CN115311880A - Distributed visual field enhancement method for low-speed automatic driving vehicle - Google Patents
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- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The invention discloses a distributed visual field enhancement method for a low-speed automatic driving vehicle, which comprises the following steps: the automatic driving vehicle finds a complex scene and reports complex scene information to a cloud automatic driving management system; the cloud automatic driving management system calculates the priority and the distributable sentinel vehicles according to the reported complex scene information, and distributes the sentinel vehicles according to the priority; after a vehicle executing a sentinel task arrives at a designated place, only a sensor related module is started, other unrelated calculations at the vehicle end are closed, the vehicle end is communicated with a cloud automatic driving management system, an identity verification key and a communication protocol are established, and a sentinel mode is started; when other normally running automatic driving vehicles arrive at a complex scene, whether the distributed visual field enhancement service provided by the sentinel vehicle is used or not is selected to enhance the visual field; and after the sentinel mode is released, the sentinel vehicle returns. The invention can optimize the automatic driving effect without increasing hardware and deployment cost.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a distributed visual field enhancement method for a low-speed automatic driving vehicle.
Background
In recent years, the automatic driving technology has been developed rapidly, wherein the most representative technology is a single-vehicle intelligent technology, in popular terms, various sensor devices are installed on an automatic driving vehicle, peripheral obstacles and road conditions are sensed through a vehicle-mounted computing unit, and a feasible decision planning result is computed through the vehicle-mounted computing unit, so that the purpose of automatic driving is achieved.
In addition, attempts have been made within the automotive industry to build fixed v2x device modules on the exemplary roadway to make up for the lack of hardware capability on board the bicycle. At present, each automatic driving company tries to solve the contradiction between the automatic driving sensor, the computational power bottleneck and the scene complexity, and the industry continuously tries to improve the performance of a single vehicle by developing a high-performance chip or supplements the performance by additionally arranging a fixed v2x device. Similarly, the invention also provides a set of distributed visual field enhancement system to solve the contradiction between the insufficient capacity of the automatic driving bicycle sensor and the scene complexity.
The existing technical scheme basically has two ideas, one is to solve the perception requirement of a complex scene by continuously improving the quantity and the capacity of the vehicle-mounted sensors of a bicycle; the other scheme is that a fixed v2x sensor device is built to assist the automatic driving bicycle system to sense surrounding scenes, and the sensor capability is complemented.
The complexity of the automatic driving road condition is a problem which needs to be solved for a long time, and when the vehicle is automatically driven, the scene is always in the changing process, and the requirement on the sensor capability changes along with the change of the complexity of the scene. On the basis of the current sensor of the bicycle, the problems of cost, battery, endurance and the like are considered, and the complex scene can be hardly covered in capability.
In the first scheme of the single vehicle-mounted chip sensor in the prior art, after an automatically driven vehicle leaves a factory, the single vehicle-mounted chip and the sensor need to be upgraded or replaced for improving the sensor capability, and the cost of maintenance and the like are high; the second scheme of complementing sensor capability by using a v2x technology is that installation can only be performed in a fixed scene at present, installation cost and area are very fixed, cost is very high, in order to not affect normal traffic, the installation position is usually high, and cost of maintenance are also very high.
Disclosure of Invention
The invention aims to provide a distributed visual field enhancement method for a low-speed automatic driving vehicle, aiming at the problems that the prior art in the background art has insufficient capacity of an automatic driving single vehicle sensor, the prior solution can increase scene complexity, so that deployment cost and maintenance cost are increased, and the like.
In order to realize the purpose, the invention is realized by the following technical scheme: a distributed visual field enhancement method for a low-speed autonomous vehicle, comprising the steps of:
s1, discovering a complex scene: all the automatic driving vehicles which normally run have the discovery capability on the complex scene, and if the automatic driving vehicles cannot pass through or are difficult to pass through in a certain specific environment or the cloud automatic driving management system judges that richer sensor vision intervention is needed, the automatic driving vehicles are all regarded as the complex scene needing external force assistance;
s2, reporting a complex scene: the automatic driving vehicle which finds the complex scene actively reports the complex scene information to the cloud automatic driving management system;
s3, sentinel allocation: the cloud automatic driving management system calculates the priority and the distributable sentinel vehicles according to the reported complex scene information, and distributes the sentinel vehicles according to the priority;
s4, sentinel mode: after a vehicle executing a sentinel task arrives at a designated place, only a sensor related module is started, other unrelated calculations at the vehicle end are closed, the vehicle end communicates with a cloud automatic driving management system, an identity verification key and a communication protocol are established, a sentinel mode is started, and a plurality of sentinel vehicles and the cloud automatic driving management system form a distributed visual field enhancement network;
s5, when other normally-running automatic driving vehicles reach a specific distance of the distributed vision enhancement network, if a task route passes through a service area of a sentinel vehicle, the cloud automatic driving management system and the normally-running automatic driving vehicles can perform identity key and protocol transmission, the normally-running automatic driving vehicles select whether to use distributed vision enhancement services provided by the sentinel vehicle or not according to the actual situation of the current scene, and if the services are used, vehicle-to-vehicle safety connection needs to be established through identity key verification, and vision enhancement is performed;
s6, after the complex scene changes, judging that the automatic driving vehicles passing through the sentinel service area do not need to use the sensor sharing service, sending the relieving advice to the cloud automatic driving management system, relieving the sentinel mode by the cloud automatic driving management system according to actual conditions, and returning the sentinel vehicles.
