CN112124326B - Automatic driving method, device, electronic equipment and storage medium - Google Patents

Abstract

The application provides an automatic driving method, an automatic driving device, electronic equipment and a storage medium, wherein the method comprises the steps that a cloud control device of an automatic driving vehicle receives driving guide information input by a safety guard of the automatic driving, and the driving guide information comprises a driving guide strategy; transmitting the driving instruction information to a vehicle-mounted terminal; the method comprises the steps that a vehicle-mounted terminal receives driving instruction information from an automatic driving safety driver, wherein the driving instruction information comprises a driving instruction strategy; determining an automatic driving algorithm corresponding to the automatic driving strategy; the vehicle where the vehicle-mounted terminal is located is driven to the destination by using the automatic driving algorithm, the problem of high labor cost caused by the fact that each vehicle needs to be equipped with a safety guard in automatic driving is solved, the problem of low safety caused by the fact that the safety guard directly controls the vehicle in an extreme or specific environment is also solved, the requirement on the safety guard in automatic driving is reduced, and the safety of automatic driving is improved.

Description

Automatic driving method, device, electronic device and storage medium

technical field

The present application relates to the technical field of automatic driving, and in particular, to an automatic driving method, device, electronic device and storage medium.

Background technique

Self-driving cars rely on artificial intelligence, visual computing, radar, surveillance devices, and global positioning systems to work together to allow computers to operate motor vehicles autonomously and safely without any human intervention. The core of autonomous vehicles to achieve safe driving is the advancement and perfection of vehicle control technology.

The existing autonomous driving solution is to be equipped with cloud security officers. The cloud security officer controls the vehicle's accelerator, brake and steering wheel and other equipment in the cloud in extreme environments or specific situations, so as to directly control the vehicle.

However, as for the way of deploying cloud security guards, on the one hand, each vehicle needs to be equipped with security guards, which will result in high labor costs. On the other hand, cloud security officers directly control vehicles in extreme environments or under specific circumstances, which will place extremely high demands on network infrastructure, and cloud security officers also need a long time to adapt to remote driving of different models. Factors such as the slow response speed of security officers and network delays in emergencies may cause security incidents to occur. Therefore, the safety of existing autonomous driving solutions is low.

SUMMARY OF THE INVENTION

The present application provides an automatic driving method, device, electronic device and storage medium, so as to reduce the demand for safety personnel in automatic driving and improve the safety of automatic driving.

A first aspect of the present application provides an automatic driving method, which is applied to a vehicle-mounted terminal, and the method includes:

Receive driving guidance information from an automatic driving safety officer, where the driving guidance information includes a driving guidance strategy;

determining the automatic driving algorithm corresponding to the automatic driving strategy;

The vehicle in which the vehicle-mounted terminal is located is driven to a destination by using the automatic driving algorithm.

In an optional embodiment, the driving guidance strategy includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, before receiving the driving guidance information from the safety officer of the automatic driving, the method further includes:

obtain the environmental information of the vehicle;

According to the environmental information of the vehicle, it is determined whether the vehicle can travel to the destination.

If not, send a guidance request to the automatic driving safety officer, where the guidance request is used to request the automatic driving safety officer to input the driving guidance information.

In an optional implementation manner, the receiving driving instruction information from the safety officer of the automatic driving includes:

Receive the driving guidance information sent by the automatic driving safety officer through the cloud control device.

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

A second aspect of the present application provides an automatic driving method, which is applied to a cloud control device, and the method includes:

receiving driving guidance information input by a safety officer of automatic driving, where the driving guidance information includes a driving guidance strategy;

The driving guidance information is sent to the vehicle-mounted terminal.

In an optional embodiment, the driving guidance strategy includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, before receiving the driving guidance information input by the safety officer of the automatic driving, the method further includes:

The guidance request sent by the vehicle-mounted terminal is received, where the guidance request is used to request the safety officer of the automatic driving to input the driving guidance information.

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

In an optional implementation manner, after receiving the guidance request sent by the vehicle-mounted terminal, the method further includes:

The guidance request and the environmental information of the vehicle are displayed on the display component of the cloud control device.

A third aspect of the present application provides an automatic driving device, the device comprising:

a receiving module, configured to receive driving guidance information from an automatic driving safety officer, where the driving guidance information includes a driving guidance strategy;

A processing module, configured to determine an automatic driving algorithm corresponding to the automatic driving strategy; use the automatic driving algorithm to drive the vehicle where the automatic driving device is located to a destination.

In an optional embodiment, the driving guidance strategy includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, the processing module is further configured to acquire environmental information of the vehicle; and determine whether the vehicle can travel to the destination according to the environmental information of the vehicle.

The apparatus further includes a sending module, configured to send a guidance request to the automatic driving safety officer if not, where the guidance request is used to request the automatic driving safety officer to input the driving guidance information.

In an optional implementation manner, the receiving module is specifically configured to receive driving guidance information sent by the automatic driving safety officer through the cloud control device.

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

A fourth aspect of the present application provides an automatic driving device, the device comprising:

a receiving module, configured to receive driving guidance information input by an automatic driving safety officer, where the driving guidance information includes a driving guidance strategy;

The sending module is used for sending the driving guidance information to the vehicle-mounted terminal.

In an optional embodiment, the driving guidance strategy includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, the receiving module is further configured to receive the guidance request sent by the in-vehicle terminal, where the guidance request is used to request the automatic driving safety officer to input the driving guidance information .

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

In an optional embodiment, the device further includes:

The processing module is configured to display the guidance request and the environmental information of the vehicle on the display component of the automatic driving device.

A fifth aspect of the present application provides a terminal device, including: a processor, a memory, a transmitter and a receiver;

The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method according to the first aspect or the second aspect;

The transmitter is configured to perform a sending action of the server, and the receiver is configured to perform a receiving action of the server.

