with the vehicle in real time, and the risk of automatic driving is reduced.

Step 202, when a preset condition is met in the automatic driving process, receiving a first switching instruction sent by the cloud platform server, switching to a remote control mode according to the first switching instruction, establishing communication with a remote driving control terminal, and driving according to control information sent by the remote driving control terminal.

In the embodiment of the invention, in the automatic driving process of the vehicle, if preset conditions such as temporary traffic control, road construction and road congestion are met, the vehicle can request the cloud platform server to take over remotely. The cloud platform server responds to a request of the vehicle and sends a first switching instruction to the vehicle, so that the vehicle can be switched from an automatic driving mode to a remote control mode according to the first switching instruction. And the cloud platform server responds to the request of the vehicle and calls the remote driving control terminal, so that the vehicle can establish communication with the remote driving control terminal and can run according to the control information sent by the remote driving control terminal.

In specific implementation, assuming that temporary traffic control appears in front, a vehicle can sense that a front obstacle exists, braking, service suspension and waiting are performed, if the temporary traffic control is finished, the vehicle can sense that the front obstacle disappears, automatic driving can be continued, however, if the waiting time of the vehicle exceeds a time threshold, the vehicle can request a cloud platform server for remote takeover, for example, a support request is generated and sent to the cloud platform server, so that the cloud platform server can call a remote driving control terminal to process a preset condition, the vehicle can run under the remote control of the remote driving control terminal, a user or a security guard does not need to send an instruction or manually drive on site, and an unmanned scene is achieved.

In an optional embodiment of the invention, the remote driving control end comprises a plurality of service nodes; the step 202 may comprise the sub-steps of:

substep S41, receiving a first switching instruction sent by the cloud platform server; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state.

And a substep S42, switching to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

In the embodiment of the invention, the remote driving control end can be a service queue used for providing remote control service, and the service queue can comprise a plurality of service nodes. The cloud platform server may establish a fourth communication channel with the remote driving control terminal, so that the cloud platform server may monitor states of the plurality of service nodes based on the fourth communication channel, where the states may include, but are not limited to, an idle state, a busy state, and a suspended state.

In the embodiment of the invention, the cloud platform server can determine the target service node in an idle state according to the states of the plurality of service nodes, then can acquire the address information of the target service node from the remote driving control terminal, then can generate a first switching instruction according to the address information of the target service node, and can send the first switching instruction to the vehicle based on the first communication channel, so that the vehicle can be switched from an automatic driving mode to a remote control mode according to the first switching instruction, and can extract the address information of the target service node from the first switching instruction, so that the vehicle can establish communication with the target service node by using the address information.

In the embodiment of the invention, the vehicle can comprise a vehicle-end network main control node and a vehicle-end automatic driving controller. The vehicle-end network main control node can receive the address information of the target service node sent by the cloud platform server based on the first communication channel, so that the vehicle-end network main control node can establish a fifth communication channel with the target service node by adopting the address information. Meanwhile, the vehicle-side automatic driving controller CAN receive the address information of the target service node transmitted by the vehicle-side network main control node based on an ETH channel or a CAN channel of the vehicle, so that the vehicle-side automatic driving controller CAN establish a sixth communication channel with the target service node by adopting the address information.

In the embodiment of the invention, the vehicle end network main control node can upload audio and video data to the target service node based on the fifth communication channel, and the vehicle end automatic driving controller can upload real-time sensing data to the target service node based on the sixth communication channel, so that the target service node can generate control information to the vehicle according to the audio and video data and the real-time sensing data, and the vehicle can run by adopting the control information.

In specific implementation, the vehicle-side network master control node can not only undertake the work of communicating with the cloud platform server, but also undertake the work content of audio and video entertainment. For example, assuming that there is temporary traffic control in front, a traffic police intercepts vehicles, and the vehicles stop, the network master control node at the vehicle end may request the cloud platform server for remote processing, the cloud platform server may call a target service node in an idle state in the remote driving control end, and then the vehicles may establish communication with the target service node. The vehicle end network main control node of the vehicle can collect audio data of the external environment of the vehicle from the collection devices such as the microphone and the loudspeaker, can collect video data of the external environment of the vehicle from the collection devices such as the roof camera, the head camera, the tail camera and the body camera, and can upload audio and video data to the target service node based on the fifth communication channel, so that the target service node can communicate with a traffic police in real time according to the audio and video data.

