CN112947482A - Automatic driving and remote driving hot switching method and system - Google Patents
Automatic driving and remote driving hot switching method and system Download PDFInfo
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- CN112947482A CN112947482A CN202110335072.1A CN202110335072A CN112947482A CN 112947482 A CN112947482 A CN 112947482A CN 202110335072 A CN202110335072 A CN 202110335072A CN 112947482 A CN112947482 A CN 112947482A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a hot switching method and a hot switching system for automatic driving and remote driving, wherein the method comprises the following steps: under the condition that the driving mode is automatic driving or default non-selection, judging switching time by an automatic driving judging module, wherein the switching time comprises the following steps: first switching occasion: after the vehicle is started, carrying out remote driving and automatic driving mode initial selection, wherein the initial selection is an automatic driving mode, but the automatic driving function fails to be self-checked; a second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode; a third switching occasion: in the automatic driving process, a vehicle-mounted end passenger manually switches the driving mode; a fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode; under the condition that the driving mode is remote driving, the remote driving judgment module judges switching time, wherein the switching time comprises the following steps: a fifth switching occasion: in the remote driving process, a vehicle-mounted end passenger manually switches the driving mode; a sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode; the priority level of the switching time is gradually decreased from the first switching time to the sixth switching time in sequence. The method has the characteristics of high safety, good reliability, clear logic, easy realization and the like, and can accelerate the solution of the long tail problem, special extreme working conditions and human behaviors which are difficult to predict in the automatic driving landing application process.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a hot switching method and a hot switching system for automatic driving and remote driving.
Background
Automatic driving is an important direction for the future development of automobiles. Many autonomous vehicles are designed without vehicle-mounted driving devices such as a steering wheel, an accelerator pedal, a brake pedal, and the like, so that if an emergency such as failure of an autonomous driving system occurs or a driver in the vehicle autonomously selects a driving mode, other driving systems are required to assist in completing a driving task. In recent years, 5G technology is becoming mature and industrialized, and this low-latency wireless communication technology makes remote driving one of backup guarantees for autonomous vehicles. Therefore, in order to meet the requirement of the safety redundancy design, the phenomenon of coexistence of remote driving and automatic driving exists. Under the automatic driving scene, the remote driving solves the problems of long tail, special extreme working conditions and human behaviors which are difficult to predict in the automatic driving landing application process. It is a safety redundancy of an automatic driving system, and accelerates the unmanned 'landing'. The present invention related to remote driving is related to remote control method and communication technology guarantee. Many research inventions on switching of driving modes are mostly switching modes between automatic driving and manned driving at a vehicle-mounted end.
An authorized remote control technology is currently available, but the technology manually sends a remote control request at the vehicle end only when the vehicle occupant has sudden illness or other emergency health states. The automatic driving vehicle has high electrification degree, has a plurality of fault hidden dangers and needs to be designed in a safety redundancy way. When the automatic driving system fails, the remote driving system is required to be automatically accessed, and the situation cannot be considered.
There is also a remote control request point technology that can receive the automatic driving vehicle, but there is no suggestion of the hot-switch timing of automatic driving and remote driving, the priority of the hot-switch request, and the authorization rule of the remote end after the request command is sent out. Therefore, when automatic driving and remote driving are switched, safe driving authorization and verification are not facilitated.
Disclosure of Invention
It is an object of the present invention to provide an autopilot and telematic hot-switch system and method that overcomes or at least alleviates at least one of the above-mentioned deficiencies of the prior art.
In order to achieve the above object, the present invention provides an automatic driving and remote driving hot switching method, comprising:
step S1, in case the driving mode is automatic driving or default non-selection, the automatic driving determining module determines the switching time, which includes:
first switching occasion: after the vehicle is started, carrying out remote driving and automatic driving mode initial selection, wherein the initial selection is an automatic driving mode, but the automatic driving function fails to be self-checked;
a second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode;
a third switching occasion: in the automatic driving process, a vehicle-mounted end passenger manually switches the driving mode;
a fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode;
step S2, in case that the driving mode is remote driving, the remote driving determining module determines a switching timing, which includes:
a fifth switching occasion: in the remote driving process, a vehicle-mounted end passenger manually switches the driving mode;
a sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode;
wherein, from the first switching time to the sixth switching time, the priority level of the switching time is gradually decreased.
