CN116347398A

CN116347398A - Control method and device for driving system

Info

Publication number: CN116347398A
Application number: CN202310282729.1A
Authority: CN
Inventors: 王林一; 冯凯文; 夏黎明; 郭强; 王明松; 付志峰
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2023-03-21
Filing date: 2023-03-21
Publication date: 2023-06-27

Abstract

The disclosure provides a control method and device for a driving system, relates to the technical field of data processing, and particularly relates to automatic driving. The implementation scheme is as follows: the driving system comprises a cloud server, an automatic driving vehicle and a plurality of cabs, wherein the automatic driving vehicle and the cabs are respectively in communication connection with the cloud server, the control method is used for the cloud server, and the control method comprises the following steps: receiving a subscription request for at least some of the plurality of cabs; determining a main connection cabin and at least one non-main connection cabin from a plurality of cabins according to at least part of the subscription requests of the cabins; after receiving the target data from the autonomous vehicle, encoding the target data according to the network parameters of the main connection pod; and transmitting the encoded target data to the primary connection pod and the at least one non-primary connection pod.

Description

Control method and device for driving system

Technical Field

The present disclosure relates to the field of data processing technology, and in particular, to automatic driving, and more particularly, to a control method and apparatus for a driving system, an electronic device, a computer readable storage medium, and a computer program product.

Background

With the development of economy and science, vehicles are becoming a trip tool commonly used in daily life. Early vehicle driving is mainly manual driving, and today, vehicle control can be performed by manual driving, automatic driving, or the like.

There is currently a remote cloud-based driving system. The system includes an autonomous vehicle and a plurality of remote cabs that may be communicatively coupled to the autonomous vehicle via a cloud server. The remote cockpit comprises a steering wheel, a brake pedal, an accelerator pedal and the like to form a virtual driving seat, and the remote cockpit can be used for remotely driving the automatic driving vehicle. In the running process of the cloud driving system, the video stream acquired by the camera of the automatic driving vehicle is continuously sent to the cockpit, so that a driver of the driving vehicle can conveniently determine the real environment around the automatic driving vehicle by watching the video.

Therefore, video transmission is an important link for realizing functions of the cloud driving system, and the video transmission of the cloud driving system at present has a great improvement space.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.

Disclosure of Invention

The present disclosure provides a control method and apparatus for a ride-on system, an electronic device, a computer-readable storage medium, and a computer program product.

According to an aspect of the present disclosure, there is provided a control method for a driving system, wherein the driving system includes a cloud server, an autonomous vehicle and a plurality of cabs which are respectively communicatively connected with the cloud server, the control method is for the cloud server, and the control method includes: receiving a subscription request for at least some of the plurality of cabs; determining a main connection cabin and at least one non-main connection cabin from a plurality of cabins according to at least part of the subscription requests of the cabins; after receiving the target data from the autonomous vehicle, encoding the target data according to the network parameters of the main connection pod; and transmitting the encoded target data to the primary connection pod and the at least one non-primary connection pod.

According to another aspect of the present disclosure, there is provided a control device for a driving system, wherein the driving system includes a cloud server, an autonomous vehicle and a plurality of cabs which are respectively communicatively connected with the cloud server, the control method is used for the cloud server, and the control device includes: a receiving unit configured to receive a subscription request of at least part of the plurality of cabins; a determining unit configured to determine one main connection pod and at least one non-main connection pod from among the plurality of cockpit according to a subscription request of at least part of the cockpit; an encoding unit configured to encode target data according to network parameters of the main connection pod after receiving the target data from the autonomous vehicle; and a transmitting unit configured to transmit the encoded target data to the main connection pod and the at least one non-main connection pod.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to yet another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the above-described method.

According to yet another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described method.

According to one or more embodiments of the present disclosure, multiple cabins subscribing to the video stream of the same autonomous vehicle may distinguish between a primary connection cabin and a non-primary connection cabin. The cloud server only codes the network environment of the main connection cabin, and the non-main connection only receives the coded data of the main connection cabin. Therefore, the problem that the cloud server codes for a plurality of cabins for a plurality of times is avoided, and the coding process is simplified. In addition, the coding is only carried out once for a plurality of cabins, so that the time required by coding is reduced, and the speed of receiving target data by the cabins is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.

FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, in accordance with an embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of a control method for a ride-on system according to an embodiment of the present disclosure;

FIG. 3 illustrates a flow chart of a method of determining a cockpit type according to an embodiment of the present disclosure;

FIG. 4 illustrates a flow chart of a method of encoding target data according to an embodiment of the present disclosure;

FIG. 5 shows a block diagram of a control device for a ride-on system according to an embodiment of the present disclosure;

Fig. 6 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another element. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.

The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, in accordance with an embodiment of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.

In an embodiment of the present disclosure, motor vehicle 110 may include a computing device in accordance with an embodiment of the present disclosure and/or be configured to perform a method in accordance with an embodiment of the present disclosure.

The server 120 may run one or more services or software applications that enable execution of control methods for the ride-on system. In some embodiments, server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof that are executable by one or more processors. A user of motor vehicle 110 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be appreciated that a variety of different system configurations are possible, which may differ from system 100. Accordingly, FIG. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture that involves virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain virtual storage devices of the server). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above as well as any commercially available server operating systems. Server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.

Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a number of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 130 may be a satellite communications network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a blockchain network, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, for example, bluetooth, wiFi), and/or any combination of these with other networks.

The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In some embodiments, the data store used by server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve the databases and data from the databases in response to the commands.

In some embodiments, one or more of databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key value stores, object stores, or conventional stores supported by the file system.

Motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensors 111 may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter wave radar, and laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be mounted in front of, behind or other locations on the vehicle. The vision cameras can capture the conditions inside and outside the vehicle in real time and present them to the driver and/or passengers. In addition, through analyzing the pictures captured by the video cameras, information such as traffic signal lamp indication, intersection conditions, other vehicle running states and the like can be obtained, the cameras can also produce video stream data based on the shot surrounding environment information for subsequent uploading to a cloud server, and related terminal equipment (such as a remote cockpit) can conveniently carry out remote driving. The infrared camera can capture objects under night vision. The ultrasonic sensor can be arranged around the vehicle and is used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directivity and the like. The millimeter wave radar may be installed in front of, behind, or other locations of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. Lidar may be mounted in front of, behind, or other locations on the vehicle for detecting object edges, shape information for object identification and tracking. The radar apparatus may also measure a change in the speed of the vehicle and the moving object due to the doppler effect.

Motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with the mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as the current or evolving wireless communication technology (e.g., 5G technology) such as GSM/GPRS, CDMA, LTE. The communication device 112 may also have a Vehicle-to-Everything (V2X) module configured to enable, for example, vehicle-to-Vehicle (V2V) communication with other vehicles 143 and Vehicle-to-Infrastructure (V2I) communication with Infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smart phone, tablet computer, or wearable device such as a watch), for example, by using a wireless local area network or bluetooth of the IEEE802.11 standard. With the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130. The system 100 may also include a plurality of remote cabs 146, which cabs 146 may be used to remotely steer the motor vehicle 110. The cockpit 146 will be described in detail below and will not be described in detail here.

Motor vehicle 110 may also include a control device 113. The control device 113 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer readable storage devices or mediums. The control device 113 may include an autopilot system for automatically controlling various actuators in the vehicle. The autopilot system is configured to control a powertrain, steering system, braking system, etc. of a motor vehicle 110 (not shown) to control acceleration, steering, and braking, respectively, via a plurality of actuators in response to inputs from a plurality of sensors 111 or other input devices (e.g., commands from a remote cockpit or cloud server). Part of the processing functions of the control device 113 may be implemented by cloud computing. For example, some of the processing may be performed using an onboard processor while other processing may be performed using cloud computing resources. The control device 113 may be configured to perform a method according to the present disclosure. Furthermore, the control means 113 may be implemented as one example of a computing device on the motor vehicle side (client) according to the present disclosure.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

The control method provided by the embodiment of the disclosure can be applied to the field of automatic driving, such as unmanned products including unmanned vehicles and the like. The disclosed embodiments may control the remote vehicle in real time through the remote cockpit 146, which is equivalent to a remote driver sitting in a virtual vehicle, driving control of a real-world autonomous vehicle. This control is very dependent on the state of the network and the data transmission speed, and can achieve better effect in the 5G network at present.

