CN117075513A - Vehicle running control method, device, equipment, automobile and storage medium - Google Patents
Vehicle running control method, device, equipment, automobile and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The application provides a vehicle running control method, device, equipment, an automobile and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: the driving related data acquired by the vehicle sensing system are respectively sent to a remote control driving system and an automatic driving system for processing, and remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle; a preset threshold corresponding to the driving scene is called, and a target control parameter is determined according to the preset threshold, the remote control determination parameter and the driving control parameter; and controlling the vehicle to run based on the target control parameter. The method of the application enhances the safety redundancy of remote control driving and is used for processing abnormal running states of the vehicle caused by network fluctuation, bad weather, emergency and the like.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a vehicle running control method, device, equipment, an automobile and a storage medium.
Background
Along with the continuous maturity of 5G technology, the remote control technology is applied in the automobile field increasingly, and great convenience is brought to the daily life of people.
However, although the ultra-high requirements on accuracy and timeliness of data transmission in vehicle driving control can be basically met under the support of the 5G technology, the situation that the data transmission is abnormal due to network fluctuation can occur in the data transmission based on the 5G technology inevitably. When network fluctuation occurs, the accuracy and timeliness of the data cannot be guaranteed, if the data are wrong, the operation decision of a remote control driver is wrong, and then the vehicle deviates from a set route, so that safety accidents occur.
Accordingly, there is a need for a vehicle travel control method applied to a remotely controlled driving vehicle to solve the above-described problems.
Disclosure of Invention
The application provides a vehicle running control method, a device, equipment, an automobile and a storage medium, which are used for solving the problems of insufficient safety degree of remote control driving and the like.
In a first aspect, the present application provides a vehicle running control method, the method comprising:
the driving related data acquired by the vehicle sensing system are respectively sent to a remote control driving system and an automatic driving system for processing, and remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle;
a preset threshold corresponding to the driving scene is called, and a target control parameter is determined according to the preset threshold, the remote control determination parameter and the driving control parameter;
and controlling the vehicle to run based on the target control parameter.
Optionally, the preset threshold includes a preset parameter threshold, and determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter includes:
determining a data difference between the remote control determination parameter and the driving control parameter;
comparing the data difference value with a preset parameter threshold value in the preset threshold values, and if the data difference value is determined to be larger than the preset parameter threshold value, determining the driving control parameter as a target control parameter;
and if the data difference value is smaller than or equal to the preset parameter threshold value, determining the remote control determination parameter as a target control parameter.
Optionally, the preset threshold includes a preset track threshold, and determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter includes:
determining a first driving track according to the remote control determination parameters, determining a second driving track according to the driving control parameters, and determining a mean square value between a point row of the first driving track and a point row of the second driving track;
comparing the mean square value with a preset track threshold value in the preset thresholds, and if the mean square value is determined to be larger than the preset track threshold value, determining the driving control parameter as a target control parameter;
and if the mean square value is smaller than or equal to the preset track threshold value, determining the remote control determination parameter as a target control parameter.
Optionally, before acquiring the remote control determination parameter determined based on the remote control driving system and the driving scene and the driving control parameter determined based on the automatic driving system, the method further includes:
sending a first control instruction to the remote control driving system and a second control instruction to the automatic driving system;
the first control instruction is used for indicating the remote control driving system to determine and return remote control determination parameters in response to remote control operation of a remote control driver, wherein the remote control operation is operation of driving related data input displayed by a remote control interface of the remote control driving system by the remote control driver; the second control instruction is used for instructing the automatic driving system to process the driving related data to obtain a state space array, and outputting and returning driving scenes and driving control parameters based on the state space array.
Optionally, before the driving related data collected by the vehicle sensing system is sent to the remote control driving system and the automatic driving system for processing, the method further comprises:
and carrying out default processing and outlier screening processing on the driving related data collected by the vehicle sensing system based on the preset time stamp.
Optionally, the target control parameters include one or more of: vehicle acceleration, steering angle of steering wheel, brake value.
In a second aspect, the present application provides a vehicle running control apparatus comprising:
the data processing unit is used for respectively transmitting the driving related data acquired by the vehicle sensing system to the remote control driving system and the automatic driving system for processing, and acquiring remote control determination parameters determined based on the remote control driving system and driving scene and driving control parameters determined based on the automatic driving system; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle;
the parameter determining unit is used for calling a preset threshold corresponding to the driving scene and determining a target control parameter according to the preset threshold, the remote control determining parameter and the driving control parameter;
and the control unit is used for controlling the vehicle to run based on the target control parameter.