A sixth aspect of the present application provides a chip, comprising: a processor for calling and running a computer program from a memory, so that a device installed with the chip executes the method according to the first aspect or the second aspect.

A seventh aspect of the present application provides a computer-readable storage medium for storing a computer program, the computer program causing a computer to execute the method according to the first aspect or the second aspect.

An eighth aspect of the present application provides a computer program product comprising computer program information, the computer program information causing a computer to perform the method according to the first aspect or the second aspect.

A ninth aspect of the present application provides a computer program, the computer program causing a computer to perform the method according to the first aspect or the second aspect.

The present application provides an automatic driving method, device, electronic device and storage medium, which are applied to in-vehicle terminals. The in-vehicle terminal receives driving guidance information from an autonomous driving safety officer. The driving guidance information includes a driving guidance strategy. According to the automatic driving strategy The corresponding automatic driving algorithm is determined, and then the vehicle terminal uses the automatic driving algorithm to drive the vehicle to the destination. Compared with the existing technology, since the vehicle terminal only receives the driving guidance information from the safety officer of the automatic driving instead of directly controlling the vehicle by the safety officer, the response speed of the safety officer and the network delay in the event of an emergency are very important to the safety of automatic driving. The impact will be greatly reduced, which can improve the safety of autonomous driving.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present invention. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic diagram of a remote driving system of an automatic driving vehicle according to an embodiment of the present application;

FIG. 2 is a schematic flowchart of a control method for an automatic driving vehicle provided by an embodiment of the present application;

3 is a schematic flowchart of another method for controlling an autonomous driving vehicle provided by an embodiment of the present application;

4 is a signaling interaction diagram of a method for controlling automatic driving in which a vehicle-mounted terminal and a cloud control device are intelligently coordinated according to an embodiment of the present application;

FIG. 5 is a schematic flowchart of a control method for automatic driving in which a vehicle-mounted terminal and a cloud control device are intelligently coordinated according to an embodiment of the present application;

FIG. 6 is a schematic flowchart of another method for controlling an automatic driving vehicle provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an automatic driving device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of an automatic driving device provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Some, but not all, embodiments are disclosed. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The self-driving car receives the relevant information of the external driving environment through the on-board sensors, inputs the detected information to the CPU of the on-board computer for logical reasoning and operation, and then outputs the result instruction to the actuator, which controls the vehicle by changing the steering and speed of the car. operation. The purpose of car autonomous driving is to realize the safe and reliable driving of partially automatic or fully automatic cars in place of human drivers under limited or non-limited conditions. Autonomous driving technology mainly involves hardware system and software system. The hardware system includes power supply module, perception module, decision-making module and control module. The software system includes four aspects: perception, fusion, decision-making and control. Perception is to understand the environment, and it is extremely dependent on depth. With learning-based artificial intelligence technology, decision-making has gradually shifted from purely rule-based to a combination of rules and deep learning. Autopilot solutions are generally equipped with cloud security officers, who control the vehicle's accelerator, brakes, steering wheel and other equipment in the cloud in extreme environments or under certain circumstances, so as to directly control the vehicle.

However, with regard to the way of deploying cloud security officers, on the one hand, each vehicle needs to be equipped with cloud security officers, which will result in high labor costs. On the other hand, cloud security officers directly control vehicles in extreme or specific environments, which will place extremely high requirements on network infrastructure and the quality of security officers. Security officers need to work in a highly concentrated environment for a long time, which is prone to mental fatigue. , and the cloud security officer needs to adapt to the driving of different models. In the event of an emergency, the cloud security officer's response speed and network delay will cause the problem of low safety of automatic driving.

In order to solve the above problems, the embodiments of the present application provide a remote control system and a control method in which a cloud control device of an autonomous vehicle and an on-board terminal intelligently cooperate with each other, and a control method thereof. The inventive concept of the present application is: In response to the guidance request, the safety officer inputs the driving guidance information, and the vehicle-mounted terminal generates an automatic driving algorithm according to the received driving knowledge strategy contained in the driving guidance information, and the automatic driving algorithm controls the vehicle to drive to the destination. In the case of the intervention of the automatic driving safety officer, the vehicle is also controlled by the vehicle-side automatic driving algorithm, which solves the problem of low safety caused by the safety officer's reaction speed and network delay in extreme environments or specific situations.

The application scenarios of the present application are described below. FIG. 1 is a schematic diagram of a remote driving system for an automatic driving vehicle according to an embodiment of the present application. As shown in FIG. 1 , the remote driving system of the autonomous vehicle includes: a vehicle terminal 001 , a server 002 and a cloud control device 003 . The in-vehicle terminal 001 sends a guidance request to the server 002 and the cloud control device 003. After receiving the guidance request from the in-vehicle terminal 001, the server 002 and the cloud control device 003 send driving guidance information to the in-vehicle terminal 001, and the in-vehicle terminal 001 receives the server 002 and the cloud control device. 003 sent the driving instruction information. After receiving the guidance request sent by the vehicle terminal 001, if the server 002 cannot handle the current situation, it will further send a guidance request to the cloud control device 003, and the cloud control device 003 will input the driving guidance information and send the driving guidance information to the vehicle terminal 001 .

It should be noted that the application scenarios involved in the embodiments of the present application do not constitute limitations, and the control methods provided in the embodiments of the present application may also be applied to other systems with automatic driving and remote control functions. The control method provided by the embodiment of the present application is also applicable to the situation of an in-vehicle safety officer. The in-vehicle terminal requests guidance from the in-vehicle safety officer, and the in-vehicle safety officer inputs driving guidance information through the in-vehicle terminal. The guidance strategy generates an automatic driving guidance algorithm, and uses the automatic driving algorithm to drive the vehicle where the vehicle terminal is located to the destination.

