CN114509083A - Driving path planning method and device - Google Patents
Driving path planning method and device Download PDFInfo
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- CN114509083A CN114509083A CN202210080288.2A CN202210080288A CN114509083A CN 114509083 A CN114509083 A CN 114509083A CN 202210080288 A CN202210080288 A CN 202210080288A CN 114509083 A CN114509083 A CN 114509083A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Abstract
The invention relates to the field of remote driving, in particular to a driving path planning method and device. The method is applied to remote service equipment and comprises the following steps: when a remote driving request of a vehicle to be driven is received, determining a departure place and a destination of the vehicle to be driven according to the remote driving request; determining a plurality of first candidate paths for communicating the starting place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter; determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path; and sending the target path to a remote control cabin of the vehicle to be driven so that the remote control cabin sends an operation command to the vehicle to be driven according to the target path. The driving path planning method provided by the embodiment of the invention can determine the target path according to the network quality parameters of each path so as to ensure the driving safety of the vehicle in the remote driving process.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of remote driving, in particular to a driving path planning method and device.
[ background of the invention ]
The remote driving technology can utilize a wireless communication network to realize information interaction between a vehicle to be driven and a remote driving cabin. The driver does not need to locate the cab of the vehicle to be driven, and the vehicle to be driven can be remotely controlled in the remote cab according to the running state data sent by the vehicle to be driven in real time. The technology can ensure the personal safety of the driver in a severe driving environment.
In the remote driving technology, whether the remote driving function is turned on or not is closely related to the network signal quality of a path where a vehicle to be driven is located. How to plan the driving path of the vehicle to be driven according to the network signal quality so as to ensure the normal use of the remote driving function is a problem to be solved.
[ summary of the invention ]
In view of this, embodiments of the present invention provide a driving path planning method and apparatus, which can determine a target path according to network quality parameters of each path, so as to ensure that a remote driving function is normally started and safety after a vehicle is taken over.
In a first aspect, an embodiment of the present invention provides a driving path planning method, which is applied to a remote service device, and includes:
when a remote driving request of a vehicle to be driven is received, determining a departure place and a destination of the vehicle to be driven according to the remote driving request;
determining a plurality of first candidate paths for communicating the departure place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter;
determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path;
and sending the target path to a remote cockpit of the vehicle to be driven so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path.
In one possible implementation manner, when a remote driving request of a vehicle to be driven is received, determining a departure place and a destination of the vehicle to be driven according to the remote driving request includes:
determining a departure place of the vehicle to be driven from the remote driving request;
and determining an emergency rescue stop point closest to the departure place as the destination of the vehicle to be driven.
In one possible implementation manner, the remote service device is deployed with a database for storing the network quality parameters, where the database includes the network quality parameters detected and uploaded by vehicles traveling in the area to which each waypoint belongs, and/or the network quality parameters detected and uploaded by wireless communication switching devices disposed in the area to which each waypoint belongs.
In one possible implementation manner, the distance between each path point and the adjacent path point is equal;
determining a target path according to the number of path points of which the network quality parameter is greater than a first threshold value in each first candidate path, including:
determining a second candidate path of which the network quality parameter of each path point is larger than a first threshold value from the first candidate paths;
if the second candidate path does not exist in the first candidate paths, determining the first candidate path with the smallest number of path points of which the network quality parameters are less than or equal to a first threshold value as the target path;
determining a second candidate path as the target path if there is only one second candidate path among the first candidate paths;
and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path.
In one possible implementation manner, sending the target path to a remote cockpit of the vehicle to be driven, so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path, includes:
generating remote driving task information according to the target path;
and sending the remote driving task information to remote control equipment deployed on an edge cloud platform, so that the remote control equipment forwards the remote driving task information to a remote control cabin of the vehicle to be driven.
In a second aspect, a driving path planning method according to an embodiment of the present invention is applied to a vehicle to be driven, and includes:
sending a remote driving request to remote service equipment, so that the remote service equipment determines a departure place and a destination according to the remote driving request and determines a plurality of first candidate paths for communicating the departure place and the destination, each first candidate path comprises a plurality of path points, each path point is configured with a network quality parameter, and a target path determined according to the number of the path points of which the network quality parameters are greater than a first threshold value in each first candidate path is sent to a remote cab of a vehicle to be driven;
and when receiving an operation command determined by the remote cockpit according to the target path, driving according to the operation command.
