CN116954200A - Data synchronization method, device, equipment, medium, vehicle and road side unit - Google Patents
Data synchronization method, device, equipment, medium, vehicle and road side unit Download PDFInfo
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Abstract
The disclosure provides a data synchronization method, a device, equipment, a medium, a vehicle and a road side unit, and relates to the field of artificial intelligence, in particular to the field of automatic driving, the field of vehicle-road coordination and the field of computer vision. The specific implementation scheme of the data synchronization method is as follows: in response to a first target operation, sending first uploading indication information to an on-board subsystem of the vehicle, and sending second uploading indication information to a road side unit aiming at the vehicle; and receiving vehicle-mounted sensing data sent by a vehicle-mounted subsystem of the vehicle and road side sensing data sent by a road side unit.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence, in particular to the field of autopilot, vehicle-road coordination and computer vision, and more particularly to a method, apparatus, device, medium, vehicle and roadside unit for synchronizing data.
Background
With the development of computer technology, network technology and communication technology, artificial intelligence and other technologies are extended and applied in the automobile industry and traffic field, and automatic driving technology and remote control technology of vehicles become important development directions so as to improve the driving safety of vehicles.
Disclosure of Invention
The present disclosure is directed to a method, apparatus, device, medium, vehicle, and roadside unit for synchronizing data that reduces signal delays and improves driving safety.
According to a first aspect of the present disclosure, there is provided a data synchronization method, including: in response to a first target operation, sending first uploading indication information to an on-board subsystem of the vehicle, and sending second uploading indication information to a road side unit aiming at the vehicle; and receiving vehicle-mounted sensing data sent by a vehicle-mounted subsystem of the vehicle and road side sensing data sent by a road side unit.
According to a second aspect of the present disclosure, there is provided a data synchronization method, including: in response to receiving first uploading indication information sent by the central control equipment, determining detected vehicle-mounted sensing data; and sending the vehicle-mounted sensing data to the central control equipment according to the first uploading indication information.
According to a third aspect of the present disclosure, there is provided a data synchronization method, including: in response to receiving second uploading indication information sent by the central control equipment, obtaining road side perception data detected by the road side perception equipment; and sending the road side perception data to the central control equipment according to the second uploading indication information.
According to a fourth aspect of the present disclosure, there is provided a data synchronizing device, comprising: the uploading indication sending module is used for responding to the first target operation, sending first uploading indication information to the vehicle-mounted subsystem of the vehicle and sending second uploading indication information to the road side unit aiming at the vehicle; and the data receiving module is used for receiving vehicle-mounted sensing data sent by the vehicle-mounted subsystem of the vehicle and road side sensing data sent by the road side unit.
According to a fifth aspect of the present disclosure, there is provided a data synchronizing device including: the sensing data determining module is used for determining the detected vehicle-mounted sensing data in response to receiving the first uploading indication information sent by the central control equipment; and the vehicle-mounted data transmitting module is used for transmitting vehicle-mounted perception data to the central control equipment according to the first uploading indication information.
According to a sixth aspect of the present disclosure, there is provided a data synchronizing device, including: the sensing data acquisition module is used for responding to the received second uploading indication information sent by the central control equipment and acquiring the road side sensing data detected by the road side sensing equipment; and the road side data transmitting module is used for transmitting road side perception data to the central control equipment according to the second uploading indication information.
According to a seventh aspect of the present disclosure, there is provided an electronic device comprising: 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 of synchronizing data provided by the present disclosure.
According to an eighth 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 method of synchronizing data provided by the present disclosure.
According to a ninth aspect of the present disclosure, there is provided a computer program product comprising computer programs/instructions which, when executed by a processor, implement the method of synchronizing data provided by the present disclosure.
According to a tenth aspect of the present disclosure, there is provided a central control apparatus configured to perform the synchronization method of data provided by the first aspect of the present disclosure.
According to an eleventh aspect of the present disclosure, there is provided a vehicle comprising an on-board subsystem configured to perform the method of synchronizing data provided by the second aspect of the present disclosure.
According to a twelfth aspect of the present disclosure, there is provided a roadside unit configured to perform the synchronization method of data provided by the third aspect of the present disclosure.
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 drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic view of an application scenario of remote control of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of a remote control system of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a business architecture diagram of a remote control system of a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a business architecture diagram of a remote control system of a vehicle according to another embodiment of the present disclosure;
5A-5D are schematic diagrams of remote agent driving, remote guidance, remote decision making, and remote autopilot application scenarios, respectively, according to embodiments of the present disclosure;
fig. 6A is a flow chart of a method of synchronizing data performed by a central control apparatus according to an embodiment of the present disclosure;
FIG. 6B is a flow chart of a method of synchronizing data performed by a vehicle end in accordance with an embodiment of the present disclosure;
FIG. 6C is a flow chart of a method of synchronizing data performed by a roadside unit according to an embodiment of the disclosure;
FIG. 7 is an interactive flow diagram of information in a method of synchronizing data according to an embodiment of the present disclosure;
FIG. 8A is a flow chart of a method of initiating remote control performed by a vehicle end in accordance with an embodiment of the present disclosure;
FIG. 8B is a flow chart of a method of initiating remote control performed by a central control apparatus according to an embodiment of the present disclosure;
fig. 8C is a flow diagram of a method of initiating remote control performed by a multi-access edge computing platform according to an embodiment of the present disclosure
FIG. 9 is an interactive flow diagram for initiating remote control when remote control is initiated by a vehicle end in accordance with an embodiment of the present disclosure;
FIG. 10 is a flow chart of a method of initiating remote control performed by a central control apparatus according to another embodiment of the present disclosure;
FIG. 11 is an interactive flow diagram for initiating remote control when remote control is initiated by a central control device in accordance with an embodiment of the present disclosure;
fig. 12A is a flow chart of a remote control method of a vehicle performed by a vehicle end according to an embodiment of the present disclosure;
Fig. 12B is a flow chart diagram of a remote control method of a vehicle performed by a remote control device according to an embodiment of the present disclosure;
fig. 12C is a flow chart diagram of a method of remote control of a vehicle performed by a roadside unit, according to an embodiment of the disclosure;
FIG. 13 is an interactive flow chart of a method of remote control of a vehicle according to an embodiment of the disclosure;
FIG. 14A is a flow chart of a method of terminating remote control performed by a vehicle end in accordance with an embodiment of the present disclosure;
fig. 14B is a flow chart of a method of terminating remote control performed by a remote control device according to an embodiment of the present disclosure;
fig. 14C is a flow chart of a method of terminating remote control performed by a central control apparatus according to an embodiment of the present disclosure;
fig. 15 is an interactive flowchart when a vehicle end initiates a termination flow of remote control according to an embodiment of the present disclosure.
Fig. 16A is a flow diagram of a method of terminating remote control performed by a multi-access edge computing platform according to another embodiment of the present disclosure;
FIG. 16B is a flow chart of a method of terminating remote control performed by a vehicle end according to another embodiment of the present disclosure;
FIG. 17 is an interactive flow diagram when a multi-access edge computing platform initiates a termination flow of remote control in accordance with an embodiment of the present disclosure;
Fig. 18A is a flow chart of a method of terminating remote control performed by a central control apparatus according to another embodiment of the present disclosure;
fig. 18B is a flow chart of a method of terminating remote control performed by a central control apparatus according to yet another embodiment of the present disclosure;
fig. 19 is an interactive flowchart when a central control apparatus initiates a termination flow of remote control according to an embodiment of the present disclosure.
FIG. 20 is a block diagram of a data synchronization device according to an embodiment of the present disclosure;
FIG. 21 is a block diagram of a data synchronization device according to another embodiment of the present disclosure;
FIG. 22 is a block diagram of a data synchronization device according to another embodiment of the present disclosure; and
fig. 23 is a block diagram of an electronic device for implementing the methods of 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 and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The terms referred to in this disclosure are defined as follows:
an autopilot (Automated Driving Taxi) is a taxi equipped with a conditional autopilot system, a highly autopilot system or a fully autopilot system.
The cloud control platform (cloud control platform for short) is a remote control platform responsible for full-period management in remote control business, and can implement remote control tasks such as remote monitoring, trip planning and optimization, remote control takeover decision making, remote control instruction issuing and the like. The cloud control platform can comprise a remote control cockpit and a remote control console, and can also comprise a high-computation-power server cluster.
The cloud security personnel are responsible for implementing remote control tasks, and can be security personnel located in a remote control cockpit, intelligent machines running depending on a cloud control platform and the like.
The remote control cockpit supports the cloud intelligent cockpit for a driver to implement remote driving tasks, and the driver can issue control instructions to the chassis of the vehicle through a steering wheel, pedals and the like arranged in the remote control cockpit, so that remote control driving is realized.
The remote control console supports a security officer to carry out tasks such as remote guidance, remote decision making, remote automatic driving and the like, and is at least provided with a screen for looking around display (for example, 360-degree looking around display), a touch pad or a mouse for inputting instructions and the like.
Abbreviations involved in the present disclosure are explained below:
5G, fifth generation mobile communication technology (The 5 th Generation Mobile Communication Technology)。
MEC, multiple access edge computation (Multiple-access Edge Computing).
RSU, road Side Unit (Road Side Unit).
OBU, on Board Unit (On Board Unit).
RSCU, road side calculating unit (Road Side Computing Unit), this RSCU is the miniature server that satisfies extreme conditions such as low, the high temperature of voltage, humidity of road side lamp pole after the improvement.
V2X, the on-board unit communicates (Vehicle to Everything) with other devices.
LTE-V2X, LTE-based vehicular wireless communication technology (LTE Vehicle to Everything).
NR-V2X, based on the wireless communication technology (New Radio Vehicle to Everything) of the new air interface.
RSM, roadside unit message (Road Side Message).
An application scenario of the remote control of the vehicle provided by the present disclosure will be described in detail below with reference to fig. 1. Wherein fig. 1 is an application scenario schematic diagram of remote control of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the application scenario 100 of this embodiment may include a vehicle 110, a roadside subsystem 120, and a center subsystem 130.
Vehicle 110 may be, for example, a vehicle provided with an onboard subsystem. The vehicle-mounted subsystem can comprise an OBU or other vehicle-mounted intelligent terminals, and also can comprise a vehicle-mounted computing control module, a vehicle-mounted gateway, a router and the like. The vehicle-mounted subsystem can be provided with communication capability, storage and processing capability of local data and perception capability of driving environment information, and can be provided with capability of executing driving tasks according to control instructions issued by the cloud control platform, the remote control console and the remote control cockpit. The vehicle-mounted subsystem may transmit vehicle-mounted awareness data such as awareness driving environment information and vehicle state information to the roadside subsystem 120, the center subsystem 130, and the vehicle-mounted subsystems of other vehicles that are communicatively connected. Application layer messages from roadside subsystem 120 and central subsystem 130 can also be received and processed.
In an embodiment, the vehicle-mounted subsystem may further include at least one of a camera, a laser radar, a GPS (global positioning system), and other hardware devices, through which vehicle-mounted sensing data of the vehicle may be detected.
In one embodiment, vehicle 110 may be an autonomous vehicle, such as an autonomous vehicle of the type that may be an autonomous taxi or the like.
The roadside subsystem 120 may be disposed, for example, on a roadside. The roadside subsystem 120 may include RSCU, roadside communications facilities, roadside awareness facilities, etc., and may also include traffic safety and management facilities or other ancillary facilities, etc. The roadside communication facilities may include, for example, RSUs and/or cellular mobile communication facilities. The roadside awareness facility may include, for example, at least one of a video detector, a radar detector, and the like detection device. The traffic safety and management facilities may include, for example, at least one of traffic monitoring facilities, traffic guidance control facilities, variable identification, charging facilities, and status monitoring facilities, etc. The other ancillary facilities may include, for example, at least one of an assisted positioning facility, a weather monitoring facility, and the like. In an embodiment, a plurality of roadside subsystems 120 may be disposed on the roadside, and the plurality of roadside subsystems 120 are arranged at equal intervals, so that coverage areas of roadside communication facilities such as RSUs in the plurality of roadside subsystems 120 can cover the entire road.
The central subsystem 130 may include, for example, a control platform and a third party platform associated with autopilot. The control platform may communicate with the third party platform via an API interface to obtain data from the third party platform that is needed in the remote control process of the vehicle. The central subsystem 130 may have the capability to communicate with on-board subsystems, disadvantaged traffic participants, RSUs, roadside subsystems, may have the capability of global data reception, storage processing, and distribution, etc. In remote control of the vehicle 110, the central subsystem 130 may be responsible for global information awareness, global traffic policy control, and other tasks. The third party platform may comprise, for example, at least one of the following: vehicle management and service platform, traffic safety and traffic management platform, map service platform, weather service platform, positioning service platform, etc. The vehicle management and service platform can comprise a bus management service platform and the like, and the traffic safety and traffic management platform can comprise a traffic safety comprehensive service platform and/or an expressway traffic management service platform and the like. The map service platform may include a navigation map platform and/or a high-precision map platform, etc.
In one embodiment, the control platforms in the central subsystem 130 may be provided with three stages, for example, a central stage control platform, a regional stage control platform, and an edge stage control platform, respectively. It should be noted that the central control device mentioned in the following description may be a control platform of any one of the three stages. The coverage area of the area targeted by the three-stage platform is sequentially reduced.
In the application scenario 100, the RSCU in the roadside subsystem 120 may be used as an MEC, or the RSCU may be combined with an edge control unit to form an MEC. The edge control unit may be communicatively coupled to a plurality of RSCU's. The edge control unit may be further provided with at least one of a cloud control platform, a remote control cockpit, and a remote control console to support various types of remote control.
In this application scenario 100, the MEC may communicate with an on-board subsystem in the vehicle 110 to remotely control the vehicle 110. The MEC may also be communicatively coupled to the central subsystem to synchronize remotely controlled information to the central subsystem. The central subsystem may also be communicatively coupled with on-board subsystems in vehicle 110, for example, to remotely control vehicle 110. A cloud security officer may be configured at the central subsystem to perform remote control tasks for vehicle 110.
It will be appreciated that the devices in the vehicle, in the roadside subsystem, in the center subsystem, involved in remotely controlling the vehicle may constitute a remote control system.
The remote control system of the vehicle provided by the present disclosure will be described in detail with reference to fig. 2 to 4.
Fig. 2 is a schematic structural view of a remote control system of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 2, the remote control system 200 of the vehicle of this embodiment includes at least an on-board subsystem 210 and a multi-access edge computing platform MEC220.
As noted above, the in-vehicle subsystem 210 may be disposed in a vehicle for detecting in-vehicle sensory data of the vehicle. The vehicle-mounted sensing data may include state information of the vehicle and environmental information sensed by a sensor such as a camera in the vehicle-mounted subsystem 210.
The MEC220 may be an RSCU as described above, and the MEC220 may also include an RSCU and rim management unit as described above. Any form of MEC may be provided according to actual requirements. The MEC220 may be communicatively coupled to the on-board subsystem 210 within a first predetermined range to obtain on-board sensory data of the vehicle detected by the on-board subsystem 210. The first predetermined range may be a communication range of the MEC220, which is not limited by the present disclosure.
According to an embodiment of the present disclosure, the MEC 220 may determine, for example, first control information for the vehicle in which the in-vehicle subsystem 210 is located, according to the acquired in-vehicle sensing data. And transmits the first control information to the in-vehicle subsystem 210 so that the in-vehicle subsystem 210 controls the travel of the vehicle according to the first control information. For example, the MEC 220 may determine environmental information of the vehicle within the first predetermined range according to the vehicle-mounted sensing data, determine a driving policy according to the environmental information, package an instruction required to execute the driving policy as first control information, and send the first control information to the vehicle-mounted subsystem 210.
According to the remote control system disclosed by the embodiment of the disclosure, the MEC can be adopted to remotely control the vehicle, and compared with the technical scheme that the central control equipment remotely controls the vehicle, the remote control time delay can be reduced to a certain extent, and the running safety of the vehicle is improved.
In an embodiment, the MEC 220 may also be communicatively coupled with a roadside awareness device to obtain roadside awareness data detected by the roadside awareness device. In this manner, the MEC 220 may comprehensively consider the acquired vehicle-mounted awareness data and road-side awareness data in determining the first control information. For example, the MEC 220 may fuse the road side sensing data and the vehicle sensing data, thereby determining the environmental information of the vehicle within the first predetermined range, determining the driving policy according to the environmental information, encapsulating the instruction required for executing the driving policy into the first control information, and transmitting the first control information to the vehicle subsystem 210. For example, the MEC 220 may perform a three-dimensional reconstruction operation and a video stream comparison operation on the environmental information and the road side perception data in the vehicle-mounted perception data, thereby implementing fusion of the road side perception data and the vehicle-mounted perception data.
In the embodiment of the disclosure, because the MEC220 comprehensively considers the vehicle-mounted sensing data and the road side sensing data when determining the first control information, the environment where the vehicle is located can be more accurately determined, which is beneficial to improving the accuracy of the determined control information. In this way remote control of the vehicle by the MEC220 may be achieved.
It will be appreciated that a road side may be provided with a plurality of MECs 220, with non-overlapping portions included in the two paths covered by the communication range of any two MECs 220. During the running of the vehicle, the vehicle may be remotely controlled by a communication range including the MEC where the vehicle is located. For example, the plurality of MECs 220 may be disposed at a road side at intervals (e.g., may be disposed at equal intervals), and each of the plurality of MECs may have identification information uniquely representing one MEC.
In an embodiment, the road side awareness apparatus may comprise at least one detector in the road side awareness facility described above. The road side awareness apparatus may include at least one of the traffic safety and management facilities described above, or at least one of the other ancillary facilities described above. In an embodiment, the road side sensing device may include not only the detector in the road side sensing facility, but also the facilities in the traffic safety and management facility and/or other ancillary facilities described above. This is because the environmental information in the vehicle-mounted sensory data may be inaccurate due to weather, traffic control, etc. The embodiment can improve the accuracy of the determined environmental information of the vehicle by considering both the road side sensing data and the vehicle-mounted sensing data.