The technical solutions of the embodiments of the present application will be described in detail below by taking a vehicle-mounted terminal as an example and using specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

FIG. 2 is a schematic flowchart of a control method for an automatic driving vehicle provided by an embodiment of the present application. As shown in FIG. 2 , the execution body of this embodiment is a vehicle-mounted terminal, and the method includes:

S101. Accept the driving guidance information from the safety officer of the automatic driving.

Among them, the driving guidance strategy includes at least one of the following, correcting the parking position, planning the driving route, removing misjudged obstacles and adjusting the safety distance. The driving guidance information contains driving guidance strategies.

This application also does not limit the source of driving guidance information, which can be selected according to the actual situation. Exemplarily, it can be input by the in-vehicle safety officer, and the in-vehicle safety officer can input the driving guidance information according to the specific situation seen; it can be input by the cloud security officer, and the cloud security officer can input the driving guidance information through the cloud control device, and the cloud security officer can input the driving guidance information. Relatively higher authority, the input driving guidance information is more professional.

Exemplarily, in the case of an in-vehicle safety officer, the in-vehicle safety officer operates according to the reminder on the in-vehicle terminal. Input driving guidance information on the processing module.

Exemplarily, in the case of a cloud security officer, the cloud security officer analyzes and judges the environmental information of the vehicle according to the environmental information of the vehicle and the guidance request sent by the vehicle terminal received by the cloud control device, and adjusts image parameters, Correct misidentification and adjust the safety distance, input driving guidance information, send driving guidance information to the vehicle terminal through the cloud control device, and the vehicle terminal receives the driving guidance information.

In another optional implementation, the driving guidance information can also be determined by an algorithm model in the server. The server receives the guidance request sent by the vehicle terminal, and the guidance request contains the environmental information of the vehicle. The environmental information is used as the input of the algorithm model, and the driving guidance strategy output by the algorithm model is obtained. Subsequently, the server sends the driving guidance information including the driving guidance strategy to the vehicle-mounted terminal. Wherein, the present application does not limit the algorithm model, which may be a convolutional neural network model, a regression neural network model or a recurrent neural network model.

S102. Determine an automatic driving algorithm corresponding to the automatic driving strategy.

In this step, after receiving the driving guidance information from the safety officer of the automatic driving, the vehicle-mounted terminal generates an automatic driving algorithm according to the driving guidance strategy received by the vehicle-mounted terminal and the real-time environmental information of the vehicle.

This embodiment of the present application does not limit the type of driving guidance strategy, for example, it may include changing lanes and overtaking, drawing a parking line, drawing the upper and lower limits of a parking space, and planning a parking route.

Exemplarily, when encountering a situation of wanting to overtake on a highway, the automatic driving strategy can instruct the on-board terminal to control the vehicle to change lanes to overtake. If there is a parking space but no parking line is drawn during autonomous parking, the autonomous driving strategy can guide the vehicle terminal to draw the parking line, draw the upper and lower limits of the parking space, and plan the parking route.

In the embodiment of the present application, the automatic driving algorithm makes decisions and plans according to the environmental information of the vehicle obtained by the end-of-vehicle sensors, and controls the vehicle to execute the decisions and plans.

Among them, the automatic driving algorithm is generated according to the automatic driving strategy. Exemplarily, when the input automatic driving strategy is path planning, the corresponding algorithm may be an ant colony algorithm, a two-way search algorithm or a Lee algorithm.

S103, use the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to the destination.

In this step, when the vehicle terminal receives the driving guidance information from the safety officer of the automatic driving and determines the automatic driving algorithm corresponding to the automatic driving strategy, the vehicle where the vehicle terminal is located can be driven to the destination by using the automatic driving algorithm.

In some embodiments, after the automatic driving algorithm is determined, the vehicle terminal may drive the vehicle where the vehicle-mounted terminal is located to the destination according to the path planned by the automatic driving algorithm.

Exemplarily, the path planning algorithm of the vehicle, the path planning algorithm of the vehicle can be divided into a static path planning algorithm and a dynamic path algorithm. Static path planning seeks the shortest path based on constraints such as physical geographic information and traffic rules. Dynamic route planning is based on static route planning, combined with real-time traffic information, to make timely adjustments to the pre-planned optimal driving route until reaching the destination and finally get the optimal route.

In the automatic driving control method provided by the embodiments of the present application, a corresponding automatic driving algorithm is generated by using the driving guidance information received by the vehicle terminal, and the vehicle where the vehicle terminal is located is driven to a destination by using the automatic driving algorithm. Compared with the existing technology, the in-vehicle terminal generates an automatic driving algorithm according to the driving guidance information, which avoids the potential safety hazards caused by the network delay and the response speed of the cloud security officer, because the cloud security officer is only in extreme environments or specific conditions. Intervention guidance reduces the labor cost of having to be equipped with a safety officer for each vehicle.

The following is a detailed description of how to implement vehicle control through a control method for an automatic driving vehicle. FIG. 3 is a schematic flowchart of another method for controlling an automatic driving vehicle according to an embodiment of the present application. As shown in FIG. 3 , the execution subject of this embodiment is a vehicle-mounted terminal, and the method includes:

S201. Acquire environmental information of the vehicle.

In this step, the environmental information of the vehicle is acquired by the vehicle-mounted sensor on the vehicle and displayed on the processing module of the vehicle-mounted terminal.

In the embodiments of the present application, the on-board sensors on the autonomous driving vehicle are not limited. Exemplarily, in-vehicle cameras, millimeter-wave radars, ultrasonic radars, infrared sensors, and lidars are associated with autonomous driving.

In the embodiment of the present application, the environmental information of the vehicle may specifically include the status of traffic lights, the position and running track of obstacles, the status of pedestrians, surrounding traffic information, the number of vehicles and the distance between vehicles, and the like.

