CN114572252B - Unmanned vehicle control method and device based on driving authority authentication - Google Patents
Unmanned vehicle control method and device based on driving authority authentication Download PDFInfo
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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Abstract
The disclosure relates to the technical field of unmanned driving, and provides an unmanned vehicle control method and device based on driving authority authentication. The method comprises the following steps: establishing connection with an unmanned vehicle service center, and acquiring an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network from the unmanned vehicle service center; acquiring basic information of a target object; disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction. By adopting the technical means, the problem that the driving authority authentication range of the unmanned vehicle is small in the prior art is solved.
Description
Technical Field
The disclosure relates to the technical field of unmanned driving, in particular to an unmanned vehicle control method and device based on driving authority authentication.
Background
Unmanned driving includes autonomous driving and remote driving. When the unmanned vehicle runs in the automatic driving mode, if the unmanned vehicle runs wrongly or the traffic environment is complex, the unmanned vehicle needs to be switched from the automatic driving mode to the remote driving mode, and the mistake is solved or the unmanned vehicle passes through the complex traffic road section by means of human remote operation. Before the unmanned vehicle is remotely controlled by a person, the driving authority of an operator needs to be authenticated. However, only the operator having the encryption string corresponding to the unmanned vehicle can realize the driving authority authentication on the unmanned vehicle at present, and the operator without the encryption string corresponding to the unmanned vehicle cannot complete the driving authority authentication on the unmanned vehicle, so that the driving authority authentication range of the unmanned vehicle is very small at present.
In the course of implementing the disclosed concept, the inventors found that there are at least the following technical problems in the related art: the driving authority authentication range of the unmanned vehicle is small.
Disclosure of Invention
In view of this, the disclosed embodiments provide a method and an apparatus for controlling an unmanned vehicle based on driving authority authentication, an electronic device, and a computer-readable storage medium, so as to solve the problem in the prior art that the driving authority authentication of the unmanned vehicle is in a small range.
In a first aspect of the disclosed embodiments, there is provided a method for controlling an unmanned vehicle based on driving authority authentication, including: establishing connection with an unmanned vehicle service center, and acquiring an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network from the unmanned vehicle service center; acquiring basic information of a target object; disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction.
In a second aspect of the embodiments of the present disclosure, there is provided an unmanned vehicle control apparatus based on driving authority authentication, including: the first acquisition module is configured to establish connection with the unmanned vehicle service center and acquire an encrypted string corresponding to the target unmanned vehicle and an identification number and a password of the local area network from the unmanned vehicle service center; a second acquisition module configured to acquire basic information of the target object; the authentication module is configured to disconnect the connection with the unmanned vehicle service center, establish connection with a local area network based on the identification number and the password, and complete the driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and the control module is configured to receive a control instruction of the target object and control the target unmanned vehicle by using the control instruction.
In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: establishing connection with an unmanned vehicle service center, and acquiring an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network from the unmanned vehicle service center; acquiring basic information of a target object; disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction. By adopting the technical means, the problem that the driving authority authentication range of the unmanned vehicle is small in the prior art can be solved, and the driving authority authentication range of the unmanned vehicle is further expanded.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for controlling an unmanned vehicle based on driving authority authentication according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an unmanned vehicle control device based on driving authority authentication according to an embodiment of the disclosure;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
An unmanned vehicle control method and device based on driving authority authentication according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a scene schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include terminal devices 1 and 3, unmanned vehicle 2, server 4, and network 5.
The devices 1 and 3 may be hardware or software. When the terminal devices 1 and 3 are hardware, they may be various electronic devices having a display screen and supporting communication with the server 4, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like; when the terminal devices 1 and 3 are software, they may be installed in the electronic device as above. The terminal devices 1 and 3 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited by the embodiments of the present disclosure. Further, various applications, such as a data processing application, an instant messaging tool, social platform software, a search-type application, a shopping-type application, and the like, may be installed on the terminal devices 1 and 3.