In a particular implementation, the vehicle-end autopilot controller may undertake autopilot work. For example, the end autopilot controller may collect real-time sensory data such as wheel angle, heading angle, speed, acceleration, etc. from various collection devices. The wheel rotation angle can be determined by collecting the deflection angle of the steering wheel, the heading angle can be determined by data collected by a gyroscope for measuring the yaw angular velocity of the vehicle, the velocity can be determined by data collected by a velocity sensor, and the acceleration can be determined by data collected by an acceleration sensor. Then, the automatic vehicle-end driving controller can upload the real-time sensing data to the target service node based on the sixth communication channel, so that the target service node can generate control information according to the real-time sensing data, and the control information can comprise control parameters such as wheel turning angles, course angles, speeds and accelerations, and thus the automatic vehicle-end driving controller can drive according to the control information. For example, assuming that the control information includes "the wheel angle is shifted to the left by 10 °", "the vehicle is decelerated to 60 km/h", the end-of-vehicle automatic driving controller may control the steering wheel of the vehicle to be rotated such that the wheel angle is shifted to the left by 10 °, and the brake of the vehicle to decelerate the vehicle to 60 km/h.

It should be noted that the fourth communication channel has no high requirement on real-time performance, is not a safety item, may be configured with a 4G network or a 5G network, and may be determined according to the capability of the actual communication module of the vehicle and the traffic charge, while the fifth communication channel and the sixth communication channel are related to driving safety, and may be configured with a 5G network and a network with an order of 5G or more for a high requirement on real-time performance.

Step 203, when the preset condition is removed, receiving a second switching instruction sent by the cloud platform server, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

In an alternative embodiment of the present invention, the step 203 may comprise the following sub-steps:

substep S51, receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server.

And a substep S52 of switching to the automatic driving mode according to the second switching instruction and continuing automatic driving according to the second route.

In specific implementation, when the cloud platform server monitors that the preset condition is relieved, the cloud platform server sends a disconnection instruction to the target service node based on the fourth communication channel, and the target service node can be instructed to disconnect the fifth communication channel and the sixth communication channel through the disconnection instruction, so that remote control over the vehicle can be disconnected, and a remote driving control end is not required to be on line in real time.

Then, the vehicle may receive a second switching instruction sent by the cloud platform server based on the first communication channel, where the second switching instruction may include a second route planned by the cloud platform server, and the second route may be a route obtained by replanning according to a current second position of the vehicle and position information in the service order, so that the vehicle may be switched from the remote control mode to the automatic driving mode according to the second switching instruction, and in the automatic driving mode, the vehicle may continue to perform automatic driving according to the second route until the service order is completed.

In order to enable those skilled in the art to better understand the embodiments of the present invention, the following description illustrates the embodiments of the present invention by way of example:

example one: the system comprises a user terminal 301, a cloud platform server 302, a vehicle 303, a third-party information acquisition terminal 304 and a remote driving control terminal 305.

Referring to fig. 3, a communication diagram relating to a user terminal, a cloud platform server, a vehicle, a third-party information acquisition terminal, and a remote driving control terminal in the embodiment of the present invention is shown, and a specific communication process is as follows:

1. a user can place an order through the user terminal 301 loaded with the APP, and the user terminal 301 can send a service order to the cloud platform server 302;

2. the cloud platform server 302 may establish a first communication channel with a vehicle-side network main control node 3032 in the vehicle 303; wherein, the first communication channel can use a 4G network or a 5G network; the cloud platform server 302 may generate service information according to the service order, and based on the first communication channel, may send the service information to the vehicle-side network main control node 3032;