S202. Determine whether the vehicle can travel to the destination according to the environmental information of the vehicle.

In this step, after the in-vehicle terminal acquires the environmental information of the vehicle, the in-vehicle terminal determines whether the environment in which the vehicle is located can travel to the destination.

In the embodiment of the present application, whether the vehicle can travel to the destination includes determining whether the vehicle can be parked, whether the vehicle can travel according to the planned route, and the like.

Exemplarily, when the vehicle is in the parking lot and the vehicle is near the parking space, it is necessary to use the automatic driving algorithm to determine whether the parking space can be parked, for example, the size of the parking space, whether there are obstacles and whether the planned route can be used for normal autonomous driving. Parking etc.

S203 , if not, send a guidance request to the safety officer of the automatic driving.

In this step, after the in-vehicle terminal acquires the environmental information of the vehicle, the in-vehicle terminal can determine whether the vehicle can travel to the destination according to the environmental information of the vehicle. If not, the in-vehicle terminal can send a guidance request to the safety officer of the automatic driving. If yes, step S206 is executed.

This application does not limit the form of the guidance request, which can be set according to specific circumstances.

Exemplarily, a voice prompt may be used, and a "request for guidance" may be displayed on the display device of the cloud control terminal or an alarm signal may be issued.

S204. Accept the driving guidance information from the safety officer of the automatic driving.

S205 , determining an automatic driving algorithm corresponding to the automatic driving strategy.

S206, use the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to the destination.

The technical terms, technical effects, and technical features of S204-S206, as well as optional implementations, can be understood by referring to S101-S103 shown in FIG. 2 , and repeated content will not be repeated here.

In this application, the in-vehicle terminal receives the driving guidance information from the safety officer of the automatic driving, the driving guidance information includes the driving guidance strategy, the in-vehicle terminal determines the corresponding automatic driving algorithm according to the driving guidance strategy, and uses the automatic driving algorithm to locate The vehicle drives to its destination, avoiding the security problems caused by the network facilities and the response speed of the cloud security officer, and reducing the need for security officers in autonomous driving.

In the embodiment of the present application, the safety officer for automatic driving may be a cloud safety officer, and the cloud safety officer sends driving guidance information including a driving guidance strategy to the vehicle terminal through the cloud control device, and the vehicle terminal determines the corresponding automatic driving algorithm according to the driving guidance strategy , use the automatic driving algorithm to drive the vehicle where the vehicle terminal is located to the destination.

Based on the above embodiments, the embodiments of the present application provide a method for controlling automatic driving in which a vehicle-mounted terminal and a cloud control device are intelligently coordinated. FIG. 4 is a signaling interaction diagram of a method for controlling automatic driving in which a vehicle-mounted terminal and a cloud control device are intelligently coordinated according to an embodiment of the present application.

S301. The vehicle-mounted terminal acquires the environmental information of the vehicle.

S302 , the in-vehicle terminal determines whether the vehicle can travel to the destination according to the environmental information of the vehicle.

The technical terms, technical effects, technical features, and optional implementations of S301-S302 can be understood with reference to S201-S202 shown in FIG. 3 , and repeated content will not be repeated here.

S303, the vehicle-mounted terminal sends a guidance request to the cloud control device.

In this step, after acquiring the environmental information of the vehicle, the vehicle-mounted terminal determines whether the vehicle can travel to the destination according to the environmental information of the vehicle, and if not, sends a guidance request to the cloud control device. If yes, step S308 is executed.

Among them, the request guidance includes the environmental information of the vehicle.

S304 , the cloud control device accepts the driving guidance information input by the safety officer of the automatic driving, and the driving guidance information includes a driving guidance strategy.

In this step, before the cloud control device receives the driving instruction information input by the safety officer of the automatic driving, the safety officer equipped in the cloud control device forms the driving instruction information according to the environmental information of the vehicle uploaded by the vehicle terminal.

S305, the cloud control device sends driving guidance information to the vehicle terminal.

In this step, the cloud control device sends the driving instruction information input by the safety officer to the vehicle terminal.

S306, the vehicle-mounted terminal receives the driving guidance information from the safety officer of the automatic driving.

S307 , the in-vehicle terminal determines an automatic driving algorithm corresponding to the automatic driving strategy.

S308 , enabling the vehicle-mounted terminal to use the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to the destination.

The technical terms, technical effects, technical features, and optional implementations of S306-S308 can be understood with reference to S101-S103 shown in FIG. 2 , and repeated content will not be repeated here.

In the embodiment of the present application, after acquiring the environmental information of the vehicle, the on-board terminal determines whether the vehicle can drive to the destination according to the environmental information of the vehicle. , then send a guidance request to the cloud control terminal, the cloud control device receives the driving guidance information input by the safety officer of the automatic driving, and sends it to the vehicle terminal, and the vehicle terminal receives the driving guidance information from the safety officer of the automatic driving, and determines the corresponding driving guidance information of the automatic driving strategy. The automatic driving algorithm uses the automatic driving algorithm to drive the vehicle where the vehicle terminal is located to the destination. Compared with the prior art, the driving guidance information input by the safety officer includes the driving guidance strategy, the in-vehicle terminal generates an automatic driving algorithm according to the driving guidance strategy, and the in-vehicle terminal uses the automatic driving algorithm to drive the vehicle where the in-vehicle terminal is located to the destination. Safety issues caused by network delays and the reaction speed of safety officers greatly improve the safety of autonomous driving.

The embodiments of the present application will be specifically described below by taking the intelligent cooperation of the vehicle-mounted terminal and the cloud control device to realize autonomous parking as an example. FIG. 5 is a schematic flowchart of an automatic driving control method in which a vehicle-mounted terminal and a cloud control device are intelligently coordinated according to an embodiment of the present application. As shown in Figure 5, the method includes:

S401. The in-vehicle terminal acquires environmental information of the vehicle.