Further, the step of initially selecting the driving mode specifically includes:
step S1', the vehicle is started;
step S2', self-checking vehicle function;
step S3 ', judging whether the vehicle function self-test passes or not, if not, entering step S4'; if so, the process proceeds to step S6';
step S4 ', alarm to prompt the self-checking failure of the automatic driving or remote driving system, and go to step S5';
step S5', a vehicle stop operation instruction is sent out, and the vehicle is stopped in a safe area by the vehicle safe parking system;
step S6', receiving and processing sensor data, remote driving communication data and driving mode primary selection data;
and step S7 ', judging the remote driving request according to the driving mode primary selection data acquired in the step S6'.
Further, the judgment process of the automatic driving judgment module specifically includes:
step S11, self-checking automatic driving function;
step S12, judging whether the automatic driving function is normal, if not, then the automatic driving function is at the first switching time, and entering the step S2; if yes, the flow proceeds to step S13;
step S13, starting an automatic driving function;
step S15, monitoring the running state of automatic driving in real time;
step S16, judging whether the automatic driving running state is normal, if not, then the automatic driving running state is at the second switching time, and entering the step S2; if yes, the flow proceeds to step S17;
step S17, analyzing and judging the vehicle-mounted terminal hot switching instruction, if yes, then the vehicle-mounted terminal hot switching instruction is in a third switching time, and entering step S2; if no, go to step S18;
step S18, receiving a remote end hot switching instruction;
step S19, determining the remote hot-swap command, if yes, then the switch is performed at the fourth switch timing, and the process goes to step S2.
Further, in the determination flow of the automatic driving determination module, after the step S13, the method specifically includes:
in step S14, the vehicle enters the hold automatic driving mode, and the process proceeds to step S15.
Further, in the automatic driving determination module, after the step S19, the method specifically includes:
step S110, if the step S19 judges that the remote end hot switching instruction is 'NO', whether the automatic driving task is completed is judged, and if the remote end hot switching instruction is 'YES', the vehicle is stopped in a safe area by a vehicle safe stopping system; if no, the automatic driving mode is continued, and the process proceeds to step S14.
Further, the determination process of the remote driving determination module specifically includes:
step S21, sending a remote driving control request by the vehicle-mounted terminal communication equipment;
step S22, the remote end communication equipment receives the remote control request;
step S23, after the driver passes through the remote end main system, the remote end human-computer interaction system requests the driver to control and authorize;
step S24, judging whether the remote driver is authorized, if it is unauthorized, entering step S25; if "authorized", the process proceeds to step S26.
Step S25, judging whether the driver control request exceeds N seconds, if yes, entering step S5'; if no, go to step S23;
step S26, verifying remote driving conditions;
step S27, judging whether the remote driving condition verification is passed, if the verification is not passed, entering step S28; if "passed", the flow proceeds to step S29;
step S28, judging whether the remote driving condition is verified for more than N times, if yes, entering step S5'; if no, go to step S26;
step S29, starting the remote driving system and taking over the vehicle by the remote driver;
step S211, judging the fault of the remote end, and if the fault occurs, entering the step S5'; if no fault occurs, go to step S212;
step S212, receiving vehicle-mounted terminal hot switching instruction information;
step S213, judging the vehicle-mounted terminal hot switching instruction information, if a vehicle-mounted terminal hot switching command is received, determining a fifth switching time, and entering step S1; if the vehicle-mounted terminal hot switching instruction is not received, the step S214 is executed;
step S214, determining a remote hot-swap command, and if it is determined that there is a remote hot-swap command, entering step S1 at a sixth handoff timing.
Further, in the determination process of the remote driving determination module, after the step S29, the method specifically includes:
in step S210, the remote driving mode is maintained, and the process proceeds to step S211.