In a third aspect, the present application provides an electronic device comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method as described above.
In a fourth aspect, the application provides an automobile comprising an electronic device as described above.
In a fifth aspect, the application provides a computer readable storage medium having stored therein computer executable instructions which when executed by a processor are for carrying out the method as described above.
In a sixth aspect, the application provides a computer program product comprising a computer program for implementing the method as described above when being executed by a processor.
The application provides a vehicle running control method, a device, equipment, an automobile and a storage medium, comprising the following steps: the driving related data acquired by the vehicle sensing system are respectively sent to a remote control driving system and an automatic driving system for processing, and remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle; a preset threshold corresponding to the driving scene is called, and a target control parameter is determined according to the preset threshold, the remote control determination parameter and the driving control parameter; and controlling the vehicle to run based on the target control parameter. According to the scheme, the remote control driving system and the automatic driving system are arranged to run simultaneously, so that when the remote control determination parameters output by the remote control driving system are abnormal, the driving control parameters determined by the automatic driving system are started, the redundancy of vehicle driving control is realized, the safety redundancy of remote control driving is enhanced, the method can be used for processing abnormal vehicle driving states caused by network fluctuation, bad weather, emergency, misoperation of a driver and the like, and the driving safety is also improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic flow chart of a vehicle driving control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a vehicle driving control according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle running control apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural view of a further vehicle running control apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With the rapid development of communication means and the rapid progress of electronic technology, the realization of unmanned vehicles becomes possible, not only the safety of traffic participants is improved, but also the current congested traffic environment is greatly relieved.
The fifth generation communication technology (5G technology) has two characteristics of high bandwidth and low time delay, wherein the high bandwidth can ensure high-speed throughput of a large amount of data, and the low time delay can ensure real-time of remote control. Compared with the 4G technology, the 5G technology is more effectively refined, and the requirements of people on convenient life can be met. With the continuous maturity of 5G technology, the application field of remote control technology is increasing, and of course, the technology is also applied to remote control driving vehicles. Particularly, in the use scenes such as gold mine, coal mine and the like where the environment is severe, the working danger is high and the staff cannot reach, the vehicle is controlled to run through the remote control technology, so that the working efficiency can be improved, and the safety of the staff can be ensured. In addition, the comfort level of the automobile is limited, in a trans-regional long-distance transportation scene, a driver is extremely easy to fatigue, an operation decision is easy to miss, traffic accidents can be caused, and the remote control driving technology can provide a safer and more comfortable driving environment for the remote control driver, so that the occurrence probability of traffic accidents is reduced.
At present, the remote vehicle is controlled by a 5G wireless communication technology, the expected targets of data transmission accuracy and timeliness can be basically achieved, and the difference between the picture seen by a driver in a cabin video and the picture seen by a real vehicle can be kept, so that the safety of remote control driving and the flexibility of driving operators are ensured.
However, the data transmission based on the 5G technology inevitably occurs in a case where the data transmission is abnormal due to network fluctuation. When network fluctuation occurs, the accuracy and timeliness of the data cannot be guaranteed, if the data are wrong, the operation decision of a remote control driver is wrong, and then the vehicle deviates from a set route, so that safety accidents occur.
In order to solve the problems, the application provides a vehicle running control method, wherein a remote control driving system and an automatic driving system are arranged on a remote control driving vehicle, when the vehicle running is controlled, a set of vehicle control parameters are generated based on the control of a remote control driver, meanwhile, the automatic driving system also outputs a set of vehicle control parameters, and the difference value between the control parameters determined based on the remote control driving system and the control parameters output by the automatic driving system is compared to determine whether to adopt the control parameters output by the automatic driving system or the control parameters determined by the remote control driving system to control the vehicle running, so that the safety accident caused by the wrong decision made by the remote control driver due to the data error caused by the fluctuation of a network is avoided, and the running safety of the remote control driving vehicle is improved.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a vehicle driving control method according to an embodiment of the present application. The execution body of the embodiment of the application may be a vehicle running control device/system, which may be located on an electronic device, which is located on an automobile, and the application is not limited thereto. The embodiment of the present application will be described in detail with an example in which the execution subject is a vehicle travel control device.