3. if the third-party information acquisition terminal 304 exists on the first route, the cloud platform server 302 may establish a second communication channel with the third-party information acquisition terminal 304; wherein, the second communication channel can use a 4G network or a 5G network; based on the second communication channel, the cloud platform server 302 may receive the road monitoring information acquired by the third-party information acquisition terminal 304, may process the road monitoring information, and may send the processed road monitoring information to the vehicle-side network main control node 3032 based on the first communication channel;

4. the cloud platform server 302 may instruct the vehicle-side network main control node 3032 to establish a third communication channel with the third-party information acquisition terminal 304; the third communication channel can use a 5G network and more than 5G network; based on the third communication channel, the vehicle-side network main control node 3032 may receive the road monitoring information collected by the third-party information collection terminal 304;

5. the cloud platform server 302 may establish a fourth communication channel with the remote driving control terminal 305 to monitor the state of the remote driving control terminal 305; the fourth communication channel can use a 4G network or a 5G network;

6. the vehicle-side network main control node 3032 CAN forward the service information and the road monitoring information to the vehicle-side automatic driving controller 3031 based on the ETH channel/CAN channel;

7. the vehicle-end automatic driving controller 3031 can carry out automatic driving according to the service information and the road monitoring information;

8. when the vehicle 303 encounters a preset condition, the vehicle-side network master control node 3032 may generate a support request, and then may send the support request to the cloud platform server 302 based on the first communication channel;

9. the cloud platform server 302 may determine a target service node in an idle state from the remote driving control terminal 305 according to the state of the remote driving control terminal 305;

10. the cloud platform server 302 may instruct the vehicle 303 to establish communication with a target service node in the remote driving control terminal 305; a fifth communication channel can be established between the vehicle network main control node 3032 and a target service node in the remote driving control end 305; so that the vehicle-end autopilot controller 3031 and the target service node in the remote driving control end 305 can establish a sixth communication channel; the fifth communication channel and the sixth communication channel can use a 5G network and more than a 5G network;

11. the vehicle-side network main control node 3032 can upload audio and video data to a target service node in the remote driving control terminal 305 based on the fifth communication channel; the vehicle-end automatic driving controller 3031 can upload real-time sensing data to a target service node in the remote driving control end 305 based on the sixth communication channel;

12. a target service node in the remote driving control terminal 305 can remotely control the vehicle 303 according to the audio and video data and the real-time sensing data so as to process a preset condition;

13. when the preset condition is released, the cloud platform server 302 may instruct the target service node in the remote driving control terminal 305 to disconnect the fifth communication channel and the sixth communication channel, so as to disconnect the remote control of the vehicle;

14. the cloud platform server 302 may instruct the vehicle 303 to proceed with the autonomous driving to have the vehicle 303 complete the business order.

In an alternative embodiment of the invention, the service order comprises location information,

In an optional embodiment of the present invention, the cloud platform server is further configured to determine whether a third party information collecting end exists on the first route;

In an optional embodiment of the invention, the remote driving control end comprises a plurality of service nodes;

In an optional embodiment of the present invention, the target service node is configured to send dismissed information to the cloud platform server; the released information is used for representing that the preset condition is released;

In an optional embodiment of the present invention, the cloud platform server is configured to plan a second route for the vehicle, generate a second switching instruction according to the second route, and send the second switching instruction to the vehicle;

For the system embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

Referring to fig. 4, a block diagram of a driving apparatus provided in an embodiment of the present invention is shown, and the driving apparatus is applied to a cloud platform server, and the driving apparatus may specifically include the following steps:

the distribution module 401 is configured to distribute a matched vehicle to a service order when the service order is received, and send service information corresponding to the service order to the vehicle;

the auxiliary module 402 is configured to send a first switching instruction to the vehicle and send an auxiliary instruction to a remote driving control terminal when it is monitored that the vehicle encounters a preset condition in the automatic driving process based on the service information; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

a disconnection module 403, configured to send a disconnection instruction to the remote driving control terminal and send a second switching instruction to the vehicle when it is monitored that the preset condition is released; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so that the vehicle continues to carry out automatic driving until the vehicle finishes the service order.