The invention also provides an automatic driving and remote driving hot switching system, which comprises a vehicle-mounted main system and a remote main system, wherein: an automatic driving judgment module is preset in the vehicle-mounted main system, and a remote driving judgment module is preset in the remote main system;
the automatic driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is automatic driving or the initial selection after the vehicle is started, and the switching time comprises the following steps:
first switching occasion: after the vehicle is started, carrying out remote driving and automatic driving mode initial selection, wherein the initial selection is an automatic driving mode, but the automatic driving function fails to be self-checked;
a second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode;
a third switching occasion: in the automatic driving process, a vehicle-mounted end passenger manually switches the driving mode;
a fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode;
the remote driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is remote driving, and the switching time comprises the following steps:
a fifth switching occasion: in the remote driving process, a vehicle-mounted end passenger manually switches the driving mode;
a sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode;
wherein, from the first switching time to the sixth switching time, the priority level of the switching time is gradually decreased.
Further, the automatic driving judgment module specifically includes:
the automatic driving function normal judging unit is used for judging whether the automatic driving function is normal or not, and if the automatic driving function is judged to be not normal, the automatic driving function normal judging unit is in a first switching opportunity and enters a remote driving mode; in the case where the determination is "yes", starting an automatic driving function in the automatic driving system;
the automatic driving running state judging unit is used for monitoring and judging whether the automatic driving running state is normal in real time, and under the condition that the automatic driving running state is judged to be 'no', the automatic driving running state judging unit is in a second switching opportunity and enters a remote driving mode;
the first vehicle-mounted terminal hot switching instruction judging unit is used for judging whether a vehicle-mounted terminal hot switching instruction is received or not, and if the judgment result is yes, the first vehicle-mounted terminal hot switching instruction judging unit is in a third switching opportunity and enters a remote driving mode; receiving a remote end hot switching instruction under the condition of judging to be 'no';
the first remote end hot switching instruction judging unit is used for judging whether a remote end hot switching instruction is received or not, and if the judgment result is yes, the first remote end hot switching instruction is in a fourth switching opportunity and enters a remote driving mode; under the condition of judging as no, judging whether the automatic driving task is completed, and under the condition of judging as yes, stopping the vehicle in a safe area by a vehicle safe parking system; if the determination is "no," the automatic driving mode is continuously maintained.
Further, the remote driving judgment module specifically includes:
the remote driver control request analysis unit is used for judging whether a remote driver is authorized or not after receiving the remote control request, and under the condition that the remote driver control request is judged to be unauthorized, the remote driver control request analysis unit is used for judging whether the driver control request exceeds N seconds or not, if yes, a vehicle stop operation instruction is sent, the vehicle is stopped in a safe area by a vehicle safe parking system, and if not, the remote end human-computer interaction system requests the driver to perform control authorization;
a remote driving condition analysis unit for judging whether the remote driving condition verification is passed or not under the condition that the remote driver control request analysis unit judges that the remote driving condition is authorized and judges that the verification remote driving condition is not passed for more than N times, if the remote driving condition verification is not passed, judging that the verification remote driving condition is passed for more than N times, if the remote driving condition verification is not passed, sending a vehicle stop operation instruction, and stopping the vehicle in a safe area by a vehicle safe parking system; if the vehicle passes the condition, starting a remote driving system, and taking over the vehicle by a remote driver;
the remote end fault judging unit is used for judging a fault of the remote end in a remote driving mode, sending a vehicle stop operation instruction under the condition of the fault, and stopping the vehicle in a safe area by a vehicle safe parking system; if the fault does not occur, receiving hot switching instruction information of the vehicle-mounted terminal;
the second vehicle-mounted terminal hot switching instruction unit is used for judging whether a vehicle-mounted terminal hot switching instruction is received or not, and if the judgment result is yes, the second vehicle-mounted terminal hot switching instruction unit is in a fifth switching time and enters an automatic driving mode;
the second remote end hot switching instruction judging unit is used for judging whether a remote end hot switching instruction is received or not, and entering an automatic driving mode at a sixth switching opportunity; in the case where the determination is "no", the remote driving mode is maintained.
Due to the adoption of the technical scheme, the automatic driving landing system has the characteristics of high safety, good reliability, clear logic, easiness in implementation and the like, and can be used for accelerating the solving of the long tail problem, special extreme working conditions and human behaviors which are difficult to predict in the automatic driving landing application process.
Drawings
Fig. 1 is a schematic structural diagram of an automatic driving and remote driving hot switch system according to an embodiment of the present invention.
Fig. 2 is a diagram of hot handover timing according to an embodiment of the present invention.
Fig. 3 is a logic diagram for initially selecting a driving mode after the vehicle is started according to the embodiment of the invention.