In one possible implementation manner, when receiving a control instruction determined by the remote cockpit according to the target path, driving according to the control instruction includes:
determining whether an obstacle exists around the vehicle to be driven by a sensor module arranged on the vehicle to be driven during driving;
if obstacles exist around the vehicle to be driven, emergency braking is carried out;
and if no obstacle exists around the vehicle to be driven, driving according to the control command.
In a third aspect, an embodiment of the present invention provides a driving path planning apparatus, where the apparatus is applied to a remote service device, and includes:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a departure place and a destination of a vehicle to be driven according to a remote driving request when the remote driving request of the vehicle to be driven is received; determining a plurality of first candidate paths for communicating the departure place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter; determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path;
and the sending module is used for sending the target path to a remote cockpit of the vehicle to be driven so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path.
In one possible implementation, the distance between each path point and the adjacent path point is equal;
the determining module is specifically configured to determine, from the first candidate paths, a second candidate path in which a network quality parameter of each path point is greater than a first threshold; if the second candidate path does not exist in the first candidate paths, determining the first candidate path with the smallest number of path points of which the network quality parameters are less than or equal to a first threshold value as the target path; determining a second candidate path as the target path if there is only one second candidate path among the first candidate paths; and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path.
In a fourth aspect, an embodiment of the present invention provides a driving path planning apparatus, where the apparatus is applied to a vehicle to be driven, and includes:
the remote driving control system comprises a sending module, a remote driving module and a control module, wherein the sending module is used for sending a remote driving request to remote service equipment so that the remote service equipment determines a starting place and a destination according to the remote driving request and a plurality of first candidate paths for communicating the starting place and the destination, each first candidate path comprises a plurality of path points, each path point is configured with a network quality parameter, and a target path determined according to the number of the path points of which the network quality parameters are larger than a first threshold value in each first candidate path is sent to a remote cab of the vehicle to be driven;
and the execution module is used for driving according to the control instruction when receiving the control instruction determined by the remote cockpit according to the target path.
The driving path planning method and the driving path planning device provided by the embodiment of the invention can determine the target path according to the network quality parameters of each path so as to ensure the driving safety of the vehicle.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described 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 that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a driving path planning system according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving path planning method according to an embodiment of the present invention;
fig. 3 is a flowchart of another driving path planning method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a driving path planning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic view of another driving path planning apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
In the remote driving technology, the network signal quality of the path where the vehicle is located is closely related to driving safety. The driving path planning method provided by the embodiment of the invention can determine the target path according to the network quality parameters of each path, thereby ensuring the driving safety.
Fig. 1 is a schematic diagram of a driving path planning system according to an embodiment of the present invention. As shown in fig. 1, the above system may include: a vehicle 11 to be driven, a remote control device 12, a remote service device 13, and a remote cockpit 14. The devices shown in the figure may be connected by wireless networks, including 4G networks and 5G networks. Wherein, the base station and the core network of the 4G network are respectively referred to as enb (evolved Node b) and epc (evolved Packet core); the base stations and core networks of a 5G network are referred to as the gnb (Generation Node b) and the ngc (next Generation core), respectively.
Wherein the vehicle 11 to be driven can send a remote driving request to the remote service device 13 through the wireless network.
The remote service apparatus 13 is deployed in a central machine room, i.e., an Internet Data Center (IDC) machine room of an operator.
A remote service device 13 for determining a departure place and a destination of the vehicle 11 to be driven according to a remote driving request when receiving the remote driving request of the vehicle 11 to be driven; determining a plurality of first candidate paths for communicating the departure place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter; determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path; the target path is sent to the remote cab 14 of the vehicle 11 to be driven, so that the remote cab 14 sends a manipulation instruction to the vehicle 11 to be driven according to the target path.
