WO2022134364A1 - 车辆的控制方法、装置、系统、设备及存储介质 - Google Patents

车辆的控制方法、装置、系统、设备及存储介质 Download PDF

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Publication number
WO2022134364A1
WO2022134364A1 PCT/CN2021/084780 CN2021084780W WO2022134364A1 WO 2022134364 A1 WO2022134364 A1 WO 2022134364A1 CN 2021084780 W CN2021084780 W CN 2021084780W WO 2022134364 A1 WO2022134364 A1 WO 2022134364A1
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WIPO (PCT)
Prior art keywords
road condition
condition video
video
vehicle
target
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Application number
PCT/CN2021/084780
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English (en)
French (fr)
Inventor
丁磊
储林波
Original Assignee
华人运通(上海)自动驾驶科技有限公司
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Publication of WO2022134364A1 publication Critical patent/WO2022134364A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control

Definitions

  • the present application relates to the technical field of automatic driving, and in particular, to a vehicle control method, device, system, device, and storage medium.
  • the cloud server sends control commands to the vehicle through the mobile communication network to remotely control the vehicle; the generation of the control command depends on the video information received from the road section where the vehicle is located. .
  • the cloud server due to the large round-trip delay between the cloud server and the vehicle, it is not conducive to the transmission of video information and control commands, so there is a problem of low efficiency of remote control.
  • the embodiments of the present application provide a vehicle control method, device, system, device, and storage medium to solve the problems existing in the related art.
  • the technical solutions are as follows:
  • an embodiment of the present application provides a method for controlling a vehicle, which is applied to a method for an MEC server, and the method includes:
  • the operation instruction is sent to the vehicle to make the vehicle perform the corresponding operation; wherein, the operation instruction is generated based on the driving operation on the remote cockpit and sent to the MEC server through the communication connection between the remote cockpit and the MEC server. MEC server.
  • the embodiments of the present application provide another vehicle control method, which is applied to the vehicle, and the method includes:
  • an embodiment of the present application provides a vehicle control device, which is applied to an MEC server, and the device includes:
  • the first receiving module is used to receive the road condition video of the road section where the vehicle is located;
  • the first sending module is used to send the road condition video to the remote cockpit, so that the remote cockpit can display the road condition video; Operation; wherein, the operation instruction is generated based on the driving operation on the remote cockpit, and is sent to the MEC server through the communication connection between the remote cockpit and the MEC server.
  • an embodiment of the present application provides another control device for a vehicle, which is applied to a vehicle, and the device includes:
  • the sending module is used to send the first road condition video of the road section where the vehicle is located;
  • the execution module is used to receive and execute the operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent to the remote cockpit through the communication connection with the MEC server and the communication connection between the MEC server and the roadside equipment or base station. vehicle.
  • an embodiment of the present application provides a control system for a vehicle, including:
  • the MEC server includes the device of the third aspect
  • Remote cockpit communicate with MEC server
  • a vehicle a vehicle comprising the apparatus of the fourth aspect above.
  • an embodiment of the present application provides an electronic device, the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor , so that at least one processor can execute the method of any one of the above aspects.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the method in any one of the implementation manners of the above aspects is executed.
  • the advantages or beneficial effects of the above technical solutions include at least: receiving the road condition video of the road section where the vehicle is located through the MEC server, and controlling the remote cockpit to display the road condition video, which can effectively reduce the transmission delay of the road condition video, which is conducive to enhancing the road condition video of the vehicle.
  • the MEC server can quickly send the operation instructions to the vehicle after receiving the operation instructions, so that the vehicle can perform the corresponding operation, and the vehicle can quickly respond to the operation of the remote cockpit. This can effectively improve the remote control efficiency of the vehicle and improve the user experience.
  • Figure 1 shows a schematic diagram of the network architecture of the traditional Internet of Vehicles
  • FIG. 2 shows a schematic diagram of an application scenario according to an embodiment of the present application
  • FIG. 3 shows a schematic flow chart 1 of a method for controlling a vehicle according to an embodiment of the present application
  • Fig. 4 shows a kind of schematic flow chart of step S302 in Fig. 3;
  • FIG. 5A shows a schematic flowchart of step S402 in FIG. 4;
  • FIG. 5B shows a schematic diagram 1 of the positional relationship between the first display area and the second display area of the remote cockpit in the embodiment of the present application;
  • 5C shows a second schematic diagram of the positional relationship between the first display area and the second display area of the remote cockpit in the embodiment of the present application
  • FIG. 6 shows a second schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application
  • FIG. 7 shows a schematic flow chart 3 of a method for controlling a vehicle according to an embodiment of the present application
  • FIG. 8A shows a fourth schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application
  • FIG. 8B shows a schematic diagram 1 of the positional relationship between the third display area, the first display area, and the second display area of the remote cockpit in the embodiment of the present application;
  • FIG. 8C shows a second schematic diagram of the positional relationship between the third display area, the first display area, and the second display area of the remote cockpit in the embodiment of the present application;
  • FIG. 9 shows a schematic flowchart of a method for controlling a vehicle according to another embodiment of the present application.
  • FIG. 10 shows a structural block diagram of a control device for a vehicle according to an embodiment of the present application.
  • FIG. 11 shows a structural block diagram of a control device for a vehicle according to another embodiment of the present application.
  • FIG. 12 is a block diagram of an electronic device for implementing the vehicle control method according to the embodiment of the present application.
  • FIG. 1 shows a schematic diagram of the network architecture of the traditional Internet of Vehicles.
  • the vehicle 11 uses the base station 121 as a wireless access point to access the mobile communication network 12 , and communicates with the cloud through the base station 121 , the bearer network 122 and the core network 123 in the mobile communication network 12 .
  • the server 13 establishes a communication connection. In this way, the vehicle 11 can transmit the video information collected by the vehicle sensors to the cloud server 13 through the mobile communication network 12 , so that the user can send control instructions to the vehicle 11 based on the cloud server 13 to remotely control the vehicle 11 .
  • the network air interface delay between the vehicle 11 and the base station 121 is about 20ms
  • the one-way return delay of the mobile communication network 12 is 5-20ms
  • the Internet delay of the cloud server 13 is uncertain
  • the cloud server 13 The round-trip delay with the vehicle 11 fluctuates between 70ms and 800ms. Due to the large round-trip delay between the cloud server 13 and the vehicle 11 , the transmission efficiency of video information and control instructions is low, and thus the problem of low efficiency of remote control of the vehicle 11 arises.
  • FIG. 2 shows a schematic diagram of an application scenario according to an embodiment of the present application. Please refer to FIG. 1 and FIG. 2 together.
  • the MEC (Mobile Edge Computing) server 21 and the remote cockpit 22 are deployed on the edge of the mobile communication network 12, and the MEC server 21 is connected to the remote cockpit 22 for communication.
  • the MEC server 21 is connected to the base station 121 through the bearer network 122 , and the MEC server 21 is directly connected to the roadside device 22 .
  • the service range 21A of the MEC server 21 is the serving cell corresponding to the MEC server 21 .
  • the deployment interval of the MEC server 21 may be 30km-100km.
  • the vehicle 11 may communicate with the MEC server 21 through a base station 121 or a roadside unit (Road Side Unit, RSU) 22 .
  • RSU Road Side Unit
  • the MEC server 21 can obtain the location information of the vehicle 11 from the base station 121 or the roadside equipment 22 to determine that the vehicle 11 enters the service area 21A, and then the MEC server 21 can obtain the location information of the vehicle 11 through the base station 121 or the roadside equipment 22 Data interaction with vehicle 11 .