For example, the road side awareness data may include road state information and/or traffic related information. The road state information may be represented by, for example, image data or the like, and specifically may be represented by, for example, at least one of the position and/or density of traffic participants in an image, the layout of a road, the size and position of an obstacle on the road, or the like. The traffic-related information may be represented by at least one of speed limit information, weather information, position information of traffic lights, and the like, for example.
In an embodiment, the state information of the vehicle may include a running speed of the vehicle, a driving mode of the vehicle, and the like. Specifically, the status information of the vehicle may include at least one of the parameters listed in table 1 below.
In one embodiment, the status information of the vehicle may be obtained through communication of the on-board subsystem with the vehicle bus, or may be detected by sensors in the on-board subsystem. The status information of the vehicle may be feedback information (for example, execution result information described below) of remote information, where the status information has a high real-time requirement, the uploading frequency of the status information should be not lower than 50HZ, and the end-to-end delay should be not greater than 20ms.
In an embodiment, the environmental information in the vehicle-mounted sensory data may include at least one of the following information: the distance between the traffic participant and the vehicle within the detection range, the moving speed of the traffic participant within the detection range, the type of the traffic participant, and the like. Specifically, the environmental information in the in-vehicle sensory data may include at least one of the data listed in table 2 below.
Table 1 list of status information of vehicles
Table 2 environmental information list in vehicle-mounted sensory data
In one embodiment, the environmental information in the vehicle-mounted sensing data is obtained by calculating the data detected by the sensors in the vehicle-mounted subsystem. The calculation of the data detected by the sensor can be implemented by the vehicle-mounted subsystem calling an algorithm in an automatic driving calculation platform (such as Apollo Computing Unit). The environmental data in the vehicle-mounted sensing data may be uploaded to the MEC220 in the form of structured data, for example, the uploading frequency should be not lower than 10Hz, and the end-to-end delay should be not greater than 100ms.
In one embodiment, the MEC220 may be communicatively coupled with an on-board subsystem, for example, through a cellular network. The cellular network may be implemented, for example, based on 5G technology or the like. The MEC220 may be communicatively coupled to the roadside awareness device, for example, via a communication cable or a local area network.
In an embodiment, the first control information for the vehicle may include at least one of an accelerator opening, a brake parameter, and the like. Specifically, the first control information may include at least one of the control parameters listed in table 3 below.
Table 3 list of control parameters included in the control information
| Control parameters | Parameter type | Length of | Remarks |
| Throttle opening | INT(0，255) | 8 | |
| Parameters of rotation angle | INT(0，255) | 8 | |
| Braking parameter | INT(0，255) | 8 | |
| Gear control | INT | 8 | The gear of control includes: p, N, R, D, other |
| Horn control | 1 | 0-horn switch; 1-horn switch |
Fig. 3 is a business architecture diagram of a remote control system of a vehicle according to an embodiment of the present disclosure.
According to embodiments of the present disclosure, the remote control system of the vehicle may include, in addition to the aforementioned on-board subsystems and MECs, for example, a central control device that may store global data. Wherein the global data includes control information and running parameters and the like for all vehicles that are remotely controlled.
As shown in fig. 3, the remote control system 300 of the vehicle of this embodiment includes an on-board subsystem 310, an MEC 320, and a central control apparatus 330.
The central control device 330 may be any one of the three-stage platforms described above. As shown in fig. 3, the central control apparatus 330 may be communicatively coupled to the MEC 320. For example, the central control apparatus 330 and the MEC 320 may be connected to each other by wired communication such as a communication cable, or may be connected to each other by wireless communication such as a cellular network. The MEC 320 may, for example, synchronously upload at least one of the acquired vehicle-mounted sensing data, road side sensing data, and first control information sent to the vehicle-mounted subsystem to the central control device 330. By synchronizing the data by the MEC 320 to the central control apparatus 330, the central control apparatus 330 may be enabled to perform storage and maintenance of global data for retrieval and querying. It is understood that all MECs disposed within the area targeted by the central control apparatus 330 may be communicatively coupled to the central control apparatus 330.
In an embodiment, the MEC 320 may upload the environmental information obtained by fusing the vehicle-mounted perception data and the road side perception data to the central control apparatus 330. The MEC 320 may also upload its own operating status information to the central control apparatus 330 to facilitate the central control apparatus 330 to assign the remote controlled MEC 320 to a vehicle requiring remote control. The operation state information of the MEC 320 may include, for example, at least one of the following information: location information of the MEC, operational status of the MEC (normal operation status/failure status), networking status of the MEC, remaining computing resources, etc.
In one embodiment, as shown in FIG. 3, the central control apparatus 330 may also be communicatively coupled to the on-board subsystem 310. For example, the central control device 330 may be communicatively coupled to the on-board subsystem 310 of all vehicle settings within the area for which it is intended, via a cellular network or the like, in a wireless manner. Accordingly, the on-board subsystem 310 may upload on-board sensory data to not only the MEC 320, but also the central control apparatus 330.
In an embodiment, the vehicle may also be remotely controlled by the central control apparatus 330. To effectively remotely control the vehicle by the central control apparatus 330 in the event that the computing power of the MEC 320 is insufficient, or in the event that the MEC 320 is unable to effectively control the vehicle. Thus, the safety of the vehicle running can be further ensured, and the efficiency of the vehicle running can be improved. The fact that the MEC 320 cannot effectively control the vehicle may be caused by a complex environment where the vehicle is located or insufficient acquired sensing data.
For example, the central control device 330 may determine the second control information for the vehicle from the in-vehicle sensory data uploaded by the in-vehicle subsystem 310. Alternatively, the central control apparatus 330 may determine the second control information for the vehicle according to the in-vehicle sensing data uploaded by the in-vehicle subsystem 310 and the roadside sensing data uploaded by the MEC 320. The central control apparatus 330 may also transmit the determined second control information to the in-vehicle subsystem 310. The method for determining the second control information by the central control device 330 is similar to the method for determining the first control information by the MEC, and the determined second control information is similar to the first control information, which is not described herein.
In an embodiment, the central control apparatus 330 may further obtain at least one of the high-precision map, traffic management information, and the like from the third party platform described above, and comprehensively consider the at least one of the information, the vehicle-mounted sensing data, and the roadside sensing data when determining the second control information. For example, the central control apparatus 330 may first perform a three-dimensional reconstruction operation and a video stream comparison operation on the environmental information and the road side perception data in the vehicle-mounted perception data, thereby implementing fusion of the road side perception data and the vehicle-mounted perception data. And then determining the driving strategy of the vehicle according to the environment information, the state information and the traffic management information of the vehicle which are obtained by fusion. The traffic control information may provide auxiliary information for determining a driving speed and a driving direction in the driving strategy, for example. For example, if the traffic management information includes a speed limit of 40km/h of a lane where the vehicle is located, and it is known from the state information of the vehicle that the current speed of the vehicle is 60km/h, the opening degree of the throttle in the determined driving strategy may be 0, and the braking parameter is a non-zero value. In this way, when the vehicle runs according to the running strategy, the vehicle speed gradually decreases so that the running of the vehicle satisfies the traffic regulation requirement. For example, the central control apparatus 330 may also consider only information obtained from the third party platform and the in-vehicle perception data in combination, for example, when determining the second control information. This is because the third party platform may provide some roadside awareness data.
In an embodiment, the MEC320 may include an RSCU and an edge control unit. For example, for a single MEC320, the number of RSCUs involved may be multiple, with multiple RSCUs evenly disposed on the road side. The plurality of RSCUs may be disposed in one-to-one correspondence with the plurality of sets of roadside sensing devices. For example, each RSCU and a corresponding set of roadside sensing devices may be located on the same street pole or the same traffic sign on the roadside. The RSCU and the road side sensing device which are correspondingly arranged can be connected through communication cables and the like. Thus, the RSCU can acquire the road side perception data detected by the road side perception device correspondingly arranged with the RSCU. The RSCU may be communicatively coupled to the on-board subsystem within a third predetermined range, such as by wireless means, such as via a cellular network. In this way, the RSCU may acquire on-board awareness data detected by the on-board subsystem within a third predetermined range. The first control information may be determined by the RSCU according to the acquired road side awareness data and the on-board awareness data of the vehicle within the third predetermined range, and the RSCU may send the first control information to the vehicle within the third predetermined range. Through the arrangement of the RSCU, the distance between the vehicle needing to be remotely controlled and equipment for remotely controlling the vehicle can be shortened, the time delay of the remote control of the vehicle is reduced, and the running safety of the vehicle is improved. When the road side sensing device is a traffic safety and management facility or other accessory facility, the plurality of RSCU's may be all communicatively connected to the road side sensing device, and so on. Wherein the third predetermined range should be less than or equal to the communication range of the MEC, i.e. less than or equal to the aforementioned first predetermined range.
In one embodiment, the MEC 320 includes a plurality of RSCUs that may each be communicatively coupled to an edge control unit via a communication cable or local area network or the like. For example, each RSCU may upload at least one of its determined first control information, acquired road side awareness data, and on-board awareness data to the edge control unit. For example, the edge control unit may be located proximate to a plurality of RSCUs included in the MEC 320.
In an embodiment, among the plurality of RSCUs disposed on the road side, two adjacent RSCUs may be further connected through communication cables, and vehicle-mounted sensing data may be synchronously acquired between the two adjacent RSCUs. Therefore, when each RSCU determines the first control information, the vehicle-mounted sensing data acquired by the adjacent RSCU can be referred, so that the accuracy of the determined first control information can be improved. For example, a plurality of adjacent RSCUs may be communicatively coupled to each other, such that the plurality of adjacent RSCUs may cooperatively process the acquired on-board and off-board awareness data and cooperatively determine the control information.
In an embodiment, the edge control unit may include a first cloud control platform, where the first cloud control platform may be connected to each RSCU included in the MEC 320 through a communication cable and the like, and the first cloud control platform may be further configured to display at least one of vehicle sensing data, road side sensing data, and first control information uploaded by the RSCU. The first cloud control platform can generate first control sub-information aiming at the vehicle through an algorithm according to the acquired vehicle-mounted sensing data and road side sensing data, and send the first control sub-information to the vehicle-mounted subsystem. The first cloud control platform can be also in communication connection with the vehicle-mounted subsystem through a cellular network and the like, and sends the first control sub-information to the vehicle-mounted subsystem through the cellular network, or the first cloud control platform can send the first control sub-information to the vehicle-mounted subsystem through an RSCU (reactive power Unit) in communication connection with the vehicle. The first control sub-information may include control instructions required to perform an autopilot task, and the first control sub-information may be one implementation of the aforementioned first control information, which is not limited by the present disclosure.
In an embodiment, the edge control unit may include a first remote console that may be communicatively coupled to each RSCU included in the MEC 320 via a communication cable or the like, and may also be used to present at least one of on-board awareness data and roadside awareness data uploaded by the RSCU. The first remote console may be provided with an input device such as a touch pad or a mouse, for example. In this way, the first remote console may, for example, generate second control sub-information in response to the first operating information for the vehicle and issue the second control sub-information to an on-board subsystem of the vehicle via an RSCU communicatively connected to the vehicle. The second control sub-information may include, for example, path information planned according to the road side awareness data and the vehicle-mounted awareness data, traveling direction information of the vehicle, and the like. The second control sub-information may be an implementation of the first control information, which is not limited by the disclosure. The first operation information may be generated by an actual operation or a simulated operation of the input device by a cloud security operator assigned to the edge control unit. For example, the cloud security officer can view the data displayed by the edge control unit in real time and determine the vehicle and the remote control strategy which need remote control according to the displayed data. The cloud security officer can respond to the actual operation or the simulated operation of the input device by enabling the edge control unit to generate second control sub-information corresponding to the remote control strategy.
In an embodiment, the edge control unit may include a first remote control cockpit that may be communicatively coupled to each RSCU included in the MEC via a communication cable or the like. The first remote control cockpit may generate third control sub-information in response to the second operating information for the vehicle and transmit the third control sub-information to an on-board subsystem of the vehicle via an RSCU communicatively coupled to the vehicle. The first remote control cockpit can also display vehicle-mounted sensing data and/or road side sensing data acquired by the RSCU. The cloud security personnel can determine a remote control strategy according to the data displayed by the first remote control cockpit, and execute actual operation or simulated operation on a steering wheel, a pedal and the like in the first remote control cockpit according to the remote control strategy. The first remote control cockpit may generate third control sub-information corresponding to the determined remote control strategy in response to the actual operation or the simulated operation. The third control sub-information may be an implementation of the first control information, which is not limited by the disclosure.
According to the embodiment of the disclosure, the first cloud control platform, the first remote control console and the first remote control cockpit can be arranged in the edge control unit at the same time, and any two of the first cloud control platform, the first remote control console and the first remote control cockpit can be arranged, so that the MEC can remotely control vehicles in various types. It can be appreciated that in the case that the first cloud control platform includes a remote console, a remote control cockpit, and a high-power server cluster, only the first cloud control platform may be configured to implement multiple types of remote control of the vehicle. Compared with the scheme of remotely controlling the vehicle by the central control equipment, the embodiment of the invention can reduce the control time delay to a certain extent and improve the running safety of the vehicle. For example, the vehicle may be remotely driven, remotely guided, remotely decided, or remotely automatically driven. For example, by setting the first cloud control platform, at least the MEC can control the vehicle to remotely and automatically drive. Accordingly, the aforementioned first control sub-information includes control information in a remote autopilot scenario. For example, by providing a first remote console, the MEC may be enabled to remotely guide and remotely make decisions on the travel of the vehicle. Accordingly, the aforementioned second control sub-information includes control information in a remote guidance scenario and/or a remote decision scenario. For example, by providing the first remote control cockpit, the MEC may be enabled to remotely drive the vehicle, i.e., drive the vehicle by the cloud security assigned to the first remote control cockpit. Accordingly, the aforementioned third control sub-information may include control information in a remote driving scenario.
Similarly, the central control device may include a second cloud control platform communicatively coupled to the on-board subsystem via a cellular network. The second cloud control platform can be also in communication connection with the MEC through a communication cable. The second cloud control platform can also be used for displaying vehicle-mounted sensing data and road side sensing data uploaded by the RSCU. The second cloud control platform may also only display vehicle-mounted sensory data acquired from the vehicle-mounted subsystem. The second cloud control platform can generate fourth control sub-information aiming at the vehicle through an algorithm at least according to the acquired vehicle-mounted sensing data, and send the fourth control sub-information to the vehicle-mounted subsystem. The fourth control sub-information may include control instructions required to perform an autopilot task, and the fourth control sub-information may be one implementation of the aforementioned second control information, which is not limited by the present disclosure. The road side awareness data uploaded by the MEC may also be considered when generating the fourth control sub-information and/or the data provided by the third party platform may also be considered.
Similarly, the central control device may comprise a second remote console. The second remote console is communicatively coupled to the on-board subsystem via a cellular network. The second remote console may also be communicatively coupled to the MEC via a communication cable. For example, the second remote console may obtain vehicle-mounted sensory data from the vehicle-mounted subsystem. The MEC may synchronize the on-board awareness data and the roadside awareness data to the second remote console. The second remote console may also present the received data. Similarly, the second remote console may generate fifth control sub-information in response to third operation information for the vehicle and transmit the fifth control sub-information to the in-vehicle sub-system. For example, the fifth control sub-information may be sent to the in-vehicle subsystem via the cellular network, or may be sent down to the in-vehicle subsystem via the MEC. It will be appreciated that the second remote console is similar to the first remote console, and that the fifth operational information is generated in response to actual or virtual operation of the input device by the cloud security personnel assigned to the central control device. The generation principle of the fifth control sub-information is similar to that of the second control sub-information, and the fifth control sub-information may be an implementation manner of the aforementioned second control information, which is not described herein again.
Similarly, the central control device may comprise a second remote control cockpit. The second remote control cabin and the vehicle-mounted subsystem can be in communication connection through a communication cable. The second remote control cabin may, for example, generate sixth control sub-information in response to fourth operation information for the vehicle and transmit the sixth control sub-information to the in-vehicle subsystem. The sixth control sub-information may be sent to the on-board subsystem via the cellular network, or may be sent down to the on-board subsystem via the MEC. Wherein the sixth operation information may be generated in response to an actual operation or a virtual operation of the steering wheel and/or the pedals in the second remote control cabin by the cloud security personnel assigned to the central control apparatus. The generation principle of the sixth control sub-information is similar to that of the third control sub-information, and the sixth control sub-information may be an implementation manner of the second control information, which is not described herein.
According to the embodiment of the disclosure, the second cloud control platform, the second remote control console and the second remote control cockpit can be arranged in the central control equipment, and any two of the second cloud control platform, the second remote control console and the second remote control cockpit can also be arranged, so that the central control equipment can remotely control the vehicle in various types. For example, the vehicle may be remotely driven, remotely guided, remotely decided, or remotely automatically driven. For example, by providing the second cloud control platform, at least the central control device can control the vehicle to perform remote automatic driving. Accordingly, the aforementioned fourth control sub-information includes control information in the remote auto-driving scenario. For example, by providing a second remote console, the central control device may be caused to remotely guide and remotely make decisions on the travel of the vehicle. Accordingly, the aforementioned fifth control sub-information includes control information in a remote guidance scenario and/or a remote decision scenario. For example, by providing a second remote control cabin, the central control device may be caused to remotely drive the vehicle, i.e. drive the vehicle by a cloud security assigned to the second remote control cabin. Accordingly, the aforementioned sixth control sub-information may include control information in a remote driving scenario.
Fig. 4 is a business architecture diagram of a remote control system of a vehicle according to another embodiment of the present disclosure.