In one embodiment of the present disclosure, during control of the vehicle by the cockpit 146, the video stream of the vehicle camera is transmitted back in real time, and the surrounding environment of the vehicle may involve multiple video passes for look-around acquisition, secure transmission, and at the same time allow real-time viewing at the cloud.

Cloud server 120 and motor vehicle 110 communicate using the RTC (Real Time Communication, real-time communication) protocol. Wherein the RTC supports real-time video communication with a latency of less than about 300ms. In one example, the application protocol used by motor vehicle 110 and cloud server 120 is the real-time transport protocol RTP (Real Time Protocol, real-time transport protocol), which is UDP (User Datagram Protocol ). The use of RTC-webSDK67 (RTC-web Software Development Kit, real-time transport network software development kit) by cloud server 120 may allow multiple users to view video streams of a particular vehicle simultaneously using a browser, as well as restrict only authorized partial users from viewing video streams of the vehicle. For example, the drivers of the plurality of cabs 146 may send a subscription request for a video stream of the autonomous vehicle to the cloud, which, upon receiving the subscription request, determines whether to send the target data to the cabin 146.

A plurality of content delivery network nodes CDN 63 (Content Delivery Network, capacity delivery network nodes) for data delivery, and RDS64 relational databases may be provided at cloud server 120. The RTC module 65 in the cloud obtains the temporary token associated with the vehicle or cockpit 146 from the remote control cloud service, and the CDN node 63 inputs the data to be backed up and other related data into the remote control cloud service 66, and then inputs the RDS64 for storage.

In one embodiment of the present disclosure, the remote cockpit 146 is comprised of a steering wheel, accelerator pedal, brake pedal, display, television large screen, and host computer, which corresponds to a virtual vehicle seat. Through steering wheel, accelerator pedal and brake pedal, the driver of the cockpit 146 can accurately control the corresponding controlled motor vehicle, the display is used for displaying video data around the vehicle, the television large screen is used for displaying information such as vehicle state, position, surrounding environment and the like, and the host is used for bearing all calculation tasks of the cockpit 146.

When the cockpit 146 receives the remote control request sent by the cloud, the platform of the cockpit 146 is used for observing the road conditions around the vehicle, and the motor vehicle 110 transmits the real-time video stream of the multiple cameras to the control center; meanwhile, a remote driver in the cockpit 146 can also see real-time obstacle information output by the automatic driving sensing algorithm of the vehicle. The remote driver observes and determines that it may assist the remote driver in generating control commands by selecting steering wheels, throttle, and/or brakes and issuing them to the motor vehicle 110. The driver follows the traffic regulations to avoid obstacles and the like according to the video and the vehicle state during the parallel driving.

Fig. 2 shows a flowchart of a control method 200 for a ride-on system including a cloud server, an autonomous vehicle communicatively connected to the cloud server, and a plurality of cabs, respectively, according to an embodiment of the present disclosure. The aforementioned ride-on system may be, for example, the system 100 shown in fig. 1. As shown in fig. 2, the control method 200 includes:

step 210, receiving a subscription request of at least part of the plurality of cabs;

step 220, determining a main connection cabin and at least one non-main connection cabin from a plurality of cabins according to at least part of the subscription request of the cabins;

step 230, after receiving the target data from the autonomous vehicle, encoding the target data according to the network parameters of the main connection pod; and

and step 240, transmitting the coded target data to the main connection pod and at least one non-main connection pod.

According to the method disclosed by the invention, the main connection cabin and the non-main connection cabin can be distinguished aiming at a plurality of cabins subscribed by video streams of the same automatic driving vehicle. The cloud server only codes the network environment of the main connection cabin, and the non-main connection only receives the coded data of the main connection cabin. Therefore, the problem that the cloud server codes for a plurality of cabins for a plurality of times is avoided, and the coding process is simplified. In addition, the coding is only carried out once for a plurality of cabins, so that the time required by coding is reduced, and the speed of receiving target data by the cabins is improved.