  • the vehicle 11 can be a wire-controlled vehicle with steering, brake and accelerator wire control capabilities, and the wire-controlled vehicle is also configured with a C-V2X (Carrier Vehicle To Everything) module and a T-BOX (Telematics BOX) module, so that the vehicle 11 can pass
  • the C-V2X module is in communication connection with the base station 121 , and is in communication connection with the roadside equipment 22 through the T-BOX module.
  • the C-V2X module is a V2X module based on a cellular network.
  • Base stations include but are not limited to 4G base stations and 5G base stations.
  • the remote cockpit 22 may include operating components such as a steering wheel, a brake and an accelerator, so that when a user operates the operating components of the remote cockpit 22, corresponding operating instructions can be generated. For example, when the user steps on the accelerator of the remote cockpit 22, an acceleration command is generated.
  • the remote cockpit 22 includes a display screen for displaying video.
  • the vehicle 11 can send the video to the MEC server 21 through the base station 121 or the roadside device 22 , so that the MEC server 21 displays the video through the remote cockpit 22 .
  • the user can operate the operating components of the remote cockpit 22 based on the video displayed by the remote cockpit 22 to generate operating instructions, which are then sent to the MEC server 21 by the remote cockpit 22 .
  • the MEC server 21 sends the operation instruction to the vehicle 11 through the base station 121 or the roadside device 22, so that the vehicle 11 performs the corresponding operation according to the operation instruction to realize remote automatic driving.
  • the MEC server 21 on the edge of the mobile communication network 12 , the transmission delay of video and operation instructions can be effectively reduced, and the remote control efficiency of the vehicle 11 can be improved.
  • FIG. 2 only shows a deployment scenario of one MEC server 21.
  • the MEC server 21 in this embodiment of the present application may also include a plurality of MEC servers 21, and the MEC server 21 connected to the remote cockpit 22 may be used as the main MEC server.
  • Other MEC servers deployed in the mobile communication network 12 are used as slave MEC servers.
  • the slave MEC server may offload the received video through the bearer network 122 to the master MEC server to send the video to the remote cockpit 22 for display.
  • the operation instruction generated based on the operation of the remote cockpit 22 can also be sent to the slave MEC server corresponding to the service range where the vehicle is located through the master MEC server, and then the slave MEC server can pass through the corresponding base station or roadside equipment. Send operating instructions to the vehicle.
  • FIG. 3 shows a schematic flowchart 1 of a control method according to an embodiment of the present application.
  • the vehicle control method can be applied to the MEC server. As shown in Figure 3, the method may include:
  • the road section where the vehicle is located is the range of a certain road section of the road where the vehicle is located.
  • the range of a certain road section can be the entire road or a part of the road.
  • the range of a certain road section can be adjusted and selected according to actual needs. This application The embodiment does not limit this.
  • the remote cockpit and the MEC server can be deployed in the same computer room or in different computer rooms, as long as they can communicate with each other.
  • the road condition video may include a first road condition video, where the first road condition video is a first-view video of the road section where the vehicle is located by the vehicle sensor.
  • the road condition video may include a second road condition video, and the second road condition video is a second-view video of the road section where the vehicle is located by the roadside sensor.
  • the vehicle sensor may be an in-vehicle camera provided on the vehicle.
  • the in-vehicle camera can be set on the peripheral side of the vehicle body to obtain the road condition video of the road section where the vehicle is located.
  • in-vehicle cameras can be installed at positions such as the front, left front, right front, rear, left rear, and right rear of the vehicle body.
  • the roadside sensors may be roadside cameras, radars, etc., which are arranged on the sides, above, or at a specific position of the road section where the vehicle is located.
  • the roadside camera can be set on the sidewalk of the road section where the vehicle is located to obtain the video of pedestrians passing on the sidewalk; the roadside camera can also be set close to the traffic light of the road section where the vehicle is located to obtain the traffic signal video of the traffic light.
  • the setting position of the roadside sensor can be selected and adjusted according to actual needs, which is not limited in the implementation of this application.
  • the roadside camera may be connected in communication with the roadside device, so as to send the second road condition video to the MEC server through the roadside device.
  • the roadside camera can also be integrated into the roadside equipment, so that the second road condition video can be obtained directly through the roadside equipment.
  • steps S301 to S302 may include the following examples:
  • a first road condition video of a road section where the vehicle is located is received; the first road condition video is sent to a remote cockpit.
  • the first road condition video can be sent to the MEC server through the base station and the bearer network, so that the MEC server receives the first road condition video, and sends the first road condition video to the remote cockpit, so that the remote cockpit can display it; the first road condition video also It can be sent to the MEC server through the roadside equipment for the MEC server to receive and send to the remote cockpit for display.
  • steps S301 to S302 may include: receiving a second road condition video of the road section where the vehicle is located; and sending the second road condition video to the remote cockpit, so that the remote cockpit displays.
  • the second road condition video may be sent to the MEC server through the roadside device, so that the MEC server receives the second road condition video and sends it to the remote cockpit for display.
  • steps S301 to 302 may further include: receiving the first road condition video and the second road condition video of the road section where the vehicle is located; sending the first road condition video and the second road condition video to the remote cockpit, so that the remote driving cabin is displayed.
  • the user can be provided with the first road condition video of the road section where the vehicle is located from the vehicle's single-vehicle perspective, and the second road condition video of the road section where the vehicle is located from the roadside perspective.
  • the first road condition video and the second road condition video can complement each other.
  • the road condition video from the perspective is beneficial to improve the accuracy of road traffic situation presentation.
  • the road condition video of the road section where the vehicle is located is received through the MEC server, and the road condition video is sent to the remote cockpit, so that the remote cockpit can display the road condition video, which can effectively reduce the transmission delay of the road condition video.
  • the MEC server receives the operation instruction, it can quickly send the operation instruction to the vehicle, so that the vehicle can perform the corresponding operation, and then the vehicle can perform the corresponding operation on the remote cockpit. Actions respond quickly. This can effectively improve the remote control efficiency of the vehicle and improve the user experience.
  • the road condition video may be encoded and compressed before being transmitted.
  • the method may further include: decompressing and decoding the road condition video.
  • step S302 may include:
  • the MEC server may, based on the selection instruction for the first road condition video and the second road condition video, determine one from the first road condition video and the second road condition video as the target road condition video; then the MEC server sends the remote cockpit to the Video of the target road condition, so that the remote cockpit can display the video of the target road condition.
  • a selection instruction for the first road condition video is generated, and the first road condition video is determined as the target road condition video; the MEC server sends the first road condition video to the remote cockpit, so that the remote cockpit displays the first road condition video.
  • Road condition video may also be to generate a selection instruction for the video of the second road condition.
  • the MEC server can use the remote cockpit to display the video of the second road condition. In this way, it is convenient and flexible to select or switch the road condition video to be displayed.
  • the target road condition video includes a first target road condition video and a second target road condition video.
  • step S402 may include:
  • the first display area 221A and the second display area 221B of the remote cockpit may be two display areas side by side or stacked on the display screen 221 in the remote cockpit.
  • the properties such as the area and shape of the first display region 221A and the second display region 221B may be the same or different, and the properties such as the area and shape of the first display region 221A and the second display region 221B may be selected and selected according to actual needs. adjustment, which is not limited in this embodiment of the present application.
  • FIG. 6 shows a second schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application. As shown in Figure 6, the method may further include:
  • the target object may be road traffic facilities such as traffic lights, street signs, fences, etc., or road signs such as zebra crossings and street signs, or obstacles such as pedestrians, animals, and other vehicles. Selection and adjustment are not limited in this embodiment of the present application.
  • the video information of the pedestrian is obtained from the second road condition video according to the position information of the pedestrian; the video information of the pedestrian is used as the second target road condition video.
  • the first road condition video and video information of pedestrians can be displayed in the remote cockpit.