In the process of sending the target path to the remote cockpit 14 of the vehicle 11 to be driven, the remote service device 13 may first generate remote driving task information according to the target path, and then send the remote driving task information to the remote control device 12 deployed on the edge cloud platform, so that the remote control device 12 forwards the remote driving task information to the remote cockpit 14 of the vehicle 11 to be driven.
The remote control device 12 is further configured to forward the driving state data collected by the vehicle 11 to be driven to the remote control cabin 14; the control instruction of the remote control cabin 14 is forwarded to the vehicle 11 to be driven, and the execution condition of the remote driving task information is monitored.
And the remote control cabin 14 is configured to send a control instruction to the vehicle 11 to be driven according to the target path and the driving state data collected by the vehicle 11 to be driven, so as to control the vehicle 11 to be driven to drive.
In the process of driving the vehicle 11 to be driven according to the control instruction, whether obstacles exist around can be determined through the carried sensor module; if the obstacle exists, stopping executing the control command and carrying out emergency braking, and when the obstacle does not exist around, continuing executing the control command.
Fig. 2 is a flowchart of a driving path planning method according to an embodiment of the present invention, where the method is applied to a remote service device. As shown in fig. 2, the method may include:
step 101, when a remote driving request of a vehicle to be driven is received, determining a departure place and a destination of the vehicle to be driven according to the remote driving request.
In particular, remote driving techniques may be used for emergency rescue of a malfunctioning vehicle. In this scenario, the remote driving request includes information of the current location of the vehicle to be driven. The remote service equipment can determine the current position of the vehicle to be driven as a departure place, and allocate an emergency rescue stop point closest to the departure place as a destination for the vehicle to be driven.
Alternatively, the remote driving request may include the current location information and the destination information of the vehicle to be driven. Wherein the destination information may be determined by the vehicle to be driven itself. At this time, the remote service apparatus may determine the departure place and the destination of the vehicle to be driven directly from the remote driving request.
After determining the departure place and the destination of the vehicle to be driven, a plurality of first candidate paths capable of communicating the departure place and the destination need to be determined. Each of the first candidate paths includes the same end point (i.e., the origin and the destination), but the path lengths may be different.
Each first candidate path may include a plurality of equidistant waypoints, that is, each first candidate path may be formed by connecting a plurality of consecutive waypoints, and the distance between each waypoint and the adjacent waypoint is equal. Each path point is configured with a network quality parameter for characterizing the network signal quality of a region to which the path point belongs (the region to which the path point belongs is a circular region taking the path point as a center, and the diameter of the circle is equal to the distance between adjacent path points). The network quality parameters may include an uplink bandwidth (ULBW), a Reference Signal Receiving Power (RSRP), a Signal to Interference plus Noise Ratio (SINR), and the like. Wherein, the equal distance means that the distances between adjacent path points of the first candidate paths are all equal. By making the distances between the waypoints equal, relative errors caused by unequal distances between the waypoints of the plurality of candidate paths can be eliminated.
In particular, a database for storing network quality parameters may be deployed in the remote service device. The network quality parameters stored in the database may be detected and uploaded by vehicles traveling in the area to which each waypoint belongs, or may be detected and uploaded by a wireless communication switching device (e.g., a base station) installed in the area to which each waypoint belongs.
After the first candidate paths are determined, the target path needs to be further determined according to the network quality parameters included in each first candidate path. Specifically, each first candidate path may include a different number of path points, and each path point is configured with a network quality parameter.
As an alternative, when determining the target path, a second candidate path whose network quality parameter of each path point is greater than the first threshold may be screened from all the first candidate paths.
And if the second candidate path meeting the conditions does not exist in the first candidate paths, determining the first candidate path with the minimum number of path points with the network quality parameter less than or equal to the first threshold as the target path. It should be noted that, according to the number of path points of which the network quality parameter in the first candidate path is less than or equal to the first threshold, the number of areas of which the network signal quality does not meet the requirement in each first candidate path can be determined. The first candidate path with the minimum number of path points with the network signal quality not meeting the requirement is determined as the target path, so that the remote driving function can be ensured to be started as much as possible, and meanwhile, the vehicle to be driven is ensured to be effectively taken over. In addition, the first candidate path with the smallest ratio of the number of path points with unsatisfactory network signal quality may be determined as the target path.