According to an embodiment of the present disclosure, an RSU may be provided at the road side, which may be communicatively connected to the in-vehicle subsystem within the second predetermined range through a direct communication interface. The RSU can be correspondingly arranged with the road side sensing equipment, and the RSU is in communication connection with the road side sensing equipment which is correspondingly arranged through a communication cable or a communication cable and the like. The RSU is in communication connection with the MEC through a communication cable or a local area network. In this way, the on-board sensory data uploaded by the on-board subsystem may be forwarded to the MEC via the RSU. Compared with the technical scheme that the vehicle-mounted subsystem sends vehicle-mounted sensing data to the MEC through the cellular network, the communication stability can be improved. The second predetermined range is a communication range of the RSU.
In one embodiment, the remote control system may include an RSU in addition to the MEC and the on-board subsystem. The RSU is communicatively coupled to the on-board subsystem within a second predetermined range via a direct communication interface. The direct communication interface may be, for example, a PC5 (direct link communication) interface. For example, in-vehicle subsystems in a vehicle may signal broadcast via an OBU included, and RSUs within a fourth predetermined range of the vehicle may be able to receive the broadcast signal and establish a communication connection with the in-vehicle subsystems in the vehicle based on the broadcast signal. After the communication connection is established, the vehicle-mounted subsystem can send the detected vehicle-mounted sensing data to the RSU through the OBU and PC5 interface, so that the RSU obtains the vehicle-mounted sensing data. After receiving the vehicle-mounted sensing data, the RSU can forward the vehicle-mounted sensing data to the MEC in communication connection. Illustratively, the RSU may also forward the road side awareness data sent by the road side awareness device to the MEC. The fourth predetermined range may be, for example, the same as the second predetermined range.
For example, in case the remote control system comprises an RSU, the first control information determined by the MEC may also be sent to the RSU first and to the on-board subsystem via the direct communication interface of the RSU. Therefore, the first control information can be issued without being influenced by whether the cellular network signal is stable or not, and the stability of the first control information issuing is improved.
For example, in case the remote control system comprises an RSU, the RSU may also forward the received road side awareness data to an on-board subsystem provided by the vehicle within the second predetermined range, e.g. via a direct communication interface. Therefore, auxiliary information can be provided for planning and deciding of the path when the vehicle is automatically driven, so that the safety of the automatic driving of the vehicle is improved.
For example, when the MEC includes a plurality of RSCUs, the number of RSUs included in the remote control system may be the same as the number of RSUs, and the plurality of RSUs are respectively provided corresponding to the plurality of RSUs. The RSU can forward the received road side sensing data and the vehicle-mounted sensing data to the RSCU which is correspondingly arranged, so that the RSCU can remotely control the vehicles in the second preset range of the RSU.
In one embodiment, as shown in fig. 4, a remote control system 400 of a vehicle may include an on-board subsystem 410, an MEC 420, a central control facility 430, and an RSU 440.
The RSU440 and the roadside sensing device 401 may be connected through a local area network or a communication cable. As such, the RSU440 may obtain the road side sensory data from the road side sensory device 401, or the RSU440 may receive the road side sensory data transmitted by the road side sensory device 401.
The RSU440 and the MEC 420 may be communicatively connected through an A4 interface, so that the RSU440 may forward at least one of the acquired vehicle-mounted sensing data and road side sensing data to the MEC 420. The RSU440 may also receive the first control information sent by the MEC 420 and send the first control information to the on-board subsystem 410 via the direct communication interface A2 between the RSU440 and the on-board subsystem. In addition, the on-board subsystem 410 and the MEC 420 may also be communicatively connected through an A3 interface.
In this embodiment, by setting the RSU440 and the A3 interface, two communication modes may be set between the MEC 420 and the vehicle-mounted subsystem 410, so that stability of remote control of the MEC 420 on the vehicle-mounted subsystem 410 may be ensured. For example, when the signal strength of the cellular network is weak in the environment where the vehicle-mounted subsystem is located, the data uploaded to the MEC 420 by the vehicle-mounted subsystem 410 and the control information issued to the vehicle-mounted subsystem 410 by the MEC 420 can be forwarded via the RSU440, so that the remote control of the vehicle-mounted subsystem 410 by the MEC 420 is not affected by the signal quality of the cellular network, which is beneficial to improving the stability of the remote control.
Similarly, the RSU 440 and the central control apparatus 430 may be communicatively coupled via a communication cable or a cellular network. Specifically, the RSU 440 and the central control apparatus 430 may be communicatively connected through an A6 interface, so that the RSU 440 may forward at least one of the acquired vehicle-mounted sensing data and road-side sensing data to the central control apparatus 430. The RSU 440 may also receive the second control information sent by the central control device 430 and send the second control information to the on-board subsystem 410 via the direct communication interface A2 between the RSU 440 and the on-board subsystem. In addition, the on-board subsystem 410 and the central control device 430 may also be communicatively connected through an A5 interface. In this embodiment, by providing the RSU 440 and the A5 interface, two communication modes may be provided between the central control device 430 and the vehicle-mounted subsystem 410, so that stability of remote control of the central control device 430 on the vehicle-mounted subsystem 410 may be ensured. For example, when the signal strength of the cellular network is weak in the environment where the vehicle-mounted subsystem is located, the data uploaded to the central control device 430 by the vehicle-mounted subsystem 410 and the control information issued to the vehicle-mounted subsystem by the central control device 430 may be forwarded via the RSU 440, so that the remote control of the vehicle-mounted subsystem 410 by the central control device 430 is not affected by the signal quality of the cellular network, which is beneficial to improving the stability of the remote control.
In the case where the MEC 420 remotely controls the vehicle, the MEC 420 may further synchronize at least one of the first control information, the road side perception data, and the in-vehicle perception data to the central control apparatus 430 through the communication interface A7 with the central control apparatus 430.
In an embodiment, as shown in fig. 4, the on-board subsystem 41 0 may also be provided with an Al interface, for example, to send its on-board sensory data to other traffic participants within communication range through the A1 interface. For example, an on-board subsystem may be communicatively coupled to the sensing subsystem 402 located within a fourth predetermined range of the on-board subsystem via the A1 interface and transmit on-board sensory data to the sensing subsystem 402. The sensing subsystem 402 is disposed in a target object, which may be a mobile terminal carried by another vehicle or a pedestrian. For example, if the target object is a mobile terminal carried by a pedestrian, the sensing subsystem 402 may be a sensing device in a smart terminal. If the target object is another vehicle, the sensing subsystem 402 is an onboard subsystem provided in the other vehicle.
The on-board subsystem, RSU, MEC, and central control device will be described separately below, as well as interfaces for communication connections between various parts of the vehicle's remote control system, to provide a more thorough understanding of the vehicle's remote control system 400.
The vehicle-mounted subsystem has the following functions: communication functions (communication based on cellular network or direct communication interface), local data storage and processing functions, sensing functions of environmental information of the vehicle, functions of performing driving tasks according to control information issued by the central control device or MEC. The vehicle-mounted subsystem can send the detected environment information and the state information of the vehicle as vehicle-mounted sensing data to the vehicle-mounted subsystem in a fourth preset range, mobile equipment, RSU, MEC and central control equipment carried by other traffic participants except the vehicle, and can receive and process application layer messages issued by the RSU, MEC and the central control equipment.
RSU, having communication function (communication based on cellular network or direct communication interface). The RSU may forward the road side awareness data detected by the road side awareness apparatus to the vehicle subsystem, the MEC and the central control apparatus. The RSU may forward the vehicle-mounted awareness data of the vehicle-mounted subsystem to the MEC and the central control device for remote monitoring of the vehicle. The RSU may receive application layer information (e.g., control information) sent by the on-board subsystem, MEC, and central control device, etc.
MEC, has the ability to access data provided by multiple data sources and the ability to process local services. The MEC may receive and process the awareness data from multiple sources, may output local traffic control policies (e.g., first control information) based on traffic demand and output to the on-board subsystem, mobile devices carried by other traffic participants than the vehicle, and RSUs. The MEC can cooperatively process the perception data and the control strategy with other MECs, and can cooperatively control equipment in the center to support the Internet of vehicles service. The MEC performs remote control operation on the vehicle by arranging a first cloud control platform, a first remote control console and a first remote control cockpit. The MEC may be provided with remote control functionality for local areas.
The central control equipment has the functions of communication with the vehicle-mounted subsystem, the mobile equipment carried by other traffic participants except vehicles, the RSU and the MEC, and has the capabilities of global data receiving, storage processing and distribution. The central control equipment is responsible for controlling global service strategies, and can carry out remote control operation on the vehicle through the second cloud control platform, the second remote control console and the second remote control cockpit.
The interfaces A1-A7 are data interaction interfaces of application layers among the parts, and the interfaces are described in detail below.
The A1 interface is a communication interface between the vehicle-mounted subsystem and the sensing subsystem, and the definition of application layer information transmitted by the interface can be consistent with the relevant definition in the communication industry standard YD/T3977-2021, reinforcing the data requirement of the V2X service application layer textbook. The data transmitted by the A1 interface may be transmitted over a cellular network.
The A2 interface, the communication interface between the vehicle subsystem and the RSU, the A2 interface can be a PC5 interface, and the definition of the application layer message transmitted by the interface can be consistent with the relevant definition in the communication industry standard YD/T3978-2021.
And A3, a communication interface between the vehicle-mounted subsystem and the MEC. The A3 interface can be responsible for uploading vehicle-mounted sensing data, uploading vehicle-mounted monitoring data, issuing fusion sensing results and issuing remote control information (first control information and second control information). Each of the first control information and the second control information may include at least one of the following information: path optimization information, remote control driving instructions, remote guidance instructions, etc.
And A4, a communication interface between the RSU and the MEC. The A4 interface can be responsible for uploading road side perception data, uploading vehicle-mounted perception data, receiving control information and the like.
And A5, a communication interface between the vehicle-mounted subsystem and the central control equipment. The A5 interface can be responsible for uploading vehicle-mounted sensing data and vehicle operation data, taking over strategies in remote control driving business, route optimization information, issuing remote control driving instructions and the like.
And A6, a communication interface between the RSU and the central control equipment. The A6 interface can be responsible for uploading road side perception data, uploading vehicle-mounted perception data, receiving control information and the like.
And A7, a communication interface between the MEC and the central control equipment. The A7 interface may be an interface for the MEC to provide service capabilities to various internet of vehicles service servers located at the central subsystem. The A7 interface can be responsible for uploading of advice information of taking over strategies by fusion perception data (fusion road side perception data and environment information obtained by vehicle-mounted perception data) obtained by MEC, information interaction between the second remote control cockpit and the first remote control console, uploading of various monitoring data obtained in a vehicle remote control process and the like.
In an embodiment, the service functions that should be supported by each part in the remote control system of the vehicle can be seen in table 4 below, for example.
Table 4 list of control parameters included in the control information
| Service function | Central control apparatus | MEC | Vehicle-mounted subsystem | RSU |
| Cloud control platform (monitoring function) | √ | √ | ||
| Remote control cockpit | √ | √ | ||
| Remote control console | √ | √ | ||
| Fusion of perceptual data | √ | √ | ||
| Emergency takeover advice | √ | √ | ||
| Acquisition/forwarding of sensory data | √ | √ | ||
| Monitoring data acquisition/forwarding | √ | √ |
By way of example, tasks performed by the cloud control platform may include being responsible for implementing remote monitoring, forming planning and optimization, remotely controlling take over policies, issuing remote control instructions, and the like. When the cloud control platform is deployed in the central control equipment, the cloud control platform is responsible for global remote control functions. When the cloud control platform is deployed in the MEC, it will be responsible for the remote control functions of certain areas.
Illustratively, the remote control cockpit is responsible for supporting cloud security personnel to perform remote control tasks. The remote control console is responsible for displaying data and supporting cloud security personnel to conduct tasks such as remote guidance, remote decision making and remote automatic driving.
For example, a business function of sensory data fusion may receive and fuse sensory data from multiple sources. The emergency take over suggested service function may collect in-vehicle monitoring data as well as environmental data and determine and provide suggestions as to whether to remotely control (e.g., take over) the vehicle.
Illustratively, the business function of sensing data collection/forwarding supports collection/forwarding of raw sensing data detected by various sensors in the vehicle subsystem. When the vehicle-mounted subsystem has a calculation function, the service function of sensing data acquisition/forwarding integrated by the vehicle-mounted subsystem can also output a structured sensing result. The service function of the integrated sensing data acquisition/forwarding in the RSU may also receive the road side sensing data detected by the road side sensing device and forward the road side sensing data.
The service function of monitoring data collection/forwarding is responsible for the collection/forwarding of the status of the driver or other objects in the vehicle, and may also be responsible for the collection/forwarding of the driving environment information outside the vehicle.
According to the remote control system of the vehicle provided by the present disclosure, the application types of the remote control that can be provided for the vehicle may include a remote driving application, a remote guidance application, a remote decision application, and a remote automatic driving application.
The various application types will be described in detail below in connection with fig. 5A-5D.
Fig. 5A-5D are schematic diagrams of remote driving, remote guidance, remote decision making, and remote autopilot application scenarios, respectively, according to embodiments of the present disclosure.
As shown in fig. 5A, in the application scenario 500-1 of remote driving, the cloud security personnel may issue a control instruction to the vehicle chassis through the steering wheel 501 and/or the pedal in the remote control cockpit included in the MEC or the central control device, so as to implement remote control driving.
As shown in fig. 5B, in the application scenario 500-2 of remote guidance, the cloud security personnel may plan a guide line 502 through a remote control console included in the MEC or the central control device, and generate control information according to the guide line, and issue the control information to the vehicle-mounted subsystem of the vehicle, so as to remotely control the vehicle to reach the target location along the route corresponding to the guide line.
As shown in fig. 5C, in the application scenario 500-3 of remote decision, the cloud security personnel may issue a decision instruction to the vehicle-mounted subsystem of the vehicle through the MEC or a remote console included in the central control device, so that the vehicle performs a specified driving action according to the decision instruction. For example, the cloud security officer may select the "turn left" option 503 of the three travel direction options displayed in the remote console, and as such, the issued decision instruction may be a turn left.
As shown in fig. 5D, in the application scenario 500-4 of remote autopilot, there is no intervention of a cloud end security personnel, and the automation task of the vehicle can be performed by matching a cloud control platform included in the MEC or the central control device with the vehicle.
In this embodiment, the following table 5 describes in detail the working conditions, the requirements for the configuration conditions of the vehicle, and the requirements for the configuration conditions of the cloud, which correspond to the application types such as remote driving, remote guidance, remote decision, and remote automatic driving. In the remote automatic driving application type, an allowable vehicle speed range may be set according to a speed limit requirement of an open road. For example, the vehicle speed range may be set to 0 to 80km/h.
Table 5 list of implementation conditions for each application type
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According to the embodiment of the disclosure, in the case that the vehicle is an autonomous vehicle, the central subsystem can monitor the running state of the vehicle, environmental information and the like in real time during the process of the vehicle performing a driving task. Thus, the remote control of the vehicle can be conveniently and timely performed when the vehicle runs abnormally. Correspondingly, based on the remote control system of the vehicle provided by the disclosure, the disclosure also provides a data synchronization method to realize real-time monitoring of the vehicle. The synchronized data may represent the driving state and environmental information of the vehicle. The method of synchronizing data provided by the present disclosure will be described in detail below with reference to fig. 6A to 7.
Fig. 6A is a flow chart of a method of synchronizing data performed by a central control apparatus according to an embodiment of the present disclosure.
As shown in fig. 6A, the data synchronization method 610 of this embodiment may include operations S611 to S612, and the data synchronization method 610 may be performed by the central control apparatus described above, for example.
In operation S611, in response to the first target operation, first upload instruction information is transmitted to the in-vehicle subsystem of the vehicle, and second upload instruction information is transmitted to the RSU for the vehicle.
In operation S612, in-vehicle perception data transmitted by an in-vehicle subsystem of the vehicle and road side perception data transmitted by a road side unit are received.
According to the embodiment of the disclosure, the first target operation may be an operation of an input device allocated to the central control device by a cloud security administrator. For example, the central subsystem may maintain registration information for all autonomous vehicles. The central control device may be operated with an application for remote control driving by which at least basic information of an autonomous vehicle located within the coverage area of the central control device may be obtained. The basic information may include identification information of the autonomous vehicle and location information of the autonomous vehicle. At least one vehicle from among the automatically driven vehicles located within the coverage of the central control apparatus may be selected by the first target operation, and the first upload instruction information and the second upload instruction information for each of the at least one vehicle may be generated based on the identification information of the each vehicle and the first target operation. The first upload indication information may then be sent to the on-board subsystem of the each vehicle via a communication connection between the central control device and the on-board subsystem (e.g. via the A5 interface described above) and the second upload indication information may be sent to the RSU for the each vehicle via a communication connection between the central control device and the RSU (e.g. via the A6 interface described above).
For example, the first target operation may include an operation of selecting or inputting an upload rule, in addition to an operation of selecting at least one vehicle, for example. The uploading rule may include, for example, a data type and/or a reporting mode of the data to be reported. The reporting mode may be a periodic reporting mode or an event triggered mode. For the periodic reporting mode, the first uploading indication information and the second uploading indication information may include reporting frequency and the like. For the event trigger mode, the first upload indication information and the second upload indication information may include triggered event information and the like. For example, the triggered event information may include: the vehicle speed is greater than a vehicle speed threshold or a blocked road segment exists in the environment where the vehicle is located, etc.
For example, an RSU for a vehicle may be an RSU whose communication range includes the location of the vehicle. The RSU for the vehicle may be determined by the central control device based on the location of the vehicle and the communication range of the RSU. Accordingly, the central subsystem may also maintain location information and attribute information for each of all RSUs. The attribute information of the RSU may include identification information of the RSU, coverage of the RSU, time information of installing the RSU, and/or the like.