  • the first road condition video and the second road condition video are road condition videos from different viewing angles for the same road segment, there is a positional correspondence between the first road condition video and the second road condition video; further, when the first road condition video is detected When the target object in the road condition video is occluded, the position information of the target object can be used to obtain the video information of the target object from the second road condition video.
  • the video information of the target object in the second road condition video can be compared with the first road condition video in the remote cockpit.
  • the fusion display is used to supplement the video information of the occluded target object in the first road condition video, so as to provide a more accurate road condition video from the vehicle perspective.
  • FIG. 7 shows a third schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application. As shown in Figure 7, the method may also include:
  • the target object may be a traffic light.
  • the video information of the traffic light in the first road condition video obtained by the vehicle sensor may not be clear.
  • the roadside sensor can be deployed near the location of the traffic light, so the video information of the traffic light in the second road condition video obtained by the roadside sensor is relatively clear.
  • step S707 when the traffic light cannot be identified from the first road condition video and the traffic light is identified from the second road condition video, traffic lights are obtained from the second road condition video according to the location information of the traffic light Video information for the lamp. Furthermore, in step S708, the first road condition video is used as the first target road condition video, and the video information of the traffic light is used as the second target road condition video. In this way, the first road condition video and the video information of the traffic lights can be displayed in the remote cockpit.
  • the video information of the target object in the second road condition video and the first road condition video can be fused and displayed in the remote cockpit, so as to supplement the video information of the target object that cannot be identified or obtained in the first road condition video, so that the The vehicle perspective provides a more accurate video of road conditions.
  • FIG. 8A shows a fourth schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application. As shown in Figure 8A, the method may further include:
  • the driving state information of the vehicle may include vehicle speed information, gear position information, and heading information, and the like.
  • the driving status information of the vehicle can be obtained by the T-BOX module of the vehicle from the corresponding ECU of the vehicle through the CAN network, and sent to the roadside equipment through the C-V2X module, and then the MEC server can obtain the driving status of the vehicle from the roadside equipment. information.
  • the third display area 221C may be arranged side by side or stacked with the first display area 221A and/or the second display area 221B, and may also be arranged in other arrangements. This is the case in the embodiments of the present application. No restrictions apply. Wherein, the side by side may be side by side by row, or may be side by side by column, which is not limited in this application.
  • the method before sending the operation instruction to the vehicle, may further include: sending a takeover instruction to the vehicle in the case of receiving abnormal prompt information sent by the vehicle, so that the vehicle is in a takeover mode.
  • the vehicle can be in an automatic driving mode first, and at this time, the vehicle drives automatically without human intervention.
  • abnormal prompt information can be sent to the MEC server.
  • the MEC server sends a takeover instruction to the vehicle to switch the vehicle to the takeover mode. In this way, in the takeover mode, the user can remotely control the vehicle based on the remote cockpit and the MEC server to realize remote control of the vehicle.
  • FIG. 9 shows a schematic flowchart of a method for controlling a vehicle according to another embodiment of the present application.
  • the control method can be applied to a vehicle, as shown in Figure 9, the method can include:
  • the T-BOX module of the vehicle may send the operation instruction to the ADAS (Advanced Driving Assistance System, Advanced Driving Assistance System) controller of the vehicle, so that the ADAS controller performs control on the wire control mechanism of the vehicle.
  • ADAS Advanced Driving Assistance System, Advanced Driving Assistance System
  • the vehicle sends the first road condition video to the MEC server, which can reduce the transmission delay of the first road condition video and improve the transmission efficiency of the first road condition video, so as to enhance the authenticity of the driving scene on the road section where the vehicle is located.
  • the vehicle receives the operation command from the MEC server through the roadside equipment or base station, which can reduce the transmission delay of the operation command, so that the vehicle can quickly respond to the operation of the remote cockpit. In this way, the remote control efficiency of the vehicle can be improved, and the user experience can also be improved.
  • control method may further include: sending the driving state information of the vehicle.
  • vehicle's T-BOX module can send the vehicle's driving state information to the MEC server through the roadside device.
  • FIG. 10 shows a structural block diagram of a control device for a vehicle according to an embodiment of the present application.
  • the apparatus can be applied to a MEC server.
  • the control device 1000 of the vehicle may include:
  • the first receiving module 1010 is configured to receive the road condition video of the road section where the vehicle is located;
  • a first sending module 1020 configured to send the road condition video to the remote cockpit, so as to make the remote cockpit road condition video
  • the transceiver module 1030 is configured to send an operation instruction to the vehicle when an operation instruction is received, so that the vehicle performs a corresponding operation; wherein, the operation instruction is generated based on the driving operation of the remote cockpit, and communicated with the remote cockpit through the remote cockpit.
  • the communication connection of the MEC server is sent to the MEC server.
  • the road condition video includes a first road condition video and a second road condition video
  • the first road condition video is a first-view video of the vehicle sensor for the road segment
  • the second road condition video is a second-view video of the road side device for the road segment
  • the first sending module 1020 may include:
  • a determination sub-module for determining the target road condition video from the first road condition video and the second road condition video
  • the sending sub-module is used to send the target road condition video from the remote cockpit to display the target road condition video in the remote cockpit.
  • the target road condition video includes a first target road condition video and a second target road condition video
  • the sending submodule may include:
  • a first sending unit configured to send the first target road condition video to the first display area of the remote cockpit, so as to display the first target road condition video in the first display area;
  • the second sending unit is configured to send the second target road condition video to the second display area of the remote cockpit, so as to display the second target road condition video in the second display area.
  • the apparatus may further include:
  • a first setting module configured to use the first road condition video as the first target road condition video
  • a first acquisition module configured to acquire video information of the target object from the second road condition video according to the position information of the target object when it is detected that the target object in the first target road condition video is occluded;
  • the second setting module is configured to use the video information of the target object as the second target road condition video.
  • the apparatus further includes:
  • the identification module is used to identify the target object on the first road condition video and the second road condition video;
  • a second acquisition module configured to acquire video information of the target object from the second road condition video when the target object is not identified from the first road condition video and the target object is identified from the second road condition video;
  • the third setting module is configured to use the first road condition video as the first target road condition video, and use the video information of the target object as the second target road condition video.
  • the apparatus may further include:
  • a second receiving module configured to receive the driving state information of the vehicle
  • the third sending module is configured to send the driving status information to the third display area of the remote cockpit, so that the third display area displays the driving status information.
  • the apparatus further includes:
  • the fourth sending module is configured to send a takeover instruction to the vehicle in the case of receiving the abnormal prompt information sent by the vehicle, so that the vehicle is in the takeover mode.
  • FIG. 11 shows a structural block diagram of a control device for a vehicle according to another embodiment of the present application.
  • the device can be a vehicle.
  • the control device 1100 of the vehicle may include:
  • a sending module 1110 configured to send the first road condition video of the road section where the vehicle is located;
  • the execution module 1120 is used to receive and execute the operation instruction; the operation instruction is generated based on the driving operation of the remote cockpit, and is sent by the remote cockpit through the communication connection with the MEC server, and the communication connection between the MEC server and the roadside equipment or base station to the vehicle.
  • An embodiment of the present application further provides a vehicle control system, please refer to FIG. 2 , FIG. 10 and FIG. 11 , the system may include: an MEC server 21 , a remote cockpit 22 and a vehicle 11 ; wherein, the MEC server 21 includes the control of the vehicle The device 1000; the remote cockpit 22 is connected in communication with the MEC server 21, and the vehicle 11 includes a control device 1100 of the vehicle.
  • the MEC server 21 may communicate with the vehicle 11 through the bearer network 122 and the base station 121 , and the MEC server 21 may also communicate with the vehicle 11 through the roadside device 22 . In this way, the vehicle 11 can perform data interaction with the MEC server 21 .