Fig. 4 is a schematic flow chart of automatic driving determination according to an embodiment of the present invention.
Fig. 5 is a schematic flow chart of remote driving judgment according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The automatic driving and remote driving hot switching method provided by the embodiment of the invention comprises the following steps:
step S1, when the driving mode is automatic driving or default non-selection, the automatic driving determining module determines a switching timing, as shown in fig. 2, the switching timing includes:
first switching occasion 101: after the vehicle is started, remote driving and automatic driving mode initial selection is carried out, the initial selection is the automatic driving mode, but the automatic driving function self-checking fails.
Second switching occasion 102: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode.
Third switching occasion 103: in the automatic driving process, the vehicle-mounted end passenger manually switches the driving mode.
Fourth switching occasion 104: in the automatic driving process, a remote end operator manually switches the driving mode.
Step S2, in case that the driving mode is remote driving, the remote driving determining module determines a switching timing, which includes:
fifth switching occasion 105: in the remote driving process, the vehicle-mounted end passenger manually switches the driving mode.
Sixth switching occasion 106: in the remote driving process, a remote end operator manually switches the driving mode.
The priority level of the switching time is gradually decreased from the first switching time 101 to the sixth switching time 106.
In one embodiment, as shown in fig. 3, the process flow of performing the driving mode selection for the first time after the vehicle is started includes a "first time" which is understood to be a flow of performing the driving mode selection for the first time after each time the vehicle is started from the non-operating state to the vehicle powertrain is started for a hot time, and specifically includes:
step S1', the vehicle is started.
And step S2', self-checking the vehicle functions in the vehicle-mounted end main system, wherein the main components influencing automatic driving and remote driving comprise vehicle-mounted sensors, actuators, a communication system and the like.
Step S3 ', judging whether the vehicle function self-test passes or not, if not, entering step S4'; if so, the process proceeds to step S6'.
Step S4 ', the vehicle-mounted end human-computer interaction system gives an alarm to prompt the automatic driving or the remote driving system to fail self-checking, and the process goes to step S5'.
And step S5', the vehicle stop operation command is sent out by the vehicle-mounted main system, and the vehicle is stopped in the safe area by the vehicle safe parking system.
Step S6 ', the sensor data, the remote driving communication data and the driving mode initial selection data are received and processed in the vehicle-mounted host system, and the process proceeds to step S7'. The sensor data comprises sensor data such as radar, a camera and positioning equipment required for completing the automatic driving function, and cycle camera data required for completing remote driving. The remote driving communication data is acquired by the remote communication device. The driving mode initial selection data is input by the vehicle-mounted end man-machine interaction system and received by the vehicle-mounted end main system. The driving modes are classified into a remote driving mode and an automatic driving mode, and may be not selected by default.
And step S7 ', according to the driving mode primary selection data acquired in the step S6', the remote driving request is judged at the vehicle-mounted main system.
In step S8 ', if it is determined in step S7' that the initial selection is the automatic driving mode or the default selection is not selected, the automatic driving determination module determines a switching timing, as shown in fig. 2, where the switching timing includes:
first switching occasion 101: after the vehicle is started, remote driving and automatic driving mode initial selection is carried out, the initial selection is the automatic driving mode, but the automatic driving function self-checking fails.
Second switching occasion 102: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode.
Third switching occasion 103: in the automatic driving process, the vehicle-mounted end passenger manually switches the driving mode.
Fourth switching occasion 104: in the automatic driving process, a remote end operator manually switches the driving mode.
Step S9 ', if the preliminary driving mode is determined to be the remote driving mode in step S7', the remote driving determination module determines a switching timing, which includes:
fifth switching occasion 105: in the remote driving process, the vehicle-mounted end passenger manually switches the driving mode.
Sixth switching occasion 106: in the remote driving process, a remote end operator manually switches the driving mode.
The priority level of the switching time is gradually decreased from the first switching time 101 to the sixth switching time 106.
In one embodiment, as shown in fig. 4, the determination process of the automatic driving determination module specifically includes:
and step S11, self-checking the automatic driving function in the vehicle-mounted terminal main system.
Step S12, whether the automatic driving function is normal is judged in the vehicle-mounted main system, if not, the automatic driving function is in the first switching opportunity 101, and the step S2 is entered; if yes, the process proceeds to step S13.