The server 4 may be a server that provides various services, for example, a backend server that receives a request sent by a terminal device that establishes a communication connection with the server, and the backend server may receive and analyze the request sent by the terminal device, and generate a processing result. The server 4 may be a server, may also be a server cluster composed of a plurality of servers, or may also be a cloud computing service center, which is not limited in the embodiment of the present disclosure.
The server 4 may be hardware or software. When the server 4 is hardware, it may be various electronic devices that provide various services to the terminal devices 1 and 3, and the unmanned vehicle 2. When the server 4 is software, it may be a plurality of software or software modules that provide various services for the terminal devices 1 and 3 and the unmanned vehicle 2, or may be a single software or software module that provides various services for the terminal devices 1 and 3 and the unmanned vehicle 2, which is not limited by the embodiment of the present disclosure.
The network 5 may be a wired network connected by a coaxial cable, a twisted pair and an optical fiber, or may be a wireless network that can interconnect various Communication devices without wiring, for example, Bluetooth (Bluetooth), Near Field Communication (NFC), Infrared (Infrared), and the like, which is not limited in the embodiment of the present disclosure.
The user can establish a communication connection with the server 4 via the terminal devices 1 and 3, and the unmanned vehicle 2 via the network 5 to receive or transmit information or the like. It should be noted that specific types, numbers, and combinations of the terminal devices 1 and 3, the unmanned vehicle 2, the server 4, and the network 5 may be adjusted according to actual requirements of an application scenario, which is not limited in the embodiment of the present disclosure.
Fig. 2 is a schematic flow chart of a method for controlling an unmanned vehicle based on driving authority authentication according to an embodiment of the present disclosure. The unmanned vehicle control method based on driving authority authentication of fig. 2 may be performed by the terminal device or the server of fig. 1. As shown in fig. 2, the unmanned vehicle control method based on driving authority authentication includes:
s201, establishing connection with an unmanned vehicle service center, and acquiring an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network from the unmanned vehicle service center;
s202, acquiring basic information of a target object;
s203, disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string;
and S204, receiving a control command of the target object, and controlling the target unmanned vehicle by using the control command.
The connection to the unmanned vehicle service center, and to the local area network, may be wifi connections. The unmanned vehicle service center can be a server, an unmanned vehicle list, an encryption string corresponding to each unmanned vehicle, an identification number and a password of a local area network are stored in the unmanned vehicle service center, and a plurality of unmanned vehicles are arranged in the unmanned vehicle list. The target object is a person who needs to control the unmanned vehicle, and the basic information of the target object may include: name, ID card and driver's license. The encryption string can be an encrypted character string, a person who owns the encryption string has the authority of driving the target unmanned vehicle, and a person who does not have the encryption string has no authority of driving the target unmanned vehicle, that is, the end of the target unmanned vehicle decrypts the encryption string, and judges whether the target object has the driving authority according to the decryption result. Driving authority authentication, comprising: and verifying the authority of the target object by using the encryption string, and registering the authorization of the target unmanned vehicle by using the basic information. If the local area network is a wifi connection, the identification number may be an SSID (Service set identification number). SSID is the name of a WLAN.
According to the technical scheme provided by the embodiment of the disclosure, connection is established with an unmanned vehicle service center, and an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network are obtained from the unmanned vehicle service center; acquiring basic information of a target object; disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction. By adopting the technical means, the problem that the driving authority authentication range of the unmanned vehicle is small in the prior art can be solved, and the driving authority authentication range of the unmanned vehicle is further expanded.
In step S201, obtaining an encryption string corresponding to the target unmanned vehicle and an identification number and a password of the local area network from the unmanned vehicle service center includes: acquiring an unmanned vehicle list stored by an unmanned vehicle service center; determining a target unmanned vehicle from the unmanned vehicle list, wherein the target unmanned vehicle is an unmanned vehicle which needs to be controlled by a target object; and acquiring an encryption string corresponding to the target unmanned vehicle and the identification number and password of the local area network, which are stored by the unmanned vehicle service center.
For example, the method is executed on the mobile terminal, the unmanned vehicle list is displayed on the mobile terminal, the target object clicks the unmanned vehicle to be controlled, and then the mobile terminal determines the unmanned vehicle clicked by the target object as the target unmanned vehicle.