As a further improvement of the above scheme, in step S2, the complex scene information includes a location, time, road condition, and type of the complex scene.
As a further improvement of the scheme, the complex scene comprises any one of a traffic-light-free intersection, or several ultra-large intersections, a vehicle-non-mixed road, an irregular construction road, a temporary control road or a stop point.
As a further improvement of the above scheme, in step S3, when the sentinel vehicles are allocated according to the priority, the priority is set according to the distance between each autonomous driving vehicle and the complex scene, the task condition of each autonomous driving vehicle and the vehicle electric quantity, and the sentinel vehicle executing the sentinel task is determined.
As a further improvement of the above scheme, in step S5, the distributed visual field enhancement network can serve a plurality of autonomous vehicles passing through a complex scene at the same time, the autonomous vehicles access the network at the same time, and the sentinel vehicle notifies all vehicles of visual field enhancement in a broadcast mode.
As a further improvement of the above scheme, in step S5, the sentinel vehicle establishes a sentinel distributed view network through a point-to-point communication mode at the end of the autonomous driving vehicle, and informs the cloud autonomous driving management system of an access mode of the distributed view enhancement network, and the cloud autonomous driving management system informs the passing autonomous driving vehicle of access information of the sentinel distributed view enhancement network according to the road scene complexity, and the passing autonomous driving vehicle selectively accesses the distributed view enhancement network according to the actual scene condition after receiving the information of the distributed view enhancement network of the sentinel vehicle on the path; the automatic driving vehicle accessed to the network can selectively subscribe the visual field information of the sentinels at different positions in the network according to the line condition of the automatic driving vehicle; the sentinel vehicles in the network can actively send the peripheral visual field information of the current sentinel vehicle to the automatic driving vehicle accessed to the network according to the actual requirements of the accessed vehicle, so that richer perception prediction results are provided for other automatic driving vehicles passing by the network, and the automatic driving safety of other vehicles is guaranteed.
As a further improvement of the above scheme, if the complex scene is an intersection, a sentinel vehicle is respectively allocated at four corners of the intersection, and the passing vehicles select the sentinel vehicle corresponding to the walking route thereof, receive the information of subscribing the sentinel vehicle, and perform the field of view enhancement.
As a further improvement of the above solution, the visual field of the sentinel vehicle is enhanced by hardware or software capable of sensing the surrounding information, including but not limited to laser radar, camera, gps, imu, millimeter wave radar, ultrasonic radar or bumper strip.
As a further improvement of the scheme, the visual field enhancement mode is realized through a vehicle-to-vehicle safety link, and all data and control command are transmitted through an encryption protocol, so that the visual field enhancement effect is realized.
The invention has the positive effects that: according to the distributed visual field enhancing method for the low-speed automatic driving vehicle, hardware transformation and deployment are not needed, hardware transformation cost, deployment cost and maintenance cost are reduced, the visual field of the existing automatic driving vehicle can be increased, more abundant road environment information is obtained, and therefore the purpose of optimizing the automatic driving effect in a complex scene is achieved. Compared with the scheme using the v2x technology, the method can overcome the limitation in the region and has wider application range.
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FIG. 1 is a schematic diagram of the distributed visual field enhancement method of the present invention for a low speed autonomous vehicle. The figures are numbered numerically in the order of implementation of the distributed visibility enhancement method of a low speed autonomous vehicle of the present invention.
Detailed Description
The technical solutions of the present invention are described clearly and completely by the following embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present 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.
A distributed field of view enhancement method for a low speed autonomous vehicle, comprising the steps of:
s1, discovering a complex scene: all the automatic driving vehicles which normally run have the capability of finding complex scenes, and if the automatic driving vehicles cannot pass through or are difficult to pass through in a certain specific environment or the automatic driving management system at the cloud judges that more abundant sensor vision field intervention is needed, the automatic driving vehicles are all regarded as complex scenes needing external force assistance; generally, a complex scene includes a traffic-light-free intersection, or any one of several ultra-large intersections, an aircraft-non-mixed road, an irregular construction road, a temporary control road or a stop point.