If only one second candidate path meeting the conditions exists in the first candidate paths, determining the second candidate path as a target path; and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path. Because the distances between the adjacent path points are equal, the length of each second candidate path can be determined according to the number of the path points.
It should be noted that the first threshold may be set according to a requirement for network quality when the remote driving function is turned on. For example, when the network quality parameter includes both RSRP parameter, SINR parameter and ULBW parameter, the first threshold may include both RSRP threshold, SINR threshold and ULBW threshold. At this time, if the RSRP parameter of a certain path point is greater than the RSRP threshold in the first threshold, the SINR parameter is greater than the SINR threshold in the first threshold, and the uplink bandwidth parameter is greater than the ULBW threshold in the first threshold, it may be considered that the network quality parameter of the path point is greater than the first threshold.
And 104, sending the target path to a remote control cabin of the vehicle to be driven so that the remote control cabin sends an operation command to the vehicle to be driven according to the target path.
Specifically, after the target path is determined, the remote service device may generate remote driving task information according to the target path, and send the remote driving task information to the remote control device. The remote control equipment forwards the remote driving task information to a remote control cabin of the vehicle to be driven so that the remote control cabin sends a control instruction to the vehicle to be driven according to the target path. The remote control equipment is also responsible for information forwarding between the vehicle to be driven and the remote control cabin, and the remote control equipment is deployed on the edge cloud platform, so that the communication delay is reduced, and the driving safety is guaranteed.
When the vehicle to be driven runs according to the control instruction, whether obstacles exist around the vehicle can be determined through the carried sensor module. The sensor module may include a visual sensor such as a camera, a millimeter wave radar sensor, and the like.
If no obstacle exists around the vehicle to be driven, driving according to the control instruction; and if the obstacles exist around the vehicle to be driven, interrupting the execution of the control command, carrying out emergency braking, and continuing to drive according to the control command until the obstacles do not exist around the vehicle.
If the vehicle to be driven finds the obstacle, the obstacle information needs to be forwarded to the remote control cabin through the remote control device, emergency braking is performed after a braking control instruction sent by the remote control cabin through the remote control device is received, and driving safety is easily affected by time consumed by information transmission. According to the embodiment of the invention, the decision right for carrying out emergency braking according to the barrier is distributed to the vehicle to be driven, and the execution priority for carrying out emergency braking on the vehicle to be driven according to the barrier is higher than the execution priority of the control command sent by the remote cockpit, so that the accident occurrence probability can be effectively reduced, and the traffic safety is ensured.
The driving path planning method provided by the embodiment of the invention can determine the path with better network signal quality as the target path so as to improve the remote driving starting probability by ensuring the signal quality of the vehicle to be driven in the driving process. In addition, the decision right of emergency braking when the obstacle is found is distributed to the vehicle to be driven, and the execution priority of the emergency braking is higher than the control instruction sent by the remote cockpit, so that the accident occurrence probability can be effectively reduced.
Fig. 3 is a flowchart of another driving path planning method according to an embodiment of the present invention. As shown in fig. 3, the method may include:
step 301, information registration is respectively carried out on the vehicle to be driven, the remote control device and the remote control cabin on the remote service device.
After the step is successfully executed, the remote service equipment can acquire the vehicle-cabin information (namely the information of the vehicle to be driven and the information of the remote control cabin). Among them, the car-cabin information includes but is not limited to: the current position of the information of the vehicle to be driven, the information such as network quality parameters of the position, the occupation state of a remote cockpit and the like.
It should be noted that the vehicle to be driven, the remote control device, and the remote control cabin only need to perform this step once, and there is no need to perform information registration once before each cooperative remote driving task is performed.
Step 302, the vehicle to be driven sends a remote driving request to the remote service device. (this step is followed by step 303)
And step 303, the remote service equipment determines whether the vehicle to be driven meets the take-over condition or not according to the vehicle-cabin information.