In step S204, receiving a control command for a target object, and controlling the target unmanned vehicle using the control command, the method includes: receiving a mode selection instruction of a target object; determining a control mode of the target unmanned vehicle according to the mode selection instruction, wherein the control mode comprises the following steps: a remote driving mode and a semi-autonomous driving mode; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction based on the control mode.
The remote driving mode is a mode in which the target object completely controls the target unmanned vehicle, and the semi-automatic driving mode is a mode in which the control of the target unmanned vehicle is partially remote driving depending on the target object and partially automatic driving depending on the target unmanned vehicle.
Based on the control mode, utilize control command control target unmanned vehicle, include: when the target unmanned vehicle is in a remote driving mode, controlling the target unmanned vehicle by using the control instruction; and when the target unmanned vehicle is in a semi-automatic driving mode, controlling the target unmanned vehicle by utilizing the control instruction and the automatic function set, wherein the automatic function set comprises a plurality of automatic driving functions.
For example, the set of automatic functions includes the following automatic driving functions: cruise control, automatic parking, emergency braking, warning, and lane keeping.
For example, when the target unmanned vehicle is in a semi-automatic driving mode, the target unmanned vehicle needs to pass through the intersection at the moment, the target object remotely controls the target unmanned vehicle to pass through the intersection, and the cruising constant speed and lane keeping functions are started in the process.
When the target unmanned vehicle is in a semi-automatic driving mode, the target unmanned vehicle is controlled by using a control instruction and an automatic function set, and the method comprises the following steps: obtain multiple target perception result through multiple sensor, wherein, multiple sensor sets up on the unmanned car of target, and multiple sensor includes: a variety of radars and cameras; fusing various target sensing results to obtain a target fusion result; inputting the target picture and the target fusion result into a quality supervision model, and outputting a target confidence corresponding to the target quality score and the target quality score, wherein the multiple target perception results comprise the target picture, and the quality supervision model is trained, learns and stores the corresponding relation between the picture and the fusion result as well as the quality score and the confidence; judging whether the target fusion result is reliable perception information or not based on the target quality score and the target confidence; when the target fusion result is reliable perception information, determining a target automatic driving function from an automatic function set based on the target fusion result; and controlling the target unmanned vehicle by using the control command and the target automatic driving function.
A plurality of radars, comprising: laser radar, millimeter wave radar, and ultrasonic radar. The quality supervision model can be any one of the common neural network models, such as a Convolutional Neural Network (CNN), a fully-connected neural network (FCN), and the like. The plurality of target perception results may include: the image acquisition method comprises the steps of acquiring a laser radar sensing result by a laser radar, acquiring a picture by a camera, acquiring a millimeter wave radar sensing result by a millimeter wave radar and acquiring an ultrasonic radar sensing result by an ultrasonic radar. The target fusion result includes information expressed by various target perception results, for example, the target fusion result includes types of target objects (types of target objects including pedestrians, motor vehicles, non-motor vehicles, and the like) acquired by the camera, and distances and speeds between the target objects and the unmanned vehicle acquired by the laser radar, the millimeter wave radar, and the ultrasonic radar. And the picture and the fusion result are used as the input of the quality supervision model, and the quality score and the confidence coefficient are used as the output of the quality supervision model.
Optionally, the determining whether the target fusion result is reliable perceptual information based on the target quality score and the target confidence includes: under the condition that the target confidence coefficient is greater than a first preset threshold value and the target quality score is greater than a second preset threshold value, judging that the target fusion result is reliable perception information; and under the condition that the target confidence coefficient is smaller than a first preset threshold value, or the target confidence coefficient is larger than the first preset threshold value but the target quality score is smaller than or equal to a second preset threshold value, judging that the target fusion result is unreliable perception information.
For example, the target quality score is 9 points (full score is 10 points), the target confidence is 95%, and the target quality score and the target confidence indicate that the probability that the target quality score of the target fusion result is 9 points is 95%. The target quality score represents the evaluation of the quality of the target fusion result, the higher the target quality score is, the more credible the target fusion result is, the target confidence represents the evaluation of the probability of the target quality score, and the higher the target confidence is, the more credible the target quality score is.