In step S13, the automatic driving function is activated in the automatic driving system, and the process proceeds to step S14.
In step S14, the vehicle enters the hold automatic driving mode, and the process proceeds to step S15.
And step S15, the vehicle-mounted main system monitors the running state of automatic driving in real time.
Step S16, judging whether the automatic driving running state is normal, if not, namely the automatic driving is abnormal, then the automatic driving is in a second switching time, and entering the step S2; if "yes", that is, the automatic driving operation is normal, the routine proceeds to step S17.
Step S17, analyzing and judging the vehicle-mounted terminal hot switching instruction, if yes, then the vehicle-mounted terminal hot switching instruction is in a third switching time, and entering step S2; if no, the process proceeds to step S18.
Step S18, the vehicle-mounted end main system receives the remote end hot switching instruction;
in step S19, the remote hot-swap command is determined, and if yes, the switch is performed at the fourth switch timing 104, and the process proceeds to step S2.
In the above embodiment, step 14 may be omitted to form a solution.
In one embodiment, the automatic driving determination module, after step S19, further includes:
step S110, if the step S19 judges that the remote end hot switching instruction is 'NO', whether the automatic driving task is completed is judged, and if the remote end hot switching instruction is 'YES', the vehicle is stopped in a safe area by a vehicle safe stopping system; if no, the automatic driving mode is continuously maintained, and the process proceeds to step S14, where the process proceeds to the next logical decision loop.
In one embodiment, as shown in fig. 5, the determination process of the remote driving determination module specifically includes:
in step S21, the vehicle-mounted-side communication device transmits the remote driving control request.
In step S22, the remote-end communication device receives the remote control request.
Step S23, after the driver passes through the remote end main system, the remote end human-computer interaction system requests the driver to control and authorize;
step S24, the remote host system judges whether the remote driver is authorized, if it is not authorized, the process goes to step S25; if "authorized", the process proceeds to step S26.
Step S25, judging whether the driver control request exceeds N seconds, if yes, entering step S5'; if no, the process proceeds to step S23.
In step S26, the remote-end host system verifies remote driving conditions, where the remote driving conditions include a scene around the vehicle, whether a sensor required for remote driving is operating normally, whether a communication delay exceeds a maximum allowable value, whether a remote driving controller is operating normally, and the like.
Step S27, judging whether the remote driving condition verification is passed, if the verification is not passed, entering step S28; if "passed", the flow proceeds to step S29.
Step S28, judging whether the remote driving condition is verified for more than N times, if yes, entering step S5'; if no, the process proceeds to step S26.
Step S29, the remote driving system is enabled and the vehicle is taken over by the remote driver.
In step S210, the remote driving mode is maintained, and the process proceeds to step S211.
Step S211, the remote end main system judges the remote end fault, if the fault occurs, the step S5' is carried out; if no failure occurs, the process proceeds to step S212.
And step S212, receiving the hot switching instruction information of the vehicle-mounted terminal.
Step S213, the remote host system determines the vehicle-mounted terminal hot-switch instruction information, and if the vehicle-mounted terminal hot-switch instruction has been received, the remote host system is in the fifth switch opportunity 105, and then the process goes to step S1; if the on-board terminal hot-switch command is not received, the process proceeds to step S214.
Step S214, the remote host system determines a remote hot-swap instruction, and if it is determined that there is a remote hot-swap instruction, it is at the sixth handoff opportunity 106, and then step S1 is performed; if the remote host system determines that there is no remote hot-swap command, it returns to step S210 and enters the next logic determination cycle.
In the above embodiment, the confidence safety verification system in the automatic driving and remote driving hot-switch system may be embedded in the vehicle-mounted main system.
As shown in fig. 1, the automatic driving and remote driving hot switching system provided by the embodiment of the present invention includes a remote end and a vehicle-mounted end. The remote end comprises a remote end man-machine interaction system, a remote end main system, a remote driving system, a remote end information safety verification system and remote end communication equipment.
The vehicle-mounted end comprises vehicle-mounted end communication equipment, a vehicle-mounted end information safety verification system, a vehicle-mounted end main system, an automatic driving system, a vehicle safety parking system and a vehicle-mounted end human-computer interaction system.