In step 210, at least some of the plurality of cabs may actively send a subscription request to the cloud server for a particular motor vehicle. After the cloud server receives the subscription request of the cockpit, the identity of the vehicle can be verified, and under the condition that the verification is passed, the follow-up steps are executed. It should be noted that the subscription request here is merely a video message of the surroundings of the motor vehicle required to be displayed on the display of the cockpit, and is not a control connection between the cockpit and the motor vehicle.

In step 220, a primary connection pod and a non-primary connection pod may be determined based at least in part on the type of subscription request for the cockpit. In some embodiments, the subscription request may be a vehicle control type subscription request, that is to say that the cockpit sending the subscription request wishes to obtain the driving rights of the motor vehicle; the subscription request may also be a subscription request of the non-controlled vehicle type, that is to say that the cockpit sending the subscription request is only used for observing videos acquired by the motor vehicle and does not acquire driving rights of the motor vehicle, such cockpit being also referred to as observation cockpit in the following. In this case, the cockpit that sent the subscription request of the controlled vehicle type may be determined as the main connection cabin, and the cockpit that sent the subscription request of the non-controlled vehicle type may be determined as the non-main connection cabin. In other embodiments, the primary connection pod and the non-primary connection pod may also be determined according to the time when the cockpit sends the subscription request, e.g., the cockpit that sent the subscription request first may be determined to be the primary connection pod and the cockpit that sent the subscription request subsequently may be determined to be the non-primary connection pod. In other embodiments, the type of each connection pod (primary or non-primary) may also be determined in other forms, and will not be described in detail herein.

In the related art, for each subscribed network connection of the cockpit, the cloud server performs a single encoding operation on the video stream, because different cabins may have different network states or transmission speeds, and synchronous unified encoding on the network connection of multiple cabins cannot be achieved. Therefore, in order to achieve that all cabins can acquire target data in real time, in the related art, each cabin is separately encoded and video streamed according to the network environment of the cabin. The inventors realized that because multiple cabins have the same hardware configuration and use the same encoding rules and data transmission protocols, the cloud server may actually encode target data for only one cabin and then send the encoded data to other subscribed cabins that are able to decode the encoded data. Thus, although synchronous video transmission of all cabins may not be achieved, the speed of acquiring video streams by part of cabins is sacrificed, and the video streams can be sent to a plurality of cabins by only performing coding once.

In some embodiments, the target data may be real-time video streaming data collected by the motor vehicle 110 through multiple cameras, and of course, in other embodiments, the target data may be audio data, text data, and other data information for interaction between the motor vehicle 110 and the cockpit. In step 230, the real-time video stream encoding may be performed only for the main connection pod, and the non-main connection simply receives the encoded data for the main connection. The method disclosed by the invention can avoid the problem of carrying out multiple codes on a plurality of cabins while ensuring the video acquisition speed of the main connection, and simplifies the coding process.

In step 240, the non-primary connection pod receives video data encoded for the primary connection pod, and since each pod has the same hardware configuration and uses the same encoding rules and data transmission protocols, the non-primary connection pod can perform normal decoding operations on the video data to facilitate the host of the subsequent pod to play the video on the display.

In some embodiments, the subscription request includes flag information for determining whether the subscription request is a accuse of the vehicle subscription request. Determining a primary connection pod and at least one non-primary connection pod from the plurality of pods based at least in part on the subscription request for the pods comprises: after receiving a subscription request sent by a cockpit, determining that the cockpit is a main connection cabin or a non-main connection cabin according to the mark information contained in the subscription request sent by the cockpit. In the present embodiment, the cockpit actually required for the remote driving operation may be determined as the main connection pod. The arrangement ensures that the codes are coded according to the network environment of the cockpit which is actually used for remote driving operation, thereby at least ensuring the video stream quality of the cockpit which is used for remote driving operation and avoiding traffic accidents caused by video jamming or delay of the cockpit.