  • the MEC server 21 and the remote cockpit 22 For the interaction between the road condition video and the operation instruction between the vehicle 11 , the MEC server 21 and the remote cockpit 22 , reference may be made to the foregoing embodiment, and details are not described herein again.
  • FIG. 12 shows a structural block diagram of an electronic device according to an embodiment of the present application.
  • the electronic device includes: a memory 1210 and a processor 1220 , and instructions that can be executed on the processor 1220 are stored in the memory 1210 .
  • the processor 1220 executes the instruction, the vehicle control method in the above embodiment is implemented.
  • the number of the memory 1210 and the processor 1220 may be one or more.
  • the electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the application described and/or claimed herein.
  • the electronic device may further include a communication interface 1230 for communicating with external devices and performing interactive data transmission.
  • the various devices are interconnected using different buses and can be mounted on a common motherboard or otherwise as desired.
  • the processor 1220 may process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to an interface.
  • multiple processors and/or multiple buses may be used with multiple memories and multiple memories, if desired.
  • multiple electronic devices may be connected, each providing some of the necessary operations (eg, as a server array, a group of blade servers, or a multiprocessor system).
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is shown in FIG. 12, but it does not mean that there is only one bus or one type of bus.
  • the memory 1210, the processor 1220 and the communication interface 1230 are integrated on one chip, the memory 1210, the processor 1220 and the communication interface 1230 can communicate with each other through an internal interface.
  • processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or any conventional processor or the like. It is worth noting that the processor may be a processor supporting an advanced reduced instruction set machine (Advanced RISC Machines, ARM) architecture.
  • Advanced RISC Machines Advanced RISC Machines
  • Embodiments of the present application provide a computer-readable storage medium (such as the above-mentioned memory 1210 ), which stores computer instructions, and when the program is executed by a processor, implements the methods provided in the embodiments of the present application.
  • a computer-readable storage medium such as the above-mentioned memory 1210
  • the memory 1210 may include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required by at least one function; the stored data area may store the use of the electronic device according to the control method of the vehicle created data, etc.
  • memory 1210 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device.
  • the memory 1210 may optionally include memory located remotely relative to the processor 1220, which may be connected to the electronics of the vehicle's control method via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • Any description of a process or method in a flowchart or otherwise described herein may be understood to represent a representation of executable instructions comprising one or more (two or more) steps for implementing a specified logical function or process.
  • a module, fragment or section of code may be understood to represent a representation of executable instructions comprising one or more (two or more) steps for implementing a specified logical function or process.
  • a module, fragment or section of code may be understood to represent a representation of executable instructions comprising one or more (two or more) steps for implementing a specified logical function or process.