The target confidence coefficient is 95%, the first preset threshold value is 90%, and the target confidence coefficient is larger than the first preset threshold value, so that the target quality score is credible; the target quality score is 9 points (full score is 10 points), the second preset threshold is 8 points, and the target quality score is larger than the second preset threshold, which indicates that the target fusion result is credible.
If the target fusion result is unreliable sensing information, the target fusion result of the time can be abandoned, and a new target fusion result is obtained again. And determining a target automatic driving function from the automatic function set based on the target fusion result, for example, if the target fusion result indicates that a pedestrian passes through the road in the front road section, the target automatic driving function may be cruise speed fixing, automatic parking, emergency braking and alarming, and the lane keeping function is turned off (at this time, the pedestrian may need to be avoided, so the lane keeping function may not be absolutely required). The target autopilot function may be a plurality of autopilot functions.
In step S201, establishing a connection with the unmanned vehicle service center, and obtaining an encryption string corresponding to the target unmanned vehicle and an identification number and a password of the local area network from the unmanned vehicle service center, including: and when the encrypted string or the identification number and the password of the local area network corresponding to the target unmanned vehicle cannot be acquired from the unmanned vehicle service center, judging that the driving authority authentication fails, and disconnecting the unmanned vehicle service center from the driving authority authentication.
And if the driving authority authentication is judged to be failed, continuing the previous driving mode of the target unmanned vehicle.
In step S203, disconnecting the connection with the service center of the unmanned vehicle, establishing a connection with the local area network based on the identification number and the password, and completing the driving authority authentication of the target object with respect to the target unmanned vehicle by using the basic information and the encryption string, including: when connection with the local area network cannot be established based on the identification number and the password, it is judged that the driving authority authentication fails; or after connection with the local area network is established based on the identification number and the password, the driving authority authentication of the target object about the target unmanned vehicle cannot be completed by using the basic information and the encryption string, the driving authority authentication is judged to be failed, and the connection with the local area network is disconnected.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described in detail herein.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 3 is a schematic diagram of an unmanned vehicle control device based on driving authority authentication according to an embodiment of the disclosure. As shown in fig. 3, the unmanned vehicle control device based on driving authority authentication includes:
the first obtaining module 301 is configured to establish a connection with an unmanned vehicle service center, and obtain an encrypted string corresponding to a target unmanned vehicle and an identification number and a password of a local area network from the unmanned vehicle service center;
a second obtaining module 302 configured to obtain basic information of the target object;
the authentication module 303 is configured to disconnect the connection with the unmanned vehicle service center, establish connection with a local area network based on the identification number and the password, and complete driving authority authentication of the target object with respect to the target unmanned vehicle by using the basic information and the encryption string;
and a control module 304 configured to receive a control instruction of the target object, and control the target unmanned vehicle by using the control instruction.
The connection to the unmanned vehicle service center, and to the local area network, may be wifi connections. The unmanned vehicle service center can be a server, an unmanned vehicle list, an encryption string corresponding to each unmanned vehicle, an identification number and a password of a local area network are stored in the unmanned vehicle service center, and a plurality of unmanned vehicles are arranged in the unmanned vehicle list. The target object is a person who needs to control the unmanned vehicle, and the basic information of the target object may include: name, ID card and driver's license. The encryption string can be an encrypted character string, a person who owns the encryption string has the authority of driving the target unmanned vehicle, and a person who does not have the encryption string has no authority of driving the target unmanned vehicle, that is, the end of the target unmanned vehicle decrypts the encryption string, and judges whether the target object has the driving authority according to the decryption result. Driving authority authentication, comprising: and verifying the authority of the target object by using the encryption string, and registering the authorization of the target unmanned vehicle by using the basic information. If the local area network is a wifi connection, the identification number may be an SSID (Service set identification number). SSID is the name of a WLAN.