As shown in fig. 1, the vehicle running control method provided in the present embodiment includes:
s101, driving related data acquired by a vehicle sensing system are respectively sent to a remote control driving system and an automatic driving system for processing, and remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle.
Illustratively, the solution of the present application is applicable to a vehicle including a remote control driving function and an automatic driving function, which are activated when model parameters of the remote control driving function and the automatic driving function are set, to implement the solution of the present application.
Illustratively, a vehicle sensing system is deployed on the vehicle, and the vehicle sensing system may include information acquisition devices such as cameras, lidars, millimeter wave radars, etc., for acquiring driving related data. The driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle. The driving data of the self-vehicle can comprise the driving speed, acceleration, steering information, braking information, accelerator information and the like of the self-vehicle; the environmental data within the preset range of the location of the own vehicle may include information that can be collected by the sensing system in addition to the driving data of the own vehicle, for example: obstacle information, lane information, distance information of an obstacle to a host vehicle, distance information of an obstacle to a lane, angle information of an obstacle to a lane, distance information of a host vehicle to a surrounding vehicle, status information of surrounding neighboring vehicles, and the like; the application is not limited.
In an exemplary embodiment, when the vehicle driving control device of the present application performs vehicle control, driving related data collected by the vehicle sensing system is respectively sent to the remote control driving system and the automatic driving system for processing, so as to obtain remote control determination parameters determined based on the remote control driving system and driving scene and driving control parameters determined based on the automatic driving system.
The application is not limited to how to acquire the remote control determination parameters determined based on the remote control driving system and the driving scene and driving control parameters determined based on the automatic driving system. In one example, before acquiring the remote control determination parameter determined based on the remote control driving system and the driving scene and the driving control parameter determined based on the automatic driving system, the method may further include:
sending a first control instruction to a remote control driving system and sending a second control instruction to an automatic driving system; the first control instruction is used for indicating the remote control driving system to respond to the remote control operation of the remote control driving system to determine and return the remote control determination parameter, and the remote control operation is the operation of driving related data input displayed by the remote control driving system based on the remote control interface of the remote control driving system; the second control instruction is used for instructing the automatic driving system to process the driving related data to obtain a state space array, and outputting and returning driving scenes and driving control parameters based on the state space array.
For example, in order to obtain the remote control determination parameters, the driving scene and the driving control parameters as soon as possible, the data processing amount of the vehicle-mounted terminal is reduced, and a first control instruction may be sent to the remote control driving system to instruct the remote end of the remote control driving system to process the remote control operation input by the remote control driver, and the remote control determination parameters are obtained and then returned to the vehicle-mounted vehicle driving control device. Specifically, driving related data is displayed in a remote control interface of the remote control driving system, a remote control driver can input an operation instruction based on the driving related data in a remote cabin, a remote end of the remote control driving system responds to the control operation of the remote control driver, remote control determination parameters can be obtained, and the remote control driving system returns the obtained remote control determination parameters to the vehicle-mounted end.
And simultaneously, a second control instruction is sent to the automatic driving system so as to instruct the automatic driving system to process the driving related data to obtain a state space array, and the driving scene and the driving control parameters are output and returned based on the state space array. The automatic driving system can process driving related data through a perception model, and the perception model outputs information such as a bird's eye view, lane line vectors, obstacle states, information of distance between a vehicle and an obstacle, an included angle between the obstacle and a lane, lane vectors, lane topology and the like, and integrates the information into a state space array; and inputting the state space array into an automatic driving model, and performing a series of calculations such as scene recognition, FSM state machine judgment and the like on the automatic driving model, so as to output driving scenes and driving control parameters, wherein the driving control parameters accord with a certain safety rule. And the automatic driving system sends the driving scene and the driving control parameters to the vehicle-mounted terminal.
Then, the remote control determination parameters, the driving scenes and the driving control parameters are obtained by the vehicle driving control device by receiving the remote control determination parameters returned by the remote control driving system and receiving the driving scenes and the driving control parameters returned by the automatic driving system.
The remote control determining parameters and the driving control parameters are parameters for controlling the driving state of the vehicle and can comprise vehicle acceleration, steering wheel steering angle, brake value, accelerator value and the like; the driving scene refers to a driving state scene performed by the vehicle, and may include a driving function scene and a parking function scene, for example, may be a obstacle avoidance scene, a straight driving scene, a turning-around scene, a parking scene, and the like, which are not limited in the present application.