  • a module, fragment or section of code A module, fragment or section of code.
  • the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the above-mentioned integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.
  • the storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

Abstract

本申请提出一种车辆的控制方法、装置、系统、设备及存储介质，其中，该方法包括：接收车辆所处路段的路况视频；向远程驾驶舱发送路况视频，以使远程驾驶舱显示路况视频；在接收到操作指令的情况下，向车辆发送操作指令，以使车辆执行相应的操作；其中，操作指令基于对远程驾驶舱的驾驶操作产生，并通过远程驾驶舱与MEC服务器的通信连接发送至MEC服务器。根据本申请实施例的技术方案可以有效提高车辆的远程控制效率。

Description

车辆的控制方法、装置、系统、设备及存储介质
本申请要求于2020年12月22日提交中国专利局、申请号为202011535996.8、发明名称为“车辆的控制方法、装置、系统、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动驾驶技术领域，尤其涉及一种车辆的控制方法、装置、系统、设备及存储介质。
背景技术
目前，在传统的车联网远程驾驶控制模式下，云端服务器通过移动通信网络向车辆发送控制指令，以对车辆进行远程控制；其中，控制指令的产生依赖于从车辆所处路段接收到的视频信息。但是，由于云端服务器与车辆之间的往返时延较大，不利于视频信息和控制指令的传输，因此，存在远程控制效率低的问题。
发明内容
本申请实施例提供一种车辆的控制方法、装置、系统、设备及存储介质，以解决相关技术存在的问题，技术方案如下：
第一方面，本申请实施例提供了一种车辆的控制方法，应用于MEC服务器的方法，该方法包括：
接收车辆所处路段的路况视频；
向远程驾驶舱发送路况视频，以使远程驾驶舱显示路况视频；
在接收到操作指令的情况下，向车辆发送操作指令，以使车辆执行相应的操作；其中，操作指令基于对远程驾驶舱的驾驶操作产生，并通过远程驾驶舱与MEC服务器的通信连接发送至MEC服务器。
第二方面，本申请实施例提供了另一种车辆的控制方法，应用于车辆，该方法包括：
发送车辆所处路段的第一路况视频；
接收并执行操作指令；操作指令基于对远程驾驶舱的驾驶操作产生，并由远程驾驶舱通过与MEC服务器的通信连接，以及MEC服务器与路侧设备或基站的通信连接发送至车辆。
第三方面，本申请实施例提供了一种车辆的控制装置，应用于MEC服务器，该装置包括：
第一接收模块，用于接收车辆所处路段的路况视频；
第一发送模块，用于向远程驾驶舱发送路况视频，以使远程驾驶舱显示路况视频；收发模块，用于在接收到操作指令的情况下，向车辆发送操作指 令，以使车辆执行相应的操作；其中，操作指令基于对远程驾驶舱的驾驶操作产生，并通过远程驾驶舱与MEC服务器的通信连接发送至MEC服务器。
第四方面，本申请实施例提供了另一种车辆的控制装置，应用于车辆，该装置包括：
发送模块，用于发送车辆所处路段的第一路况视频；
执行模块，用于接收并执行操作指令；操作指令基于对远程驾驶舱的驾驶操作产生，并由远程驾驶舱通过与MEC服务器的通信连接，以及MEC服务器与路侧设备或基站的通信连接发送至车辆。
第五方面，本申请实施例提供了一种车辆的控制系统，包括：
MEC服务器，MEC服务器包括上述第三方面的装置；
远程驾驶舱，与MEC服务器进行通信连接；
车辆，车辆包括上述第四方面的装置。
第六方面，本申请实施例提供了一种电子设备，该电子设备包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，以使至少一个处理器能够执行上述各方面任一种实施方式的方法。
第七方面，本申请实施例提供了一种计算机可读存储介质，计算机可读存储介质存储计算机指令，当计算机指令在计算机上运行时，上述各方面任一种实施方式中的方法被执行。
上述技术方案中的优点或有益效果至少包括：通过MEC服务器接收车辆所处路段的路况视频，以及通过控制远程驾驶舱显示该路况视频，可有效降低路况视频的传输时延，有利于增强车辆所处路段驾驶场景的真实性；并且，MEC服务器在接收到操作指令的情况下，可以将操作指令快速发送至车辆，使得车辆执行相应操作，进而车辆能够对远程驾驶舱的操作进行迅速响应。这样可以有效提高车辆的远程控制效率，改善用户的使用体验。
上述概述仅仅是为了说明书的目的，并不意图以任何方式进行限制。除上述描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本申请进一步的方面、实施方式和特征将会是容易明白的。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。
图1示出传统车联网的网络架构示意图；
图2示出根据本申请实施例的一种应用场景示意图；
图3示出根据本申请一实施例的车辆的控制方法的流程示意图一；
图4示出图3中步S302的一种流程示意图；
图5A示出图4中步骤S402的一种流程示意图；
图5B示出本申请实施例中远程驾驶舱的第一显示区域和第二显示区域的位置关系示意图一；
图5C示出本申请实施例中远程驾驶舱的第一显示区域和第二显示区域的位置关系示意图二；
图6示出根据本申请一实施例的车辆的控制方法的流程示意图二；
图7示出根据本申请一实施例的车辆的控制方法的流程示意图三；
图8A示出根据本申请一实施例的车辆的控制方法的流程示意图四；
图8B示出本申请实施例中远程驾驶舱的第三显示区域与第一显示区域、第二显示区域之间的位置关系示意图一；
图8C示出本申请实施例中远程驾驶舱的第三显示区域与第一显示区域、第二显示区域之间的位置关系示意图二；
图9示出根据本申请另一实施例的车辆的控制方法的流程示意图；
图10示出根据本申请一实施例的车辆的控制装置的结构框图；
图11示出根据本申请另一实施例的车辆的控制装置的结构框图；
图12是用来实现本申请实施例的车辆的控制方法的电子设备的框图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
图1示出传统车联网的网络架构示意图。如图1所示，在传统的车联网中，车辆11将基站121作为无线接入点接入移动通信网络12中，通过移动通信网络12中的基站121、承载网122和核心网123与云端服务器13建立通信连接。这样车辆11可以通过移动通信网络12向云端服务器13传输车辆传感器采集到的视频信息，以便用户基于云端服务器13向车辆11发送控制指令，对车辆11进行远程控制。
但是，一般情况下，车辆11与基站121之间的网络空口时延为20ms左右，移动通信网络12的单程回传时延为5～20ms，云端服务器13的互联网时延不确定，云端服务器13与车辆11之间的往返时延在70ms～800ms之间波动。由于云端服务器13与车辆11之间的往返时延较大，这就使得视频信息和控制指令的传输效率较低，因此产生对车辆11远程控制效率低的问题。
图2示出根据本申请实施例的一种应用场景示意图。请一并参考图1和图2，在该应用场景中将MEC(Mobile Edge Computing)服务器21和远程驾驶舱22部署于在移动通信网络12的边缘，MEC服务器21与远程驾驶舱22进行通信连接。MEC服务器21通过承载网122与基站121连接，MEC服务器21直接与路侧设备22连接。
其中，MEC服务器21的服务范围21A为MEC服务器21对应的服务小区。为了保证数据传输的实时性，MEC服务器21的部署间隔可以为30km～100km。
车辆11可以通过基站121或路侧设备(Road Side Unit，RSU)22与MEC服务器21进行通信连接。当车辆11进入服务范围21A时，MEC服务器21可以从基站121或路侧设备22获取车辆11的位置信息，以确定车辆11进入服务范围21A，进而MEC服务器21可以通过基站121或路侧设备22与车辆11进行数据交互。
车辆11可以是具有转向、刹车和油门线控能力的线控车辆，该线控车辆还配置有C-V2X(Carrier Vehicle To Everything)模块和T-BOX(Telematics BOX)模块，使得车辆11可以通过C-V2X模块与基站121进行通信连接，以及通过T-BOX模块与路侧设备22进行通信连接。其中，C-V2X模块为基于蜂窝网的V2X模块。
基站包括但不限于4G基站和5G基站。
远程驾驶舱22可以包括类似方向盘、刹车和油门的操作构件，使得用户对远程驾驶舱22的操作构件进行操作时，能够产生相应的操作指令。例如，当用户踩踏远程驾驶舱22的油门时，则产生加速指令。此外，远程驾驶舱22还包括显示屏，以便对视频进行显示。
在该应用场景中，车辆11可以通过基站121或路侧设备22向MEC服务器21发送视频，以使MEC服务器21通过远程驾驶舱22显示视频。用户可以基于远程驾驶舱22所显示的视频，对远程驾驶舱22的操作构件进行操作，以产生操作指令，操作指令再由远程驾驶舱22发送至MEC服务器21。MEC服务器21在接收到操作指令的情况下，通过基站121或路侧设备22向车辆11发送操作指令，使得车辆11根据操作指令执行相应的操作，实现远程自动驾驶。
