WO2021134187A1 - Procédé et appareil de commande de véhicule à base de surveillance de réseau, et dispositif informatique - Google Patents

Procédé et appareil de commande de véhicule à base de surveillance de réseau, et dispositif informatique Download PDF

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Publication number
WO2021134187A1
WO2021134187A1 PCT/CN2019/129870 CN2019129870W WO2021134187A1 WO 2021134187 A1 WO2021134187 A1 WO 2021134187A1 CN 2019129870 W CN2019129870 W CN 2019129870W WO 2021134187 A1 WO2021134187 A1 WO 2021134187A1
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Prior art keywords
vehicle
instruction
delay value
video
message
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PCT/CN2019/129870
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English (en)
Chinese (zh)
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庄尚芸
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深圳元戎启行科技有限公司
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Priority to CN201980037719.3A priority Critical patent/CN113424023A/zh
Priority to PCT/CN2019/129870 priority patent/WO2021134187A1/fr
Publication of WO2021134187A1 publication Critical patent/WO2021134187A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D1/00—Measuring arrangements giving results other than momentary value of variable, of general application
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D1/00—Measuring arrangements giving results other than momentary value of variable, of general application
    • G01D1/02—Measuring arrangements giving results other than momentary value of variable, of general application giving mean values, e.g. root means square values

Definitions

  • This application relates to a vehicle control method, device and computer equipment based on network monitoring.
  • Driverless cars perceive the road environment and the surrounding environment of the vehicle through the on-board sensor system, and obtain the road, vehicle location and obstacles based on the perception.
  • Object information a smart car that controls the steering and speed of the vehicle to reach a predetermined target, so that the vehicle can safely and reliably drive on the road.
  • an unmanned car has an abnormal situation during the automatic driving process, it needs to take over the vehicle remotely to ensure the safety of the vehicle.
  • the current unmanned vehicles in the process of remote takeover of transmission data are relatively large, and the network delay is relatively large, and the network may have problems such as the risk of interruption, which causes unmanned control of the vehicle to drive disorderly, and there are hidden safety hazards to the vehicle.
  • the security of remote takeover is low.
  • a vehicle control method, device, and computer equipment based on network monitoring are provided.
  • a vehicle control method based on network monitoring includes:
  • the current network quality is determined according to the interaction time difference and the message delay value, a vehicle speed control condition is generated according to the current network quality, and the vehicle is controlled according to the vehicle control condition and a remote control instruction.
  • a vehicle control method based on network monitoring includes:
  • the video delay value of the road image information is continuously detected, and if the current video delay value returns to the normal threshold range, the remote control instruction is continued to be sent to the vehicle.
  • a vehicle control device based on network monitoring includes:
  • the instruction acquisition module is used to acquire a remote takeover instruction, and send road image information and vehicle status information to the control server according to the remote takeover instruction;
  • An information interaction module configured to receive a remote control instruction sent by the control server according to the road image information and vehicle status information, and send the instruction execution result of the remote control instruction to the control server;
  • the network monitoring module is used to obtain the interaction time difference corresponding to the time parameter of the remote control instruction and the execution result of the instruction; to obtain the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, according to the heartbeat packet and the The heartbeat packet response message calculates the message delay value;
  • the vehicle control module is used to determine the current network quality according to the interaction time difference and the message delay value, generate vehicle speed control conditions according to the current network quality, and perform control on the vehicle according to the vehicle control conditions and remote control instructions. control.
  • a vehicle control device based on network monitoring includes:
  • An information acquisition module for receiving road image information and vehicle status information sent by a vehicle, and sending remote control instructions to the vehicle according to the road image information and vehicle status information;
  • the network detection module is configured to obtain the transmission frame rate and transmission time parameter of the road image information, and calculate the current video delay value according to the transmission frame rate and the transmission time parameter;
  • the instruction issuing module is used to send a parking instruction to the vehicle if the current video delay value exceeds the delay threshold; and the network detection module is also used to continuously detect the video delay value of the road image information If the current video delay value returns to the normal threshold range, continue to send a remote control instruction to the vehicle.
  • a computer device includes a memory and one or more processors.
  • the memory stores computer-readable instructions.
  • the computer-readable instructions are executed by the processor, the The steps of a vehicle control method based on network monitoring.
  • a computer device including a memory and one or more processors.
  • the memory stores computer readable instructions.
  • the computer readable instructions are executed by the one or more processors, any implementation of the present application is implemented.
  • the steps of the vehicle control method based on network monitoring provided in the example.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions.
  • the one or more processors implement any one of the embodiments of the present application. Provides the steps of a vehicle control method based on network monitoring.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions.
  • the computer-readable instructions are executed by one or more processors, the one or more processors realize any of the present application.
  • the steps of a vehicle control method based on network monitoring provided in an embodiment.