The remote end human-computer interaction system, the remote driving system and the remote end main system are in mutual bidirectional communication, the remote end main system is in bidirectional communication with the remote end information safety verification system, the remote end information safety verification system is in bidirectional communication with the remote end communication equipment, the remote end communication equipment is in bidirectional communication with the vehicle-mounted end communication equipment through a network service provider, the vehicle-mounted end communication equipment is in bidirectional communication with the vehicle-mounted end information safety verification system, the vehicle-mounted end main system and the vehicle safety parking system are in mutual bidirectional communication, the automatic driving system, the vehicle safety parking system and the vehicle-mounted end main system are in mutual bidirectional communication, and the vehicle-mounted end main system is in bidirectional communication with the vehicle-mounted end.
In one embodiment, the vehicle-mounted host system is preset with an automatic driving judgment module, and the remote host system is preset with a remote driving judgment module, wherein:
the automatic driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is automatic driving or the initial selection after the vehicle is started, and the switching time comprises the following steps:
first switching occasion: after the vehicle is started, remote driving and automatic driving mode initial selection is carried out, the initial selection is the automatic driving mode, but the automatic driving function self-checking fails.
A second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode.
A third switching occasion: in the automatic driving process, the vehicle-mounted end passenger manually switches the driving mode.
A fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode.
The remote driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is remote driving, and the switching time comprises the following steps:
a fifth switching occasion: in the remote driving process, the vehicle-mounted end passenger manually switches the driving mode.
A sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode.
Wherein, from the first switching time to the sixth switching time, the priority level of the switching time is gradually decreased.
In one embodiment, the automatic driving determination module specifically includes an automatic driving function normal determination unit, an automatic driving operation state determination unit, a first vehicle-mounted terminal hot-switching instruction determination unit, and a first remote terminal hot-switching instruction determination unit, where:
the automatic driving function normal judging unit is preset in the vehicle-mounted terminal main system and is used for judging whether the automatic driving function is normal or not, and if the automatic driving function is judged to be 'no', the automatic driving function normal judging unit is in a first switching opportunity 101 and enters a remote driving mode; in the case where the determination is "yes," the automatic driving function is started in the automatic driving system.
The automatic driving running state judging unit is preset in the vehicle-mounted terminal main system and is used for monitoring and judging whether the automatic driving running state is normal or not in real time, and under the condition that the automatic driving running state is judged to be 'no', the automatic driving running state judging unit is in a second switching opportunity 102 and enters a remote driving mode.
The first vehicle-mounted terminal hot switching instruction judging unit is arranged in the vehicle-mounted terminal main system in advance and used for judging whether a vehicle-mounted terminal hot switching instruction is received or not, and if the judgment result is yes, the first vehicle-mounted terminal hot switching instruction judging unit is in a third switching opportunity 103 and enters a remote driving mode; and receiving a remote end hot switching instruction under the condition of judging to be 'no'.
The first remote end hot switching instruction judging unit is arranged in the vehicle-mounted end main system in advance and used for judging whether a remote end hot switching instruction is received or not, and if yes, the first remote end hot switching instruction judging unit is in a fourth switching opportunity and enters a remote driving mode; under the condition of judging as no, judging whether the automatic driving task is completed, and under the condition of judging as yes, stopping the vehicle in a safe area by a vehicle safe parking system; if the determination is "no," the automatic driving mode is continuously maintained.
In one embodiment, the remote driving determination module specifically includes a remote driver control request analysis unit, a remote driving condition analysis unit, a remote end fault determination unit, a second vehicle-mounted end hot-switch instruction unit, and a second remote end hot-switch instruction determination unit, where:
the remote driver control request analysis unit is used for judging whether a remote driver is authorized or not after receiving the remote control request, and under the condition that the remote driver control request is judged to be unauthorized, the remote driver control request analysis unit is used for judging whether the driver control request exceeds N seconds or not, if yes, a vehicle stop instruction is sent, the vehicle is stopped in a safe area by the vehicle safe parking system, and if not, the remote end human-computer interaction system requests the driver to perform control authorization.