基于此，通过将MEC服务器21部署到移动通信网络12的边缘，可以有效降低视频和操作指令的传输时延，提高车辆11的远程控制效率。
需要说明的是，图2仅示出一个MEC服务器21的部署场景，本申请实施例中的MEC服务器21还可以包括多个，可以将与远程驾驶舱22连接的MEC服务器21作为主MEC服务器，将部署于移动通信网络12中其他MEC服务器作为从MEC服务器。
在一个示例中，从MEC服务器可以通过承载网122将接收到的视频分流到主MEC服务器，以将视频发送至远程驾驶舱22并进行显示。相应地，基于对远程驾驶舱22的操作所产生的操作指令，也可以通过主MEC服务器发送至车辆所处服务范围对应的从MEC服务器，进而该从MEC服务器可以通过相应的基站或路侧设备将操作指令发送至车辆。
下面以具体地实施例对本申请的技术方案进行详细说明。
图3示出根据本申请一实施例的控制方法的流程示意图一。该车辆的控 制方法可以应用于MEC服务器。如图3所示，该方法可以包括：
S301、接收车辆所处路段的路况视频；
S302、向远程驾驶舱发送路况视频，以使远程驾驶舱显示路况视频；
S303、在接收到操作指令的情况下，向车辆发送操作指令，以使车辆执行相应的操作；其中，操作指令基于对远程驾驶舱的驾驶操作产生，并通过远程驾驶舱与MEC服务器的通信连接发送至MEC服务器。
其中，车辆所处路段为车辆所处道路的某一路段范围，某一路段范围可以是整条道路，也可以是道路的部分区域，某一路段范围可以根据实际需要进行调整和选择，本申请实施例对此不作限制。
远程驾驶舱和MEC服务器可以部署在同一机房中，也可以部署在不同机房中，只要能够进行通信连接即可。
路况视频可以包括第一路况视频，第一路况视频为车辆传感器针对车辆所处路段的第一视角视频。路况视频可以包括第二路况视频，第二路况视频为路侧传感器针对车辆所处路段的第二视角视频。
示例性地，车辆传感器可以是设置在车辆上的车载摄像头。该车载摄像头可以设置在车身的周侧，以获取车辆所处路段的路况视频。例如，车载摄像头可以设置在车身的正前方、左前方、右前方、后方、左后方和右后方等位置。
示例性地，路侧传感器可以是设置在车辆所处路段的两侧、上方或特定位置的路侧摄像头、雷达等。例如，路侧摄像头可以设置在车辆所处路段的人行道处，以获取行人在人行道上的通行视频；路侧摄像头还可以靠近车辆所处路段的交通灯设置，以获取交通灯的交通信号视频。路侧传感器的设置位置可以根据实际需要进行选择和调整，本申请实施对此不作限制。
进一步地，路侧摄像头可以与路侧设备进行通信连接，以通过路侧设备向MEC服务器发送第二路况视频。路侧摄像头还可以集成在路侧设备中，这样可以通过路侧设备直接获取第二路况视频。
基于上述第一路况视频和第二路况视频，步骤S301～步骤S302可以包括如下示例：
在一个示例中，接收车辆所处路段的第一路况视频；向远程驾驶舱发送该第一路况视频。
其中，第一路况视频可以通过基站和承载网发送至MEC服务器，以使MEC服务器接收第一路况视频，并向远程驾驶舱发送第一路况视频，使得远程驾驶舱进行显示；第一路况视频还可以通过路侧设备发送至MEC服务器，以使MEC服务器接收并发送至远程驾驶舱进行显示。
基于此，便于从车辆的单车视角向用户提供车辆所处路段的路况视频，可增强远程驾驶场景的真实性。
在另一个示例中，步骤S301～步骤S302可以包括：接收车辆所处路段的第二路况视频；向远程驾驶舱发送第二路况视频，以使远程驾驶舱进行显示。
其中，第二路况视频可以通过路侧设备发送至MEC服务器，以使MEC服务器接收第二路况视频并发送至远程驾驶舱进行显示。
基于此，便于从路侧视角向用户提供车辆所处路段的路况视频，有利于拓宽远程驾驶场景监测范围，方便用户进行操作决策。
在又一个示例中，步骤S301～步骤302还可以包括：接收车辆所处路段的第一路况视频和第二路况视频；向远程驾驶舱发送第一路况视频和第二路况视频，以使远程驾驶舱进行显示。如此，可以同时向用户从车辆的单车视角提供车辆所处路段的第一路况视频，以及从路侧视角提供车辆所处路段的第二路况视频，第一路况视频和第二路况视频可以构成互补视角的路况视频，有利于提高道路交通情况呈现的准确性。
根据本申请实施例的控制方法，通过MEC服务器接收车辆所处路段的路况视频，并向远程驾驶舱发送该路况视频，以使远程驾驶舱显示该路况视频，可有效降低路况视频的传输时延，有利于增强车辆所处路段驾驶场景的真实性；并且，MEC服务器在接收到操作指令的情况下，可以将操作指令快速发送至车辆，使得车辆执行相应操作，进而车辆能够对远程驾驶舱的操作进行迅速响应。这样可以有效提高车辆的远程控制效率，改善用户的使用体验。
在一个示例中，为了进一步提高路况视频的传输效率，可以先对路况视频进行编码处理和压缩处理之后，再进行传输。相应地，该方法在步骤S302之前，还可以包括：对路况视频进行解压缩处理和解码处理。
在一种实施方式中，如图4所示，步骤S302可以包括：
S401、从第一路况视频和第二路况视频中确定出目标路况视频；
S402、向远程驾驶舱发送目标路况视频，以使远程驾驶舱显示目标路况视频。
在一种应用方式中，MEC服务器可以基于对第一路况视频和第二路况视频的选取指令，从第一路况视频和第二路况视频确定一个为目标路况视频；进而MEC服务器向远程驾驶舱发送目标路况视频，使得远程驾驶舱显示目标路况视频。
比如，基于远程驾驶舱的选取操作，产生针对第一路况视频的选取指令，则确定第一路况视频为目标路况视频；MEC服务器向远程驾驶舱发送第一路况视频，使得远程驾驶舱显示第一路况视频。可以理解的，选取操作也可以是针对第二路况视频产生选取指令，此时MEC服务器可利用远程驾驶舱显示第二路况视频。如此，方便灵活选取或切换需显示的路况视频。
在一种实施方式中，目标路况视频包括第一目标路况视频和第二目标路况视频，如图5A所示，步骤S402可以包括：
S501、向远程驾驶舱的第一显示区域发送第一目标路况视频，以使第一显示区域显示第一目标路况视频；
S502、向远程驾驶舱的第二显示区域发送第二目标路况视频，以使第二显示区域显示第二目标路况视频。
在一个示例中，如图5B～图5C所示，远程驾驶舱的第一显示区域221A和第二显示区域221B可以为远程驾驶舱中显示屏221上并排或层叠的两个显示区域。其中，第一显示区域221A和第二显示区域221B的面积、形状等属性可以相同，也可以不同，第一显示区域221A和第二显示区域221B的面积、形状等属性可以根据实际需要进行选择和调整，本申请实施例对此不作限制。
图6示出根据本申请一实施例的车辆的控制方法的流程示意图二。如图6所示，该方法还可以包括：
S601、将第一路况视频作为第一目标路况视频；
S602、在检测到第一目标路况视频中的目标对象发生遮挡的情况下，根据目标对象的位置信息，从第二路况视频中获取目标对象的视频信息；
S603、将目标对象的视频信息作为第二目标路况视频。
在步骤S602中，目标对象可以是交通灯、路牌、围栏等道路交通设施，也可以是斑马线、路牌等道路标示，还可以是行人、动物、其他车辆等障碍物，目标对象可以根据实际需要进行选择和调整，本申请实施例对此不作限制。
例如，当第一路况视频中行人被前方车辆遮挡时，则根据行人的位置信息，从第二路况视频中获取行人的视频信息；并将行人的视频信息作为第二目标路况视频。这样，可以在远程驾驶舱显示第一路况视频和行人的视频信息。
在本实施方式中，由于第一路况视频和第二路况视频是针对相同路段的不同视角的路况视频，则第一路况视频与第二路况视频之间具有位置对应关系；进而在检测到第一路况视频中的目标对象发生遮挡时，可以利用目标对象的位置信息，从第二路况视频中获取目标对象的视频信息。如此，将第一路况视频作为第一目标路况视频，以及将目标对象的视频信息作为第二目标路况视频，可以在远程驾驶舱将第二路况视频中目标对象的视频信息与第一路况视频进行融合显示，以对第一路况视频中发生遮挡的目标对象的视频信息进行补充，以便从车辆视角提供更加准确的路况视频。
图7示出根据本申请一实施例的车辆的控制方法的流程示意图三。如图7所示，该方法还可以包括：
S701、对第一路况视频和第二路况视频进行目标对象识别；
S702、在从第一路况视频中未识别出目标对象，且从第二路况视频中识别出目标对象的情况下，从第二路况视频中获取目标对象的视频信息；
S703、将第一路况视频作为第一目标路况视频，以及将目标对象的视频信息作为第二目标路况视频。
示例性地，目标对象可以是交通灯，当车辆与交通灯的距离较远，或者大雾天气时，车辆传感器所获取的第一路况视频中交通灯的视频信息可能不清晰。而路侧传感器可以部署在交通灯所在位置的附近，则路侧传感器所获取的第二路况视频中交通灯的视频信息比较清晰。
基于上述示例，步骤S707中，当从第一路况视频中无法识别出交通灯，且从第二路况视频中识别出交通灯时，则根据交通灯的位置信息，从第二路况视频中获取交通灯的视频信息。再者，步骤S708中，将第一路况视频作为第一目标路况视频，并将交通灯的视频信息作为第二目标路况视频。这样，可以在远程驾驶舱显示第一路况视频和交通灯的视频信息。