  • Fig. 1 is an application scenario diagram of a vehicle control method based on network monitoring according to one or more embodiments.
  • Fig. 2 is a schematic flowchart of a vehicle control method based on network monitoring according to one or more embodiments.
  • Fig. 3 is a schematic flowchart of a step of calculating a message delay value according to one or more embodiments.
  • Fig. 4 is a schematic flow chart of the steps of controlling the speed of the vehicle according to one or more embodiments.
  • Fig. 5 is a schematic flowchart of a vehicle control method based on network monitoring in another embodiment.
  • Fig. 6 is a schematic flowchart of the step of calculating the current video delay value according to one or more embodiments.
  • Fig. 7 is a block diagram of a vehicle control device based on network monitoring according to one or more embodiments.
  • Fig. 8 is a block diagram of a vehicle control device based on network monitoring in another embodiment.
  • Figure 9 is a block diagram of a computer device according to one or more embodiments.
  • Fig. 10 is a block diagram of a computer device in another embodiment.
  • the vehicle control method based on network monitoring provided by the present application can be specifically applied to the field of automatic driving, for example, can be applied to the application environment as shown in FIG. 1.
  • the vehicle 102 and the control server 104 communicate through a network.
  • the vehicle 102 obtains the remote takeover command, and sends road image information and vehicle status information to the control server 104 according to the remote takeover command; the vehicle 102 receives the remote control command sent by the control server 104 according to the road image information and vehicle status information, and sends the remote control command to the control server 104
  • the instruction execution result of the control instruction the vehicle 102 calculates the interaction time difference according to the time parameters of the remote control instruction and the instruction execution result; obtains the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, and calculates the message delay according to the heartbeat packet and the heartbeat packet response message Value; and according to the interaction time difference and message delay value to determine the current network quality, the vehicle 102 generates a vehicle control instruction according to the current network quality, and controls the vehicle 102 according to the vehicle control instruction.
  • the control server 104 may be implemented as an independent server or a server cluster composed of multiple servers.
  • a vehicle control method based on network monitoring is provided. Taking the method applied to the vehicle in FIG. 1 as an example, the method includes the following steps:
  • Step 202 Obtain a remote takeover instruction, and send road image information and vehicle status information to the control server according to the remote takeover instruction.
  • the vehicle can be an unmanned car, which is a smart car that senses the road environment through the on-board sensor system, automatically plans the driving route, and controls the vehicle to reach the predetermined target.
  • the vehicle is equipped with systems such as on-board sensor systems, automatic driving systems, remote takeover systems, and security systems.
  • the vehicle can communicate with the control server through the remote takeover system, so that the remote controller can remotely take over the vehicle through the control server.
  • the vehicle needs to be remotely taken over to ensure the safety of the vehicle during driving.
  • the vehicle can perform anomaly detection on its own during the automatic driving process.
  • an abnormal situation such as a vehicle failure, a road failure, or an obstacle blocking and other abnormal conditions.
  • the vehicle can send a remote takeover request to the control server of the remote control platform, and the control server issues a remote takeover instruction to the vehicle based on the remote takeover request sent by the vehicle to take over the vehicle remotely.
  • the control server of the remote control platform can also directly issue a remote takeover instruction to the vehicle according to the remote takeover demand or when the automatic driving system fails, so as to remotely take over the vehicle.
  • the vehicle After the vehicle obtains the remote takeover instruction, it uploads road image information and vehicle status information to the control server.
  • the road image information may include video data around the vehicle and road image video data, and the road image information may be continuous video frames.
  • the vehicle status information may include vehicle status information such as vehicle positioning information, vehicle navigation information, in-vehicle temperature information, and vehicle instrument information. Transmission of road image information and vehicle status information is used for remote takeover personnel to remotely take over the vehicle according to road conditions and vehicle status.
  • Step 204 Receive the remote control instruction sent by the control server according to the road image information and the vehicle status information, and send the instruction execution result information of the remote control instruction to the control server.
  • the remote takeover platform issues remote control instructions to the vehicle through the control server based on the road image information and vehicle status information.
  • the remote control instructions are used to control the vehicle's driving. After the vehicle obtains the remote control instruction, it executes the remote control instruction, and controls the vehicle to perform corresponding operations according to the remote control instruction.
  • the remote control instructions may include instructions to control the driving of the vehicle, such as accelerating, decelerating, turning on lights, and stopping. After the vehicle executes the remote control instruction, it will feed back the instruction execution result information corresponding to the remote control instruction to the server in real time.
  • Step 206 Obtain the interaction time difference corresponding to the time parameter of the remote control instruction and the instruction execution result.