According to the technical scheme provided by the embodiment of the disclosure, connection is established with an unmanned vehicle service center, and an encrypted string corresponding to a target unmanned vehicle, an identification number and a password of a local area network are obtained from the unmanned vehicle service center; acquiring basic information of a target object; disconnecting the unmanned vehicle service center, establishing connection with a local area network based on the identification number and the password, and completing driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction. By adopting the technical means, the problem that the driving authority authentication range of the unmanned vehicle is small in the prior art can be solved, and the driving authority authentication range of the unmanned vehicle is further expanded.
Optionally, the first obtaining module 301 is further configured to obtain an unmanned vehicle list stored by the unmanned vehicle service center; determining a target unmanned vehicle from the unmanned vehicle list, wherein the target unmanned vehicle is an unmanned vehicle which needs to be controlled by a target object; and acquiring an encryption string corresponding to the target unmanned vehicle and the identification number and password of the local area network, which are stored by the unmanned vehicle service center.
For example, the present disclosure is executed on a mobile terminal, an unmanned vehicle list is displayed on the mobile terminal, a target object clicks an unmanned vehicle to be controlled, and then the mobile terminal determines the unmanned vehicle clicked by the target object as a target unmanned vehicle.
Optionally, the control module 304 is further configured to receive a mode selection instruction of the target object; determining a control mode of the target unmanned vehicle according to the mode selection instruction, wherein the control mode comprises the following steps: a remote driving mode and a semi-autonomous driving mode; and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction based on the control mode.
The remote driving mode is a mode in which the target object completely controls the target unmanned vehicle, and the semi-automatic driving mode is a mode in which the control of the target unmanned vehicle is partially dependent on the remote driving of the target object and partially dependent on the automatic driving of the target unmanned vehicle.
Optionally, the control module 304 is further configured to control the target unmanned vehicle with the control instruction when the target unmanned vehicle is in the remote driving mode; and when the target unmanned vehicle is in a semi-automatic driving mode, controlling the target unmanned vehicle by utilizing the control instruction and the automatic function set, wherein the automatic function set comprises a plurality of automatic driving functions.
For example, the set of automated functions includes the following automated driving functions: cruise control, automatic parking, emergency braking, warning, and lane keeping.
For example, when the target unmanned vehicle is in a semi-automatic driving mode, the target unmanned vehicle needs to pass through the intersection at the moment, the target object remotely controls the target unmanned vehicle to pass through the intersection, and the cruising constant speed and lane keeping functions are started in the process.
Optionally, the control module 304 is further configured to obtain a plurality of target sensing results through a plurality of sensors, wherein the plurality of sensors are disposed on the target unmanned vehicle, the plurality of sensors including: a variety of radars and cameras; fusing various target sensing results to obtain a target fusion result; inputting the target picture and the target fusion result into a quality supervision model, and outputting a target confidence corresponding to the target quality score and the target quality score, wherein the multiple target perception results comprise the target picture, and the quality supervision model is trained, learns and stores the corresponding relation between the picture and the fusion result as well as the quality score and the confidence; judging whether the target fusion result is reliable perception information or not based on the target quality score and the target confidence; when the target fusion result is reliable perception information, determining a target automatic driving function from an automatic function set based on the target fusion result; and controlling the target unmanned vehicle by using the control command and the target automatic driving function.
A plurality of radars, comprising: laser radar, millimeter wave radar, and ultrasonic radar. The quality supervision model can be any one of the common neural network models, such as a Convolutional Neural Network (CNN), a fully-connected neural network (FCN), and the like. The plurality of target perception results may include: the image acquisition method comprises the steps of acquiring a laser radar sensing result by a laser radar, acquiring a picture by a camera, acquiring a millimeter wave radar sensing result by a millimeter wave radar and acquiring an ultrasonic radar sensing result by an ultrasonic radar. The target fusion result includes information expressed by various target perception results, for example, the target fusion result includes types of target objects (types of target objects including pedestrians, motor vehicles, non-motor vehicles, and the like) acquired by the camera, and distances and speeds between the target objects and the unmanned vehicle acquired by the laser radar, the millimeter wave radar, and the ultrasonic radar. And the picture and the fusion result are used as the input of the quality supervision model, and the quality score and the confidence coefficient are used as the output of the quality supervision model.