FIG. 3 illustrates a flow chart of a method 300 of determining a cockpit type according to an embodiment of the present disclosure, wherein the cockpit type includes a primary connection pod and a non-primary connection pod. As shown in fig. 3, the method 300 includes:

step 310, receiving a subscription request sent by a cockpit;

step 320, judging whether the subscription request is a vehicle control subscription request;

step 330, judging whether the main connecting cabin is determined in the plurality of cabins;

step 340, in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request and that the main connection pod is not determined in the plurality of cabins, determining the cockpit as the main connection pod; or (b)

Step 350, in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request and that other main connection cabins exist in the plurality of cabins, determining the cockpit as a main connection cabin and re-determining the other main connection cabins as non-main connection cabins; and

in response to determining that the subscription request sent by one cockpit is a non-controlled vehicle subscription request and that the primary connection pod has not been determined among the plurality of cabins, at least a portion of the cabins that sent the subscription request first are determined to be the primary connection pod, step 360.

In embodiments of the present disclosure, the cockpit types of multiple cabs may be updated each time a subscription request is received.

In step 330, it is determined whether there is a main junction box in the plurality of cabs for which it has been determined in the present state. If the primary connection pod has not yet been present, then the cockpit currently sending the request for subscription to control may be determined as the primary connection pod in step 340 to ensure the video stream receiving speed of the path connection. If a primary connection pod has been present in the plurality of connection pods in step 350, then the cockpit currently sending the control subscription request may replace the previous primary connection pod, determined to be a new primary connection pod, and the previous primary connection pod may be downgraded to a non-primary connection pod. The arrangement ensures that only one main connection cabin is arranged at the same time, and prevents the occurrence of coding errors or repeated coding. In addition, the cockpit of the actual control car can be ensured to be the main connecting cabin all the time, so that the video acquisition speed of the cockpit of the actual control car is ensured, and driving accidents caused by video delay are avoided.

In step 360, when the vehicle control request is a non-vehicle control request, if the main connection pod has not yet appeared in the plurality of connection pods, then the time points when the cockpit that sent the subscription request sends the subscription request may be detected, and then the time points are sequenced, and the cockpit that sent the subscription request first is determined to be the main connection pod. The arrangement ensures that only one main connection cabin is arranged at the same time, and prevents the occurrence of coding errors or repeated coding. In addition, if a primary connection pod has appeared among the plurality of connection pods, the cockpit currently sending the non-control vehicle subscription request is determined to be a non-primary connection pod.

In some embodiments, after receiving a subscription request sent by a cockpit, the cockpit is remotely connected to an autonomous vehicle in response to determining that the subscription request sent by the cockpit is a accuse of the vehicle subscription request. If the subscription request is a vehicle control subscription request, the cockpit sending the subscription request will obtain the driving right of the motor vehicle. If a cockpit for acquiring the driving right already exists before, the cockpit for currently sending the subscription request may automatically replace the cockpit for acquiring the driving right before, or may replace the cockpit after passing the confirmation of the cockpit for acquiring the driving right before.

Fig. 4 illustrates a flow chart of a method 400 of encoding target data, wherein network parameters of a primary connection pod include a bandwidth of a network channel, according to an embodiment of the present disclosure. As shown in fig. 4, the method 400 includes:

step 410, setting the code rate of the codes according to the bandwidth of the network channel of the main connection cabin; and

and step 420, encoding the target data according to the code rate.

It can be understood that the bandwidth of the network channel will directly affect the code rate of the code, the wider the bandwidth of the channel, the higher the code rate; otherwise, the lower the code rate. Thus, in step 410, the code rate of the code may be set according to the bandwidth of the network channel of the primary connection pod. Specifically, when the network state of the main connection cabin is better and the bandwidth of the channel is higher, a higher code rate can be set, and a clearer video stream can be transmitted at the moment; when the network state of the main connection cabin is poor and the bandwidth of the channel is not high, a lower code rate can be set, and at the moment, the definition of the video can be properly sacrificed to obtain a higher video transmission speed.