  • the remote control instruction and the instruction execution result both include time parameters
  • the time parameter of the remote control instruction may include the sending time and receiving time of the remote control instruction
  • the time parameter of the instruction execution result may include the sending time and the receiving time of the instruction execution result
  • the control server can then calculate the interaction time difference based on the time parameters of multiple remote control instructions and instruction execution results, that is, calculate The current time and the remote control command and the time parameter of the command execution result are the time difference. If the interaction time difference is large, it means that it has not been updated for too long, and the network status may be disconnected at this time.
  • the control server can feed back the interaction time difference corresponding to the remote control instruction and the instruction execution result to the vehicle in real time. After the vehicle obtains the interaction time difference corresponding to the remote control instruction and the instruction execution result, the current network state can be determined according to the interaction time difference.
  • Step 208 Obtain the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, and calculate the message delay value according to the heartbeat packet and the heartbeat packet response message.
  • the heartbeat packet refers to a command word used between the vehicle and the server to notify the other party of its own state, and can be a structure corresponding to a custom heartbeat packet periodically sent by the vehicle in order to maintain a long connection with the server.
  • a heartbeat mechanism is deployed in the vehicle's remote takeover system to ensure the effectiveness of the communication link between the vehicle and the control server.
  • Delay refers to the time interval between the first bit of a data packet entering the router and the last bit outputting from the router. It can represent the time required for a message or packet to be transmitted from one end of a network to another, including transmission delay, propagation delay, processing delay, and queuing delay.
  • the vehicle sends vehicle status information to the control server, it can also send a heartbeat packet to the control server. Among them, the vehicle can send a heartbeat packet to the control server at a preset frequency, and the control server returns heartbeat packet response information to the vehicle according to the heartbeat packet.
  • the vehicle After the vehicle receives the heartbeat packet response message returned by the heartbeat packet, the vehicle calculates the message delay value according to the heartbeat packet and the heartbeat packet response message. Specifically, the vehicle can calculate the round-trip message delay value of the message based on the heartbeat packet and the heartbeat packet response message. .
  • the message delay value can be used to indicate the current network delay status.
  • Step 210 Determine the current network quality according to the interaction time difference and the message delay value, generate vehicle speed control conditions according to the current network quality, and control the vehicle according to the vehicle control conditions and remote control instructions.
  • the current network quality may be a current network quality parameter
  • the network quality parameter may include various network status parameters such as good network quality, network delay, and network disconnection.
  • Vehicle control commands can include various control commands such as acceleration, deceleration, speed limit, and parking.
  • the vehicle continuously detects the message delay value and the interaction time difference during the driving process to monitor the network quality.
  • the vehicle determines the current network quality according to the interaction time difference and the message delay value calculated in real time, and the vehicle generates the vehicle speed control condition according to the current network quality.
  • the vehicle control condition may include controlling the driving state of the vehicle according to the current network quality.
  • the driving state may include decelerating driving or parking.
  • the vehicle can determine the network delay status according to the message delay value.
  • the message delay value exceeds the delay threshold, it is determined that the current network quality status is the network delay, and the vehicle automatically generates a parking vehicle control instruction based on the vehicle control Command to control the vehicle to stop.
  • the interaction time difference exceeds the disconnection threshold, it is determined that the current network quality status is network disconnection, and the vehicle generates a vehicle control instruction for parking, and controls the vehicle to park according to the vehicle control instruction.
  • the vehicle can calculate the current speed limit value according to the message delay threshold.
  • the vehicle controls the vehicle's driving speed according to the current speed limit value and executes the remote control issued by the control server.
  • Control instruction For example, the vehicle can limit the maximum speed of the vehicle according to the current speed limit value, and control the speed of the vehicle according to the maximum speed, and control the driving state of the vehicle according to the speed of the vehicle, so as to avoid the speed of the vehicle being too fast when there is a certain message delay. .
  • the vehicle obtains a remote takeover instruction, and sends road image information and vehicle state information to the control server according to the remote takeover instruction, so that the control server issues remote control instructions to the vehicle based on the road image information and vehicle state information To remotely control the vehicle.
  • the vehicle receives the remote control instruction to execute the corresponding remote control instruction, and sends the instruction execution result of the remote control instruction to the control server.
  • the vehicle acquires the interaction time difference calculated by the control server in real time according to the time parameters of the remote control instruction and the instruction execution result, so as to effectively monitor the time delay of the instruction interaction.
  • the vehicle also calculates the message delay value through the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, so that the message delay can be effectively monitored.
  • the current network quality is determined according to the interaction time difference and the message delay value, so that the network quality status of the vehicle driving process can be effectively monitored.
  • the vehicle generates vehicle speed control conditions according to the current network quality, and controls the vehicle according to the vehicle control conditions and remote control instructions.
  • the steps of obtaining the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, and calculating the message delay value according to the heartbeat packet and the heartbeat packet response message specifically include the following content:
  • Step 302 Calculate the round-trip delay value of the heartbeat packet according to the sending time of the heartbeat packet and the receiving time of the heartbeat packet response message.