The environmental information of the vehicle may specifically refer to the location of the parking space in the parking lot, the location of the obstacle, the location of the surrounding vehicles, and the like.

S402, the vehicle-mounted terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle.

In this step, after acquiring the environmental information of the vehicle, the vehicle-mounted terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle.

In the embodiment of the present application, the algorithm at the vehicle end determines whether the vehicle can realize autonomous parking according to the environmental information of the vehicle uploaded by the vehicle terminal. Exemplarily, when the environmental information of the vehicle shows that there is a parking space ahead and there is an object similar to an obstacle in the parking space, it is necessary to judge whether the obstacle affects the autonomous parking according to an algorithm.

S403 , the vehicle-mounted terminal sends a guidance request to the server and uploads the vehicle environment information.

In this step, after the vehicle-mounted terminal obtains the environmental information of the vehicle, it determines whether the vehicle can be parked according to the environmental information of the vehicle, and if not, sends a guidance request to the server and uploads the vehicle environmental information. If yes, step S404 is executed.

In the embodiments of the present application, the manner in which the vehicle-mounted terminal sends the guidance request is not limited, and may be specifically described according to the situation.

Exemplarily, it may be a button installed on the vehicle for requesting guidance, it may be an option on the display component of the vehicle terminal, or it may be a voice command.

S404, the in-vehicle terminal uses an automatic driving algorithm to realize autonomous parking.

In this step, after obtaining the environmental information of the vehicle, the on-board terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle. If not, it sends a guidance request to the server and uploads the environmental information of the vehicle. Autonomous driving algorithms for autonomous parking.

In the embodiment of the present application, autonomous parking is realized by an automatic driving algorithm on the vehicle side, and the algorithm on the server side generates driving guidance information according to the uploaded environmental information of the vehicle, and sends it to the vehicle terminal. The driving guidance strategy in the information generates an automatic driving algorithm, and uses the automatic driving algorithm to realize autonomous parking.

S405, the server side inputs driving guidance information.

In this step, after the in-vehicle terminal sends a guidance request to the server and uploads the environmental information of the vehicle, the server inputs the driving guidance information including the driving guidance strategy according to the environmental information of the vehicle.

Among them, the driving guidance strategy includes at least one of the following: correcting the parking position, planning the driving route, removing misjudged obstacles and adjusting the safety distance.

S406, the server determines whether the vehicle can park autonomously according to the algorithm model.

In this step, after the server inputs the driving guidance information according to the environmental information of the vehicle uploaded by the vehicle terminal, the server side judges whether the vehicle can park autonomously.

In the embodiment of the present application, the algorithm on the server side is more complex, and can handle more complex environments, and the amount of data stored on the server side is also greater, and the environment scenarios that can be handled are also greater.

Exemplarily, when the environmental information of the vehicle acquired by the vehicle-mounted terminal is that there is no parking space at the current location but there is a space, and there are obstacles in the space, the current environmental information of the vehicle is uploaded to the server side, and the algorithm on the server side detects it, The server can further analyze the obstacle. For example, if it is determined to be a piece of paper or a leaf, it is determined that it does not affect autonomous parking, and the misjudged obstacle is cleared. The server further analyzes the current space and tries to reduce the safety distance. Calculate the size of the current space and determine whether it can park autonomously.

S407, the server sends driving guidance information to the vehicle terminal.

In this step, the algorithm on the server side determines whether the vehicle can park autonomously, and if so, sends driving guidance information to the vehicle terminal, and if not, executes step S408.

In the embodiment of the present application, the server-side judgment on whether the vehicle can park autonomously is based on the environmental information of the vehicle uploaded by the vehicle-mounted terminal. For safety reasons, after the server sends driving guidance information to the vehicle-mounted terminal, the vehicle-mounted terminal re-acquires the environmental information and determines whether the vehicle can park autonomously.

S408, the server sends a guidance request to the cloud control device and uploads the vehicle environment information.

In this step, the algorithm on the server side determines whether the vehicle can park autonomously, if not, it sends a guidance request to the cloud control device and uploads the vehicle environment information, and if so, executes step S407.

S409, the vehicle-mounted terminal sends a guidance request to the cloud control device and uploads the vehicle environment information.

In this step, the on-board terminal determines whether the vehicle can park autonomously in the driving guidance information sent by the server. If not, it sends a guidance request to the cloud control device and uploads the vehicle environment information. If yes, executes step S404.

In steps S408 and S409, when both the server-side algorithm and the vehicle-side automatic driving algorithm cannot solve the current environment of the vehicle, the server or vehicle-mounted terminal sends a guidance request to the cloud control device and uploads vehicle environment information.

This application does not limit the form of the guidance request, which can be set according to specific circumstances.

Exemplarily, a voice reminder may be used, and a "request for guidance" may be displayed on the display device of the cloud control device or an alarm signal may be issued.

In the embodiment of the present application, the cloud control device is equipped with a display module to display the received environmental information of the vehicle.

S410, the cloud control device inputs driving guidance information.

In this step, after the in-vehicle terminal and the server send a guidance request to the cloud control device and upload the environmental information of the vehicle, the safety officer equipped in the cloud control device inputs the driving guidance information including the driving guidance strategy according to the environmental information of the vehicle.

The driving guidance strategy includes at least one of the following: correcting the parking position, planning the driving route, removing misjudged obstacles, and adjusting the safety distance.

In the embodiment of the present application, the degree of professionalism and adjustment method of the driving guidance information input by the safety officer are different.

Exemplarily, image parameters are adjusted, scene parameters are adjusted, misrecognition is corrected, planning is adjusted, and a safety distance is adjusted.

S411 , the cloud control device sends driving guidance information to the vehicle terminal.

In this step, after the safety officer equipped with the cloud control device inputs the driving guidance information including the driving guidance strategy, the driving guidance information is sent to the vehicle terminal through the cloud control device.