After the vehicle-mounted subsystem receives the first uploading indication information, vehicle-mounted sensing data can be sent to the central control equipment according to the first uploading indication information. Similarly, after the RSU receives the second upload indication information, the road side sensing data detected by the road side sensing device communicatively connected to the RSU may be sent to the central control device according to the second upload indication information.
The data synchronization method of the embodiment not only can obtain vehicle-mounted sensing data, but also can obtain road side sensing data, is convenient for the central control equipment to more comprehensively know the real-time condition of the vehicle, and is beneficial for the central control equipment to make a correct decision for the remote control of the vehicle according to the real-time condition.
In an embodiment, the central control device may further display the received vehicle-mounted sensing data and road side sensing data, so that a cloud security person allocated to the central control device may learn a real-time condition of the vehicle, and determine whether to remotely control the vehicle according to the real-time condition.
According to an embodiment of the present disclosure, the on-board subsystem of the vehicle may upload the on-board sensory data to synchronize the on-board sensory data to the central control device, for example, through the flow shown in fig. 6B. This flow will be described in detail below in connection with fig. 6B.
Fig. 6B is a flowchart illustrating a method for synchronizing data performed by a vehicle end according to an embodiment of the present disclosure.
According to an embodiment of the present disclosure, as shown in fig. 6B, the data synchronization method 620 of this embodiment may include operations S621 to S622, and the data synchronization method 620 may be performed by the above-described in-vehicle subsystem, for example.
In operation S621, the detected vehicle-mounted sensing data is determined in response to receiving the first upload instruction information transmitted from the central control apparatus.
According to disclosed embodiments, an on-board subsystem may periodically detect on-board sensory data of a vehicle. After receiving the first upload instruction information, the latest in-vehicle sensing data detected may be used as the in-vehicle sensing data determined in operation S621. Or, the vehicle-mounted subsystem may detect vehicle-mounted sensing data of the vehicle in real time after receiving the first uploading indication information. It will be appreciated that the vehicle-mounted sensing data may include the aforementioned vehicle status information and environmental information detected by the vehicle-mounted subsystem. The state information and the environment information detected by the vehicle-mounted subsystem are described above, and are not described herein.
In operation S622, the vehicle-mounted sensing data is transmitted to the central control apparatus according to the first upload instruction information.
According to the embodiment of the disclosure, the vehicle-mounted subsystem can screen the detected vehicle-mounted sensing data according to the data type to be reported in the first uploading indication information. And then the screened data is sent to the central control equipment. The vehicle-mounted subsystem can also send vehicle-mounted sensing data to the central control equipment when the reporting time is determined to be reached according to the reporting mode in the first uploading indication information.
It will be appreciated that in an embodiment, when the vehicle-mounted subsystem transmits the vehicle-mounted sensing data, the vehicle-mounted sensing data may be broadcast to the RSU for the vehicle via the A2 interface described above, and the RSU forwards the vehicle-mounted sensing data to the central control device via the A6 interface described above, so that a situation of a transmission delay caused by unstable signal strength of the cellular network may be avoided. Alternatively, the on-board subsystem may send the on-board sensory data directly to the central control device via the aforementioned A5 interface.
According to an embodiment of the present disclosure, the RSU for the vehicle may upload the roadside awareness data through the flow shown in fig. 6C, for example, to synchronize the roadside awareness data to the central control device. This flow will be described in detail below in connection with fig. 6C.
Fig. 6C is a flow chart of a method of synchronizing data performed by a roadside unit according to an embodiment of the disclosure.
As shown in fig. 6C, the data synchronization method 630 of this embodiment may include operations S631 to S632, and the data synchronization method 630 may be performed by the RSU for a vehicle described above, for example.
In operation S631, the roadside sensing data detected by the roadside sensing device is acquired in response to receiving the second upload instruction information transmitted by the central control device.
In operation S632, the roadside awareness data is transmitted to the central control device according to the second upload instruction information.
According to embodiments of the present disclosure, as noted above, the road side awareness apparatus may be communicatively connected to the RSU via a communication cable or a local area network. The RSU may acquire the road side awareness data from the road side awareness apparatus and forward the acquired road side awareness data to the central control apparatus via a communication connection between the RSU and the central control apparatus in response to the second upload indication information.
In accordance with the foregoing, the roadside awareness devices may include one or more of a variety of facilities, such as traffic monitoring facilities, traffic guidance control facilities, assisted positioning facilities, weather monitoring facilities, and the like. Accordingly, the road side perception data may include one or more of various types of data, such as image data, positioning data, and weather data. The roadside awareness data corresponds to a facility included in the roadside awareness device.
In an embodiment, the RSU may, for example, determine, according to a reporting mode in the second upload indication information, that the reporting time is reached, and send the acquired roadside awareness data to the central control device. It will be appreciated that the RSU may send the road side awareness data to the central control device, for example, via the A6 interface described above.
According to embodiments of the present disclosure, during data synchronization, the on-board subsystem and RSU may also synchronize the awareness data to the MEC for the vehicle, for example, in order for the MEC to confirm whether to intervene in the remote control of the vehicle based on the awareness data. Therefore, compared with the technical scheme that the central control equipment remotely controls the vehicle, the vehicle control system is beneficial to reducing the delay condition of remote control and improving the running safety of the vehicle.
Fig. 7 is an interactive flow chart of information in a method of synchronizing data according to an embodiment of the present disclosure.
As shown in fig. 7, in this embodiment 700, the first upload instruction information and the second upload instruction information transmitted by the central control apparatus 730 through operations S731 to S732 may each include identification information for the MEC 720 of the vehicle. Accordingly, the in-vehicle subsystem 710 may also transmit the in-vehicle sensing data to the MEC 720 for it through operation S712 while transmitting the in-vehicle sensing data to the central control apparatus 730 through operation S711. Similarly, the RSU 740 may also transmit the roadside awareness data to the MEC 720 for the vehicle through operation S742 while transmitting the roadside awareness data to the central control device 730 through operation S741.
In operation S731, the central control apparatus 730 transmits the first upload instruction information to the in-vehicle subsystem 710 through the A5 interface.
In operation S732, the central control apparatus 730 transmits the second upload instruction information to the RSU 740 for the vehicle through the A6 interface.
It will be appreciated that the first and second upload indication information are similar to those described above, except that in this embodiment both the first and second upload indication information include identification information for the MEC 720 of the vehicle. Wherein the location of the vehicle is within the communication range of the MEC 720 for it. The operations S731 and S732 may be performed simultaneously or sequentially in any order, which is not limited in this disclosure. It will be appreciated that the central control facility 730 may also allocate a communication range for the vehicle including the location of the vehicle based on the location and calculated forces of all MECs maintained by the central subsystem, and that the calculated forces may support remotely controlled MECs for the vehicle. As such, the MEC for the vehicle in this embodiment may be the MEC assigned to the vehicle.
In operation S711, the in-vehicle subsystem 710 transmits in-vehicle sensing data to the central control apparatus through the A5 interface. The vehicle-mounted sensing data comprises state information of a vehicle and environment information detected by a vehicle-mounted subsystem.
In operation S712, the in-vehicle subsystem 710 transmits in-vehicle perception data to the MEC 720 according to the identification information and the first upload instruction information. The on-board awareness data may be sent to MEC 720 via the A3 interface described above.
It is to be understood that the operations S711 and S712 may be performed simultaneously, or may be performed sequentially in any order, which is not limited in this disclosure.
In operation S741, the RSU 740 transmits the roadside awareness data to the central control unit through the A6 interface.
In operation S742, the RSU 740 transmits the roadside awareness data to the MEC 720 according to the identification information of the MEC 720 and the second upload instruction information. The roadside awareness data may be sent to MEC 720 via the A4 interface described above.
It is to be understood that the operations S741 and S742 may be performed simultaneously or sequentially in any order, which is not limited in this disclosure. Operations S741 to S742 may be performed in synchronization with operations S711 to S712, or may be performed sequentially in any order, which is not limited in this disclosure.
In an embodiment, the on-board subsystem may send the on-board sensing data, and for example, may also send communication status information to the central control device. For example, the in-vehicle subsystem 710 may first determine communication status information of a communication link between the in-vehicle subsystem 710 and the central control device 730 after receiving the first upload indication information. For example, the in-vehicle subsystem 710 may send a handshake signal to the central control device 730, and the duration between the time when the handshake signal is sent and the time when the in-vehicle subsystem 710 receives a reply signal fed back by the central control device in response to the handshake signal is taken as the communication duration between the two. The communication duration is then employed to represent the communication status information. Alternatively, the in-vehicle subsystem may use signal strength or the like of the cellular network to which the in-vehicle subsystem is connected to represent the communication status information.
As shown in fig. 7, after determining the communication status information, the in-vehicle subsystem 710 may transmit the communication status information to the central control apparatus 730 through operation S713. For example, the first upload instruction information may further include an upload instruction of the communication status information. The in-vehicle subsystem 710 may send the communication status information to the central control apparatus 730 according to the upload indication of the communication status information. It is understood that the upload indication may include index information of the uploaded communication status, etc. The index information may include signal strength and/or duration of communication, etc. The in-vehicle subsystem 710 may send the communication status information over the A5 interface. Operation S713 may be performed in synchronization with operations S711 to S712, or may be performed sequentially in any order, which is not limited in this disclosure.
Accordingly, the central control apparatus 730 may receive communication status information transmitted from an on-board subsystem of the vehicle. The communication status information is communication status information of a communication link between the vehicle-mounted subsystem and the central control device.
In an embodiment, the vehicle end may request a real-time monitoring suspension request from the central control device, for example, when an abnormality occurs, so as to reduce the use of communication resources. For example, the in-vehicle subsystem 710 may transmit the suspension request information to the central control apparatus 730 through operation S714 when it is determined that the vehicle is in the target abnormal state according to the detected in-vehicle sensing data. Wherein the abort request information is sent via the A5 interface. The target abnormal state may include, for example, a state in which the communication delay is greater than a predetermined delay, a state in which the vehicle is taken over in the field, and/or a state in which the power system such as the engine is not operating normally, or the like. For example, the vehicle-mounted sensing data may include touch information of a steering wheel in the vehicle, and if the vehicle-mounted subsystem detects that the steering wheel is touched, it may be determined that the vehicle is in a target abnormal state. It will be appreciated that the above-described target abnormal state is merely an example to facilitate understanding of the present disclosure, which is not limited thereto.
After the central control apparatus 730 receives the suspension request information transmitted from the in-vehicle subsystem 710, suspension response information may be transmitted to the in-vehicle subsystem 710 through operation S733 in response to the suspension request information. Wherein the suspension response information is sent via the A5 interface. In an embodiment, after the central control apparatus 730 receives the suspension request information, for example, a decision may be further made to determine whether to suspend the monitoring according to the latest acquired vehicle-mounted sensing data. If it is determined to suspend monitoring based on the decision, suspension response information may be sent to the in-vehicle subsystem 710.
After the vehicle-mounted subsystem 710 receives the suspension response information, the transmission of the vehicle-mounted sensing data may be suspended, so that the real-time monitoring of the vehicle by the central control device 730 is suspended.
In an embodiment, the central control apparatus 730 may send, for example, a suspension indication message to the RSU 740 at the same time as sending the suspension response message to the on-vehicle subsystem 710, so as to notify the RSU 740 that the road side sensing data is not required to be uploaded. Accordingly, the RSU 740, upon receiving the suspension indication information transmitted from the central control apparatus 730, may suspend transmission of the roadside sensing data in response to the suspension indication information, and simultaneously or subsequently, may transmit suspension response information to the central control apparatus 730.
In an embodiment, the cloud security personnel assigned to the central control device may suspend remote monitoring of the vehicle according to actual work requirements. In this way, the flexibility of remote monitoring can be improved. For example, the central control apparatus 730 may transmit the suspension instruction information to the in-vehicle subsystem 710 through operation S734 in response to the second target operation. Wherein the suspension indication information is sent via the A5 interface. The second target operation may be a selection operation of a "pause" button or the like in the application program for remote control driving by the cloud security personnel, or an operation of closing the application program for remote control driving or the like, which is not limited in the present disclosure.
After the in-vehicle subsystem 710 receives the suspension instruction information transmitted from the central control apparatus 730, the transmission of the in-vehicle sensing data may be suspended in response to the suspension instruction information. The suspension response information is then transmitted to the central control apparatus 730 through operation S715. Wherein the suspension response information is sent via the A5 interface.
In an embodiment, the central control apparatus 730 may send the suspension indication information to the on-vehicle subsystem 710, for example, and may also send the suspension indication information to the RSU 740 to notify the RSU 740 that the road side awareness data is not required to be uploaded. Accordingly, the RSU 740, upon receiving the suspension indication information transmitted from the central control apparatus 730, may suspend transmission of the roadside sensing data in response to the suspension indication information, and simultaneously or subsequently, may transmit suspension response information to the central control apparatus 730.
By implementing the data uploading method, the central control device can remotely monitor the vehicle. Therefore, the central control equipment can actively initiate a remote control flow when the environment where the vehicle is located needs remote control, and the driving safety of the vehicle is improved.
Based on the remote control system and the data synchronization method of the vehicle, when the vehicle encounters an unprocessed condition in running, for example, a request for remote control can be initiated to the central control equipment so as to start the remote control on the vehicle. Based on this, the embodiment of the present disclosure provides a method of starting remote control, which will be described in detail below with reference to fig. 8A to 9.
Fig. 8A is a flow chart of a method of initiating remote control performed by a vehicle end according to an embodiment of the present disclosure.
As shown in fig. 8A, the method 810 of starting remote control in this embodiment may include operations S811 to S812. The method 810 of initiating remote control may be performed by a vehicle end, and in particular may be performed by an on-board subsystem provided to a vehicle as described above.
In operation S811, remote control request information is transmitted to the center control apparatus in response to the vehicle being in the target state.
According to the embodiment of the disclosure, the vehicle-mounted subsystem may determine that the vehicle is in the target state when it is determined that the vehicle is in any one of the working conditions listed in table 5 above according to the detected vehicle-mounted sensing data. Alternatively, the in-vehicle subsystem may determine that the vehicle is in the target state if it is determined that the vehicle has traveled a distance less than the predetermined distance within a predetermined period of time (e.g., a period of 10 minutes in length). It is to be understood that the present disclosure is not limited to a particular method of determining whether a vehicle is in any one of the operating conditions, nor is the present disclosure limited to the magnitude of the predetermined distance.
According to embodiments of the present disclosure, the in-vehicle subsystem may send remote control request information to the central control device through the A5 interface. The remote control request information may also be sent to the central control facility via an RSCU included in the MEC, which is not limited by the present disclosure. The remote control information may include identification information of the vehicle so that the center control apparatus uniquely determines the vehicle requiring remote control. The remote control request information may also include real-time location information of the vehicle, for example.
In response to receiving the remote control confirmation information sent by the central control apparatus, the first remote access success information is sent to the central control apparatus according to the remote control confirmation information in operation S812.
According to the embodiment of the disclosure, after the central control device receives the remote control request information, for example, resources required for performing remote control on the vehicle can be evaluated, and when the remaining resources are determined to meet the requirement of remote control, remote control confirmation information can be sent to the vehicle-mounted subsystem. In response, the in-vehicle subsystem may send a first remote access success message to the central control device in response to the remote confirmation message.
According to an embodiment of the present disclosure, the central control apparatus may answer a remote control request sent by the in-vehicle subsystem through a flow shown in fig. 8B, for example, which will be described in detail below in connection with fig. 8B.
Fig. 8B is a flow chart of a method of initiating remote control performed by a central control apparatus according to an embodiment of the present disclosure.
As shown in fig. 8B, when the vehicle end initiates the remote control request, the method 820 of starting the remote control performed by the central control apparatus may include operations S821 to S823.
In operation S821, resource configuration information is determined in response to receiving remote control request information transmitted by an in-vehicle subsystem of the vehicle.
In response to the resource configuration information satisfying the demand for remotely controlling the vehicle, remote control confirmation information is transmitted to the on-board subsystem of the vehicle in operation S822.
In operation S823, it is determined that the remote control is started in response to receiving the first remote access success information transmitted from the in-vehicle subsystem of the vehicle.
According to the embodiment of the disclosure, after receiving the remote control request information, the central control device may first determine local resource configuration information. For example, the resource configuration information may include at least one of whether a remote control cockpit is configured, whether a cloud control platform is configured, whether a remote console is configured, a communication state of a communication link between the central control apparatus and the vehicle, and an amount of computing power that the central control apparatus is capable of providing. Meanwhile, the central control equipment can also determine the vehicle needing remote control according to the remote control request information, and determine the resources required by remote control of the vehicle according to the position of the vehicle, the vehicle-mounted sensing data and the road side sensing data of the vehicle monitored in real time.
And if the resource allocation information can meet the resources required by the remote control of the vehicle, namely, meet the requirements of the remote control of the vehicle, transmitting remote control confirmation information to the vehicle-mounted subsystem. The remote control confirmation information may be transmitted through an A5 interface, for example.
If the central control device receives the first remote access success information sent by the vehicle-mounted subsystem after the remote control confirmation information is sent, the remote control device can determine that the remote control is started, so that the vehicle can be remotely controlled through interaction with the vehicle.
By the method for starting the remote control, which is disclosed by the embodiment of the invention, the communication of the remote control between the central control equipment and the vehicle-mounted subsystem can be established when the resource configuration information meets the requirement, and conditions are provided for the implementation of the remote control.
In an embodiment, when determining whether the resource configuration information satisfies the requirement of remotely controlling the vehicle, for example, the type of remote control may be determined according to the environmental information of the vehicle, etc., and then the resource required for remotely controlling the vehicle may be determined according to the type of remote control. The type of remote control may include any of the various application types listed in table 5 above, among others. The resource requirements for each type of remote control may be referred to, for example, in table 6 below.
TABLE 6 Requirements list of types of remote controls for device Performance
The embodiment of the disclosure can consider the environment information of the vehicle when determining the type of remote control. When determining the resource requirements of each type of remote control, the sending frequency of the message in the process of controlling information transmission and the like can be considered at the same time. Specifically, the requirements of various types of remote control on application scenarios can be referred to the following table 7.