The remote control determination parameters are directly determined by the remote control driving system, the driving scene and the driving control parameters are determined by the automatic driving system and then returned to the vehicle-mounted end, so that the vehicle-mounted end can obtain the remote control determination parameters, the driving scene and the driving control parameters as soon as possible, the data processing capacity of the vehicle-mounted end is reduced, and the data processing efficiency is improved.
In some examples, there may be some abnormal data in the driving related data collected by the vehicle sensing system, in order to improve accuracy of data processing, thereby improving driving safety, before the driving related data collected by the vehicle sensing system is sent to the remote control driving system and the automatic driving system for processing, the scheme of the present application may further include:
and carrying out default processing and outlier screening processing on the driving related data collected by the vehicle sensing system based on the preset time stamp.
For example, in order to ensure that the remote control driving system and the automatic driving system process the driving related data in the same time interval, slicing processing can be performed on the data based on a preset time stamp, the data range of the driving related data collected by the vehicle sensing system is determined, the driving related data in the data range is further identified, missing checking and missing repairing are performed, obvious unreasonable error data is eliminated, and the processed data are transmitted to the remote control driving system and the automatic driving system, so that the data accuracy is improved, more accurate data processing results are obtained later, and the driving safety is improved.
S102, a preset threshold corresponding to the driving scene is fetched, and a target control parameter is determined according to the preset threshold, the remote control determination parameter and the driving control parameter.
For example, after determining the remote control determination parameter, the driving scene, and the driving control parameter, the vehicle driving control device of the present application retrieves the preset threshold corresponding to the driving scene, and determines the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter.
Wherein the target control parameter is a parameter that is to be used to control the running of the vehicle, to which the present application is not limited. In one example, the target control parameters include one or more of the following: vehicle acceleration, steering angle of steering wheel, brake value.
The application does not limit how to determine the target control parameters according to the preset threshold, the remote control determination parameters and the driving control parameters. In one example, if the preset threshold includes a preset parameter threshold, determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter may include:
s10, determining a data difference value between the remote control determination parameter and the driving control parameter.
S20, comparing the data difference value with a preset parameter threshold value in the preset threshold values, and if the data difference value is larger than the preset parameter threshold value, determining the driving control parameter as the target control parameter.
S30, if the data difference value is smaller than or equal to the preset parameter threshold value, determining the remote control determination parameter as the target control parameter.
The preset parameter threshold is a threshold set for the vehicle control parameter, and when the target control parameter involves a plurality of values, the preset parameter threshold may be plural, and the preset parameter thresholds set in different driving scenarios may be different. For example, in an obstacle avoidance scenario, the preset parameter thresholds of the steering angle and the acceleration may be both 0-0.2; under a straight-line scene, the preset parameter threshold value of the steering angle can be 0-0.5, and the preset parameter threshold value of the acceleration can be 0-0.8; in the u-turn scene, the preset parameter thresholds of the steering angle and the acceleration may be 0 to 0.1, and the like, which is not limited by the present application.
If the preset threshold includes a preset parameter threshold, when determining the target control parameter, the preset parameter threshold corresponding to the driving scene determined by the automatic driving system is called, meanwhile, a data difference between the remote control determination parameter and the driving control parameter is calculated, and then the data difference between the remote control determination parameter and the driving control parameter is compared with the called preset parameter threshold. If the data difference value is larger than the preset parameter threshold value, the error of the remote control determination parameter is larger, and then the driving control parameter is selected as the target control parameter; and if the determined data difference value is smaller than or equal to the preset parameter threshold value, the remote control determined parameter is relatively accurate, so that the remote control determined parameter is determined to be the target control parameter. In this way, whether the network fluctuates or not, a target control parameter can be determined, redundant control is realized, and safety mechanism compensation is performed, so that the driving safety of the remotely controlled driving vehicle is improved.
In still another example, the preset threshold includes a preset track threshold, and determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter may include:
s100, determining a first driving track according to remote control determination parameters, determining a second driving track according to driving control parameters, and determining a mean square value between a point row of the first driving track and a point row of the second driving track.
And S200, comparing the mean square difference value with a preset track threshold value in the preset threshold values, and if the mean square difference value is larger than the preset track threshold value, determining the driving control parameter as the target control parameter.
And S300, if the mean square value is smaller than or equal to the preset track threshold value, determining the remote control determination parameter as the target control parameter.