The in-vehicle terminal re-acquires the environmental information of the vehicle after receiving the driving guidance information, and determines whether the vehicle can travel to the destination according to the environmental information of the vehicle.

On the basis of the above-mentioned embodiments, further, the present application specifically describes the situation where there is an in-vehicle safety officer. FIG. 6 is a schematic flowchart of another method for controlling an automatic driving vehicle according to an embodiment of the present application. As shown in Figure 6, the method includes:

S501, the on-board safety officer drives the vehicle to the vicinity of the parking position, and enables autonomous parking.

This step is applied to the situation of the driver in the vehicle, where the driver in the vehicle drives the vehicle to the vicinity of the parking position and enables autonomous parking.

In the embodiment of the present application, the parking position is not limited, and may be specified according to the situation.

Exemplarily, it can be a parking lot, or it can be a temporary parking lot on the side of the road.

In the embodiments of the present application, the manner of enabling autonomous parking is not limited, and may be specifically set according to actual conditions.

Exemplarily, an autonomous parking option can be set on the display panel of the vehicle terminal, an autonomous parking button can be set on the vehicle, and the operation can also be performed through a mobile phone connected to the vehicle.

S502, the in-vehicle safety officer sends a guidance request to the in-vehicle terminal.

In this step, when the in-vehicle safety officer drives the vehicle to the vicinity of the parking position and enables autonomous parking, a guidance request is sent to the vehicle-mounted terminal.

S503, the vehicle-mounted terminal acquires the environmental information of the vehicle.

S504 , the in-vehicle terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle.

The technical terms, technical effects, technical features, and optional implementations of S503-S504 can be understood with reference to S401-S402 shown in FIG. 5 , and repeated content will not be repeated here.

S505. Prompt the in-vehicle safety officer.

In this step, when the vehicle-mounted terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle, if not, prompts the in-vehicle safety officer through the display module of the control panel of the vehicle-mounted terminal, and if so, executes step S507.

In the embodiment of the present application, the manner of prompting the in-vehicle safety officer is not limited, and may be specifically set according to the actual situation.

Exemplarily, an alarm signal may be displayed on the display module of the control panel of the in-vehicle terminal, or an in-vehicle safety officer may be reminded of the specific situation, and an alarm indicator light may also be set.

S506, the in-vehicle safety officer inputs driving guidance information.

In this step, after the in-vehicle safety officer receives the prompt, the in-vehicle safety officer inputs driving guidance information.

In the embodiment of the present application, the driving guidance information input by the in-vehicle safety officer is described according to the specific prompt information received.

Exemplarily, if the automatic driving algorithm on the vehicle side fails to plan the route successfully, the in-vehicle safety officer is prompted to re-plan the route, and the in-vehicle safety officer plans the route according to the situation on the display module of the vehicle terminal.

Exemplarily, after the in-vehicle safety officer has planned the route, the vehicle terminal will be handed over to further evaluate the obstacles. If the evaluation is that the obstacle is impassable, the in-vehicle safety officer will be prompted to clear the obstacle or clear the misjudged obstacle, and the in-vehicle will be cleared. According to the specific situation seen, the safety officer removes obstacles, corrects misidentification and adjusts the safety distance.

Exemplarily, after the in-vehicle safety officer removes obstacles, corrects misidentification, and adjusts the safety distance, the vehicle-mounted terminal will determine whether the vehicle can be parked autonomously.

S507. The in-vehicle terminal uses an automatic driving algorithm to autonomously park.

In this step, after the driver in the vehicle inputs the driving guidance information, the on-board terminal determines whether the vehicle can park autonomously according to the environmental information of the vehicle. Start looking for a parking space again.

In the embodiment of the present application, the driving guidance information input by the in-vehicle safety officer includes a driving guidance strategy, the in-vehicle terminal generates an automatic driving algorithm according to the driving guidance strategy, and the in-vehicle terminal uses the automatic driving algorithm to drive the vehicle where the in-vehicle terminal is located to park autonomously.

FIG. 7 is a schematic structural diagram of an automatic driving device according to an embodiment of the present application. The automatic driving apparatus may be implemented by software, hardware or a combination of the two, so as to execute the control method of the on-board terminal of the automatic driving vehicle in the above-mentioned embodiments. As shown in FIG. 7 , the automatic driving device 600 includes: a processing module 601 , a sending module 602 and a receiving module 603 .

The processing module 601 is used to determine the automatic driving algorithm corresponding to the automatic driving strategy; use the automatic driving algorithm to drive the vehicle where the automatic driving device is located to the destination;

A sending module 602, configured to send a guidance request to the safety officer of the automatic driving if not, and the guidance request is used to request the safety officer of the automatic driving to input driving guidance information;

The receiving module 603 is configured to receive driving guidance information from an automatic driving safety officer, where the driving guidance information includes a driving guidance strategy.

In an optional implementation manner, the driving guidance information includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

In an optional implementation manner, the processing module is further configured to acquire environmental information of the vehicle; and determine whether the vehicle can travel to the destination according to the environmental information of the vehicle.

In an optional implementation manner, the receiving module is specifically configured to receive the driving guidance information sent by the safety officer of the automatic driving through the cloud control device.

The automatic driving apparatus provided by the embodiments of the present application can perform the actions of the vehicle-mounted terminal in the above-mentioned embodiments, and the implementation principles and technical effects thereof are similar, and are not repeated here.

FIG. 8 is a schematic structural diagram of an automatic driving device according to an embodiment of the present application. The automatic driving apparatus may be implemented by software, hardware or a combination of the two, so as to execute the control method of the cloud control device for the automatic driving vehicle in the above-mentioned embodiments. As shown in FIG. 8 , the communication apparatus 700 includes: a processing module 701 , a sending module 702 and a receiving module 703 .

a processing module 701, configured to display the guidance request and the environmental information of the vehicle on the display component of the automatic driving device;

A sending module 702, configured to send driving guidance information to the vehicle-mounted terminal;

The receiving module 703 is configured to receive driving guidance information input by a safety officer of automatic driving, where the driving guidance information includes a driving guidance strategy.