TABLE 7 Requirements list of types of remote controls for application scenarios
It will be appreciated that the various requirements information in tables 6 and 7 above are merely examples to facilitate understanding of the present disclosure, and the present disclosure is not limited thereto.
According to an embodiment of the present disclosure, upon receiving the remote control request information, the central control apparatus may allocate computing resources of the MEC to the vehicle preferentially to remotely control the vehicle. Thereby reducing the time delay of remote control. Accordingly, the foregoing resource configuration information may be resource configuration information of an MEC whose communication range covers the location where the vehicle is located.
For example, the aforementioned operation S821 may be implemented as: resource configuration information for a target platform of a vehicle in a communication-connected MEC is determined. The target platform for the vehicle may be an MEC whose communication range includes the location of the vehicle. The resource configuration information of the target platform is similar to that of the central control device, and will not be described herein. Accordingly, when the resource configuration information of the target platform meets the requirement of the remote control vehicle, the remote control confirmation information can be sent to the vehicle-mounted subsystem of the vehicle. For example, the remote control confirmation information may include identification information of the target platform, so as to facilitate the vehicle to access the target platform, and the target platform remotely controls the vehicle. Each MEC can periodically upload respective resource configuration information to the central control equipment so as to facilitate management and scheduling of the MECs by the central control equipment.
After the vehicle-mounted subsystem receives the remote control confirmation information comprising the identification information of the target platform, the vehicle-mounted subsystem can send access request information to the target platform according to the identification information. The in-vehicle subsystem may send the first remote access success information to the central control device after receiving the access confirmation information sent by the target platform in response to the access request information. In this way, the accuracy of the vehicle remote control state maintained by the center control apparatus can be improved.
In an embodiment, after determining the target device, the central control device may assign a remote task to the target platform first, and after the remote task is successfully assigned, send remote control confirmation information to the vehicle subsystem. Thereby, the accuracy of transmitting the remote control confirmation information can be improved. For example, the central control device may send remote task assignment information to the target platform based on the identification information. The remote task assignment information may include identification information of the vehicle. Accordingly, the target platform, upon receiving the remote task assignment information, may establish remote control communication with the vehicle through the flow shown in fig. 8C.
Fig. 8C is a flow chart of a method of initiating remote control performed by a multi-access edge computing platform according to an embodiment of the present disclosure.
As shown in fig. 8C, the method 830 of starting remote control performed by the MEC may include operations S831 to S832.
In operation S831, task confirmation information is transmitted to the central control apparatus in response to receiving the remote task assignment information transmitted from the central control apparatus.
In operation S832, in response to receiving the access request information transmitted by the in-vehicle subsystem of the vehicle, access confirmation information is transmitted to the in-vehicle subsystem of the vehicle.
It is understood that operation S832 may be performed after the MEC receives the remote task assignment information. After receiving the remote task assignment information, the MEC may also detect its communication environment, and may send task confirmation information to the central control device when the communication environment satisfies the corresponding requirements in tables 6 and 7 described above, for example. The task confirmation information may include identification information of the vehicle, for example. Similarly, the access request information may include identification information of the vehicle. The task acknowledgement information may be sent via an A7 interface, for example, and the access acknowledgement information may be sent via an A3 interface, for example.
The specific flow of starting the remote control when the vehicle end initiates the remote control will be described in detail below with reference to fig. 9.
Fig. 9 is an interactive flowchart for initiating remote control when remote control is initiated by a vehicle end according to an embodiment of the present disclosure.
As shown in fig. 9, in this embodiment 900, after the in-vehicle subsystem 910 in the vehicle determines that the vehicle is in the target state from the in-vehicle awareness data, for example, operation S911 may be performed to transmit remote control request information to the center control device 930 via the A5 interface.
The central control apparatus 930 may determine the resource configuration information after receiving the remote control request information. The resource configuration information may be local resource configuration information of the central control device 930, or may be resource configuration information of the target platform. Subsequently, the central control apparatus may perform operation S931 to determine whether the resource configuration information satisfies the requirement of remotely controlling the vehicle. If so, operation S9321 is performed to send remote task assignment information to the MEC 920 (i.e., target platform) for the vehicle via the A7 interface.
After receiving the remote task assignment information, the MEC 920 may perform operation S921 to transmit task confirmation information to the central control device 930 via the A7 interface. Subsequently, the central control apparatus 930 may perform operation S9322 in response to receiving the task confirmation information, and transmit remote control confirmation information including the identification information of the MEC 920 to the in-vehicle subsystem 910 via the A5 interface.
After receiving the remote control confirm information including the identification information of the MEC 920, the in-vehicle subsystem 910 may perform operation S913, and transmit the access request information to the MEC 920 via the A3 interface. After receiving the access request information, the MEC 920 may perform operation S922 to send access confirmation information to the in-vehicle subsystem 910 via the A3 interface. Subsequently, the MEC 920 may also perform operation S923 to send second remote access success information to the central control apparatus 930 via the A7 interface. The second remote access success information may include, for example, identification information of the MEC 920 and identification information of the vehicle.
After receiving the access confirmation information, the in-vehicle subsystem 910 may determine that the remote control is started successfully, and simultaneously perform operation S912 to send the first remote access success information to the central control device 930 via the A5 interface. The process of starting the remote control has ended so far. The central control apparatus 930 may determine that remote control is started in case of receiving both the first remote access success information and the second remote access success information.
In an embodiment, as shown in fig. 9, when the central control apparatus 930 determines that the resource configuration information does not satisfy the requirement of the remote control vehicle, for example, operation S933 may be performed to transmit remote control rejection information to the in-vehicle subsystem. In this manner, the in-vehicle subsystem 910 may determine that the remote control has failed to start after receiving the remote control rejection information.
Based on the remote control system of the vehicle and the data synchronization method, the central control equipment can remotely control the indication vehicle when the environment where the vehicle is located is complex in the process of monitoring the vehicle. Based on this, the embodiment of the present disclosure provides a method of starting remote control, which will be described in detail with reference to fig. 10 to 11.
Fig. 10 is a flow chart of a method of initiating remote control performed by a central control apparatus according to another embodiment of the present disclosure.
As shown in fig. 10, a method 1010 of starting remote control performed by the central control apparatus of the embodiment may include operations S1011 to S1013.
In operation S1011, resource configuration information is determined in response to the third target operation.
According to an embodiment of the present disclosure, the third target operation may be, for example, an operation of the input device by a cloud security administrator assigned to the central control device. The third target operation is similar to the first target operation and the second target operation, and the difference is that the third target operation may be an operation similar to a "remote control" button in an application program for remote control driving, or may be any operation set according to actual requirements. Alternatively, the central control apparatus may generate the virtual third target operation when determining that the vehicle is in any one of the working conditions in table 5 according to the on-vehicle sensing data of the remotely monitored vehicle.
According to the embodiment of the present disclosure, the method for determining the resource configuration information in operation S1011 is similar to the method for determining the resource configuration information described above, and will not be described again.
In operation S1012, remote control instruction information is transmitted to an on-board subsystem of the vehicle in response to the resource configuration information satisfying the demand for remotely controlling the vehicle.
In operation S1013, it is determined that the remote control is started in response to receiving the first remote access success information transmitted from the in-vehicle subsystem of the vehicle.
According to an embodiment of the present disclosure, when the resource configuration information is resource configuration information for a target platform of a vehicle, the remote control instruction information sent to an on-board subsystem of the vehicle may include at least identification information of the target platform and an instruction for establishing remote control. When the resource configuration information is resource configuration information local to the central control device, the remote control instruction information may include, for example, a remote control setup instruction. The in-vehicle subsystem may send the first remote access success information to the central control device after receiving the remote control instruction information that does not include the target platform identification information.
After receiving the remote control instruction information including the target platform identification information, the vehicle-mounted subsystem may, for example, first send the access request information to the target platform according to the identification information, and only after receiving the access confirmation information sent by the target platform, send the first remote access success information to the central control device.
Fig. 11 is an interactive flow diagram for initiating remote control when remote control is initiated by a central control device in accordance with an embodiment of the present disclosure.
As shown in fig. 11, in this embodiment 1100, after the central control apparatus 1130 detects the third target operation, the resource configuration information may be determined first. The resource allocation information may be local resource allocation information or resource allocation information of a target platform for the vehicle. Accordingly, the central control apparatus 1130 may perform operation S1131 to determine whether the resource allocation information satisfies the requirement of remotely controlling the vehicle. If satisfied, and the resource is configured as local resource configuration information, the central control apparatus may perform operation S1133. If yes, and the resource configuration information is the resource configuration information of the target platform, the central control apparatus may perform operation S1132.
In operation S1132, remote task assignment information is transmitted to the MEC 1120 as the target platform via the A7 interface according to the identification information of the target platform. After receiving the remote task assignment information, the MEC 1120 may perform operation S1121 to transmit task confirmation information to the central control apparatus 1130 via the A7 interface. The central control apparatus 1130 may perform operation S1133 after receiving the task confirmation information.
In operation S1133, remote control instruction information is transmitted to the in-vehicle subsystem 1110 of the vehicle via the A5 interface. When the central control apparatus 1130 receives the task confirmation information and then performs operation S1133, the identification information of the MEC 1120 is included in the transmitted remote control instruction information.
The in-vehicle sub-system 1110 may perform operation S1113 after receiving the remote control instruction information without the identification information. Upon receiving the remote control instruction information having the identification information, operation S1111 may be performed to transmit access request information to the MEC 1120 via the A3 interface according to the identification information. After receiving the access request information, MEC 1120 may perform operation S1122 to send access confirmation information to in-vehicle subsystem 1110 via the A3 interface. The in-vehicle subsystem 1110 may perform operation S1113 in response to receiving the access confirmation information. The MEC 1120 may also perform operation S1123, for example, after performing operation S1122.
In operation S1123, the MEC 1120 transmits second remote access success information to the central control apparatus 1130 via the A7 interface.
In operation S1113, the in-vehicle subsystem transmits first remote access success information to the central control apparatus via the A5 interface.
It will be appreciated that the central control apparatus 1130 may determine that remote control start-up is successful after receiving the first remote access success information and the second remote access success information. The implementation method of the operations in this embodiment 1100 that are similar to those described in embodiment 900 are the same, and will not be described here again.
When the central control apparatus 1130 determines that the resource allocation information does not satisfy the requirement of remotely controlling the vehicle by performing operation S1131, the central control apparatus 1130 may, for example, not perform the subsequent operation any more and continue to remotely monitor the vehicle.
Based on the method for starting the remote control provided by the disclosure, the embodiment of the disclosure can execute the remote control on the vehicle after the remote control is started. Based on this, the embodiment of the present disclosure provides a remote control method of a vehicle, which will be described in detail below with reference to fig. 12A to 13.
Fig. 12A is a flow chart of a remote control method of a vehicle performed by a vehicle end according to an embodiment of the present disclosure.
As shown in fig. 12A, the remote control method 1210 of the vehicle of the embodiment may include operations S1211 to S1213. The method 1210 may be performed by a vehicle end, and in particular may be performed by an on-board subsystem disposed in a vehicle.
In operation S1211, remote control demand information is transmitted to the communicatively connected remote control device.
In operation S1212, in response to receiving the first update instruction information for the in-vehicle sensory data transmitted by the remote control device, the in-vehicle sensory data is transmitted to the remote control device.
In response to receiving the control information transmitted from the remote control apparatus, the running of the vehicle is controlled according to the control information in operation S1213.
According to an embodiment of the present disclosure, the remote control device may be a device that establishes remote control communication with the in-vehicle subsystem through the above-described method of starting remote control. For example, when the remote control instruction information or the remote control confirmation information sent by the central control apparatus to the in-vehicle subsystem includes identification information of the target platform for the vehicle, the remote control apparatus is an MEC for the vehicle. And if the remote control instruction information or the remote control confirmation information sent by the central control equipment to the vehicle subsystem does not comprise the identification information of the target platform of the vehicle, the remote control equipment is the central control equipment.
According to the embodiment of the present disclosure, the remote control requirement information may be set according to actual requirements, for example. For example, the remote control demand information may include at least one of: target information of remote control, time length information of remote control, position information of remote control, level information of remote control and reason information of remote control. The target information may include, for example, a destination name of the vehicle traveling and/or position information of the destination. The remote control location information may include current location information of the vehicle, or location information of a plurality of points in a road section where the vehicle needs remote control. The remote control level information may be a level of permission of the vehicle for remote control, and the cause information may include any one of the working conditions listed in the foregoing table 5, or may be any cause information set according to actual requirements.
For example, in the case where the vehicle is an autopilot, the remote control demand information may include, for example, at least one of the parameters listed in table 8 below, and may further include grade information of the remote control, cause information of the remote control, and the like.
According to an embodiment of the present disclosure, after the remote control device receives the remote control requirement information, for example, the first update indication information may be sent to the in-vehicle subsystem. The vehicle-mounted subsystem can acquire real-time vehicle-mounted sensing data and send the real-time vehicle-mounted sensing data to the remote control device. In this way, the remote control device can determine the driving strategy according to the obtained vehicle-mounted sensing data, package the instruction required by executing the driving strategy into control information and send the control information to the vehicle-mounted subsystem. It will be appreciated that the control information is similar to the method of generating the first control information or the second control information described above.
According to the embodiment of the disclosure, after the vehicle-mounted subsystem receives the control information, the vehicle can be controlled to run according to the control information, so that the remote control of the vehicle by the remote control equipment is realized. It will be appreciated that when the remote control device is controlling a remote pilot and a remote autopilot of a vehicle, the control information may include at least one of the control parameters described in table 3 above. When the remote control apparatus remotely guides the vehicle, the control information may include path planning information, a limited speed, and the like. When the remote control device makes a remote decision on the vehicle, the control information may include a traveling direction, a turn signal state, and the like. It is to be understood that the above-described control information is merely an example to facilitate understanding of the present disclosure, which is not limited thereto.
Table 8 parameter list included in remote control requirement information
In an embodiment, the first update indication information may include update information including vehicle-mounted sensing data, for example, and the update information may represent an update mode, for example. When the vehicle-mounted subsystem transmits the vehicle-mounted sensing data to the remote control device in response to the first update instruction information, for example, the vehicle-mounted sensing data may be acquired according to the update information, and then the acquired vehicle-mounted sensing data may be transmitted to the remote control device. When the update time is determined to be reached according to the update mode, the vehicle-mounted sensing data can be detected.
The update mode may include a periodic update mode and an event-triggered update mode, among others. Accordingly, the update information may include an update period and/or event information that triggers an update, etc. The event triggering the update may include an event determined according to a vehicle state, such as a vehicle failure, a vehicle collision, a vehicle need to get rid of poverty, and the like. The event triggering the update may also include, for example, an event determined according to a communication state, such as a communication interruption, a communication delay being higher than a delay threshold, or a communication reliability being lower than a reliability threshold. The event triggering the update may also be determined based on traffic conditions, the number of traffic participants, the event of traffic, etc., which is not limiting to the present disclosure.
In an embodiment, the update information may further include, for example, a parameter type to be updated and/or format information of the uploaded vehicle-mounted sensing data. Therefore, the vehicle-mounted subsystem can screen the detected vehicle-mounted sensing data according to the parameter type to be updated, and can adjust the format of the detected vehicle-mounted sensing data according to the format information of the vehicle-mounted sensing data, so that the vehicle-mounted sensing data sent to the remote control equipment is obtained.
Upon receiving the remote control demand information sent by the in-vehicle subsystem, the remote control device may implement remote control of the vehicle, for example, using a procedure shown in fig. 12B, which will be described in detail below in connection with fig. 12B.
Fig. 12B is a flowchart of a remote control method of a vehicle performed by a remote control device according to an embodiment of the present disclosure.
As shown in fig. 12B, the remote control method 1220 of the vehicle of this embodiment may include operations S1221 to S1223. The remote control method may be performed by a remote control device, which may be a central control device or a MEC.
In response to receiving the remote control demand information transmitted from the on-vehicle subsystem of the vehicle, first update instruction information for the on-vehicle sensory data is transmitted to the on-vehicle subsystem of the vehicle according to the remote control demand information in operation S1221.
In operation S1222, control information for the vehicle is determined according to the in-vehicle sensing data in response to receiving in-vehicle sensing data transmitted by an in-vehicle subsystem of the vehicle.
In operation S1223, control information is transmitted to an on-board subsystem of the vehicle.
According to the embodiment of the disclosure, the remote control device can determine the update information according to the remote control requirement information, and then package the update information and the update instruction to obtain the first update indication information.
For example, the remote control device may determine on-vehicle sensing data required for remote control according to the remote control demand information, and use the type of the required on-vehicle sensing data as the update information.
For example, the remote control device may determine an update pattern of the vehicle-mounted sensing data according to the remote control demand information, and take the update pattern as the update information. For example, if it is determined that the accuracy of the remote control of the vehicle is high according to the remote control demand information, the determined update mode may include a periodic update mode in which the update frequency is high; if it is determined that the accuracy of the remote control of the vehicle is low, the determined update mode may include a periodic update mode in which the update frequency is low. For example, the higher the level of remote control in the remote control demand information, the higher the accuracy of remote control of the vehicle may be. It is to be appreciated that the update mode may be an event-triggered update mode as described above, and the like, in addition to the periodic update mode, which is not limited by the present disclosure. In an embodiment, a predetermined update pattern may also be used as the update information.
According to the embodiment of the disclosure, after obtaining the vehicle-mounted sensing data, the remote control device may, for example, use the vehicle-mounted sensing data as an input of the automatic driving model, and output control information by the automatic driving model. The autopilot model may include a path planning model and/or a path decision model in an autopilot scenario, and the disclosure is not limited thereto. Or after the vehicle-mounted sensing data is obtained, the remote control device can display the vehicle-mounted sensing data and generate control information in response to the operation of the cloud security personnel. The method for generating the control information is similar to the method for generating the first control information or the second control information described above, and will not be described herein.