  • Step 304 Calculate the message one-way delay value of the remote control message according to the time at both ends of the remote control message.
  • Step 306 Determine the message delay value according to the round-trip delay value of the heartbeat packet or the one-way message delay value.
  • the remote control message includes a remote control instruction and a control server message.
  • the vehicle receives the remote takeover instruction, it uploads road image information and vehicle status information to the control server.
  • the remote takeover platform uses the control server to issue remote control instructions to the vehicle based on road image information and vehicle status information.
  • the vehicle executes remote control instructions, controls the vehicle to perform corresponding operations according to the remote control instructions, and feeds back the remote control instructions to the server in real time. The result information of the instruction execution.
  • the vehicle While the vehicle is executing the remote control instructions issued by the control server, it also monitors the current network quality status in real time. Specifically, in the process of uploading the vehicle state information to the control server, the vehicle may adopt a heartbeat mechanism to send a heartbeat packet corresponding to the vehicle state information to the control server. After receiving the heartbeat packet sent by the vehicle, the control server returns the heartbeat packet response information corresponding to the heartbeat packet to the vehicle.
  • the vehicle can also calculate the one-way delay value of the remote control message according to the time at both ends of each remote control message sent by the control server. For example, the vehicle and the control server perform NTP (Network Time Protocol, a protocol for clock synchronization) clock After synchronization, calculate the message one-way delay value of each remote control message.
  • NTP Network Time Protocol, a protocol for clock synchronization
  • the vehicle can determine the message delay value according to the heartbeat packet round-trip delay value of the heartbeat packet message or the message one-way delay value of the remote control message. That is, the vehicle can calculate the message delay value according to any one of the round-trip delay value and the one-way delay value, and calculate the current network delay value according to the message delay value. The vehicle can then determine the current network according to the network delay value. quality. By monitoring the round-trip delay value of the heartbeat packet message and the one-way delay value of the control server message, the message delay can be effectively monitored, and the network quality status during the remote vehicle takeover process can be effectively monitored.
  • the method further includes: obtaining the message reception time of the remote control message sent by the control server; calculating the message interaction time difference according to the reception time of the remote control message; determining the current network according to the current network delay value and the message interaction time difference quality.
  • the remote control message includes a remote control instruction and a control server message.
  • the vehicle receives the remote takeover instruction, it uploads road image information and vehicle status information to the control server.
  • the remote takeover platform uses the control server to issue remote control instructions to the vehicle based on road image information and vehicle status information.
  • the vehicle executes remote control instructions, controls the vehicle to perform corresponding operations according to the remote control instructions, and feeds back the remote control instructions to the server in real time. The result information of the instruction execution.
  • the vehicle After the vehicle obtains the remote control instruction sent by the control server, it records the message reception time of the remote control message sent by the control server in real time. After the vehicle continuously receives the remote control message sent by the control server, it continuously updates the message reception time of the received remote control message . The vehicle detects the current time and the receiving time of the latest remote control message in real time, and calculates the message interaction time difference according to the receiving time of the remote control message. Wherein, if the message interaction time difference is long, it means that the remote control message sent by the control server has not been updated for a long time, and the current network quality of the vehicle is determined to be a network disconnection.
  • the vehicle monitors the current network delay value and message interaction time difference in real time, and determines the current network quality according to the current network delay value and message interaction time difference. Specifically, if the current network delay value is between the current network delay value and the message interaction time difference, and the current network delay value exceeds the delay threshold, it is determined that the current network quality is the network delay. When the interaction time difference exceeds the disconnection threshold, it is determined that the current network quality is network disconnection.
  • the vehicle If the current network quality is network delay or network disconnection, the vehicle generates a vehicle control instruction for parking, and controls the vehicle to park according to the vehicle control instruction.
  • the vehicle By real-time monitoring of the network quality status during the remote vehicle takeover process, and automatically controlling the driving status of the vehicle according to the network quality status, the vehicle driving safety during the remote takeover process can be effectively guaranteed.
  • the method further includes the step of controlling the driving speed of the vehicle, which specifically includes the following contents:
  • Step 402 Obtain monitoring location information extracted by the control server according to the road image information.
  • Step 404 Calculate the time delay distance according to the current position information of the vehicle and the monitored position information.
  • Step 406 Calculate the current speed limit value according to the current network delay value and the delay distance value.
  • Step 408 Control the driving speed of the vehicle according to the current speed limit value.
  • the monitored location information refers to the location information corresponding to the video image received by the control server
  • the time delay distance represents the distance difference between the location corresponding to the video image received by the control server and the current position of the vehicle due to the time delay.
  • the current speed limit value represents the current maximum speed limit value of the vehicle, that is, the driving speed of the vehicle cannot exceed the maximum speed limit value.