In an optional implementation manner, the driving guidance information includes at least one of the following: correcting the parking position, planning a driving route, removing misjudged obstacles and adjusting the safety distance.

In an optional implementation manner, the receiving module is further configured to receive a guidance request sent by the in-vehicle terminal, where the guidance request is used to request an automatic driving safety officer to input driving guidance information.

In an optional implementation manner, the guidance request includes environmental information of the vehicle.

FIG. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in FIG. 9, the electronic device may include: a processor 71 (eg, a CPU), a memory 72, a receiver 73 and a transmitter 74; the receiver 73 and the transmitter 74 are coupled to the processor 71, and the processor 71 controls the receiver 73 , and the processor 71 controls the sending operation of the transmitter 74 . The memory 72 may include a high-speed RAM memory, and may also include a non-volatile memory NVM, such as at least one disk memory, and various information may be stored in the memory 72 for completing various processing functions and implementing the methods of the embodiments of the present application. step. Optionally, the electronic device involved in the embodiment of the present application may further include: a power supply 75 , a communication bus 76 and a communication port 77 . The receiver 73 and the transmitter 74 may be integrated in the transceiver of the electronic device, or may be independent transceiver antennas on the electronic device. A communication bus 76 is used to enable communication connections between the elements. The above-mentioned communication port 77 is used to realize connection and communication between the electronic device and other peripheral devices.

An embodiment of the present application further provides a chip, including a processor and an interface. The interface is used to input and output data or instructions processed by the processor. The processor is configured to execute the methods provided in the above method embodiments.

The present invention also provides a computer-readable storage medium, the computer-readable storage medium may include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) Various media that can store the environmental information and driving guidance information of the vehicle, such as a magnetic disk or an optical disc, specifically, the computer-readable storage medium stores the environmental information and driving guidance information of the vehicle, which is used to update the control of the above-mentioned automatic driving vehicle. method.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. An automatic driving method is characterized by being applied to a vehicle-mounted terminal, and comprises the following steps:

receiving driving instruction information from a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;

determining an automatic driving algorithm corresponding to an automatic driving strategy containing the driving guide information;

using the automatic driving algorithm to drive the vehicle where the vehicle-mounted terminal is located to a destination;

prior to the receiving driving coaching information from a safety driver for automated driving, the method further comprises:

acquiring environment information of the vehicle, wherein the environment information of the vehicle is acquired by a vehicle-mounted sensor on the vehicle, and the environment information of the vehicle comprises the state of a traffic light, the position and the running track of an obstacle, the state of a pedestrian, surrounding traffic information, the number of vehicles and the distance between the vehicles;

determining whether the vehicle can travel to a destination according to the environmental information of the vehicle;

if not, sending a guidance request to the automatic driving safety personnel, wherein the guidance request is used for requesting the automatic driving safety personnel to input the driving guidance information, and the guidance request comprises the environment information of the vehicle;

the driving coaching strategy includes at least one of: correcting a parking position, planning a driving route, clearing misjudged barriers and adjusting a safety distance;

the source of the driving guidance strategy is selected according to actual conditions, and the following three modes are adopted:

the method comprises the steps that a safety person in the vehicle inputs the driving instruction information, wherein the safety person in the vehicle operates according to the prompt on the vehicle-mounted terminal, and after receiving an instruction request of the vehicle-mounted terminal, the safety person in the vehicle inputs the driving instruction information on a processing module on the vehicle-mounted terminal according to specific conditions;

the method comprises the steps that a cloud security officer inputs driving guidance information, analyzes and judges the environmental information of a vehicle according to the environmental information and a guidance request of the vehicle, which are received by a cloud control device and sent by a vehicle-mounted terminal, carries out image parameter adjustment, error recognition correction and safe distance adjustment operation, inputs the driving guidance information, and sends the driving guidance information to the vehicle-mounted terminal through the cloud control device;

the method comprises the steps that an algorithm model in a server determines that the server takes environment information of a vehicle as input of the algorithm model according to a received guidance request sent by the vehicle-mounted terminal, the driving guidance strategy output by the algorithm model is obtained, and the server sends the driving guidance information containing the driving guidance strategy to the vehicle-mounted terminal.

2. The method of claim 1, wherein receiving driving coaching information from a safer for automated driving comprises:

and receiving driving guide information sent by the automatic driving safety personnel through cloud control equipment.

3. An automatic driving method is applied to a cloud control device, and comprises the following steps:

receiving driving instruction information input by a safety driver of automatic driving, wherein the driving instruction information comprises a driving instruction strategy;

transmitting the driving instruction information to a vehicle-mounted terminal;

prior to the receiving driving coaching information input by a safer for automated driving, the method further comprises:

receiving a guidance request sent by the vehicle-mounted terminal, wherein the guidance request is used for requesting a security officer in automatic driving to input the driving guidance information, and the guidance request comprises environment information of vehicles, wherein the environment information of the vehicles is acquired by a vehicle-mounted sensor on the vehicles, and the environment information of the vehicles comprises the states of traffic lights, the positions and running tracks of obstacles, the states of pedestrians, surrounding traffic information, the number of the vehicles and the distance between the vehicles;

the driving coaching strategy includes at least one of: correcting a parking position, planning a driving route, clearing misjudged barriers and adjusting a safety distance;

the source of the driving guidance strategy is selected according to actual conditions, and the following three modes are adopted:

the method comprises the steps that a safety person in the vehicle inputs the driving instruction information, wherein the safety person in the vehicle operates according to the prompt on the vehicle-mounted terminal, and after receiving an instruction request of the vehicle-mounted terminal, the safety person in the vehicle inputs the driving instruction information on a processing module on the vehicle-mounted terminal according to specific conditions;

the method comprises the steps that a cloud security officer inputs driving guidance information, analyzes and judges the environment information of a vehicle according to the environment information and a guidance request of the vehicle, which are received by a cloud control device and sent by a vehicle-mounted terminal, performs operations such as image parameter adjustment, error recognition correction, safety distance adjustment and the like, inputs the driving guidance information, and sends the driving guidance information to the vehicle-mounted terminal through the cloud control device;

the method comprises the steps that an algorithm model in a server determines that the server takes environment information of a vehicle as input of the algorithm model according to a received guidance request sent by a vehicle-mounted terminal, the driving guidance strategy output by the algorithm model is obtained, and the server sends driving guidance information containing the driving guidance strategy to the vehicle-mounted terminal.

4. The method according to claim 3, wherein after the receiving the guidance request sent by the in-vehicle terminal, the method further comprises:

and displaying the guidance request and the environmental information of the vehicle on a display component of the cloud control device.

5. An autopilot device, the device comprising:

the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information from a safety driver of automatic driving, and the driving instruction information comprises a driving instruction strategy;

the processing module is used for determining an automatic driving algorithm corresponding to the automatic driving strategy containing the driving guide information; using the automatic driving algorithm to drive the vehicle where the automatic driving device is located to a destination;

the processing module is further used for acquiring environmental information of the vehicle; determining whether the vehicle can travel to a destination according to the environmental information of the vehicle;

the device also comprises a sending module, a judging module and a judging module, wherein the sending module is used for sending a guidance request to the safety personnel for automatic driving if the safety personnel for automatic driving inputs the driving guidance information, the guidance request comprises the environment information of the vehicles, the environment information of the vehicles is obtained by a vehicle-mounted sensor on the vehicles, and the environment information of the vehicles comprises the states of traffic lights, the positions and the running tracks of obstacles, the states of pedestrians, the surrounding traffic information, the number of the vehicles and the distance between the vehicles;

the driving coaching strategy includes at least one of: correcting a parking position, planning a driving route, clearing misjudged barriers and adjusting a safety distance;

the source of the driving guidance strategy is selected according to actual conditions, and the following three modes are provided:

the method comprises the steps that a security officer in the vehicle inputs information, the security officer in the vehicle operates according to a prompt on a vehicle-mounted terminal, and after receiving a guidance request of the vehicle-mounted terminal, the security officer in the vehicle inputs driving guidance information on a processing module on the vehicle-mounted terminal according to specific conditions;

the method comprises the steps that a cloud security officer inputs driving instruction information, analyzes and judges the environment information of a vehicle according to the environment information and an instruction request of the vehicle, which are received by a cloud control device and sent by a vehicle-mounted terminal, adjusts image parameters, corrects error identification and adjusts safe distance operation, inputs the driving instruction information, and sends the driving instruction information to the vehicle-mounted terminal through the cloud control device;

the method comprises the steps that an algorithm model in a server determines that the server takes environment information of a vehicle as input of the algorithm model according to a received guidance request sent by the vehicle-mounted terminal, the driving guidance strategy output by the algorithm model is obtained, and the server sends the driving guidance information containing the driving guidance strategy to the vehicle-mounted terminal.

6. The apparatus according to claim 5, wherein the receiving module is specifically configured to receive driving instruction information sent by the automated driving safer via a cloud control device.

7. An autopilot device, the device comprising:

the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving driving instruction information input by a safety guard of automatic driving, and the driving instruction information comprises a driving instruction strategy;

the sending module is used for sending the driving instruction information to the vehicle-mounted terminal;

the receiving module is further configured to receive a guidance request sent by the vehicle-mounted terminal, where the guidance request is used to request a security officer in the automatic driving to input the driving guidance information, and the guidance request includes environment information of a vehicle, where the environment information of the vehicle is acquired by a vehicle-mounted sensor on the vehicle, and the environment information of the vehicle includes a traffic light state, a position and a running track of an obstacle, a pedestrian state, surrounding traffic information, a number of vehicles, and an inter-vehicle distance;

the driving coaching strategy includes at least one of: correcting a parking position, planning a driving route, clearing misjudged barriers and adjusting a safety distance;

the source of the driving guidance strategy is selected according to actual conditions, and the following three modes are adopted:

the method comprises the steps that a safety person in the vehicle inputs the driving instruction information, wherein the safety person in the vehicle operates according to the prompt on the vehicle-mounted terminal, and after receiving an instruction request of the vehicle-mounted terminal, the safety person in the vehicle inputs the driving instruction information on a processing module on the vehicle-mounted terminal according to specific conditions;

the method comprises the steps that a cloud security officer inputs driving guidance information, analyzes and judges the environment information of a vehicle according to the environment information and a guidance request of the vehicle, which are received by a cloud control device and sent by a vehicle-mounted terminal, performs operations such as image parameter adjustment, error recognition correction, safety distance adjustment and the like, inputs the driving guidance information, and sends the driving guidance information to the vehicle-mounted terminal through the cloud control device;

the method comprises the steps that an algorithm model in a server determines that the server takes environment information of a vehicle as input of the algorithm model according to a received guidance request sent by the vehicle-mounted terminal, the driving guidance strategy output by the algorithm model is obtained, and the server sends the driving guidance information containing the driving guidance strategy to the vehicle-mounted terminal.

8. The apparatus of claim 7, further comprising:

a processing module to display the coaching request and the environmental information of the vehicle on a display component of the autonomous device.

9. An electronic device, comprising: a memory, a processor, and a transceiver;

the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method of any one of claims 1-4;

the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.

10. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any one of claims 1-4.

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