In an embodiment, the remote control device may further determine environmental information of the vehicle according to the vehicle-mounted sensing data, and determine whether the vehicle is under any of the working conditions listed in the foregoing table 5 according to the environmental information. If yes, it can be determined that remote control of the vehicle is needed, and control information is generated by taking the application type corresponding to any one condition as reference information.
In an embodiment, when the control information is generated, besides the vehicle-mounted sensing data, the road side sensing data can be considered, so that the environment where the vehicle is located can be more accurately determined, and the accuracy of the determined control information is improved.
For example, the remote control device may also transmit second update instruction information to the RSU for the vehicle after receiving the remote control demand information. The second update instruction information is similar to the first update instruction information, and the generation methods of the two update instruction information are also similar. The difference is that the first update indication information includes update information of the vehicle-mounted perception data, and the second update indication information includes update information of the road side perception data, but data included in the update information of the two perception data are similar. Accordingly, the remote control device may determine the control information for the vehicle according to the vehicle-mounted sensing data and the road-side sensing data after receiving the vehicle-mounted sensing data and the road-side sensing data. The method for determining the control information is similar to the method for determining the first control information or the second control information, and will not be described herein.
Accordingly, the RSU may provide the road side awareness data to the remote control device according to the second update indication information. The RSU may provide the roadside awareness data, for example, through a process shown in fig. 12C, which will be described in detail below in connection with fig. 12C.
Fig. 12C is a flow chart of a remote control method of a vehicle performed by a roadside unit according to an embodiment of the disclosure.
As shown in fig. 12C, the remote control method 1230 of the vehicle of the embodiment may include operations S1231 to S1232. The remote control method 1230 is performed by an RSU for a vehicle.
In operation S1231, in response to receiving the second update instruction information transmitted by the remote control device, the roadside perception data is acquired.
In operation S1232, the roadside awareness data is transmitted to the remote control device.
According to the embodiment of the disclosure, the RSU may acquire the roadside awareness data from the roadside awareness device after receiving the second update indication information. Or the road side sensing data sent by the latest received road side sensing device can be used as the acquired road side sensing data. And then the acquired road side perception data is sent to the remote control equipment. The road side perception data is similar to the road side perception data described above, and will not be described here again.
According to embodiments of the present disclosure, the remote control device may be a MEC or a central control device, as described above.
In an embodiment, the second update indication information may include update information of the road side sensing data, where the update information of the road side sensing data may, for example, represent an update mode. The RSU may, for example, acquire road side awareness data from the update information and then send the acquired vehicle-mounted awareness data to the remote control device. The road side sensing data may be acquired from the road side sensing device when the update timing is determined to be reached according to the update mode, or the latest received road side sensing data may be used as data sent to the remote control device when the update timing is reached.
The update mode may include a periodic update mode and an event-triggered update mode, among others. Accordingly, the update information may include an update period and/or event information that triggers an update, etc. The event triggering the update may include, among other things, an event that receives weather data. The event triggering the update may also include, for example, an event determined according to a communication state, such as a communication interrupt, a communication delay being higher than a delay threshold, a communication reliability being lower than a reliability threshold, or the like, which is not limited by the present disclosure. According to an embodiment of the present disclosure, when the RSU does not have a data processing function, the update information of the roadside awareness data may not include a parameter type that needs to be updated, format information of the uploaded roadside awareness data, and the like.
In an embodiment, the first update indication information may comprise, for example, a type of remote control determined by the remote control device. Therefore, the vehicle-mounted subsystem can know the type of remote control to be executed at present, and an algorithm for controlling the vehicle to run according to the control information can be determined according to the type of the remote control, so that the efficiency of controlling the vehicle to run is improved. Accordingly, when the remote control device sends the first update indication information to the vehicle-mounted subsystem, the type of the remote control can be determined according to the remote control requirement information. The first update indication information is then transmitted according to the type of the remote control. In the following, in the case where the type of remote control is included in the first update instruction information, the interactive flow of the remote control method of the vehicle will be described in detail with reference to fig. 13.
Fig. 13 is an interactive flow chart of a remote control method of a vehicle according to an embodiment of the present disclosure.
According to the embodiment of the disclosure, the interaction flow of the remote control method of the vehicle when the remote control device is the MEC is similar to the interaction flow of the remote control method of the vehicle when the remote control device is the central control device, and the difference is mainly that the interface through which the information is interacted and the receiver of the information sent by the vehicle are different. The following describes the interaction flow in each case in detail.
As shown in fig. 13, in an embodiment 1300, when the remote control device is a central control device 1330, the interaction flow may include, for example, a flow surrounded by an a-box. Where the remote control device is a MEC1320, the interactive flow may include, for example, a flow surrounded by a b-box.
As in the flow enclosed by the box a in fig. 13, when the remote control device is the center control device 1330, the remote control requirement information transmitted by the in-vehicle subsystem 1310 through operation S1311 may be transmitted via the A5 interface described above, and the remote control requirement information is transmitted to the center control device.
After the central control apparatus 1330 receives the remote control requirement information, operation S1331 may be performed first to determine the type of remote control according to the remote control requirement information. For example, the remote control demand information may include at least one of the parameters listed in table 8 above. The remote control demand information may further include cause information of the remote control and grade information of the remote control. The central control apparatus may determine whether the environment in which the vehicle is required to be located satisfies any one of the working conditions listed in table 5 above, based on the cause information of the remote control. If yes, the type of the remote control can be determined to be the application type corresponding to any working condition. The central control device may also comprehensively determine the type of remote control as one of the application types listed in table 5, for example, in combination with local hardware configuration information, level information of the remote control, and the like.
After determining the type of remote control, the central control apparatus 1330 may perform operation S1332 to transmit first update indication information including the type of remote control to the in-vehicle subsystem 1310 via the A5 interface. Further, the center control device 1330 may also perform operation S1333 to transmit second update instruction information to the RSU 1340 for the vehicle via the A6 interface described above. It is to be understood that the operations S1332 and S1333 may be performed simultaneously, or may be performed sequentially according to any order, which is not limited in this disclosure.
After the in-vehicle subsystem 1310 receives the first update instruction information, operation S1312 may be performed to transmit in-vehicle sensing data. The on-board sensory data may be transmitted to the central control apparatus 1330 via the A5 interface. For example, after receiving the first update instruction information, the in-vehicle subsystem 1310 may further send a type of remote control included in the first update instruction information to the in-vehicle terminal, where the type is displayed by the in-vehicle terminal. Therefore, the vehicle is beneficial to providing abundant driving information for passengers. Furthermore, the in-vehicle subsystem 1310 may also store the type of remote control to provide reference information for debugging and optimization of subsequent autopilot algorithms.
After the RSU 1340 receives the second update indication information, operation S1341 may be performed to transmit the roadside awareness data. The roadside awareness data may be sent to central control apparatus 1330 via an A6 interface.
After receiving the roadside sensing data and the in-vehicle sensing data, the central control device 1330 may perform operation S1334 to determine control information for the vehicle according to the roadside sensing data and the in-vehicle sensing data. Subsequently, the central control apparatus 1330 may perform operation S1335 to transmit control information to the in-vehicle subsystem 1310 via the A5 interface. After receiving the control information, the in-vehicle subsystem 1310 may perform operation S1313 to control the traveling of the vehicle according to the control information.
In an embodiment, the on-vehicle subsystem 1310 may further perform operation S1314 after controlling the vehicle to travel according to the control information, and send the execution result information. The execution result information may be transmitted to the central control apparatus via the A5 interface. The execution result information may include, for example, status information of the vehicle, a speed of the vehicle, a position of an accelerator and/or a pedal in the vehicle, and the like. In this way, the center control device 1330 can understand the result of traveling of the vehicle according to the control information, and can perform subsequent control of the vehicle according to the result of traveling.
As in the flow enclosed by block b in fig. 13, when the remote control device is the MEC 1320, the remote control requirement information transmitted by the in-vehicle subsystem 1310 through operation S1311 may be transmitted via the A3 interface described above, and the remote control requirement information is transmitted to the MEC 1320.
After the MEC 1320 receives the remote control demand information, operation S1321 may be performed first, and the type of remote control is determined according to the remote control demand information. The operation S1321 is similar to the implementation of the operation S1331, and will not be described herein.
After determining the type of remote control, the MEC 1320 may perform operation S1322 to send first update indication information including the type of remote control to the in-vehicle subsystem 1310 via the A3 interface. Further, the MEC 1320 may also perform operation S1323 to send second update indication information to the RSU 1340 for the vehicle via the A4 interface described above. It is to be understood that the operations S1322 and S1323 may be performed simultaneously, or may be performed sequentially according to any order, which is not limited in this disclosure.
After the in-vehicle subsystem 1310 receives the first update instruction information, operation S1312 may be performed to transmit in-vehicle sensing data. The on-board awareness data may be sent to the MEC 1320 via the A3 interface. After the RSU 1340 receives the second update indication information, operation S1341 may be performed to transmit the roadside awareness data. The roadside awareness data may be sent to the MEC 1320 via the A4 interface.
After receiving the roadside sensing data and the in-vehicle sensing data, the MEC 1320 may perform operation S1324 to determine control information for the vehicle according to the roadside sensing data and the in-vehicle sensing data. Subsequently, the MEC 1320 may perform operation S1325 to transmit the control information to the in-vehicle subsystem 1310 via the A3 interface. After receiving the control information, the in-vehicle subsystem 1310 may perform operation S1313 to control the traveling of the vehicle according to the control information.
In an embodiment, the on-vehicle subsystem 1310 may further perform operation S1314 after controlling the vehicle to travel according to the control information, and send the execution result information. The execution result information may be transmitted to the central control apparatus via the A3 interface. The execution result information is similar to that described above, and will not be described in detail here.
In an embodiment, after the MEC 1320 determines the control information for the vehicle, operation S1326 may also be performed to transmit the status update information of the remote control to the center control device 1330 via the A7 interface. The status update information of the remote control may include control information, and may further include at least one of vehicle-mounted sensing data received by the MEC, operation and maintenance information of the MEC, status information of the MEC, a location of the MEC, basic information of the vehicle of the remote control, a load factor of the MEC, and a computing capability occupancy. Thus, the operation information of the MEC and the information of remote control of the MEC on the vehicle can be synchronized to the central control device 1330, which is beneficial to the central control device 1330 to perform global service policy control and the like.
According to the embodiment of the disclosure, in the process that the vehicle is remotely controlled, the vehicle-mounted subsystem can initiate a termination flow of the remote control according to actual requirements. A method of terminating the remote control when the on-board subsystem of the vehicle initiates the termination flow will be described in detail below with reference to fig. 14A to 15.
Fig. 14A is a flow chart of a method of terminating remote control performed by a vehicle end according to an embodiment of the present disclosure.
As shown in fig. 14A, the method 1410 of terminating remote control of this embodiment may include operations S1411 to S1412. The method 1410 of terminating remote control may be performed, for example, by a vehicle end, and may specifically be performed by an on-board subsystem disposed in a vehicle.
In operation S1411, remote termination instruction information is transmitted to the remote control device.
In operation S1412, it is determined that the remote control is terminated in response to receiving the remote termination confirmation information transmitted by the remote control device.
According to embodiments of the present disclosure, the in-vehicle subsystem may send remote termination indication information in response to completing the remote control task. For example, when the vehicle-mounted subsystem determines that the vehicle has reached the end of travel according to the detected vehicle-mounted sensing data, it may be determined that the remote control task has been performed. Alternatively, the on-board subsystem may determine that remote control is no longer required when the automatic driving route is planned according to the detected on-board awareness data and the state of the vehicle is a normal state, and thus determine that the task execution of the remote control is completed. Alternatively, the in-vehicle subsystem may also determine that the execution of the remotely controlled task is complete in response to terminating the operation of the remote control. The operation to terminate the remote control may be, for example, an operation performed by a passenger. It will be appreciated that the above-described method of determining completion of execution of a remotely controlled task is merely by way of example to facilitate an understanding of the present disclosure, which is not limited thereto.
According to the embodiment of the present disclosure, the in-vehicle subsystem may transmit the remote termination instruction information upon determining that the vehicle cannot be remotely controlled due to an abnormality, that is, transmit the remote termination instruction information in response to the vehicle being in an abnormal state. For example, the in-vehicle subsystem may determine that the vehicle cannot be remotely controlled due to an abnormality when the communication quality is deteriorated, the operation of the vehicle components is abnormal, or the environment in which the vehicle is located is abnormal. For example, the in-vehicle subsystem may determine that the communication quality is degraded in the event that communication with the remote control device is interrupted, the communication latency is above a latency threshold, or the communication reliability is below a reliability threshold. The vehicle subsystem can determine that the vehicle components are not operating properly in the event of a failure of the vehicle's power system, a tire burst, or an automatic driving system crash, etc. The in-vehicle subsystem may determine that the environment in which the vehicle is located is abnormal when the operation of the vehicle is hindered by a traffic participant or an operation of an emergency stop remote control is performed by a passenger in the vehicle, or the like.
According to embodiments of the present disclosure, the remote termination indication information may include, for example, information indicating a cause of termination. The termination cause may be any of the causes described above. The remote termination instruction information may further include identification information of the vehicle, for example, so that when the remote control device remotely controls a plurality of vehicles, the remote control device can identify which vehicle initiates a process of terminating the remote control, thereby facilitating precise control over the plurality of vehicles.
After the remote control device receives the remote termination indication information sent by the vehicle-mounted subsystem, the remote termination confirmation information can be sent to the vehicle-mounted subsystem. It will be appreciated that the remote control device may be a MEC or a central control device, as described above. When the remote control device is an MEC, the vehicle-mounted subsystem can also send service end information to the center control device in communication connection after receiving the remote termination confirmation information sent by the MEC, so as to synchronize the real-time state of the remote control to the center control device, and the center control device is beneficial to carrying out global service policy control and the like.
A method of terminating remote control performed after the remote control apparatus receives the remote termination instruction information will be described in detail below with reference to fig. 14B.
Fig. 14B is a flow chart of a method of terminating remote control performed by a remote control device according to an embodiment of the present disclosure.
As shown in fig. 14B, the method 1420 of terminating remote control of this embodiment may include operations S1421 to S1423. The method 1420 of terminating remote control may be performed by a remote control device. The remote control device may be a MEC or a central control device.
In response to receiving the remote termination instruction information transmitted from the on-vehicle subsystem of the vehicle, remote termination confirmation information is transmitted to the on-vehicle subsystem of the vehicle in operation S1421.
According to the embodiment of the disclosure, after receiving the remote termination indication information, the remote control device may directly send the remote termination confirmation information to the on-board subsystem of the vehicle. Or, the remote control device may first determine whether to terminate the remote control by combining the vehicle-mounted sensing data and the termination reason in the remote termination instruction information. In the event that termination of the remote control is determined, remote termination confirmation information is again transmitted.
For example, if the termination is due to completion of the remote control task, but the central control device determines that the remote control task is not completed according to the real-time vehicle-mounted sensing data sent by the vehicle-mounted subsystem, the central control device may wait until it is confirmed that the remote control task is completed, and then send the remote termination confirmation information. In this way, the situation of misjudgment or response to misoperation due to the vehicle-mounted subsystem can be avoided, and therefore the accuracy of remote control can be improved to a certain extent, and the running safety of the vehicle can be improved.
In operation S1422, update termination instruction information is transmitted to the roadside unit for the vehicle.
In response to receiving the update termination confirmation information transmitted by the roadside unit, it is determined that the remote control is terminated in operation S1423.
According to the embodiments of the present disclosure, as described above, in addition to the vehicle-mounted sensing data, the road-side sensing data transmitted by the RSU may be considered in the process of remote control by the remote control apparatus. The remote control device may also send update termination indication information to the RSU for the vehicle after determining to send the remote termination confirmation information to the on-board subsystem to inform the RSU that the road side awareness data need not be sent again. In this way, communication consumption can be reduced to some extent. After the RSU receives the update termination indication information sent by the remote control device, for example, update termination confirmation information may be fed back to the remote control device. The remote control device may determine that the remote control is terminated after sending the remote termination confirmation information to the in-vehicle subsystem and receiving the update termination confirmation information.
According to the embodiment of the disclosure, the identification information of the device initiating the termination process may be included in various information sent by each device in the process of terminating the remote control. To facilitate devices more in resolving information of remote control termination.
According to embodiments of the present disclosure, after determining that the remote control is terminated, the remote control device may also release the computing resources occupied by the remote control. Thus, the released computing resource can be used for executing other tasks, which is beneficial to improving the utilization rate of the computing resource.
According to the embodiment of the disclosure, when the remote control device is a MEC, the MEC may further send task end information to the central control device after receiving the update termination confirmation information sent by the RSU, for example. Thus, the real-time state of the remote control can be synchronized to the central control equipment, and the central control equipment is beneficial to carrying out global business strategy control and the like. After receiving the task end information, the central control device may, for example, feed back task end confirmation information to the MEC. The MEC may determine that the remote control is terminated after receiving the task end confirmation.
According to an embodiment of the present disclosure, when the vehicle end initiates the termination flow of the remote control, and the remote control device is an MEC, the operations performed by the central control device may include, for example, the flow shown in fig. 14C. This flow will be described in detail below in connection with fig. 14C.
Fig. 14C is a flow chart of a method of terminating remote control performed by a central control apparatus according to an embodiment of the present disclosure.
As shown in fig. 14C, the method 1430 of terminating the remote control of this embodiment may include operations S1431 through S1432.
In operation S1431, in response to receiving the task end information transmitted by the multi-access edge computing platform and the service end information transmitted by the on-board subsystem of the vehicle, service end confirmation information is transmitted to the on-board subsystem of the vehicle.
