CN115497318A - Auxiliary driving platform suitable for public road remote driving - Google Patents
Auxiliary driving platform suitable for public road remote driving Download PDFInfo
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- CN115497318A CN115497318A CN202211186704.3A CN202211186704A CN115497318A CN 115497318 A CN115497318 A CN 115497318A CN 202211186704 A CN202211186704 A CN 202211186704A CN 115497318 A CN115497318 A CN 115497318A
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- driving
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- vehicle
- remote driving
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention relates to an auxiliary driving platform suitable for open road remote driving, which comprises an automatic driving controller, wherein the automatic driving controller is used for receiving multi-sensor data, performing fusion processing and outputting vehicle behavior decision information; the remote driving controller is used for receiving vehicle behavior decision information sent by the automatic driving controller; the remote control cabin is used for being responsible for vehicle monitoring and transmitting driving information; the automatic driving controller is in communication connection with the remote driving controller through an Ethernet, and the remote driving controller is connected with the remote driving cabin through a 5G network. The invention not only solves the problem that remote driving can not avoid danger independently, but also realizes the real-time remote monitoring of auxiliary driving, is clear to the running condition of the auxiliary driving and avoids the condition of a black box of a single controller.
Description
Technical Field
The invention relates to the technical field of remote automatic driving, in particular to an auxiliary driving platform suitable for remote driving of open roads.
Background
The 5G-based remote driving device comprises a vehicle end system and a cabin end system, wherein the vehicle end system comprises a vehicle end video acquisition system and a vehicle end remote control system, the cabin end system comprises a cabin end video display system and a cabin end remote driving control system, and the vehicle end system and the cabin end system are in real-time network communication. And realizing safe driving control of the vehicle to be controlled.
The defects of the prior art are as follows: the existing remote driving does not have auxiliary driving capability, can not avoid danger independently under emergency, and completely depends on the operation experience of a driver.
Disclosure of Invention
In view of the defects of the prior art, the invention provides the assistant driving platform suitable for the open road remote driving, which not only solves the problem that the remote driving can not avoid risks independently, but also realizes the real-time remote monitoring of the assistant driving, is clear for the running condition of the assistant driving, and avoids the condition of a black box of a single controller.
In order to achieve the above objects and other related objects, the present invention provides the following technical solutions:
a driving assistance platform suitable for open road remote driving, the platform comprising:
the automatic driving controller is used for receiving the multi-sensor data, performing fusion processing and outputting vehicle behavior decision information;
the remote driving controller is used for receiving vehicle behavior decision information sent by the automatic driving controller and is responsible for vehicle information processing, remote driving information processing and vehicle chassis control;
the remote control cabin is used for being responsible for vehicle monitoring and transmitting driving information;
the automatic driving controller is in communication connection with the remote driving controller through an Ethernet, and the remote driving controller is connected with the remote driving cabin through a 5G network.
Preferably, the automatic driving controller is provided with an auxiliary driving system, and the auxiliary driving system sends auxiliary driving behavior information and auxiliary driving feedback information to the remote driving controller.
Preferably, the remote driving controller forwards the driving assistance feedback information and the vehicle information to the remote driving cabin, the remote driving cabin sends the vehicle control information and the driving assistance control information to the remote driving controller, and the remote driving controller sends the vehicle information and the driving assistance control information to the driving assistance system.
Preferably, the driving assistance system includes:
the plug-in module template module is used for unifying plug-in interface standards;
the plug-in loading module is used for writing the name of the plug-in into the configuration file through the configuration file and calling the plug-in template module;
the communication module is used for connecting the remote driving controller and transmitting data;
the information processing module is connected with the communication module and is used for analyzing vehicle information, control information of the auxiliary driving function of the cockpit and communication delay monitoring;
and the execution module is connected with the information processing module, acquires vehicle data information, calls the plug-in loading module, creates threads with the same number to process the vehicle data information, generates monitoring information of an auxiliary driving state, and sends the monitoring information of the auxiliary driving state to the communication module.
Preferably, the communication module and the remote driving controller transmit messages through a TCP protocol, so that debugging personnel can be connected with the server through a self-built client.
Preferably, the multi-sensor data includes camera data, lidar data, ultrasonic radar data, inertial navigation data, and GNSS data.
Preferably, the vehicle behavior decision information includes steering wheel operation information, accelerator operation information, gear operation information, and brake operation information.