S2, reporting a complex scene: the automatic driving vehicle which finds the complex scene actively reports the complex scene information to the cloud automatic driving management system; the reported complex scene information comprises the position, time, road condition and type of the complex scene.
S3, sentinel allocation: the cloud automatic driving management system calculates the priority and the distributable sentinel vehicles according to the reported complex scene information, and distributes the sentinel vehicles according to the priority; when the sentinel vehicles are allocated according to the priority, the priority is set according to the distance between each automatic driving vehicle and a complex scene, the task condition of each automatic driving vehicle and the vehicle electric quantity, and the sentinel vehicle executing the sentinel task is determined. If the complex scene is the intersection, one sentinel vehicle is respectively distributed at four corners of the intersection, the passing vehicles select the sentinel vehicle corresponding to the walking route of the passing vehicles, and the information of subscribing the sentinel vehicle is received to enhance the visual field.
S4, sentinel mode: the vehicle executing the sentinel tasks only starts the related modules of the sensors after reaching the designated place, closes other unrelated calculations at the vehicle end, communicates with the cloud automatic driving management system, establishes an identity verification key and a communication protocol, and starts a sentinel mode, and a plurality of sentinel vehicles and the cloud automatic driving management system form a distributed visual field enhancement network. The visual field of the sentinel vehicle is enhanced by hardware or software capable of sensing the surrounding information, including but not limited to, laser radar, camera, gps, imu, millimeter wave radar, ultrasonic radar, or bumper strip.
S5, when other normally-running automatic driving vehicles reach a specific distance of the distributed vision enhancement network, if a task route passes through a service area of the sentinel vehicle, the cloud automatic driving management system can transmit an identity key and a protocol with the normally-running automatic driving vehicles, the normally-running automatic driving vehicles select whether to use distributed vision enhancement services provided by the sentinel vehicle or not according to the actual situation of the current scene, and if the services are used, vehicle-to-vehicle safety connection needs to be established through identity key verification, and vision enhancement is performed.
The sentry vehicle establishes a sentry distributed view network through a point-to-point communication mode of an automatic driving vehicle end, and informs the cloud automatic driving management system of an access mode of the distributed view enhancement network. The visual field enhancement mode is through the car-to-car safety link, and all data and control command's transmission all pass through the encryption protocol, realize the effect of visual field enhancement.
The cloud automatic driving management system informs the passing automatic driving vehicles of the access information of the sentinel distributed field of view enhancement network according to the complexity of the road scene, and the passing automatic driving vehicles can selectively access the distributed field of view enhancement network according to the actual scene condition after receiving the information of the distributed field of view enhancement network of the sentinel vehicles on the path; the automatic driving vehicle accessed to the network can selectively subscribe the visual field information of sentinels at different positions in the network according to the line condition of the automatic driving vehicle; the sentinel vehicles in the network can actively send the peripheral visual field information of the current sentinel vehicle to the automatic driving vehicle accessed to the network according to the actual requirements of the accessed vehicle, so that richer perception prediction results are provided for other automatic driving vehicles passing by the network, and the automatic driving safety of other vehicles is guaranteed. The distributed visual field enhancement network can serve a plurality of automatic driving vehicles passing through a complex scene at the same time, the automatic driving vehicles are connected to the network at the same time, and all vehicles are informed of visual field enhancement by the sentinel vehicle in a broadcast mode.
S6, after the complex scene changes, judging that the automatic driving vehicles passing through the sentinel service area do not need to use the sensor sharing service, sending the relieving advice to the cloud automatic driving management system, relieving the sentinel mode by the cloud automatic driving management system according to actual conditions, and returning the sentinel vehicles.