  • the vehicle After the vehicle obtains the remote takeover instruction, it sends back road image information and vehicle status information to the control server in real time.
  • the control server receives the road image information, it extracts the monitoring location information corresponding to the current screen in the road image information, and feeds back the current monitoring location information to the vehicle in real time.
  • the vehicle acquisition control server extracts the monitoring location information according to the road image information, and obtains the current location information of the vehicle, and then calculates the time delay distance according to the current location information and the monitoring location information of the vehicle.
  • the formula for calculating the current speed limit value of the vehicle may be as follows:
  • v max represents the current speed limit value
  • v 0-max represents the maximum speed limit value of the vehicle when the vehicle is remotely taken over
  • S net represents the distance delay threshold
  • t delay represents the current message delay value
  • S delay v*t delay , S delay ⁇ S net , v is the current vehicle speed, and S delay is the current delay distance, then v*t delay ⁇ S net can be obtained Furthermore, the current speed limit value of the vehicle can be calculated according to the message delay value and the current delay distance.
  • the vehicle calculates the current speed limit value of the vehicle according to the currently calculated message delay value and the current delay distance.
  • the vehicle controls the speed of the vehicle according to the calculated current speed limit value.
  • the current speed limit value of the vehicle is obtained according to the message delay value and the current delay distance, and the speed of the vehicle is controlled according to the current speed limit value, which can ensure that the driving speed of the vehicle is relatively synchronized with the network status. Preventing the disorderly driving of the vehicle from causing danger, which can effectively guarantee the safety of the vehicle in the process of remote takeover of the vehicle.
  • generating the vehicle control instruction according to the current network quality, and controlling the vehicle according to the vehicle control instruction includes: if the current network delay value exceeds the delay threshold, determining that the current network quality is the network delay timeout; The device triggers the parking instruction, and controls the vehicle to park according to the parking instruction.
  • the vehicle control instruction includes a parking instruction
  • the delay threshold can be configured in advance according to the experience value of the network layer.
  • the vehicle After the vehicle obtains the remote control instruction, it sends road image information and vehicle status information to the control server according to the remote control instruction.
  • the vehicle receives the remote control instruction to execute the corresponding remote control instruction, and sends the instruction execution result of the remote control instruction to the control server.
  • the interaction time difference is calculated in real time according to the time parameters of the remote control instruction and the instruction execution result.
  • the vehicle also calculates the message delay value through the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information.
  • the interaction time difference and the message delay value determine the current network quality, which can effectively monitor the network quality status of the vehicle during driving.
  • the vehicle generates vehicle control instructions according to the current network quality, and controls the vehicle according to the vehicle control instructions.
  • the vehicle immediately triggers parking to the controller in the vehicle Command, and then control the vehicle to park according to the parking command.
  • the vehicle automatically triggers the parking command to the controller according to the current network quality , In order to control the parking of the vehicle, which can effectively prevent the driving danger in the case of the network delay timeout, thereby effectively guaranteeing the safety of the vehicle during the remote takeover process.
  • generating a vehicle control instruction according to the current network quality, and controlling the vehicle according to the vehicle control instruction includes: when the message interaction time difference exceeds the disconnection threshold, determining that the current network quality is network disconnection; triggering parking to the controller Command, control the vehicle to park according to the parking command.
  • the vehicle control instruction includes a parking instruction
  • the disconnection threshold can be configured in advance according to the experience value of the network layer.
  • the vehicle After the vehicle obtains the remote control instruction, it sends road image information and vehicle status information to the control server according to the remote control instruction.
  • the vehicle receives the remote control instruction to execute the corresponding remote control instruction, and sends the instruction execution result of the remote control instruction to the control server.
  • the interaction time difference is calculated in real time according to the time parameters of the remote control instruction and the instruction execution result.
  • the vehicle also calculates the message delay value through the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information.
  • the interaction time difference and the message delay value determine the current network quality, which can effectively monitor the network quality status of the vehicle during driving.
  • the vehicle generates vehicle control instructions according to the current network quality, and controls the vehicle according to the vehicle control instructions.
  • the vehicle immediately triggers the parking instruction to the controller in the vehicle, and then according to The parking command controls the parking of the vehicle.
  • the parking command controls the parking of the vehicle.
  • the vehicle will automatically trigger a parking command to the controller according to the current network quality to control the parking of the vehicle, which can effectively prevent the vehicle from disconnecting from the network. Under the circumstances, driving is dangerous, which can effectively guarantee the safety of the vehicle during the remote takeover process.
  • a vehicle control method based on network monitoring is provided. Taking the method applied to the control server in FIG. 1 as an example for description, the method includes the following steps:
  • Step 502 Receive road image information and vehicle state information sent by the vehicle, and send a remote control instruction to the vehicle according to the road image information and vehicle state information.