Preferably, the automatic driving controller determines whether an operation during the running of the vehicle is an erroneous operation or an operation that does not comply with safe running based on the steering wheel operation information, the accelerator operation information, the shift position operation information, and the brake operation information, and controls the vehicle to automatically complete braking if the operation is an erroneous operation or an operation that does not comply with safe running.
The invention has the following positive effects:
1) The hardware architecture of the invention greatly utilizes the sensor information, reduces the RCU load: the invention continues the framework, the information of the sensor is received and processed by the high-performance AD instead of the RCU in charge of remote driving, and the RCU is only in charge of simpler signal analysis, thereby reducing the load of the RCU.
2) The invention realizes the real-time remote monitoring of the assistant driving through the cooperation of the AD, the RCU and the CKPT, is clear for the running condition of the assistant driving, and avoids the 'black box' condition of a single controller.
3) The assistant driving system greatly improves the development efficiency of assistant driving, each assistant driving function is uniformly scheduled during the operation period, and each assistant driving can be synchronously developed by different developers during the development period without mutual influence.
4) The auxiliary driving system is easy to maintain, relevant configuration files are only needed to be compiled when auxiliary driving functions are added, codes do not need to be reconstructed, addition and deletion of the auxiliary driving system are easy, and the development process is greatly simplified.
Drawings
FIG. 1 is a diagram of a platform framework of the present invention;
FIG. 2 is a diagram of an auxiliary software platform according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The embodiment is as follows: as shown in fig. 1, a driving assistance platform suitable for open road remote driving, the platform comprising:
the automatic driving controller is used for receiving the multi-sensor data, performing fusion processing and outputting vehicle behavior decision information;
the remote driving controller is used for receiving vehicle behavior decision information sent by the automatic driving controller and is responsible for vehicle information processing, remote driving information processing and vehicle chassis control;
the remote control cabin is used for being responsible for vehicle monitoring and transmitting driving information;
the automatic driving controller is in communication connection with the remote driving controller through an Ethernet, and the remote driving controller is connected with the remote driving cabin through a 5G network.
Preferably, the automatic driving controller is provided with an auxiliary driving system, and the auxiliary driving system sends auxiliary driving behavior information and auxiliary driving feedback information to the remote driving controller.
Preferably, the remote driving controller forwards the driving assistance feedback information and the vehicle information to the remote driving cabin, the remote driving cabin sends the vehicle control information and the driving assistance control information to the remote driving controller, and the remote driving controller sends the vehicle information and the driving assistance control information to the driving assistance system.
Preferably, the driving assistance system includes:
the plug-in module template module is used for unifying plug-in interface standards;
the plug-in loading module is used for writing the name of the plug-in into the configuration file through the configuration file and calling the plug-in template module;
the communication module is used for connecting the remote driving controller and transmitting data;
the information processing module is connected with the communication module and is used for analyzing vehicle information, control information of the auxiliary driving function of the cockpit and communication delay monitoring;
and the execution module is connected with the information processing module, acquires vehicle data information, calls the plug-in loading module, creates threads with the same number to process the vehicle data information, generates monitoring information of an auxiliary driving state, and sends the monitoring information of the auxiliary driving state to the communication module.
Preferably, the communication module and the remote driving controller transmit messages through a TCP protocol, so that debugging personnel can be connected with the server through a self-built client.
Preferably, the multi-sensor data includes camera data, lidar data, ultrasonic radar data, inertial navigation data, and GNSS data.
Preferably, the vehicle behavior decision information includes steering wheel operation information, accelerator operation information, gear operation information, and brake operation information.
Preferably, the automatic driving controller determines whether an operation during the running of the vehicle is an erroneous operation or an operation that does not comply with safe running based on the steering wheel operation information, the accelerator operation information, the shift position operation information, and the brake operation information, and controls the vehicle to automatically complete braking if the operation is an erroneous operation or an operation that does not comply with safe running.
Specifically, the driving assistance system: according to the system, each auxiliary driving function module is used as a plug-in to be embedded into an auxiliary driving system, the corresponding auxiliary driving function plug-in is loaded according to a configuration file when the auxiliary driving system operates for the first time, then the multithreading execution of each plug-in is started, and finally driving behaviors and feedback information monitored by a driver are obtained comprehensively according to the preset priority and return information of each plug-in. The driving assistance system is structured as shown in FIG. 2. As shown in fig. 2, the driver assistance system includes 5 main modules.