The take-over condition may be set according to actual needs, for example, the take-over condition may include: the remote control cabin in an idle state exists at present, and the network quality parameter of the current position of the information of the vehicle to be driven is larger than a first threshold value and the like.
If the vehicle to be driven does not meet the take-over condition, executing step 304; otherwise, step 305 is performed.
Step 304, a remote driving request rejection response is sent to the vehicle to be driven.
After the step is finished, the driving path planning method can be finished.
Step 305, assigning a destination and a remote cockpit for the vehicle to be driven. (this step is followed by step 306)
The method for determining the destination may refer to the description of the embodiment shown in fig. 2, and is not described herein again. When the remote cockpit is allocated, any one of the remote cockpit in an idle state and the vehicle to be driven can be bound. After the step is successfully executed, the state of the vehicle to be driven can be modified from a non-connected state to a connected state, and the state of the remote cockpit of the vehicle to be driven is modified from an idle state to an occupied state.
Step 306, determining a target path according to the network quality parameter. (this step is followed by step 307)
The method for determining the target path may refer to the description of the embodiment shown in fig. 2.
And 307, generating remote driving task information according to the target path. (this step is followed by step 308)
The remote driving task information may include information such as a departure place, a destination, a target path, and network quality parameters of each waypoint in the target path.
And 308, sending the remote driving task information to the remote control equipment. (this step is followed by step 309)
Step 309, the remote control device forwards the remote driving task information to the vehicle to be driven and the corresponding remote cockpit. (this step is followed by step 310)
And after receiving the remote driving task information, the remote driving cabin corresponding to the vehicle to be driven can enter a remote driving state. After the step is finished, the remote control device can also send a task receiving response to the remote service device so that the remote service device can update the execution progress of the remote driving task.
In step 310, the vehicle to be driven transmits the driving state data to the remote control device. (this step is followed by step 311)
Wherein the driving state data includes but is not limited to: the current position, speed, acceleration, steering angle data of a steering wheel, vehicle peripheral image information acquired by a camera and the like.
In step 311, the remote control device forwards the driving state data to the remote cockpit. (this step is followed by step 312)
At step 312, the remote cockpit determines whether the vehicle to be driven has reached the destination.
If not, go to step 313; if yes, go to step 318.
And step 313, the remote cockpit sends a control command to the remote control device. (this step is followed by step 314)
Specifically, the remote control cabin displays the driving state data and the target path information to a driver in the cabin, and the driver operates the facilities in the cabin to determine the operation command.
In step 314, the remote control device forwards the control command to the vehicle to be driven. (this step is followed by step 315)
It should be noted that, while forwarding the driving state data and the control instruction, the remote control device may also monitor the states of the vehicle to be driven and the remote cockpit, and send the monitoring result to the remote service device, so that the remote service device updates the vehicle-cabin information.
In step 315, the vehicle to be driven determines whether there is an obstacle around.
If yes, go on to step 316; if not, go to step 317.
And step 316, emergency braking is carried out on the vehicle to be driven, and the step 315 is returned.
It should be noted that, when the vehicle to be driven performs emergency braking, information that the current vehicle enters an emergency braking state may also be reported to the remote control device. After the step is finished, the step returns to the step 315, and whether obstacles exist around the vehicle to be driven is continuously judged.
And step 317, the vehicle to be driven runs according to the control instruction, and the step 310 is returned.
And step 318, the remote control cabin determines to send task execution success information to the remote control device. (this step is followed by step 319)
Step 319, the remote control device sends a task execution success message to the remote service platform, so that the remote service platform updates the car-cabin information.
After the step is finished, the process of the driving path planning method can be finished.
Fig. 4 is a schematic diagram of a driving path planning apparatus according to an embodiment of the present invention. As shown in fig. 4, the driving path planning apparatus applied to the remote service device may include:
the determining module 41 is configured to determine a departure place and a destination of a vehicle to be driven according to a remote driving request when the remote driving request of the vehicle to be driven is received; determining a plurality of first candidate paths for communicating the starting place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter; determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path;
the sending module 42 is configured to send the target path to a remote cockpit of the vehicle to be driven, so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path.