The preset track threshold is a threshold set for a vehicle track, if the preset track threshold is included in the preset track threshold, when a target control parameter is determined, the preset track threshold corresponding to a driving scene determined by an automatic driving system is called, meanwhile, one track is determined according to a remote control determination parameter, one track is also determined according to the driving control parameter, then, the mean square value between the point rows of the two tracks is determined, and then, the mean square value and the preset track threshold are compared. If the mean square value is determined to be larger than the preset track threshold value, the fact that the track determined based on the remote control determination parameters deviates more from the set route is indicated, traffic accidents are easy to occur, and then the track control parameters are determined to be target control parameters; and if the determined mean square value is smaller than or equal to the preset track threshold value, the determined track based on the remote control determined parameter is relatively accurate, and then the remote control determined parameter is determined to be the target control parameter. In this way, whether the network fluctuates or not, a target control parameter can be determined, redundant control is realized, and safety mechanism compensation is performed, so that the driving safety of the remotely controlled driving vehicle is improved.
In practical application, the remote control determining parameters determined by the remote control driving system are usually determined as target control parameters, and only when special conditions such as untimely data transmission or data transmission errors occur in the network, the driving control parameters determined by the automatic driving system are determined as target control parameters, and the vehicle is controlled by taking the remote control determining parameters determined by the remote control driving system as target control parameters after the data are normal, so that the redundancy of driving control of the vehicle is realized, and the driving safety is improved.
S103, controlling the vehicle to run based on the target control parameters.
Illustratively, after the target control parameter is determined, the control vehicle runs based on the target control parameter to ensure running safety.
The vehicle running control method provided by the embodiment of the application comprises the following steps: the driving related data acquired by the vehicle sensing system are respectively sent to the remote control driving system and the automatic driving system for processing, so that remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle; retrieving a preset threshold corresponding to the driving scene, and determining a target control parameter according to the preset threshold, the remote control determination parameter and the driving control parameter; the vehicle travel is controlled based on the target control parameter. According to the scheme, the remote control driving system and the automatic driving system are arranged to run simultaneously, so that when the remote control determination parameters output by the remote control driving system are abnormal, the driving control parameters determined by the automatic driving system are started, the redundancy of vehicle driving control is realized, the safety redundancy of remote control driving is enhanced, the method can be used for processing abnormal vehicle driving states caused by network fluctuation, bad weather, emergency, misoperation of a driver and the like, and the driving safety is also improved.
Fig. 2 is a schematic logic diagram of a vehicle driving control according to an embodiment of the present application. As shown in fig. 2, the sensing system of the sensor layer may collect driving related data such as road related information, vehicle state information (such as position, speed, acceleration, etc.), other vehicle state information (such as position, speed, etc.), and based on the synchronized time slice, the collected driving related data is respectively and simultaneously input into the automatic driving system and the remote control driving system, the automatic driving system performs scene understanding, decision planning, outputs driving control parameters and driving scenes, and the remote control driving system outputs remote control determination parameters based on environmental information and cabin control. After the driving control parameters, the driving scene and the remote control determination parameters are obtained, a preset threshold corresponding to the driving scene is called according to the specific type of the driving scene, the difference value is calculated, then judgment is carried out, one of the driving control parameters and the remote control determination parameters is determined to be the target control parameter, and finally the vehicle is controlled to run based on the target control parameter.
The difference calculation may be any of those described in the foregoing embodiments, and the parameter data difference is calculated, or the mean square difference of the track point sequence is calculated after determining the track. Judging that the basis corresponds to a difference calculation mode, if the basis is corresponding to the difference calculation mode, calling a preset parameter threshold value, comparing the data difference value with the preset parameter threshold value, and if the data difference value is larger than the preset parameter threshold value, determining that the driving control parameter is a target control parameter; if the data difference value is smaller than or equal to a preset parameter threshold value, determining the remote control determination parameter as a target control parameter; similarly, if the mean square value of the track point row is calculated, a preset track threshold value is called, if the calculated mean square value is larger than the preset track threshold value, the driving control parameter is determined to be the target control parameter, and if the mean square value is smaller than or equal to the preset track threshold value, the remote control determination parameter is determined to be the target control parameter.