(1) A plug-in motherboard master module: the plug-in interface standard is unified, each plug-in guarantees that the interface is unified through inheriting a plug-in master plate and can be successfully loaded and called by an assistant driving system, and besides, each plug-in realizes plug-ins with different functions through rewriting a master plate function.
(2) A plug-in loading module: after the auxiliary driving plug-in is realized by a developer, the name of the plug-in to be used is written into the configuration file through the configuration file, and the auxiliary driving system can automatically load the plug-in according to the configuration file.
(3) A communication module: the module encapsulates a TCP server program which can process messages of multiple clients, the messages can be transmitted with the RCU through a TCP protocol, debugging personnel can be connected with the server through the self-built client, the self-built client is connected with the server, the same messages received by the RCU can be obtained, and debugging work is greatly facilitated.
(4) An information processing module: the module is responsible for analyzing vehicle information, control information of the auxiliary driving function of the cockpit and communication delay monitoring.
(5) An execution module: the module creates threads with the same number according to the loaded plug-ins, executes each plug-in parallel, waits for the completion of the execution of each plug-in, synthesizes the execution result of the plug-ins and the priority of the plug-ins to decide the driving behavior of the vehicle, and generates monitoring information containing auxiliary driving states.
In conclusion, the invention not only solves the problem that remote driving can not avoid danger independently, but also realizes real-time remote monitoring of auxiliary driving, is clear for the running condition of the auxiliary driving and avoids the condition of a black box of a single controller.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. A driving assistance platform suitable for open road remote driving, the platform comprising:
the automatic driving controller is used for receiving the multi-sensor data, performing fusion processing and outputting vehicle behavior decision information;
the remote driving controller is used for receiving vehicle behavior decision information sent by the automatic driving controller and is responsible for vehicle information processing, remote driving information processing and vehicle chassis control;
the remote control cabin is used for being responsible for vehicle monitoring and transmitting driving information;
the automatic driving controller is in communication connection with the remote driving controller through an Ethernet, and the remote driving controller is connected with the remote driving cabin through a 5G network.
2. The driver assistance platform suitable for open road remote driving according to claim 1, wherein: and an auxiliary driving system is arranged on the automatic driving controller and sends auxiliary driving behavior information and auxiliary driving feedback information to the remote driving controller.
3. The driver assistance platform suitable for open road remote driving according to claim 2, wherein: the remote driving controller transmits auxiliary driving feedback information and vehicle information to the remote driving cabin, the remote driving cabin transmits vehicle control information and auxiliary driving control information to the remote driving controller, and the remote driving controller transmits the vehicle information and the auxiliary driving control information to the auxiliary driving system.
4. The driver assistance platform suitable for open road remote driving according to claim 3, wherein: the driving assistance system includes:
the plug-in module template module is used for unifying plug-in interface standards;
the plug-in loading module is used for writing the name of the plug-in into the configuration file through the configuration file and calling the plug-in template module;
the communication module is used for connecting the remote driving controller and transmitting data;
the information processing module is connected with the communication module and is used for analyzing vehicle information, control information of the auxiliary driving function of the cockpit and communication delay monitoring;
and the execution module is connected with the information processing module, acquires vehicle data information, calls the plug-in loading module, creates threads with the same number to process the vehicle data information, generates monitoring information of an auxiliary driving state, and sends the monitoring information of the auxiliary driving state to the communication module.
5. An assistant driving platform suitable for public road remote driving according to claim 1 or 4, characterized in that: the communication module and the remote driving controller transmit messages through a TCP protocol, and debugging personnel are connected with the server through a self-built client.
6. The driver assistance platform adapted for open road remote driving according to claim 1, wherein: the multi-sensor data comprises camera data, laser radar data, ultrasonic radar data, inertial navigation data and GNSS data.
7. The driver assistance platform adapted for open road remote driving according to claim 1, wherein: the vehicle behavior decision information comprises steering wheel operation information, accelerator operation information, gear operation information and brake operation information.
8. The driver assistance platform suitable for open road remote driving according to claim 1 or 7, wherein: and judging whether the operation in the running process of the vehicle is misoperation or operation which is not in accordance with safe running based on the steering wheel operation information, the accelerator operation information, the gear operation information and the brake operation information, and if so, controlling the vehicle to automatically complete braking by the automatic driving controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211186704.3A CN115497318A (en) | 2022-09-28 | 2022-09-28 | Auxiliary driving platform suitable for public road remote driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211186704.3A CN115497318A (en) | 2022-09-28 | 2022-09-28 | Auxiliary driving platform suitable for public road remote driving |
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