The determining module 41 is specifically configured to determine a departure place of the vehicle to be driven from the remote driving request; and determining an emergency rescue stop point closest to the departure place as the destination of the vehicle to be driven.
And the distance between each path point and the adjacent path point is equal. The determining module 41 is further specifically configured to determine, from the first candidate paths, a second candidate path in which the network quality parameter of each path point is greater than a first threshold; if the second candidate path does not exist in the first candidate paths, determining the first candidate path with the smallest number of path points of which the network quality parameters are less than or equal to a first threshold value as the target path; determining a second candidate path as the target path if there is only one second candidate path among the first candidate paths; and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path.
The sending module 42 is specifically configured to generate driving task information according to the target path; and sending the remote driving task information to remote control equipment deployed on an edge cloud platform, so that the remote control equipment forwards the remote driving task information to a remote control cabin of the vehicle to be driven.
The driving path planning apparatus provided in the embodiment shown in fig. 4 may be used to execute the technical solution of the embodiment of the method shown in fig. 2 of the present invention, and the implementation principle and the technical effect may further refer to the related description in the embodiment of the method.
Fig. 5 is a schematic view of another driving path planning device according to an embodiment of the present invention. As shown in fig. 5, the driving path planning apparatus applied to a vehicle to be driven may include:
a sending module 51, configured to send a remote driving request to a remote service device, so that the remote service device determines a departure point and a destination according to the remote driving request, and multiple first candidate paths connecting the departure point and the destination, where each first candidate path includes multiple path points, and each path point is configured with a network quality parameter; sending the target path determined according to the number of the path points of which the network quality parameters are greater than the first threshold value in each first candidate path to a remote cockpit of the vehicle to be driven;
and the execution module 52 is configured to, when receiving a control instruction determined by the remote cockpit according to the target path, drive according to the control instruction.
The execution module 52 is specifically configured to determine whether an obstacle exists around the vehicle to be driven through a sensor module disposed in the vehicle to be driven during driving; if obstacles exist around the vehicle to be driven, emergency braking is carried out; and if no obstacle exists around the vehicle to be driven, driving according to the control command.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 6, the electronic device may include at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the driving path planning method according to the embodiment of the invention shown in fig. 2-3. The electronic device is in the form of a general purpose computing device. Components of the electronic device may include, but are not limited to: one or more processors 410, a communication interface 420, a memory 430, and a communication bus 440 that connects the various system components (including the memory 430 and the processing unit 410).
Electronic devices typically include a variety of computer system readable media. Such media may be any available media that is accessible by the electronic device and includes both volatile and nonvolatile media, removable and non-removable media.
A program/utility having a set (at least one) of program modules may be stored in the memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. The program modules generally perform the functions and/or methodologies of the described embodiments of the invention.
The processor 410 executes programs stored in the memory 430 to execute various functional applications and data processing, for example, to implement the driving path planning method provided by the embodiments shown in fig. 2 to 3 of the present invention.
An embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, where when the program runs, a device where the computer-readable storage medium is located is controlled to execute the driving path planning method provided in the embodiments shown in fig. 2 to 3 of the present invention.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of Network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The foregoing description of specific embodiments of the present invention has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present disclosure, the schematic representations of the terms used above are not necessarily intended to be the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this disclosure can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A driving path planning method is applied to remote service equipment and comprises the following steps:
when a remote driving request of a vehicle to be driven is received, determining a departure place and a destination of the vehicle to be driven according to the remote driving request;
determining a plurality of first candidate paths for communicating the departure place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter;
determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path;
and sending the target path to a remote cockpit of the vehicle to be driven so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path.
2. The method of claim 1, wherein determining a departure location and a destination of a vehicle to be driven according to a remote driving request when the remote driving request is received comprises:
determining a departure place of the vehicle to be driven from the remote driving request;
and determining an emergency rescue stop point closest to the departure place as the destination of the vehicle to be driven.