基于此，可以在远程驾驶舱将第二路况视频中目标对象的视频信息与第一路况视频进行融合显示，对第一路况视频中无法识别或无法获取的目标对象的视频信息进行补充，以便从车辆视角提供更加准确的路况视频。
图8A示出根据本申请一实施例的车辆的控制方法的流程示意图四。如图8A所示，该方法还可以包括：
S801、接收车辆的行驶状态信息；
S802、向远程驾驶舱的第三显示区域发送行驶状态信息，以使第三显示区域显示行驶状态信息。
其中，车辆的行驶状态信息可以包括车辆的车速信息、挡位信息和航向信息等。车辆的行驶状态信息可以由车辆的T-BOX模块通过CAN网络从车辆相应的ECU中获取，并通过C-V2X模块发送至路侧设备，进而MEC服务器可以从路侧设备获取该车辆的行驶状态信息。
如图8B～图8C所示，第三显示区域221C可以与第一显示区域221A和/或第二显示区域221B并排、层叠设置，还可以按照其他排布方式进行设置，本申请实施例对此不作限制。其中，并排可以是按行并排，也可以是按列并排，本申请对此不作限制。
在一种实施方式中，在向车辆发送操作指令之前，还可以包括：在接收到车辆发送的异常提示信息的情况下，向车辆发送接管指令，以使车辆处于接管模式。
在一种应用场景中，车辆可以先处于自动驾驶模式，此时，车辆自动行驶，无需人为干预。当车辆自动驾驶发生异常时，则可以向MEC服务器发送异常提示信息。相对应地，MEC服务器在接收到异常提示信息的情况下，向车辆发送接管指令，将车辆切换到接管模式。如此，在接管模式下，用户可以基于远程驾驶舱和MEC服务器对车辆进行远程操控，实现车辆的远程控制。
图9示出根据本申请另一实施例的车辆的控制方法的流程示意图。该控制方法可以应用于车辆，如图9所示，该方法可以包括：
S901、发送车辆所处路段的第一路况视频；
S902、接收并执行操作指令；操作指令基于对远程驾驶舱的驾驶操作产生，并由远程驾驶舱通过与MEC服务器的通信连接，以及MEC服务器与路侧设备或基站的通信连接发送至车辆。
步骤S902中，车辆的T-BOX模块可以将操作指令发送至车辆的ADAS(Advanced Driving Assistance System，高级驾驶辅助系统)控制器，使得 ADAS控制器对车辆的线控机构执行控制。
在本实施方式中，车辆将第一路况视频发送至MEC服务器，可以降低第一路况视频的传输时延，提高第一路况视频的传输效率，以便增强车辆所处路段驾驶场景的真实性。相应地，车辆通过路侧设备或基站从MEC服务器接收操作指令，可降低操作指令的传输时延，使得车辆能迅速响应远程驾驶舱的操作。如此，有利提高车辆的远程控制效率，也能改善用户的使用体验。
在一种实施方式中，该控制方法还可以包括：发送车辆的行驶状态信息。具体地，可以由车辆的T-BOX模块通过路侧设备向MEC服务器发送车辆的行驶状态信息。
图10示出根据本申请一实施例的车辆的控制装置的结构框图。该装置可以应用于MEC服务器。如图10所示，该车辆的控制装置1000可以包括：
第一接收模块1010，用于接收车辆所处路段的路况视频；
第一发送模块1020，用于向远程驾驶舱发送路况视频，以使远程驾驶舱路况视频；
收发送模块1030，用于在接收到操作指令的情况下，向车辆发送操作指令，以使车辆执行相应的操作；其中，操作指令基于对远程驾驶舱的驾驶操作产生，并通过远程驾驶舱与MEC服务器的通信连接发送至MEC服务器。
在一种实施方式中，路况视频包括第一路况视频和第二路况视频，第一路况视频为车辆传感器针对路段的第一视角视频，第二路况视频为路侧设备针对路段的第二视角视频，第一发送模块1020可以包括：
确定子模块，用于从第一路况视频和第二路况视频中确定出目标路况视频；
发送子模块，用于远程驾驶舱发送目标路况视频，以在远程驾驶舱显示目标路况视频。
在一种实施方式中，目标路况视频包括第一目标路况视频和第二目标路况视频，发送子模块可以包括：
第一发送单元，用于向远程驾驶舱的第一显示区域发送第一目标路况视频，以在第一显示区域显示第一目标路况视频；
第二发送单元，用于向远程驾驶舱的第二显示区域发送第二目标路况视频，以在第二显示区域显示第二目标路况视频。
在一种实施方式中，该装置还可以包括：
第一设置模块，用于将第一路况视频作为第一目标路况视频；
第一获取模块，用于在检测到第一目标路况视频中的目标对象发生遮挡的情况下，根据目标对象的位置信息，从第二路况视频中获取目标对象的视频信息；
第二设置模块，用于将目标对象的视频信息作为第二目标路况视频。
在一种实施方式中，该装置还包括：
识别模块，用于对第一路况视频和第二路况视频进行目标对象识别；
第二获取模块，用于在从第一路况视频中未识别出目标对象，且从第二路况视频中识别出目标对象的情况下，从第二路况视频中获取目标对象的视频信息；
第三设置模块，用于将第一路况视频作为第一目标路况视频，以及将目标对象的视频信息作为第二目标路况视频。
在一种实施方式中，该装置还可以包括：
第二接收模块，用于接收车辆的行驶状态信息；
第三发送模块，用于向远程驾驶舱的第三显示区域发送行驶状态信息，以使第三显示区域显示行驶状态信息。
在一种实施方式中，该装置还包括：
第四发送模块，用于在接收到车辆发送的异常提示信息的情况下，向车辆发送接管指令，以使车辆处于接管模式。
图11示出根据本申请另一实施例的车辆的控制装置的结构框图。该装置可以车辆。如图11所示，该车辆的控制装置1100可以包括：
发送模块1110，用于发送车辆所处路段的第一路况视频；
执行模块1120，用于接收并执行操作指令；操作指令基于对远程驾驶舱的驾驶操作产生，并由远程驾驶舱通过与MEC服务器的通信连接，以及MEC服务器与路侧设备或基站的通信连接发送至车辆。
本申请实施例还提供一种车辆的控制系统，请参考图2、图10和图11，该系统可以包括：MEC服务器21、远程驾驶舱22和车辆11；其中，MEC服务器21包括车辆的控制装置1000；远程驾驶舱22与MEC服务器21通信连接，车辆11包括车辆的控制装置1100。
其中，MEC服务器21可以通过承载网122和基站121与车辆11进行通信连接，MEC服务器21也可以通过路侧设备22与车辆11进行通信连接。如此，车辆11可以与MEC服务器21进行数据交互。车辆11、MEC服务器21和远程驾驶舱22之间的路况视频和操作指令的交互方式可以参见上述实施例，在此不再赘述。
本申请实施例各装置中的各模块的功能可以参见上述方法中的对应描述，在此不再赘述。
图12示出根据本申请一实施例的电子设备的结构框图。如图12所示，该电子设备包括：存储器1210和处理器1220，存储器1210内存储有可在处理器1220上运行的指令。处理器1220执行该指令时实现上述实施例中的车辆的控制方法。存储器1210和处理器1220的数量可以为一个或多个。该电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中 描述的和/或者要求的本申请的实现。
该电子设备还可以包括通信接口1230，用于与外界设备进行通信，进行数据交互传输。各个设备利用不同的总线互相连接，并且可以被安装在公共主板上或者根据需要以其它方式安装。处理器1220可以对在电子设备内执行的指令进行处理，包括存储在存储器中或者存储器上以在外部输入/输出装置(诸如，耦合至接口的显示设备)上显示GUI的图形信息的指令。在其它实施方式中，若需要，可以将多个处理器和/或多条总线与多个存储器和多个存储器一起使用。同样，可以连接多个电子设备，各个设备提供部分必要的操作(例如，作为服务器阵列、一组刀片式服务器、或者多处理器系统)。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器1210、处理器1220及通信接口1230集成在一块芯片上，则存储器1210、处理器1220及通信接口1230可以通过内部接口完成相互间的通信。
应理解的是，上述处理器可以是中央处理器(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者是任何常规的处理器等。值得说明的是，处理器可以是支持进阶精简指令集机器(Advanced RISC Machines，ARM)架构的处理器。
本申请实施例提供了一种计算机可读存储介质(如上述的存储器1210)，其存储有计算机指令，该程序被处理器执行时实现本申请实施例中提供的方法。
可选的，存储器1210可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据车辆的控制方法的电子设备的使用所创建的数据等。此外，存储器1210可以包括高速随机存取存储器，还可以包括非瞬时存储器，例如至少一个磁盘存储器件、闪存器件、或其他非瞬时固态存储器件。在一些实施例中，存储器1210可选包括相对于处理器1220远程设置的存储器，这些远程存储器可以通过网络连接至车辆的控制方法的电子设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包括于本申请的至少一个实施例或示例中。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结 合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或多个(两个或两个以上)用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分。并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。