In operation S1432, task end confirmation information is transmitted to the multi-access edge computing platform.
It may be appreciated that, after receiving the task end information and the service end information, the central control device may first send service end confirmation information to the vehicle subsystem, and then send the task end confirmation information to the MEC. The central control device may send the task end confirmation information first and then send the service end confirmation information, or may send the task end confirmation information and the service end confirmation information simultaneously, which is not limited in this disclosure.
According to the embodiment of the disclosure, the identification information of the device initiating the termination process may be included in various information sent by each device in the process of terminating the remote control. To facilitate devices more in resolving information of remote control termination.
The termination flow of the remote control initiated by the vehicle end will be described in detail below with reference to fig. 15, to facilitate a better understanding of the present disclosure.
Fig. 15 is an interactive flowchart when a vehicle end initiates a termination flow of remote control according to an embodiment of the present disclosure.
According to the embodiment of the disclosure, when the remote control device is an MEC, the interaction flow after the vehicle initiates the termination flow of the remote control is similar to the interaction flow after the vehicle initiates the termination flow of the remote control when the remote control device is a central control device, and the difference is mainly that the interface through which the information is interacted is different from the receiver of the information sent by the vehicle. The following describes the interaction flow in each case in detail.
As shown in fig. 15, in an embodiment 1500, when the remote control device is a central control device 1530, the interaction flow may include, for example, a flow surrounded by a c-box. Where the remote control device is a MEC1520, the interactive flow may include, for example, a flow surrounded by d-boxes.
As in the flow enclosed by the block c in fig. 15, when the remote control device is the central control device 1530, the remote termination instruction information transmitted by the in-vehicle subsystem 1510 through operation S1511 may be transmitted via the A5 interface described above, and the remote termination instruction information may be transmitted to the central control device.
After the central control apparatus 1530 receives the remote termination instruction information, operation S1531 may be performed to transmit the remote termination confirmation information to the in-vehicle subsystem 1510 via the A5 interface. Further, the central control apparatus 1530 may also perform operation S1532 to transmit update termination instruction information to the RSU 1540 for the vehicle via the A6 interface described above. It is to be understood that the operations S1531 and S1532 may be performed simultaneously or sequentially according to any order, which is not limited in this disclosure.
After receiving the remote termination confirmation information for the RSU 1540 of the vehicle, operation S1541 may be performed to transmit the update termination confirmation information. In this example, update termination confirmation information may be sent to the central control apparatus 1530 via the A6 interface, for example. After the central control apparatus 1530 receives the update termination confirmation information, operation S1533 may be performed to release the computing resources occupied by the remote control vehicle.
As in the flow enclosed by the d-box in fig. 15, when the remote control device is the MEC 1520, the remote termination instruction information transmitted by the in-vehicle subsystem 1510 through operation S1511 may be transmitted via the A3 interface described above, and the remote termination instruction information is transmitted to the MEC.
After the MEC 1520 receives the remote termination instruction information, operation S1521 may be performed to send remote termination confirmation information to the in-vehicle subsystem 1510 via the A3 interface. Further, the MEC 1520 may also perform operation S1522 to send update termination instruction information to the RSU 1540 for the vehicle via the A4 interface described above. It is to be understood that the operations S1521 and S1522 may be performed simultaneously or sequentially according to any order, which is not limited in this disclosure.
After receiving the remote termination confirmation information for the RSU 1540 of the vehicle, the aforementioned operation S1541 may be performed, and the update termination confirmation information may be transmitted. In this example, update termination confirmation information may be sent to MEC 1520 via an A4 interface, for example. After the MEC 1520 receives the update termination confirmation information, operation S1523 may be performed to transmit the task end information to the central control apparatus 1530 via the A7 interface. It is understood that operation S1512 may also be performed to transmit the end-of-service information to the central control apparatus 1530 via the A5 interface after the in-vehicle subsystem 1510 receives the remote termination confirmation information transmitted by the MEC 1520.
The central control apparatus 1530 may perform operations S1534 and S1535 to transmit the service end confirmation information to the in-vehicle subsystem 1510 via the A5 interface and transmit the task end confirmation information to the MEC 1520 via the A7 interface after receiving the service end information and the task end information. It is understood that the operations S1534 and S1535 may be performed simultaneously or sequentially according to any order, which is not limited in this disclosure.
Upon receiving the end of mission confirmation information, the MEC 1520 may perform operation S1524 to release the computing resources occupied by the remote controlled vehicle.
According to the embodiment of the disclosure, in the process that the vehicle is remotely controlled by the MEC, the MEC may initiate a termination procedure of the remote control according to actual requirements, for example. A method of terminating the remote control when the on-board subsystem of the vehicle initiates the termination flow will be described in detail below with reference to fig. 16A to 17.
Fig. 16A is a flow diagram of a method of terminating remote control performed by a multi-access edge computing platform according to another embodiment of the present disclosure.
As shown in fig. 16A, the method 1610 of terminating the remote control of this embodiment may include operations S1611 to S1614. The method 1600 may be performed, for example, by a MEC that is remotely controlled to the vehicle.
In operation S1611, remote termination instruction information is transmitted to an in-vehicle subsystem of the remotely controlled vehicle.
In operation S1612, in response to receiving the remote termination confirmation information transmitted by the in-vehicle subsystem of the vehicle, update termination instruction information is transmitted to the roadside unit for the vehicle.
In operation S1613, it is determined that the remote control is terminated in response to receiving the update termination confirmation information transmitted by the roadside unit.
According to embodiments of the present disclosure, the MEC may send remote termination indication information in response to completing the remote control task. For example, the MEC may determine that the remotely controlled task has been performed when it is determined from the on-board awareness data that the vehicle has reached the end of travel. Alternatively, the MEC may send the remote termination indication information in response to it being in an abnormal state. For example, the MEC may determine that it is in an abnormal state when its computing power is insufficient to support remote control of a vehicle with a high control level, and send remote termination instruction information to an on-board subsystem of a vehicle with a low control level. Or, the MEC may determine that the MEC is in an abnormal state when it is in a dead halt state or when the execution result information sent by the in-vehicle subsystem is not received for a long time.
According to the embodiment of the disclosure, after the on-board subsystem of the vehicle receives the remote termination instruction information sent by the MEC, the remote termination confirmation information may be sent to the MEC.
In an embodiment, the remote termination indication information sent by the MEC may be similar to the remote termination indication information sent by the on-board subsystem, and may include the termination reason and the identification information of the MEC. After receiving the remote termination confirmation information, the vehicle-mounted subsystem can determine whether to terminate the remote control according to the vehicle-mounted sensing data and the termination reason. In the event that termination of the remote control is determined, remote termination confirmation information is again transmitted.
According to an embodiment of the present disclosure, after receiving the update termination confirmation information, the MEC may first send task end information to the central control apparatus, for example. Accordingly, as noted above, the central control apparatus may send the task end confirmation information to the MEC after receiving the task end information. The MEC may determine that the remote control is terminated after receiving the end of task confirmation. The remote control real-time state is synchronized to the central control equipment, so that the central control equipment can perform global service strategy control and the like.
According to embodiments of the present disclosure, the MEC may then determine that the remote control is terminated and release the computing resources occupied by the remote control vehicle. Thus, the released computing resource can be used for executing other tasks, which is beneficial to improving the utilization rate of the computing resource.
In the embodiment in which the MEC transmits the task end information to the central control apparatus according to the embodiment of the present disclosure, the method of terminating the remote control performed after the vehicle receives the remote termination instruction information may be implemented by, for example, the flow described in fig. 16B.
Fig. 16B is a flow chart of a method of terminating remote control performed by a vehicle end according to another embodiment of the present disclosure.
As shown in fig. 16B, the method 1620 of terminating remote control of this embodiment may include operations S1621 to S1623. The method 1620 is performed by a vehicle end, and may specifically be performed by an on-board subsystem provided in a vehicle.
In response to receiving the remote termination instruction information transmitted from the remote control device, remote termination confirmation information is transmitted to the remote control device in operation S1621.
In operation S1622, service end information is transmitted to the communicatively connected central control apparatus.
In operation S1623, it is determined that the remote control is terminated in response to receiving the service end confirmation information transmitted by the center control apparatus.
Accordingly, the central control device may feed back service end confirmation information to the vehicle-mounted subsystem after receiving the task end information and the service end information, and feed back the task end confirmation information to the MEC.
The termination flow of MEC initiated remote control is described in general in conjunction with fig. 17 below to facilitate a better understanding of the present disclosure.
Fig. 17 is an interactive flow diagram when a multi-access edge computing platform initiates a termination flow of remote control in accordance with an embodiment of the present disclosure.
As shown in fig. 17, in the embodiment 1700, upon the MEC 1720 of the remote control vehicle initiating an instruction to terminate the remote control, operation S1721 may be performed first to send remote termination instruction information to the in-vehicle subsystem 1710 of the remote control vehicle via the A3 interface.
Upon receiving the remote termination indication information, the in-vehicle subsystem 1710 may perform operation S1711 to send remote termination confirmation information to the MEC 1720 via the A3 interface. After receiving the remote termination confirmation information, MEC 1720 may perform operation S1722 to send update termination indication information to RSU 1740 for the vehicle via the A4 interface. Upon receiving the update termination instruction information, RSU 1740 may perform operation S1741 to send update termination confirmation information to MEC 1720 via the A4 interface. After receiving the update termination confirmation information, MEC 1720 may perform operation S1723 to send the task end information to central control device 1730 via the A7 interface. It is appreciated that operation S1712 may also be performed after the in-vehicle subsystem 1710 transmits the remote termination confirm information to the MEC 1720 to transmit the end of service information to the central control device 1730 via the A5 interface.
The central control apparatus 1730 may perform operations S1731 and S1732 to transmit the end-of-service confirmation information to the in-vehicle subsystem 1710 via the A5 interface and to the MEC 1720 via the A7 interface after receiving the end-of-service information and the end-of-task information. It is to be understood that operations S1731 and S1732 may be performed simultaneously or sequentially according to any order, which is not limited in this disclosure.
Upon receiving the end of mission confirmation information, MEC 1720 may perform operation S1724 to free up computing resources occupied by the remotely controlled vehicle.
According to the embodiment of the disclosure, in the process that the vehicle is remotely controlled by the MEC or the central control device, the central control device may initiate a termination flow of the remote control according to actual requirements, for example. A method of terminating the remote control when the on-board subsystem of the vehicle initiates the termination flow will be described in detail below with reference to fig. 18A to 19.
Fig. 18A is a flow chart of a method of terminating remote control performed by a central control apparatus according to another embodiment of the present disclosure.
In accordance with an embodiment of the present disclosure, when the MEC remotely controls the vehicle, as shown in fig. 18A, the method 1810 of terminating the remote control of this embodiment may include operations S1811 to S1813. The method 1810 may be performed by a central control apparatus.
In operation S1811, service end information is transmitted to an on-vehicle subsystem of a vehicle.
According to embodiments of the present disclosure, the central control apparatus may transmit service end information in response to completion of the remote control task. For example, the central control apparatus may determine that the remote control task has been performed when it is determined that the vehicle reaches the end of travel based on the control information and the execution result information uploaded by the MEC. Alternatively, the center control device may transmit the service end information in response to when the center control device is in an abnormal state. For example, the central control device may determine that the central control device is in an abnormal state when it is determined that a remote control task is changed in response to an operation of the cloud security personnel or decision information of the remote control cannot be determined according to acquired perception data. Alternatively, the central control apparatus may also determine that the central control apparatus is in an abnormal state when the execution result information is not received within a predetermined period.
According to the embodiments of the present disclosure, when the in-vehicle subsystem receives the service end information, for example, service end confirmation information may be sent to the central control apparatus. Meanwhile, the vehicle-mounted subsystem can also send remote termination indication information to the MEC which remotely controls the vehicle-mounted subsystem. The remote termination instruction information is similar to the remote termination instruction information in operation S1411 described above. For example, when the on-board subsystem receives the service end information sent by the central control device, the on-board subsystem may interact with the MEC of the remote control vehicle, for example, using the method 1410 for terminating remote control described above, and upon receiving the remote termination confirmation information sent by the MEC, determine that remote control is terminated.
In accordance with an embodiment of the present disclosure, after receiving the remote termination indication information sent by the vehicle, the MEC may interact with the in-vehicle subsystem to send remote termination confirmation information to the in-vehicle subsystem, for example, using the method 1420 of terminating remote control as described above.
In response to receiving the end-of-service confirmation information transmitted by the in-vehicle subsystem of the vehicle, task end information is transmitted to the multi-access edge computing platform of the remote control vehicle in operation S1812.
In response to receiving the task end confirmation information transmitted by the multi-access edge computing platform, it is determined that the remote control is terminated in operation S1813.
According to the embodiments of the present disclosure, when the center control device receives the service end confirmation information, for example, the task end information may also be transmitted to the MEC of the remote control vehicle. In this manner, the MEC may confirm that the remote control task has ended.
For example, the MEC may feed back the task end confirmation information to the central control apparatus after receiving the update end confirmation information transmitted by the RSU and the task end information transmitted by the central control apparatus using the method 1420 of terminating the remote control as described above, and determine that the remote control is terminated. Furthermore, the MEC may also release computing resources occupied by the remote control vehicle after determining that the remote control is terminated. Thus, the released computing resource can be used for executing other tasks, which is beneficial to improving the utilization rate of the computing resource.
By the method of this embodiment, remote control of the on-board subsystem by the MEC may be terminated by the central control facility. Thus, the central control equipment is beneficial to controlling the global business strategy and the like.
Fig. 18B is a flow chart of a method of terminating remote control performed by a central control apparatus according to yet another embodiment of the present disclosure.
When the central control apparatus remotely controls the vehicle according to an embodiment of the present disclosure, as shown in fig. 18B, a method 1820 of terminating the remote control of the embodiment may include operations S1821 to S1823. The method 1820 may be performed by a central control apparatus.
In operation S1821, service end information is transmitted to an on-board subsystem of the vehicle. It is to be understood that the operation S1821 is similar to the operation S1811, except that control information referred to in the operation S1821 for determining whether the remote control task is completed or whether the center control device is in an abnormal state is transmitted from the center control device to the in-vehicle subsystem, and the referred execution result information is transmitted from the in-vehicle subsystem to the center control device.
In response to receiving the end-of-service confirmation information transmitted by the in-vehicle subsystem of the vehicle, update termination instruction information is transmitted to the roadside unit for the vehicle in operation S1822.
In response to receiving the update termination confirmation information transmitted by the roadside unit, it is determined that the remote control is terminated in operation S1823.
It is to be understood that the manner in which the central control apparatus performs operations S1822 to S1823 is similar to the implementation manner of operations S1611 to S1612 described above, and is not described herein.
It will be appreciated that after the central control apparatus determines that the remote control is terminated, for example, the computing resources occupied by the remote control vehicle may also be released. Thus, the released computing resource can be used for executing other tasks, which is beneficial to improving the utilization rate of the computing resource.
The termination flow of remote control initiated by the central control device will be described in its entirety below in connection with fig. 19 to facilitate a better understanding of the present disclosure.
Fig. 19 is an interactive flowchart when a central control apparatus initiates a termination flow of remote control according to an embodiment of the present disclosure.
As shown in fig. 19, in embodiment 1900, when the MEC remotely controls the vehicle, the interactive flow of each device when the central control device 1930 initiates the termination flow of the remote control may include, for example, a flow surrounded by an e-box. When the center control device remotely controls the vehicle, the interactive flow of each device when the center control device 1930 initiates the termination flow of the remote control may include, for example, a flow surrounded by an f-box.
As in the flow enclosed by the e-box in fig. 19, when the central control apparatus 1930 initiates the termination flow of the remote control, the central control apparatus 1930 may first perform operation S1931, and send service end information to the in-vehicle subsystem 1910 via the A5 interface.
After the in-vehicle subsystem 1910 receives the service end information, operation S1911 may be performed to transmit service end confirmation information to the center control device via the A5 interface. The in-vehicle subsystem 1910 may further perform operation S1912 after receiving the service end information, and send remote termination instruction information to the MEC via the A3 interface. It is to be understood that the operations S1911 and S1912 may be performed simultaneously, or may be performed sequentially according to any order, which is not limited in this disclosure.
After the MEC 1920 receives the remote termination indication information, operation S1921 may be performed to send remote termination confirmation information to the in-vehicle subsystem 1910 via the A3 interface. It will be appreciated that the on-board subsystem 1910 may also send end-of-service confirmation information to the central control device 1930, for example, upon receipt of the remote termination confirmation information. The MEC 1920 may also, upon receiving the remote termination instruction information, perform operation S1922 to send update termination instruction information to the RSU 1940 for the vehicle via the A4 interface. It is to be understood that the operations S1921 and S1922 may be performed simultaneously or may be performed sequentially according to any order, which is not limited in this disclosure.
After the RSU 1940 receives the update termination indication information, operation S1941 may be performed to transmit update termination confirmation information. It will be appreciated that in this embodiment, update termination acknowledgement information is sent via the A4 interface and to the MEC 1920. The MEC 1920 may determine that remote control is terminated after receiving the update termination confirmation information.
In an embodiment, the central control apparatus 1930 may further perform operation S1932 to transmit the task end information to the MEC 1920 via the A7 interface, for example, after receiving the service end confirmation information. Accordingly, the MEC 1920 may perform operation S1923 to transmit the task end confirmation information to the central control apparatus 1930 via the A7 interface in response to receiving the task end information. In this embodiment, the MEC 1920 may determine that remote control is terminated after receiving the update termination confirmation information and the task end confirmation information.
After determining that remote control is terminated, the MEC 1920 may also perform operation S1924 to release computing resources occupied by the remote control vehicle.
As in the flow enclosed by the f box in fig. 19, when the central control apparatus 1930 initiates the termination flow of the remote control, the central control apparatus 1930 may first perform operation S1931, and send service end information to the in-vehicle subsystem 1910 via the A5 interface.