In an optional embodiment of the present invention, the service order includes location information, and the apparatus may further include:

In an optional embodiment of the present invention, the apparatus may further comprise:

In an optional embodiment of the invention, the remote driving control end comprises a plurality of service nodes; the apparatus may further include:

in an optional embodiment of the present invention, the auxiliary module 402 may include:

In an optional embodiment of the present invention, the disconnection module 403 may include:

Referring to fig. 5, a block diagram of another driving apparatus provided in an embodiment of the present invention is shown, and the apparatus is applied to a vehicle, and specifically includes the following steps:

the starting module 501 is configured to receive service information sent by a cloud platform server, and start an automatic driving mode according to the service information to perform automatic driving;

the first switching module 502 is configured to receive a first switching instruction sent by the cloud platform server when a preset condition is met in an automatic driving process, switch to a remote control mode according to the first switching instruction, establish communication with a remote driving control terminal, and drive according to control information sent by the remote driving control terminal;

the second switching module 503 is configured to receive a second switching instruction sent by the cloud platform server when the preset condition is resolved, and switch to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

In an optional embodiment of the present invention, the service information includes a start instruction and a first route; the starting module 501 may include:

In an optional embodiment of the invention, the remote driving control end comprises a plurality of service nodes; the first switching module 502 may include:

In an optional embodiment of the present invention, the second switching module 503 may include:

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, 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 present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) 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 flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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 to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, 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 terminal 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal 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 of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The driving method, system, device, electronic device, vehicle and readable storage medium provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A driving method is characterized by being applied to a cloud platform server, and the method comprises the following steps:

2. The method of claim 1, wherein the business order comprises location information, the method further comprising:

3. The method of claim 2, further comprising:

4. The method of claim 1, wherein the remote driving control comprises a plurality of service nodes; the method further comprises the following steps:

the sending of the first switching instruction to the vehicle comprises:

5. The method of claim 4, wherein sending a disconnection command to the remote driving control terminal when it is monitored that the preset condition is released comprises:

6. The method of claim 1, wherein said sending a second switching instruction to the vehicle comprises:

7. A driving method, characterized by being applied to a vehicle, the method comprising:

8. The method of claim 7, wherein the traffic information includes a start instruction and a first route; the starting of the automatic driving mode according to the service information for automatic driving comprises the following steps:

9. The method of claim 8, further comprising:

and adopting the road monitoring information to carry out automatic driving.

10. The method of claim 7, wherein the remote driving control comprises a plurality of service nodes; the switching to the remote control mode according to the first switching instruction and establishing communication with a remote driving control terminal comprise:

11. The method according to claim 7, wherein the switching to the autonomous driving mode according to the second switching instruction to continue autonomous driving includes:

12. The driving system is characterized by comprising a cloud platform server, a vehicle and a remote driving control end;

13. The system of claim 12, wherein the service order includes location information,

14. The system of claim 13,

the cloud platform server is further used for determining whether a third-party information acquisition end exists on the first route;

15. The system of claim 12, wherein the remote driving control comprises a plurality of service nodes;

16. The system of claim 15,

the target service node is used for sending the released information to the cloud platform server; the released information is used for representing that the preset condition is released;

17. The system of claim 12,

the cloud platform server is used for planning a second route for the vehicle, generating a second switching instruction according to the second route and sending the second switching instruction to the vehicle;

18. A driving device is applied to a cloud platform server, and the device comprises:

19. A steering device, for application to a vehicle, the device comprising:

20. An electronic device comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and configured to be executed by the one or more processors comprises means for performing the driving method of any of method claims 1-6 or method claims 7-11.

21. A vehicle comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and configured to be executed by the one or more processors comprises means for performing the driving method of any of method claims 7-11.

22. A readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the driving method of any of method claims 1-6 or method claims 7-11.