  • Step 504 Obtain the transmission frame rate and transmission time parameters of the road image information, and calculate the current video delay value according to the transmission frame rate and transmission time parameters.
  • Step 506 If the current video delay value exceeds the delay threshold, send a parking instruction to the vehicle.
  • Step 508 Continue to detect the video delay value of the road image information, and if the current video delay value returns to the normal threshold range, continue to send a remote control instruction to the vehicle.
  • the road image information may include video data around the vehicle and road screen video data, and the road image information may be continuous video frames.
  • the vehicle status information may include vehicle status information such as vehicle positioning information, vehicle navigation information, in-vehicle temperature information, and vehicle instrument information. Transmission of road image information and vehicle status information is used for remote takeover personnel to remotely take over the vehicle according to road conditions and vehicle status.
  • the control server can directly take over the vehicle remotely according to the road image information and vehicle status information returned by the vehicle and send the corresponding remote control instructions, or the remote control of the platform can be taken over by the remote control server.
  • the receiver takes over the vehicle remotely according to the road image information and vehicle status information returned by the vehicle and triggers the remote control command, which is issued to the vehicle through the control server corresponding to the remote takeover platform.
  • the vehicle obtains the remote takeover instruction, it sends back road image information and vehicle status information to the control server.
  • the control server analyzes the received road image information and vehicle status information, generates corresponding remote control instructions, and issues the remote control instructions to the vehicle to take over the vehicle remotely.
  • the road image information received by the control server also includes the transmission frame rate of the video frame to calculate the current video transmission delay value through the clock synchronization mechanism.
  • the control server may also record the transmission time parameter of each received video frame, and the transmission time parameter includes the reception time.
  • the control server detects the current time and the transmission time parameter of the latest video frame received according to the preset periodic frequency, calculates the time difference between the current time calculation and the reception time identifier of the latest video frame, and determines the current video interaction time difference according to the time difference.
  • the control server determines the current video delay value according to the current video transmission delay value and the current video interaction time difference. If the current video delay value exceeds the delay threshold, it indicates that the current network quality status is not good, and the control server sends a parking instruction to the vehicle. For example, if the current video delay value is greater than 1s, the control of the vehicle is no longer in time, the control server will immediately issue a parking instruction to the vehicle to control the vehicle to stop.
  • the control server continuously detects the video delay value of the road image information. If the current video delay value returns to the normal threshold range, it means that the network quality at this time is also normal, and the transmission frame rate of the road image information has also returned to normal.
  • the control server continues to issue corresponding remote control instructions to the vehicle based on the road image information and vehicle status information returned by the vehicle. Among them, if it is a remote operator who takes over remotely, the control server will resume issuing the operator's remote operation instruction to the vehicle, so as to continue to take over the vehicle remotely.
  • the control server issues a remote takeover instruction to the vehicle, it obtains the transmission frame rate and transmission time parameters of the road image information, and calculates the current video delay value according to the transmission frame rate and transmission time parameters. This can effectively monitor the transmission delay of the video, and thus can effectively monitor the network quality status of the vehicle returning road image information. If the current video delay value exceeds the delay threshold, a parking instruction is sent to the vehicle. The control server continues to detect the video delay value of the road image information, and if the current video delay value returns to within the normal threshold range, it continues to send remote control instructions to the vehicle.
  • the step of calculating the current video delay value according to the transmission frame rate and transmission time parameters specifically includes the following content:
  • Step 602 Calculate a video transmission delay value according to the transmission frame rate.
  • Step 604 Calculate the video interaction time difference according to the transmission time parameter of the video frame.
  • Step 606 Determine the current video delay value according to the video transmission delay value and the video interaction time difference.
  • the road image information received by the control server After the control server obtains the road image information and vehicle status information uploaded by the vehicle, the road image information received by the control server also includes the transmission time parameter of the video frame, and the transmission time parameter includes the transmission time identifier and the reception time identifier of the video frame.
  • the control server calculates the current video transmission delay value through a clock synchronization mechanism according to the sending time identifier and the receiving time identifier of the video data. For example, the NTP clock synchronization mechanism can be used to calculate the current video transmission delay value.
  • the control server can also record the receiving time identifier of each received video frame, and detect the current time and the receiving time identifier of the latest received video frame according to the preset cycle frequency, and calculate the time difference between the current time and the receiving time identifier of the latest video frame , Determine the current video interaction time difference according to the time difference.
  • the control server determines the current video delay value according to the current video transmission delay value and the current video interaction time difference. If the current video delay value exceeds the delay threshold, it indicates that the current network quality status is not good, and the control server sends a parking instruction to the vehicle. For example, if the current video delay value is greater than 1s, the control of the vehicle is no longer in time, the control server will immediately issue a parking instruction to the vehicle to control the vehicle to stop. It can effectively prevent the remote control personnel from failing to control the vehicle parking in time when the screen is stuck and causing a traffic accident, thereby effectively ensuring the safety of the vehicle in the remote takeover.