After the in-vehicle subsystem 1910 receives the service end information, operation S1911 may be performed to transmit service end confirmation information to the center control device via the A5 interface. As the vehicle is remotely controlled by the central control apparatus 1930, road side awareness data is also acquired from the RSU 1940 for the vehicle. The central control apparatus 1930, upon receiving the service end confirmation information, may perform operation S1933 to transmit update end indication information to the RSU 1940 for the vehicle via the A6 interface.
After the RSU 1940 receives the update termination indication information, operation S1941 may be performed to transmit update termination confirmation information. It will be appreciated that in this embodiment, update termination acknowledgement information is sent via the A6 interface and to the central control apparatus 1930. The central control apparatus 1930 may determine that the remote control is terminated after receiving the update termination confirmation information.
Upon determining that the remote control is terminated, the central control apparatus 1930 may also perform operation S1934 to release the computing resources occupied by the remote control vehicle.
When any one of the vehicle-mounted subsystem, the MEC and the central control device initiates the termination flow, for example, the identification information and/or the termination reason of the device initiating the termination flow may be included in the various information involved in the interaction flow. Therefore, the remote control information can be more completely known by each device, and the accuracy of the remote control can be improved to a certain extent. For example, when the vehicle-mounted subsystem receives a plurality of pieces of information in the remote control flow (the plurality of pieces of information include the remote termination instruction information or the service end information described above) and the control policies indicated by the plurality of pieces of information are different, the vehicle-mounted subsystem may determine the priority of the device initiating the termination flow according to the identification information of the device initiating the termination flow, and only when the priority of the device initiating the termination flow is higher than the priority of the device transmitting other information, feedback the confirmation information to the device initiating the termination flow.
It will be appreciated that the vehicle described above may be, for example, an autopilot, the processing delay of the MEC during remote control of the autopilot should be, for example, not more than 50ms, the processing delay of the central control device should be, for example, not more than 10ms, the initial delay of the autopilot should be, for example, not more than 10ms, and the overall delay of the remote control for the process summary of the autopilot remote control should be, for example, not more than 50ms.
It will be appreciated that the present disclosure may be configured with certain security policies for the on-board subsystems, RSUs, RSCUs and central control devices described above, for example, to ensure that the operation of the vehicle, RSUs, RSCUs and central control devices meet certain security requirements. The security requirements include, but are not limited to, at least one of the following: system security, application security, account security, rights security, hardware security, network security, upgrade security, and data security.
For example, a secure transmission protocol may be employed to secure the data transmissions of the on-board subsystem, RSU, RSCU, and central control apparatus to each other. Cryptographic techniques may be employed, for example, to confidentiality and integrity protect the interaction flow of the on-board subsystem, RSU, RSCU, and central control facility with each other. The cryptographic technique used should, for example, meet the relevant standards.
For example, for sensitive information, soft encryption may be used for security protection, and data related to enterprise security may also be used for higher level security protection, for example, in a hard encryption manner. The hard encryption method may employ, for example, a security chip, a physical security unit, or the like. It will be appreciated that the techniques employed in the soft and hard encryption modes should, for example, be in compliance with the specifications corresponding to the relevant cryptographic product certificates and achieve the corresponding standard security levels.
Based on the data synchronization method provided by the disclosure, the disclosure also provides a data synchronization device. The synchronization device of the data provided by the present disclosure will be described in detail below with reference to fig. 20 to 22.
Fig. 20 is a block diagram of a data synchronization apparatus according to an embodiment of the present disclosure.
As shown in fig. 20, the data synchronizing device 2000 of this embodiment may include an upload instruction transmitting module 2010 and a data receiving module 2020. The apparatus 2000 may be provided in a central control device as shown in fig. 7, for example. Accordingly, the present disclosure also provides a control center apparatus configured to perform the operations performed by the control center apparatus shown in fig. 7.
The upload instruction transmitting module 2010 is configured to transmit first upload instruction information to an on-board subsystem of a vehicle and second upload instruction information to a roadside unit for the vehicle in response to a first target operation. In an embodiment, the upload indication sending module 2010 may be configured to perform the operation S611 described above, which is not described herein.
The data receiving module 2020 is configured to receive vehicle-mounted sensing data sent by a vehicle-mounted subsystem of a vehicle and road side sensing data sent by a road side unit. In an embodiment, the data receiving module 2020 may be configured to perform the operation S612 described above, which is not described herein.
According to an embodiment of the present disclosure, the first upload indication information and the second upload indication information each include identification information for a multi-access edge computing platform of the vehicle. The multi-access edge computing platform aiming at the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged on the road side at intervals, and the communication range of the target platform comprises the position of the vehicle, wherein at least one platform in the plurality of multi-access edge computing platforms is in communication connection with the vehicle in the communication range of the at least one platform through a direct communication interface of the road side unit.
According to an embodiment of the present disclosure, the synchronization device 2000 of the above data may further include a status information receiving module, configured to receive communication status information sent by an on-board subsystem of the vehicle. Wherein the communication status information includes communication status information of a communication link between the on-board subsystem of the vehicle and the central control apparatus.
According to an embodiment of the present disclosure, the synchronization apparatus 2000 of data may further include a suspension indication transmitting module and a response information receiving module. The suspension indication sending module is used for responding to the second target operation and sending suspension indication information to the vehicle-mounted subsystem and the road side unit of the vehicle. The response information receiving module is used for receiving suspension response information sent by the vehicle-mounted subsystem and the road side unit of the vehicle respectively in response to the suspension indication information.
According to an embodiment of the present disclosure, the synchronization apparatus 2000 of data may further include a suspension indication transmitting module and a response information receiving module. The suspension instruction sending module is used for sending suspension instruction information to the road side unit in response to receiving suspension request information sent by the vehicle-mounted subsystem of the vehicle. The response information sending module is used for responding to the received suspension response information sent by the road side unit and sending the suspension response information to the vehicle-mounted subsystem of the vehicle.
Fig. 21 is a block diagram of a data synchronization apparatus according to another embodiment of the present disclosure.
As shown in fig. 21, the data synchronizing apparatus 2100 of this embodiment may include a sense data determining module 2110 and an in-vehicle data transmitting module 2120. The apparatus 2100 may be disposed in an in-vehicle subsystem as shown in fig. 7, for example. Accordingly, the present disclosure also provides a vehicle including an in-vehicle subsystem configured to perform the operations performed by the in-vehicle subsystem shown in fig. 7.
The sensing data determining module 2110 is configured to determine detected vehicle-mounted sensing data in response to receiving the first upload indication information sent by the central control device. In an embodiment, the sensing data determining module 2110 may be used to perform the operation S621 described above, which is not described herein.
The vehicle-mounted data transmitting module 2120 is configured to transmit vehicle-mounted sensing data to the central control device according to the first uploading indication information. In an embodiment, the vehicle data transmission module 2120 may be configured to perform the operation S622 described above, which is not described herein.
According to an embodiment of the present disclosure, the first upload indication information includes identification information of a multi-access edge computing platform for a vehicle; the vehicle-mounted data sending module is further used for sending vehicle-mounted perception data to the multi-access edge computing platform according to the identification information and the first uploading indication information. The multi-access edge computing platform aiming at the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged on the road side at intervals, and the communication range of the target platform comprises the position of the vehicle, wherein at least one platform in the plurality of multi-access edge computing platforms is in communication connection with the vehicle in the communication range of the at least one platform through a direct communication interface of the road side unit.
According to an embodiment of the present disclosure, the synchronization apparatus 2100 for data described above may further include a status information determination module and a status information transmission module. The status information determination module is used for determining communication status information of a communication link between the on-board subsystem of the vehicle and the central control device in response to receiving the first uploading instruction information. The state information sending module is used for sending communication state information to the central control equipment.
According to an embodiment of the present disclosure, the synchronization apparatus 2100 for data described above may further include a first suspension module and a first transmission module. The first suspension module is used for suspending the transmission of the vehicle-mounted sensing data in response to receiving suspension indication information sent by the central control equipment. The first response sending module is used for sending the suspension response information to the central control equipment.
According to an embodiment of the present disclosure, the synchronization apparatus 2100 for data described above may further include a suspension request transmitting module and a first suspension module. The suspension request sending module is used for sending suspension request information to the central control equipment in response to the fact that the vehicle is in the target abnormal state according to the vehicle-mounted sensing data. The first suspension module is used for suspending the transmission of the vehicle-mounted sensing data in response to the receiving of suspension response information sent by the central control equipment.
Fig. 22 is a block diagram of a data synchronization apparatus according to another embodiment of the present disclosure.
As shown in fig. 22, the data synchronizing apparatus 2200 of this embodiment may include a perceived data acquisition module 2210 and a roadside data transmission module 2220. The apparatus 2200 may be provided in a roadside unit as shown in fig. 7, for example. Accordingly, the present disclosure also provides a roadside unit configured to perform the operations performed by the roadside unit shown in fig. 7.
The perceived data acquisition module 2210 is configured to acquire the perceived data of the road side detected by the perceived device of the road side in response to receiving the second uploading indication information sent by the central control device. In an embodiment, the sensing data acquisition module 2210 may be used for performing the operation S631 described above, which is not described herein.
The roadside data transmission module 2220 is configured to transmit roadside perception data to the central control device according to the second uploading indication information. In an embodiment, the roadside data transmission module 2220 may be configured to perform the operation S632 described above, which is not described herein.
According to an embodiment of the present disclosure, the second upload indication information includes identification information of the multi-access edge computing platform for the vehicle, and the above-mentioned roadside data transmission module 2220 may be further configured to transmit roadside awareness data to the multi-access edge computing platform according to the identification information and the second upload indication information. The multi-access edge computing platform aiming at the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged on the road side at intervals, and the communication range of the target platform comprises the position of the vehicle, wherein at least one platform in the plurality of multi-access edge computing platforms is in communication connection with the vehicle in the communication range of the at least one platform through a direct communication interface of the road side unit.
The synchronization apparatus 2200 of the above data may further include a second suspension module and a second response module according to an embodiment of the present disclosure. The first suspension module is used for suspending the transmission of the road side perception data in response to receiving suspension indication information transmitted by the central control equipment. The second response module is used for sending the suspension response information to the central control equipment.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and applying personal information of the user all conform to the regulations of related laws and regulations, necessary security measures are adopted, and the public welcome is not violated. In the technical scheme of the disclosure, the authorization or consent of the user is obtained before the personal information of the user is obtained or acquired.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 23 shows a schematic block diagram of an example electronic device 2300 that can be used to implement the methods of embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate 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. 23, the device 2300 includes a computing unit 2301 that can perform various appropriate actions and processes according to computer programs stored in a Read Only Memory (ROM) 2302 or computer programs loaded from a storage unit 2308 into a Random Access Memory (RAM) 2303. In the RAM 2303, various programs and data required for operation of the device 2300 can also be stored. The computing unit 2301, the ROM 2302, and the RAM 2303 are connected to each other by a bus 2304. An input/output (I/O) interface 2305 is also connected to the bus 2304.
Various components in device 2300 are connected to I/O interface 2305, including: an input unit 2306 such as a keyboard, a mouse, or the like; an output unit 2307 such as various types of displays, speakers, and the like; a storage unit 2308 such as a magnetic disk, an optical disk, or the like; and a communication unit 2309 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 2309 allows the device 2300 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.
The computing unit 2301 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 2301 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 2301 performs the various methods and processes described above. For example, in some embodiments, any of the methods described above may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 2308. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 2300 via ROM 2302 and/or communication unit 2309. When a computer program is loaded into RAM 2303 and executed by computing unit 2301, one or more steps of any of the methods described above may be performed. Alternatively, in other embodiments, computing unit 2301 may be configured to perform any of the methods described above 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), complex 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), and the internet.
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 can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual Private Server" or simply "VPS"). The server may also be a server of a distributed system or a server that incorporates 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 or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (22)
1. A method of synchronizing data, comprising:
responding to a first target operation, sending first uploading indication information to an on-board subsystem of a vehicle, and sending second uploading indication information to a road side unit aiming at the vehicle; and
and receiving vehicle-mounted sensing data sent by a vehicle-mounted subsystem of the vehicle and road side sensing data sent by the road side unit.
2. The method of claim 1, wherein the first upload indication information and the second upload indication information each comprise identification information for a multi-access edge computing platform of the vehicle,
Wherein the multi-access edge computing platform for the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged at intervals on the road side, the communication range of the target platform comprises the position of the vehicle,
wherein at least one platform of the plurality of multi-access edge computing platforms is communicatively connected to vehicles located within a communication range of the at least one platform via a direct communication interface of the roadside unit.
3. The method of claim 1, further comprising:
receiving communication state information sent by an on-board subsystem of the vehicle,
wherein the communication status information includes communication status information of a communication link between an on-board subsystem of the vehicle and a central control device.
4. A method according to any one of claims 1 to 3, further comprising:
transmitting suspension indication information to an on-board subsystem of the vehicle and the road side unit in response to a second target operation; and
and receiving suspension response information sent by the vehicle-mounted subsystem of the vehicle and the road side unit respectively in response to the suspension indication information.
5. A method according to any one of claims 1 to 3, further comprising:
Transmitting suspension indication information to the road side unit in response to receiving suspension request information transmitted by an on-board subsystem of the vehicle; and
and sending the suspension response information to the vehicle-mounted subsystem of the vehicle in response to receiving the suspension response information sent by the road side unit.
6. A method of synchronizing data, comprising:
in response to receiving first uploading indication information sent by the central control equipment, determining detected vehicle-mounted sensing data; and
and sending the vehicle-mounted sensing data to the central control equipment according to the first uploading indication information.
7. The method of claim 6, wherein the first upload indication information comprises identification information for a multi-access edge computing platform of a vehicle; the method further comprises the steps of:
according to the identification information and the first uploading indication information, sending the vehicle-mounted perception data to a multi-access-edge computing platform aiming at the vehicle,
wherein the multi-access edge computing platform for the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged on the road side at intervals, the communication range of the target platform comprises the position of the vehicle,
Wherein at least one platform of the plurality of multi-access edge computing platforms is communicatively connected to vehicles located within a communication range of the at least one platform via a direct communication interface of the roadside unit.
8. The method of claim 6, further comprising:
determining communication state information of a communication link between an on-board subsystem of a vehicle and the central control device in response to receiving the first upload indication information; and
and sending the communication state information to the central control equipment.
9. The method of any of claims 6-8, further comprising:
in response to receiving the suspension instruction information sent by the central control equipment, suspending the sending of the vehicle-mounted perception data; and
and sending the suspension response information to the central control equipment.
10. The method of any of claims 6-8, further comprising:
transmitting a suspension request message to the central control device in response to determining that the vehicle is in a target abnormal state according to the vehicle-mounted sensing data; and
and stopping the transmission of the vehicle-mounted sensing data in response to receiving the suspension response information transmitted by the central control equipment.
11. A method of synchronizing data, comprising:
in response to receiving second uploading indication information sent by the central control equipment, obtaining road side perception data detected by the road side perception equipment; and
and sending the road side perception data to the central control equipment according to the second uploading indication information.
12. The method of claim 11, wherein the second upload indication information comprises identification information for a multi-access edge computing platform of a vehicle; the method further comprises the steps of:
sending the road side perception data to a multi-access-edge computing platform aiming at the vehicle according to the identification information and the second uploading indication information,
the multi-access edge computing platform aiming at the vehicle is a target platform in a plurality of multi-access edge computing platforms arranged on the road side at intervals, and the communication range of the target platform comprises the position of the vehicle;
wherein at least one platform of the plurality of multi-access edge computing platforms is communicatively connected to vehicles located within a communication range of the at least one platform via a direct communication interface of the roadside unit.
13. The method of claim 11 or 12, further comprising:
In response to receiving the suspension instruction information sent by the central control equipment, suspending the sending of the road side perception data; and
and sending the suspension response information to the central control equipment.
14. A data synchronization apparatus, comprising:
the uploading indication sending module is used for responding to a first target operation, sending first uploading indication information to an on-board subsystem of a vehicle and sending second uploading indication information to a road side unit aiming at the vehicle; and
the data receiving module is used for receiving vehicle-mounted sensing data sent by the vehicle-mounted subsystem of the vehicle and road side sensing data sent by the road side unit.
15. A data synchronization apparatus, comprising:
the sensing data determining module is used for determining the detected vehicle-mounted sensing data in response to receiving the first uploading indication information sent by the central control equipment; and
and the vehicle-mounted data transmitting module is used for transmitting the vehicle-mounted perception data to the central control equipment according to the first uploading indication information.
16. A data synchronization apparatus, comprising:
the sensing data acquisition module is used for responding to the received second uploading indication information sent by the central control equipment and acquiring the road side sensing data detected by the road side sensing equipment; and
And the road side data transmitting module is used for transmitting the road side perception data to the central control equipment according to the second uploading indication information.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 to 13.
18. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method according to any one of claims 1 to 13.
19. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 13.
20. A central control apparatus configured to perform the data synchronization method according to any one of claims 1 to 5.
21. A vehicle comprising an in-vehicle subsystem configured to perform the method of synchronizing data according to any one of claims 6-10.
22. A roadside unit comprising a method of synchronizing data according to any one of claims 11 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210436403.5A CN116954200A (en) | 2022-04-20 | 2022-04-20 | Data synchronization method, device, equipment, medium, vehicle and road side unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210436403.5A CN116954200A (en) | 2022-04-20 | 2022-04-20 | Data synchronization method, device, equipment, medium, vehicle and road side unit |
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| CN116954200A true CN116954200A (en) | 2023-10-27 |
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| CN202210436403.5A Pending CN116954200A (en) | 2022-04-20 | 2022-04-20 | Data synchronization method, device, equipment, medium, vehicle and road side unit |
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| Country | Link |
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| CN (1) | CN116954200A (en) |
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- 2022-04-20 CN CN202210436403.5A patent/CN116954200A/en active Pending
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