In this embodiment, the coding rate may be adaptively adjusted according to the current network condition of the main connection pod, and such a setting manner may always ensure the video transmission speed of the main connection pod, thereby ensuring the video stream quality of the main connection pod. The target data obtained by other non-main connection cabins are actually encoded according to the current network environment of the main connection cabin, so that the situation that when the network quality of the non-main connection cabin is good, the video definition is low is likely to occur, but the non-main connection cabin is basically an observation cabin and does not participate in the driving of the motor vehicle, so that the actual driving of the motor vehicle is not affected.

According to another aspect of the present disclosure, a control apparatus for a ride-on system is also provided. Fig. 5 shows a block diagram of a control device 500 for a ride-on system according to an embodiment of the present disclosure. The driving system comprises a cloud server, an automatic driving vehicle and a plurality of cabs, wherein the automatic driving vehicle and the cabs are respectively in communication connection with the cloud server, and the control method is used for the cloud server. As shown in fig. 5, the control device 500 includes: a receiving unit 510 configured to receive a subscription request of at least part of the plurality of cabs; a determining unit 520 configured to determine one main connection pod and at least one non-main connection pod from the plurality of cockpit according to a subscription request of at least part of the cockpit; an encoding unit 530 configured to encode target data according to network parameters of the main junction bay after receiving the target data from the autonomous vehicle; and a transmitting unit 540 configured to transmit the encoded target data to the main connection pod and the at least one non-main connection pod.

In some embodiments, the subscription request includes flag information for determining whether the subscription request is a ride control subscription request, the determining unit 520 is further configured to: after receiving a subscription request sent by a cockpit, determining that the cockpit is a main connection cabin or a non-main connection cabin according to the mark information contained in the subscription request sent by the cockpit.

In some embodiments, the determining unit 520 is further configured to: in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request and that the main connection cockpit is not determined in the plurality of cabins, determining the cockpit as the main connection cockpit; in response to determining that the subscription request sent by the cockpit is a ride control subscription request and that there are other primary pods in the plurality of pods, the cockpit is determined to be a primary pod and the other primary pods are re-determined to be non-primary pods.

In some embodiments, the determining unit 520 is further configured to: in response to determining that a subscription request sent by one cockpit is a non-controlled vehicle subscription request and that a primary connection cockpit has not been determined among the plurality of cabins, determining at least a portion of the cabins that first sent the subscription request as the primary connection cockpit.

In some embodiments, the control device 500 further includes: and the connection establishment unit is configured to establish a remote control connection between the cockpit and the automatic driving vehicle in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request after receiving the subscription request sent by the cockpit.

In some embodiments, the encoding unit 530 includes: the setting module is configured to set the code rate of the codes according to the bandwidth of the network channel of the main connection cabin; and an encoding module configured to encode the target data according to a code rate.

It should be appreciated that the various elements of the apparatus 500 shown in fig. 5 may correspond to the various steps in the method 200 described with reference to fig. 2. The various modules described above may correspond to the various steps in the methods 300-400 described with reference to fig. 3-4. Thus, the operations, features, and advantages described above with respect to methods 300-400 apply equally to the plurality of modules described above. For brevity, certain operations, features and advantages are not described in detail herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, there is also provided an electronic device, a readable storage medium and a computer program product.

Referring to fig. 6, a block diagram of an electronic device 600 that may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 6, the electronic device 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other by a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the electronic device 600 are connected to the I/O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 may be any type of device capable of inputting information to the electronic device 600, the input unit 606 may receive input numeric or character information and generate key signal inputs related to user settings and/or function control of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and/or a remote control. The output unit 607 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 608 may include, but is not limited to, magnetic disks, optical disks. The communication unit 609 allows the electronic device 600 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the respective methods and processes described above, for example, a control method for a driving system. For example, in some embodiments, the control method for the ride-on system may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the control method for a driving system described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to execute the control method for the ride-on system in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing methods, systems, and apparatus are merely exemplary embodiments or examples, and that the scope of the present invention is not limited by these embodiments or examples but only by the claims following the grant and their equivalents. Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of the embodiments or examples may be combined in various ways.