The redundancy of vehicle control is realized through the automatic driving system and the remote control driving system, the safety redundancy of remote control driving is enhanced, the remote control driving system can be used for processing abnormal vehicle driving states caused by network fluctuation, bad weather, emergency, misoperation of a driver and the like, and the driving safety is also improved.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 3 is a schematic structural diagram of a vehicle running control apparatus according to an embodiment of the present application. As shown in fig. 3, the vehicle running control apparatus 30 provided by the embodiment of the present application includes a data processing unit 301, a parameter determining unit 302, and a control unit 303.
The data processing unit 301 is configured to send driving related data collected by the vehicle sensing system to the remote control driving system and the automatic driving system for processing, and acquire remote control determination parameters determined based on the remote control driving system and driving scene and driving control parameters determined based on the automatic driving system; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle.
The parameter determining unit 302 is configured to retrieve a preset threshold corresponding to the driving scenario, and determine the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter.
A control unit 303 for controlling the vehicle to travel based on the target control parameter.
The device provided in this embodiment may be used to perform the method of the foregoing embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
Fig. 4 is a schematic structural diagram of a vehicle running control apparatus according to another embodiment of the present application. As shown in fig. 4, the vehicle running control apparatus 40 provided by the embodiment of the present application includes a data processing unit 401, a parameter determining unit 402, and a control unit 403.
The data processing unit 401 is configured to send driving related data collected by the vehicle sensing system to the remote control driving system and the automatic driving system for processing, and acquire remote control determination parameters determined based on the remote control driving system and driving scene and driving control parameters determined based on the automatic driving system; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle.
The parameter determining unit 402 is configured to retrieve a preset threshold corresponding to the driving scenario, and determine a target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter.
A control unit 403 for controlling the vehicle running based on the target control parameter.
In one example, the preset threshold includes a preset parameter threshold, and the parameter determining unit 402 includes a first determining module 4021.
A first determining module 4021 configured to determine a data difference between the remote control determining parameter and the driving control parameter; comparing the data difference value with a preset parameter threshold value in the preset threshold values, and if the data difference value is larger than the preset parameter threshold value, determining the driving control parameter as a target control parameter; and if the data difference value is smaller than or equal to the preset parameter threshold value, determining the remote control determination parameter as the target control parameter.
In one example, the preset threshold includes a preset trajectory threshold, and the parameter determining unit 402 includes a second determining module 4022.
The second determining module 4022 is configured to determine a first track according to the remote control determining parameter, determine a second track according to the driving control parameter, and determine a mean square value between a point row of the first track and a point row of the second track; comparing the mean square value with a preset track threshold value in the preset threshold values, and if the mean square value is larger than the preset track threshold value, determining the driving control parameter as a target control parameter; and if the mean square value is smaller than or equal to the preset track threshold value, determining the remote control determination parameter as the target control parameter.
In one example, the apparatus 40 further comprises a transmitting unit 404.
A transmitting unit 404, configured to transmit a first control instruction to the remote control driving system and a second control instruction to the automatic driving system before acquiring the remote control determination parameter determined based on the remote control driving system and the driving scene and the driving control parameter determined based on the automatic driving system; the first control instruction is used for indicating the remote control driving system to respond to the remote control operation of the remote control driving system to determine and return the remote control determination parameter, and the remote control operation is the operation of driving related data input displayed by the remote control driving system based on the remote control interface of the remote control driving system; the second control instruction is used for instructing the automatic driving system to process the driving related data to obtain a state space array, and outputting and returning driving scenes and driving control parameters based on the state space array.
In one example, the apparatus 40 further comprises a preprocessing unit 405.
The preprocessing unit 405 is configured to perform default processing and outlier screening processing on the driving related data collected by the vehicle sensing system based on a preset timestamp before sending the driving related data collected by the vehicle sensing system to the remote control driving system and the automatic driving system for processing.
In one example, the target control parameters include one or more of the following: vehicle acceleration, steering angle of steering wheel, brake value.
The device provided in this embodiment may be used to perform the method of the foregoing embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. The functions of the above data processing module may be called and executed by a processing element of the above apparatus, and may be stored in a memory of the above apparatus in the form of program codes. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 50 includes: a processor 501, and a memory 502 communicatively coupled to the processor.
Wherein the memory 502 stores computer-executable instructions; processor 501 executes computer-executable instructions stored in memory 502 to implement a method as in any one of the preceding claims.
In the specific implementation of the electronic device described above, it should be understood that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The method disclosed in connection with the embodiments of the present application may be directly embodied as a hardware processor executing or may be executed by a combination of hardware and software modules in the processor.