  • sending a parking instruction to the vehicle includes: generating the highest priority parking instruction when the video transmission delay value or the video interaction time difference exceeds the delay threshold ; Send the parking instruction to the vehicle so that the vehicle will park according to the parking instruction.
  • the control server may configure the priority of the parking instruction when the current video delay value exceeds the delay threshold as the priority with the highest execution level.
  • the control server immediately generates the highest priority parking instruction and issues the parking instruction to the vehicle, so that the vehicle immediately stops according to the parking instruction .
  • the control server issues multiple remote control commands to the vehicle, the vehicle will give priority to the parking command, and the execution of other remote control commands can be suspended.
  • the video delay value of the road image information is continuously detected, and if the current video delay value returns to the normal threshold range, the remote control instruction is continued to be sent to the vehicle, including: continuous detection of video transmission of video frame data The delay value and the video interaction time difference; if the video transmission delay value and the video interaction time difference are continuously less than the delay threshold within the preset conditions, the current video delay value is determined to be within the normal threshold range; according to the acquired road image information and The vehicle status information issues remote control instructions to the vehicle.
  • control server After the control server issues a remote takeover command to the vehicle, it obtains the transmission frame rate and transmission time parameters of the road image information, and calculates the current video delay value according to the transmission frame rate and transmission time parameters.
  • the current video delay value includes the video transmission delay value Time difference when interacting with video. If the current video delay value exceeds the delay threshold, a parking instruction is sent to the vehicle.
  • the control server continuously detects the video transmission delay value and the video interaction time difference of the road image information. If the video transmission delay value and the video interaction time difference are continuously less than the delay threshold within the preset conditions, determine that the current video delay value is at the normal threshold Within range. For example, when the video transmission delay value is continuously less than the transmission delay value threshold within the preset frequency, and the video interaction time difference is continuously less than the interaction time difference threshold within the preset frequency, it means that the transmission frame rate of the video data returns to normal, and the network The stuttering situation has ended, and the video delay situation has returned to within the normal range. The control server determines that the current video delay value is within the normal threshold range.
  • the control server continues to send remote control instructions to the vehicle based on the currently acquired road image information and vehicle status information.
  • the control server can effectively prevent the remote controller from failing to control the vehicle parking in time when the image is stuck As a result, traffic accidents are caused, which can effectively guarantee the safety of the vehicle in the case of network quality delay or network disconnection in the remote takeover.
  • a vehicle control device based on network monitoring including: an instruction acquisition module 702, an information interaction module 704, a network monitoring module 706, and a vehicle control module 708, in which:
  • the instruction acquisition module 702 is configured to acquire a remote takeover instruction, and send road image information and vehicle status information to the control server according to the remote takeover instruction;
  • the information interaction module 704 is configured to receive the remote control instruction sent by the control server according to the road image information and the vehicle status information, and send the instruction execution result of the remote control instruction to the control server;
  • the network monitoring module 706 is used to obtain the interaction time difference corresponding to the time parameter of the remote control instruction and the instruction execution result; obtain the heartbeat packet and the heartbeat packet response message corresponding to the vehicle status information, and calculate the message delay according to the heartbeat packet and the heartbeat packet response message Value; and
  • the vehicle control module 708 is configured to determine the current network quality according to the interaction time difference and the message delay value, generate vehicle speed control conditions according to the current network quality, and control the vehicle according to the vehicle control conditions and remote control instructions.
  • the network monitoring module 706 is also used to calculate the round-trip delay value of the heartbeat packet according to the sending time of the heartbeat packet and the receiving time of the heartbeat packet response message; to calculate the message of the control server message according to the time of both ends of the control server message One-way delay value; the current network delay value is determined according to the round-trip delay value of the heartbeat packet or the one-way delay value of the message.
  • the network monitoring module 706 is also used to obtain the message reception time of the remote control message sent by the control server; calculate the message interaction time difference according to the remote control message reception time; and determine according to the current network delay value and the message interaction time difference Current network quality.
  • the vehicle control module 708 is also used to obtain the monitoring location information extracted by the control server according to the road image information; calculate the delay distance according to the current location information of the vehicle and the monitoring location information; according to the message delay value and time delay The distance value calculates the current speed limit value; and controls the driving speed of the vehicle according to the current speed limit value.
  • the vehicle control module 708 is further configured to determine that the current network quality is the network delay timeout if the current network delay value exceeds the delay threshold; trigger a parking instruction to the controller, and control the vehicle to park according to the parking instruction.