Claims

1. A control method for a ride-on system, wherein the ride-on system includes a cloud server, an automated driving vehicle and a plurality of cabs that are respectively communicatively connected with the cloud server, the control method being for the cloud server, the control method comprising:

Receiving a subscription request for at least some of the plurality of cabs;

determining a main connection cabin and at least one non-main connection cabin from the plurality of cabins according to the subscription request of at least part of cabins;

after receiving target data from the autonomous vehicle, encoding the target data according to network parameters of the main connection cabin; and

and sending the coded target data to the main connection pod and the at least one non-main connection pod.

2. The control method according to claim 1, wherein the subscription request includes flag information for determining whether the subscription request is a vehicle control subscription request, and the determining, from the plurality of cabins, one main connection cabin and at least one non-main connection cabin according to the subscription request of the at least part of cabins includes:

after receiving a subscription request sent by a cockpit, determining that the cockpit is a main connection cabin or a non-main connection cabin according to the mark information contained in the subscription request sent by the cockpit.

3. The control method according to claim 2, wherein after receiving a subscription request sent by a cockpit, determining that the cockpit is a main connection pod or a non-main connection pod according to tag information included in the subscription request sent by the cockpit includes:

In response to determining that the subscription request sent by the cockpit is a vehicle control subscription request and that the main connection cockpit is not determined in the plurality of cabins, determining the cockpit as the main connection cockpit; or (b)

In response to determining that the subscription request sent by the cockpit is a ride control subscription request and that there are other primary pods in the plurality of pods, determining the cockpit as a primary pod and re-determining the other primary pods as non-primary pods.

4. The control method according to claim 2, wherein after receiving the subscription request sent by one cockpit, determining that the cockpit is a main connection pod or a non-main connection pod according to the tag information included in the subscription request sent by the cockpit further includes:

and in response to determining that the subscription request sent by one cockpit is a non-controlled vehicle subscription request and the main connection cockpit is not determined in the plurality of cabins, determining the cockpit which sends the subscription request first in the at least part of cabins as the main connection cockpit.

5. The control method according to any one of claims 2 to 4, further comprising:

after receiving a subscription request sent by a cockpit, establishing remote control connection between the cockpit and the automatic driving vehicle in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request.

6. The control method of any of claims 1-4, wherein the network parameters of the primary connection pod include a bandwidth of a network channel, and wherein after receiving target data from the autonomous vehicle, encoding the target data according to the network parameters of the primary connection pod comprises:

setting the code rate of the codes according to the bandwidth of the network channel of the main connection cabin; and

and encoding the target data according to the code rate.

7. A control device for a driving system, wherein the driving system includes a cloud server, an automated driving vehicle and a plurality of cabs that are respectively communicatively connected with the cloud server, the control method is used for the cloud server, the control device includes:

a receiving unit configured to receive a subscription request of at least part of the plurality of cabins;

a determining unit configured to determine one main connection pod and at least one non-main connection pod from the plurality of cabins according to the subscription request of the at least part of cabins;

an encoding unit configured to encode target data from the autonomous vehicle according to network parameters of the main connection pod after receiving the target data; and

And a transmitting unit configured to transmit the encoded target data to the main connection pod and the at least one non-main connection pod.

8. The control apparatus according to claim 7, wherein the subscription request includes flag information for judging whether the subscription request is a roll control subscription request, the determination unit being further configured to:

9. The control device according to claim 8, wherein the determination unit is further configured to:

in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request and that the main connection cockpit is not determined in the plurality of cabins, determining the cockpit as the main connection cockpit;

10. The control device according to claim 8, wherein the determination unit is further configured to:

11. The control device according to any one of claims 8-10, further comprising:

and the connection establishment unit is configured to establish remote control connection between the cockpit and the automatic driving vehicle in response to determining that the subscription request sent by the cockpit is a vehicle control subscription request after receiving the subscription request sent by the cockpit.

12. The control device according to any of claims 7-10, wherein the network parameters of the main connection pod comprise a bandwidth of a network channel, the encoding unit comprising:

the setting module is configured to set the code rate of the codes according to the bandwidth of the network channel of the main connection cabin; and

and the encoding module is configured to encode the target data according to the code rate.

13. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-6.

15. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-6.