According to the distributed visual field enhancement method for the low-speed automatic driving vehicle, the automatic driving vehicle and the sentinel vehicles are uniformly scheduled and managed through the cloud automatic driving management system, when a complex scene is found, the priority can be automatically calculated, the required number of the sentinel vehicles are distributed to execute sentinel tasks, other vehicles which normally run can select the sentinel vehicles according to the running routes of the vehicles when passing through the complex scene, communication connection is established, the visual field of the sentinel vehicles is obtained, the visual field of the vehicles is enhanced, the vehicles can smoothly pass through the complex scene, and the distributed sentinel vehicles can serve for the visual field enhancement of a plurality of automatic driving vehicles, so that the utilization rate of the vehicles is improved; when the situation of the complex scene changes, all the automatic driving vehicles passing through the complex scene feed back to the cloud automatic driving management system without the need of field enhancement, the sentinel tasks can be ended, new tasks are distributed to the sentinel vehicles through the cloud automatic driving management system, so that the sentinel vehicles are converted into normal driving vehicles, or the new sentinel tasks are distributed, so that the sentinel vehicles start the new sentinel tasks when driving to the new complex scene.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A distributed visual field enhancement method for a low-speed automatic driving vehicle is characterized by comprising the following steps: which comprises the following steps:
s1, discovering a complex scene: all the automatic driving vehicles which normally run have the discovery capability on the complex scene, and if the automatic driving vehicles cannot pass through or are difficult to pass through in a certain specific environment or the cloud automatic driving management system judges that richer sensor vision intervention is needed, the automatic driving vehicles are all regarded as the complex scene needing external force assistance;
s2, reporting a complex scene: the automatic driving vehicle which finds the complex scene actively reports the complex scene information to the cloud automatic driving management system;
s3, sentinel allocation: the cloud automatic driving management system calculates the priority and the distributable sentinel vehicles according to the reported complex scene information, and distributes the sentinel vehicles according to the priority;
s4, sentinel mode: after a vehicle executing a sentinel task arrives at a designated place, only a sensor related module is started, other unrelated calculations at the vehicle end are closed, the vehicle end is communicated with a cloud automatic driving management system, an identity verification key and a communication protocol are established, and a sentinel mode is started;
s5, distributed visual field enhancement network: when other normally-running automatic driving vehicles reach a network specific distance formed by specific sentinel mode vehicles, if a task route passes through a service area of the sentinel vehicle, the cloud automatic driving management system can transmit an identity key and a protocol with the normally-running automatic driving vehicles, the normally-running automatic driving vehicles select whether to use distributed visual field enhancement service provided by the sentinel vehicle according to the actual situation of the current scene, and if the service is used, the vehicle-to-vehicle safety connection is established and the visual field is enhanced through identity key verification;
s6, after the complex scene changes, judging that the automatic driving vehicles passing through the sentinel service area do not need to use the sensor sharing service, sending the relieving advice to the cloud automatic driving management system, relieving the sentinel mode by the cloud automatic driving management system according to actual conditions, and returning the sentinel vehicles.
2. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: in step S2, the complex scene information includes a position, time, road condition, and type of the complex scene.
3. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: the complex scene comprises any one of traffic-light-free intersections, or a plurality of ultra-large intersections, machine-non mixed roads, irregular construction roads, temporary control roads or stop points.
4. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: in the step S3, when the sentinel vehicles are distributed according to the priority, the priority is set according to the distance between each automatic driving vehicle and the complex scene, the task condition of each automatic driving vehicle and the vehicle electric quantity, and the sentinel vehicles executing the sentinel tasks are determined.
5. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: in the step S5, the distributed visual field enhancement network can serve a plurality of automatic driving vehicles passing through a complex scene at the same time, the automatic driving vehicles are connected to the network at the same time, and the sentinel vehicles inform all vehicles of visual field enhancement in a broadcasting mode.
6. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: in the step S5, a sentinel vehicle establishes a sentinel distributed visual field network through a point-to-point communication mode of an automatic driving vehicle end, an access mode of the distributed visual field enhancement network is informed to a cloud automatic driving management system, the cloud automatic driving management system informs the passing automatic driving vehicle of access information of the sentinel distributed visual field enhancement network according to the complexity of a road scene, and the passing automatic driving vehicle can selectively access the distributed visual field enhancement network according to the actual scene condition after receiving the information of the distributed visual field enhancement network of the sentinel vehicle on the path; the automatic driving vehicle accessed to the network can selectively subscribe the visual field information of the sentinels at different positions in the network according to the line condition of the automatic driving vehicle; the sentinel vehicles in the network can actively send the peripheral visual field information of the current sentinel vehicle to the automatic driving vehicle accessed to the network according to the actual requirements of the accessed vehicle, so that richer perception prediction results are provided for other automatic driving vehicles passing by the network, and the automatic driving safety of other vehicles is guaranteed.
7. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: if the complex scene is the intersection, one sentinel vehicle is respectively distributed at four corners of the intersection, the passing vehicles select the sentinel vehicle corresponding to the walking route of the passing vehicles, and the information of subscribing the sentinel vehicle is received to enhance the visual field.
8. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: the visual field of the sentinel vehicle is enhanced by hardware or software capable of sensing the surrounding information, including but not limited to, laser radar, camera, gps, imu, millimeter wave radar, ultrasonic radar, or bumper strip.
9. The distributed visibility method for a low-speed autonomous vehicle according to claim 1, characterized in that: the visual field enhancement mode is through the car-to-car safety link, and all data and control command's transmission all pass through the encryption protocol, realize the effect of visual field enhancement.
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