3. The method of claim 1,
the remote service equipment is provided with a database for storing the network quality parameters, and the database comprises the network quality parameters detected and uploaded by vehicles running in the area to which each path point belongs and/or the network quality parameters detected and uploaded by wireless communication switching equipment arranged in the area to which each path point belongs.
4. The method of claim 1, wherein the distance between each waypoint and an adjacent waypoint is equal;
determining a target path according to the number of path points of which the network quality parameter is greater than a first threshold value in each first candidate path, including:
determining a second candidate path of which the network quality parameter of each path point is larger than a first threshold value from the first candidate paths;
if the second candidate path does not exist in the first candidate paths, determining the first candidate path with the smallest number of path points of which the network quality parameters are less than or equal to a first threshold value as the target path;
determining a second candidate path as the target path if there is only one second candidate path among the first candidate paths;
and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path.
5. The method of claim 1, wherein sending the target path to a remote cockpit of the vehicle to be driven such that the remote cockpit sends steering commands to the vehicle to be driven according to the target path comprises:
generating remote driving task information according to the target path;
and sending the remote driving task information to remote control equipment deployed on an edge cloud platform, so that the remote control equipment forwards the remote driving task information to a remote control cabin of the vehicle to be driven.
6. A driving path planning method is applied to a vehicle to be driven, and comprises the following steps:
sending a remote driving request to remote service equipment, so that the remote service equipment determines a departure place and a destination according to the remote driving request and determines a plurality of first candidate paths for communicating the departure place and the destination, each first candidate path comprises a plurality of path points, each path point is configured with a network quality parameter, and a target path determined according to the number of the path points of which the network quality parameters are greater than a first threshold value in each first candidate path is sent to a remote cab of a vehicle to be driven;
and when receiving an operation command determined by the remote cockpit according to the target path, driving according to the operation command.
7. The method according to claim 6, wherein when receiving a manipulation instruction determined by the remote cockpit according to the target path, driving according to the manipulation instruction comprises:
determining whether an obstacle exists around the vehicle to be driven by a sensor module arranged on the vehicle to be driven during driving;
if obstacles exist around the vehicle to be driven, emergency braking is carried out;
and if no obstacle exists around the vehicle to be driven, driving according to the control command.
8. A driving path planning device is applied to remote service equipment and comprises:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a departure place and a destination of a vehicle to be driven according to a remote driving request when the remote driving request of the vehicle to be driven is received; determining a plurality of first candidate paths for communicating the departure place with the destination, wherein each first candidate path comprises a plurality of path points, and each path point is configured with a network quality parameter; determining a target path according to the number of path points of which the network quality parameters are greater than a first threshold value in each first candidate path;
and the sending module is used for sending the target path to a remote cockpit of the vehicle to be driven so that the remote cockpit sends an operation command to the vehicle to be driven according to the target path.
9. The apparatus of claim 8, wherein each waypoint is equidistant from adjacent waypoints;
the determining module is specifically configured to determine, from the first candidate paths, a second candidate path in which a network quality parameter of each path point is greater than a first threshold; if the second candidate path does not exist in the first candidate paths, determining the first candidate path with the smallest number of path points of which the network quality parameters are less than or equal to a first threshold value as the target path; determining a second candidate path as the target path if there is only one second candidate path among the first candidate paths; and if a plurality of second candidate paths exist in the first candidate path, determining the second candidate path with the shortest length as the target path.
10. A driving path planning device is characterized in that the device is applied to a vehicle to be driven, and comprises:
the remote driving control system comprises a sending module, a remote driving module and a control module, wherein the sending module is used for sending a remote driving request to remote service equipment so that the remote service equipment determines a starting place and a destination according to the remote driving request and a plurality of first candidate paths for communicating the starting place and the destination, each first candidate path comprises a plurality of path points, each path point is configured with a network quality parameter, and a target path determined according to the number of the path points of which the network quality parameters are larger than a first threshold value in each first candidate path is sent to a remote cab of the vehicle to be driven;
and the execution module is used for driving according to the control instruction when receiving the control instruction determined by the remote cockpit according to the target path.
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| CN202210080288.2A CN114509083A (en) | 2022-01-24 | 2022-01-24 | Driving path planning method and device |
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