Optionally, the control module 304 is further configured to determine that the target fusion result is reliable perceptual information in a case that the target confidence is greater than a first preset threshold and the target quality score is greater than a second preset threshold; and under the condition that the target confidence coefficient is smaller than a first preset threshold value, or the target confidence coefficient is larger than the first preset threshold value but the target quality score is smaller than or equal to a second preset threshold value, judging that the target fusion result is unreliable perception information.
For example, the target quality score is 9 points (full score is 10 points), the target confidence is 95%, and the target quality score and the target confidence indicate that the probability that the target quality score of the target fusion result is 9 points is 95%. The target quality score represents the evaluation of the quality of the target fusion result, the higher the target quality score is, the more credible the target fusion result is, the target confidence represents the evaluation of the probability of the target quality score, and the higher the target confidence is, the more credible the target quality score is.
The target confidence coefficient is 95%, the first preset threshold value is 90%, and the target confidence coefficient is larger than the first preset threshold value, so that the target quality score is credible; the target quality score is 9 points (full score is 10 points), the second preset threshold value is 8 points, and the target quality score is larger than the second preset threshold value, which indicates that the target fusion result is credible.
If the target fusion result is unreliable sensing information, the target fusion result of the time can be abandoned, and a new target fusion result is obtained again. And determining a target automatic driving function from the automatic function set based on the target fusion result, for example, if the target fusion result indicates that a pedestrian passes through the road in the front road section, the target automatic driving function may be cruise speed fixing, automatic parking, emergency braking and alarming, and the lane keeping function is turned off (at this time, the pedestrian may need to be avoided, so the lane keeping function may not be absolutely required). The target autopilot function may be a plurality of autopilot functions.
Optionally, the first obtaining module 301 is further configured to, when the encrypted string or the identification number and the password of the local area network corresponding to the target unmanned vehicle cannot be obtained from the unmanned vehicle service center, determine that the driving authority authentication fails, and disconnect the connection with the unmanned vehicle service center.
And if the driving authority authentication is judged to be failed, the target unmanned vehicle can continue the previous driving mode.
Optionally, the authentication module 303 is further configured to determine that the driving authority authentication fails when connection with the local area network cannot be established based on the identification number and the password; or after connection with the local area network is established based on the identification number and the password, the driving authority authentication of the target object about the target unmanned vehicle cannot be completed by using the basic information and the encryption string, the driving authority authentication is judged to be failed, and the connection with the local area network is disconnected.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 4 is a schematic diagram of an electronic device 4 provided by the embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps in the various method embodiments described above are implemented when the processor 401 executes the computer program 403. Alternatively, the processor 401 implements the functions of the respective modules/units in the above-described respective apparatus embodiments when executing the computer program 403.
Illustratively, the computer program 403 may be partitioned into one or more modules/units, which are stored in the memory 402 and executed by the processor 401 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 403 in the electronic device 4.
The electronic device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that fig. 4 is merely an example of the electronic device 4, and does not constitute a limitation of the electronic device 4, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 4. Further, the memory 402 may also include both internal storage units of the electronic device 4 and external storage devices. The memory 402 is used for storing computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. 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.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure 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, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. An unmanned vehicle control method based on driving authority authentication is characterized by comprising the following steps:
establishing connection with an unmanned vehicle service center, and acquiring an encrypted string corresponding to a target unmanned vehicle, and an identification number and a password of a local area network from the unmanned vehicle service center;
acquiring basic information of a target object;
disconnecting the connection with the unmanned vehicle service center, establishing connection with the local area network based on the identification number and the password, and completing the driving authority authentication of the target object about the target unmanned vehicle by using the basic information and the encryption string;
receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction;
the completing the driving authority authentication of the target object relative to the target unmanned vehicle by using the basic information and the encryption string comprises the following steps:
verifying the authority of the target object by using the encrypted string;
the authorization of the target unmanned vehicle at this time is registered using the basic information.