The embodiment of the application also provides an automobile, which comprises the electronic equipment.
Embodiments of the present application also provide a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are adapted to carry out a method as any one of the preceding claims.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by computer instruction related hardware. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Embodiments of the present application also provide a computer program product comprising a computer program for implementing a method as in any of the preceding claims when executed by a processor.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A vehicle travel control method, characterized by comprising:
the driving related data acquired by the vehicle sensing system are respectively sent to a remote control driving system and an automatic driving system for processing, and remote control determination parameters determined based on the remote control driving system and driving scenes and driving control parameters determined based on the automatic driving system are obtained; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle;
a preset threshold corresponding to the driving scene is called, and a target control parameter is determined according to the preset threshold, the remote control determination parameter and the driving control parameter;
and controlling the vehicle to run based on the target control parameter.
2. The method according to claim 1, wherein the preset threshold includes a preset parameter threshold, and determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter includes:
determining a data difference between the remote control determination parameter and the driving control parameter;
comparing the data difference value with a preset parameter threshold value in the preset threshold values, and if the data difference value is determined to be larger than the preset parameter threshold value, determining the driving control parameter as a target control parameter;
and if the data difference value is smaller than or equal to the preset parameter threshold value, determining the remote control determination parameter as a target control parameter.
3. The method according to claim 1, wherein the preset threshold includes a preset track threshold, and determining the target control parameter according to the preset threshold, the remote control determination parameter, and the driving control parameter includes:
determining a first driving track according to the remote control determination parameters, determining a second driving track according to the driving control parameters, and determining a mean square value between a point row of the first driving track and a point row of the second driving track;
comparing the mean square value with a preset track threshold value in the preset thresholds, and if the mean square value is determined to be larger than the preset track threshold value, determining the driving control parameter as a target control parameter;
and if the mean square value is smaller than or equal to the preset track threshold value, determining the remote control determination parameter as a target control parameter.
4. The method of claim 1, wherein prior to obtaining the remote control determination parameters determined based on the remote control driving system and the driving scenario and driving control parameters determined based on the autonomous driving system, the method further comprises:
sending a first control instruction to the remote control driving system and a second control instruction to the automatic driving system;
the first control instruction is used for indicating the remote control driving system to determine and return remote control determination parameters in response to remote control operation of a remote control driver, wherein the remote control operation is operation of driving related data input displayed by a remote control interface of the remote control driving system by the remote control driver; the second control instruction is used for instructing the automatic driving system to process the driving related data to obtain a state space array, and outputting and returning driving scenes and driving control parameters based on the state space array.
5. The method according to any one of claims 1-4, wherein before sending the driving related data collected by the vehicle perception system to the remote control driving system and the automatic driving system for processing, respectively, the method further comprises:
and carrying out default processing and outlier screening processing on the driving related data collected by the vehicle sensing system based on the preset time stamp.
6. The method of any one of claims 1-4, wherein the target control parameters include one or more of: vehicle acceleration, steering angle of steering wheel, brake value.
7. A vehicle travel control apparatus, characterized by comprising:
the data processing unit is used for respectively transmitting the driving related data acquired by the vehicle sensing system to the remote control driving system and the automatic driving system for processing, and acquiring remote control determination parameters determined based on the remote control driving system and driving scene and driving control parameters determined based on the automatic driving system; the driving related data comprise driving data of the own vehicle and environment data within a preset range of the position of the own vehicle;
the parameter determining unit is used for calling a preset threshold corresponding to the driving scene and determining a target control parameter according to the preset threshold, the remote control determining parameter and the driving control parameter;
and the control unit is used for controlling the vehicle to run based on the target control parameter.
8. An electronic device, the electronic device comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-6.
9. An automobile comprising the electronic device of claim 8.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311123889.8A CN117075513A (en) | 2023-09-01 | 2023-09-01 | Vehicle running control method, device, equipment, automobile and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311123889.8A CN117075513A (en) | 2023-09-01 | 2023-09-01 | Vehicle running control method, device, equipment, automobile and storage medium |
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| CN117075513A true CN117075513A (en) | 2023-11-17 |
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| CN202311123889.8A Pending CN117075513A (en) | 2023-09-01 | 2023-09-01 | Vehicle running control method, device, equipment, automobile and storage medium |
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| CN (1) | CN117075513A (en) |
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