  • the vehicle control module 708 is further configured to determine that the current network quality is a network disconnection when the message interaction time difference exceeds the disconnection threshold; and trigger a parking instruction to the controller, and control the vehicle to park according to the parking instruction.
  • a vehicle control device based on network monitoring which includes an information acquisition module 802, a network detection module 804, and an instruction issuing module 806, in which:
  • the information acquisition module 802 is used to receive road image information and vehicle status information sent by the vehicle, and send remote control instructions to the vehicle according to the road image information and vehicle status information;
  • the network detection module 804 is used to obtain the transmission frame rate and transmission time parameters of the road image information, and calculate the current video delay value according to the transmission frame rate and the transmission time parameters;
  • the instruction issuing module 806 is used to send a parking instruction to the vehicle if the current video delay value exceeds the delay threshold; and the network detection module 804 is also used to continuously detect the video delay value of the road image information. When the value returns to the normal threshold range, continue to send remote control instructions to the vehicle.
  • the network detection module 804 is further configured to calculate the video transmission delay value delay value according to the transmission frame rate; calculate the video interaction time difference according to the transmission time parameter of the video frame; and according to the video transmission delay value and the video interaction The time difference determines the current video delay value.
  • the instruction issuing module 806 is further configured to generate the highest priority parking instruction if the video transmission delay value or the video interaction time difference exceeds the delay threshold; and issue the parking instruction to the vehicle so that The vehicle stops according to the parking instruction.
  • the network detection module 804 is also used to continuously detect the video transmission delay value and the video interaction time difference of the video frame data; if the video transmission delay value and the video interaction time difference are both continuously smaller than the delay within the preset conditions When the threshold is set, it is determined that the current video delay value is within the normal threshold range; and the instruction issuing module 806 is further configured to issue a remote control instruction to the vehicle according to the acquired road image information and vehicle state information.
  • the various modules in the above-mentioned network monitoring-based vehicle control device can be implemented in whole or in part by software, hardware, and a combination thereof.
  • the above-mentioned modules may be embedded in the form of hardware or independent of the processor in the computer equipment, or may be stored in the memory of the computer equipment in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.
  • a computer device is provided.
  • the computer device may be a vehicle, and its internal structure diagram may be as shown in FIG. 9.
  • the computer equipment includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, computer readable instructions, and a database.
  • the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium.
  • the computer equipment database is used to store data such as road image information and vehicle status information.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer-readable instructions are executed by the processor to realize a vehicle control method based on network monitoring.
  • FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • a computer device is provided.
  • the computer device may be a server, and its internal structure diagram may be as shown in FIG. 10.
  • the computer equipment includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide calculation and control capabilities.
  • the storage of the computer device includes a non-volatile storage medium and an internal storage.
  • the non-volatile storage medium stores an operating system, computer readable instructions, and a database.
  • the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium.
  • the computer equipment database is used to store data such as road image information and vehicle status information.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer-readable instructions are executed by the processor to realize a vehicle control method based on network monitoring.
  • FIG. 10 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • a computer device includes a memory and one or more processors.
  • the memory stores computer readable instructions.
  • the one or more processors execute the above method embodiments. step.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions.
  • the computer-readable instructions execute A step of.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

L'invention concerne un procédé de commande de véhicule à base de surveillance de réseau, consistant à : obtenir une instruction de prise de contrôle à distance, envoyer des informations d'image de route et des informations d'état de véhicule à un serveur de commande conformément à l'instruction de prise de contrôle à distance (S202) ; recevoir une instruction de commande à distance envoyée par le serveur de commande conformément aux informations d'image de route et aux informations d'état de véhicule, et envoyer un résultat d'exécution d'instruction de l'instruction de commande à distance au serveur de commande (S204) ; obtenir une différence de temps d'interaction correspondant à des paramètres de temps de l'instruction de commande à distance et au résultat d'exécution d'instruction (S206) ; obtenir un paquet de battement de cœur et un message de réponse au paquet de battement de cœur correspondant aux informations d'état de véhicule, et calculer une valeur de retard de temps de message conformément au paquet de battement de cœur et au message de réponse au paquet de battement de cœur (S208) ; et déterminer la qualité de réseau courante conformément à la différence de temps d'interaction et à la valeur de retard de temps de message, générer des conditions de commande de vitesse de véhicule conformément à la qualité de réseau courante, et commander un véhicule conformément aux conditions de commande de véhicule et à l'instruction de commande à distance (S210).
PCT/CN2019/129870 2019-12-30 2019-12-30 Procédé et appareil de commande de véhicule à base de surveillance de réseau, et dispositif informatique WO2021134187A1 (fr)

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PCT/CN2019/129870 WO2021134187A1 (fr) 2019-12-30 2019-12-30 Procédé et appareil de commande de véhicule à base de surveillance de réseau, et dispositif informatique

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