2. The method according to claim 1, wherein the obtaining of the encrypted string corresponding to the target unmanned vehicle and the identification number and password of the local area network from the unmanned vehicle service center comprises:
acquiring an unmanned vehicle list stored by the unmanned vehicle service center;
determining the target unmanned vehicle from the unmanned vehicle list, wherein the target unmanned vehicle is an unmanned vehicle which needs to be controlled by the target object;
and acquiring the encrypted string corresponding to the target unmanned vehicle and the identification number and the password of the local area network, which are stored by the unmanned vehicle service center.
3. The method of claim 1, wherein the receiving control instructions for the target object with which to control the target unmanned vehicle comprises:
receiving a mode selection instruction of the target object;
determining a control mode of the target unmanned vehicle according to the mode selection instruction, wherein the control mode comprises: a remote driving mode and a semi-autonomous driving mode;
and receiving a control instruction of the target object, and controlling the target unmanned vehicle by using the control instruction based on the control mode.
4. The method of claim 3, wherein the controlling the target unmanned vehicle with the control command based on the control pattern comprises:
when the target unmanned vehicle is in the remote driving mode, controlling the target unmanned vehicle by using the control instruction;
and when the target unmanned vehicle is in the semi-automatic driving mode, controlling the target unmanned vehicle by using the control instruction and an automatic function set, wherein the automatic function set comprises a plurality of automatic driving functions.
5. The method of claim 4, wherein said controlling the target unmanned vehicle with the set of control instructions and automatic functions while the target unmanned vehicle is in the semi-autonomous driving mode comprises:
obtaining a plurality of target perception results through a plurality of sensors, wherein the plurality of sensors are arranged on a target unmanned vehicle, and the plurality of sensors comprise: a variety of radars and cameras;
fusing the multiple target sensing results to obtain a target fusion result;
inputting a target picture and the target fusion result into a quality supervision model, and outputting a target quality score and a target confidence corresponding to the target quality score, wherein the multiple target perception results comprise the target picture, and the quality supervision model is trained, learns and stores the corresponding relation between the picture and the fusion result and the quality score and the confidence;
judging whether the target fusion result is reliable perception information or not based on the target quality score and the target confidence;
when the target fusion result is reliable perception information, determining a target automatic driving function from the automatic function set based on the target fusion result;
and controlling the target unmanned vehicle by using the control command and the target automatic driving function.
6. The method according to claim 1, wherein the establishing of the connection with the unmanned vehicle service center and the obtaining of the encryption string corresponding to the target unmanned vehicle and the identification number and password of the local area network from the unmanned vehicle service center comprise:
and when the encrypted string or the identification number and the password of the local area network corresponding to the target unmanned vehicle cannot be acquired from the unmanned vehicle service center, judging that the driving authority authentication fails, and disconnecting the unmanned vehicle service center.
7. The method of claim 1, wherein the disconnecting the connection with the unmanned vehicle service center, establishing a connection with the local area network based on the identification number and the password, and completing the driving authority authentication of the target object with respect to the target unmanned vehicle by using the basic information and the encryption string comprises:
when connection with the local area network cannot be established based on the identification number and the password, it is judged that the driving authority authentication fails; or
And after connection with the local area network is established based on the identification number and the password, the driving authority authentication of the target object about the target unmanned vehicle cannot be completed by using the basic information and the encryption string, the driving authority authentication is judged to be failed, and the connection with the local area network is disconnected.
8. An unmanned vehicle control device based on driving authority authentication, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to establish connection with an unmanned vehicle service center and acquire an encrypted string corresponding to a target unmanned vehicle and an identification number and a password of a local area network from the unmanned vehicle service center;
a second acquisition module configured to acquire basic information of the target object;
the authentication module is configured to disconnect the unmanned vehicle service center, establish connection with the local area network based on the identification number and the password, and complete driving authority authentication of the target object relative to the target unmanned vehicle by using the basic information and the encryption string; wherein the completing the driving authority authentication of the target object with respect to the target unmanned vehicle using the basic information and the encrypted string comprises: verifying the authority of the target object by using the encrypted string; registering the authorization of the target unmanned vehicle at this time by using the basic information;
a control module configured to receive a control instruction of the target object, and control the target unmanned vehicle using the control instruction.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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