应理解的是，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。上述实施例方法的全部或部分步骤是可以通过程序来指令相关的硬件完成，该程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。上述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读存储介质中。该存储介质可以是只读存储器，磁盘或光盘等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (19)

  1. 一种车辆的控制方法，其特征在于，应用于MEC服务器，所述方法包括：
    接收车辆所处路段的路况视频；
    向远程驾驶舱发送所述路况视频，以使所述远程驾驶舱显示所述路况视频；
    在接收到操作指令的情况下，向所述车辆发送所述操作指令，以使所述车辆执行相应的操作；其中，所述操作指令基于对所述远程驾驶舱的驾驶操作产生，并通过所述远程驾驶舱与所述MEC服务器的通信连接发送至所述MEC服务器。
  2. 根据权利要求1所述的方法，其特征在于，所述路况视频包括第一路况视频和第二路况视频，所述第一路况视频为车辆传感器针对所述路段的第一视角视频，所述第二路况视频为路侧设备针对所述路段的第二视角视频，所述向远程驾驶舱发送所述路况视频包括：
    从所述第一路况视频和所述第二路况视频中确定出目标路况视频；
    向所述远程驾驶舱发送所述目标路况视频，以使所述远程驾驶舱显示所述目标路况视频。
  3. 根据权利要求2所述的方法，其特征在于，所述目标路况视频包括第一目标路况视频和第二目标路况视频，所述向所述远程驾驶舱发送所述目标路况视频，包括：
    向所述远程驾驶舱发送所述第一目标路况视频，以在所述远程驾驶舱的第一显示区域显示所述第一目标路况视频；
    向所述远程驾驶舱发送所述第二目标路况视频，以在所述远程驾驶舱的第二显示区域显示所述第二目标路况视频。
  4. 根据权利要求3所述的方法，其特征在于，还包括：
    将所述第一路况视频作为所述第一目标路况视频；
    在检测到所述第一目标路况视频中的目标对象发生遮挡的情况下，根据所述目标对象的位置信息，从所述第二路况视频中获取所述目标对象的视频信息；
    将所述目标对象的视频信息作为所述第二目标路况视频。
  5. 根据权利要求3所述的方法，其特征在于，还包括：
    对所述第一路况视频和所述第二路况视频进行目标对象识别；
    在从所述第一路况视频中未识别出所述目标对象，且从所述第二路况视频中识别出所述目标对象的情况下，从所述第二路况视频中获取所述目标对象的视频信息；
    将所述第一路况视频作为所述第一目标路况视频，以及将所述目标对象的视频信息作为所述第二目标路况视频。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，还包括：
    接收所述车辆的行驶状态信息；
    向所述远程驾驶舱发送所述行驶状态信息，以在所述远程驾驶舱的第三显示区域显示所述行驶状态信息。
  7. 根据权利要求1至5中任一项所述的方法，其特征在于，在向所述车辆发送所述操作指令之前，还包括：
    在接收到所述车辆发送的异常提示信息的情况下，向所述车辆发送接管指令，以使所述车辆处于接管模式。
  8. 一种车辆的控制方法，其特征在于，应用于车辆，所述方法包括：
    发送车辆所处路段的第一路况视频；
    接收并执行操作指令；所述操作指令基于对远程驾驶舱的驾驶操作产生，并由所述远程驾驶舱通过与MEC服务器的通信连接，以及所述MEC服务器与路侧设备或基站的通信连接发送至所述车辆。
  9. 一种车辆的控制装置，其特征在于，应用于MEC服务器，所述装置包括：
    第一接收模块，用于接收车辆所处路段的路况视频；
    第一发送模块，用于向远程驾驶舱发送所述路况视频，以使所述远程驾驶舱显示所述路况视频；
    收发送模块，用于在接收到操作指令的情况下，向所述车辆发送所述操作指令，以使所述车辆执行相应的操作；其中，所述操作指令基于对所述远程驾驶舱的驾驶操作产生，并通过所述远程驾驶舱与所述MEC服务器的通信连接发送至所述MEC服务器。
  10. 根据权利要求9所述的装置，其特征在于，所述路况视频包括第一路况视频和第二路况视频，所述第一路况视频为车辆传感器针对所述路段的第一视角视频，所述第二路况视频为路侧设备针对所述路段的第二视角视频，所述第一发送模块包括：
    确定子模块，用于从所述第一路况视频和所述第二路况视频中确定出目标路况视频；
    发送子模块，用于所述远程驾驶舱发送所述目标路况视频，以使所述远程驾驶舱显示所述目标路况视频。
  11. 根据权利要求10所述的装置，其特征在于，所述目标路况视频包括第一目标路况视频和第二目标路况视频，所述发送子模块包括：
    第一发送单元，用于向所述远程驾驶舱的第一显示区域发送所述第一目标路况视频，以在所述第一显示区域显示所述第一目标路况视频；
    第二发送单元，用于向所述远程驾驶舱的第二显示区域发送所述第二目标路况视频，以在所述第二显示区域显示所述第二目标路况视频。
  12. 根据权利要求11所述的装置，其特征在于，还包括：
    第一设置模块，用于将所述第一路况视频作为所述第一目标路况视频；
    第一获取模块，用于在检测到所述第一目标路况视频中的目标对象发生 遮挡的情况下，根据所述目标对象的位置信息，从所述第二路况视频中获取所述目标对象的视频信息；
    第二设置模块，用于将所述目标对象的视频信息作为所述第二目标路况视频。
  13. 根据权利要求11所述的装置，其特征在于，还包括：
    识别模块，用于对所述第一路况视频和所述第二路况视频进行目标对象识别；
    第二获取模块，用于在从所述第一路况视频中未识别出所述目标对象，且从所述第二路况视频中识别出所述目标对象的情况下，从所述第二路况视频中获取所述目标对象的视频信息；
    第三设置模块，用于将所述第一路况视频作为所述第一目标路况视频，以及将所述目标对象的视频信息作为所述第二目标路况视频。
  14. 根据权利要求9至13中任一项所述的装置，其特征在于，还包括：
    第二接收模块，用于接收所述车辆的行驶状态信息；
    第三发送模块，用于向所述远程驾驶舱的第三显示区域发送所述行驶状态信息，以使所述第三显示区域显示所述行驶状态信息。
  15. 根据权利要求9至13中任一项所述的装置，其特征在于，还包括：
    第四发送模块，用于在接收到所述车辆发送的异常提示信息的情况下，向所述车辆发送接管指令，以使所述车辆处于接管模式。
  16. 一种车辆的控制装置，其特征在于，应用于车辆，所述装置包括：
    发送模块，用于发送车辆所处路段的第一路况视频；
    执行模块，用于接收并执行操作指令；所述操作指令基于对远程驾驶舱的驾驶操作产生，并由所述远程驾驶舱通过与MEC服务器的通信连接，以及所述MEC服务器与路侧设备或基站的通信连接发送至所述车辆。
  17. 一种车辆的控制系统，其特征在于，包括：
    MEC服务器，所述MEC服务器包括如权利要求9-15中任一项所述的装置；
    远程驾驶舱，与所述MEC服务器进行通信连接；
    车辆，所述车辆包括如权利要求16所述的装置。
  18. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的方法。
  19. 一种计算机可读存储介质，所述计算机可读存储介质内存储有计算机指令，所述计算机指令被处理器执行时实现如权利要求1-8中任一项所述的方法。
PCT/CN2021/084780 2020-12-22 2021-03-31 车辆的控制方法、装置、系统、设备及存储介质 WO2022134364A1 (zh)

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CN115277788A (zh) * 2022-08-23 2022-11-01 石家庄开发区天远科技有限公司 工程车远程控制系统与方法
CN115277788B (zh) * 2022-08-23 2024-04-26 石家庄开发区天远科技有限公司 工程车远程控制系统与方法
CN115567693A (zh) * 2022-11-23 2023-01-03 北京易控智驾科技有限公司 遥控驾驶实时视频获取方法、装置、电子设备及存储介质
CN115567693B (zh) * 2022-11-23 2023-03-24 北京易控智驾科技有限公司 遥控驾驶实时视频获取方法、装置、电子设备及存储介质

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