The remote driving condition analysis unit is used for judging whether the remote driving condition verification is passed or not under the condition that the remote driver control request analysis unit judges that the remote driving condition is authorized and judges that the verification remote driving condition does not exceed N times, if the remote driving condition verification is not passed, the remote driving condition analysis unit is used for judging that the verification remote driving condition exceeds N times, if the verification remote driving condition verification is not passed, a vehicle stop operation instruction is sent, and the vehicle is stopped in a safety area by a vehicle safety parking system; and if the vehicle passes, starting the remote driving system and taking over the vehicle by the remote driver.
The remote end fault judging unit is used for judging a fault of the remote end in a remote driving mode, sending a vehicle stop operation instruction under the condition of the fault, and stopping the vehicle in a safe area by a vehicle safe parking system; and if the fault does not occur, receiving hot switching instruction information of the vehicle-mounted terminal.
The second vehicle-mounted end hot switching instruction unit is used for judging whether a vehicle-mounted end hot switching instruction is received or not, and if yes, the second vehicle-mounted end hot switching instruction unit is in a fifth switching time and enters an automatic driving mode.
The second remote end hot switching instruction judging unit is used for judging whether a remote end hot switching instruction is received or not, and entering an automatic driving mode when the remote end hot switching instruction is in a sixth switching opportunity; in the case where the determination is "no", the remote driving mode is maintained.
The invention considers the situation of manual switching request and automatic request in fault, and ensures the comprehensiveness of the hot switching function request of automatic driving and remote driving. The invention provides control switching logic of the vehicle-mounted end and the remote end, which comprises rules of control authorization verification, driving condition verification and the like, and ensures the safety of the switching process.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic driving and remote driving hot switching method is characterized by comprising the following steps:
step S1, in case the driving mode is automatic driving or default non-selection, the automatic driving determining module determines the switching time, which includes:
first switching occasion: after the vehicle is started, carrying out remote driving and automatic driving mode initial selection, wherein the initial selection is an automatic driving mode, but the automatic driving function fails to be self-checked;
a second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode;
a third switching occasion: in the automatic driving process, a vehicle-mounted end passenger manually switches the driving mode;
a fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode;
step S2, in case that the driving mode is remote driving, the remote driving determining module determines a switching timing, which includes:
a fifth switching occasion: in the remote driving process, a vehicle-mounted end passenger manually switches the driving mode;
a sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode;
wherein, from the first switching time to the sixth switching time, the priority level of the switching time is gradually decreased.
2. The automated driving and remote driving hot-swap method of claim 1, wherein the step of initially selecting the driving mode specifically comprises:
step S1', the vehicle is started;
step S2', self-checking vehicle function;
step S3 ', judging whether the vehicle function self-test passes or not, if not, entering step S4'; if so, the process proceeds to step S6';
step S4 ', alarm to prompt the self-checking failure of the automatic driving or remote driving system, and go to step S5';
step S5', a vehicle stop operation instruction is sent out, and the vehicle is stopped in a safe area by the vehicle safe parking system;
step S6', receiving and processing sensor data, remote driving communication data and driving mode primary selection data;
and step S7 ', judging the remote driving request according to the driving mode primary selection data acquired in the step S6'.
3. The automatic driving and remote driving hot switching method according to claim 1 or 2, wherein the determination process of the automatic driving determination module specifically includes:
step S11, self-checking automatic driving function;
step S12, judging whether the automatic driving function is normal, if not, then the automatic driving function is at the first switching time, and entering the step S2; if yes, the flow proceeds to step S13;
step S13, starting an automatic driving function;
step S15, monitoring the running state of automatic driving in real time;
step S16, judging whether the automatic driving running state is normal, if not, then the automatic driving running state is at the second switching time, and entering the step S2; if yes, the flow proceeds to step S17;
step S17, analyzing and judging the vehicle-mounted terminal hot switching instruction, if yes, then the vehicle-mounted terminal hot switching instruction is in a third switching time, and entering step S2; if no, go to step S18;
step S18, receiving a remote end hot switching instruction;
step S19, determining the remote hot-swap command, if yes, then the switch is performed at the fourth switch timing, and the process goes to step S2.
4. The automatic driving and remote driving hot switching method according to claim 3, wherein in the determination process of the automatic driving determination module, after step S13, the method further comprises:
in step S14, the vehicle enters the hold automatic driving mode, and the process proceeds to step S15.
5. The automatic driving and remote driving hot switching method according to claim 4, wherein the automatic driving judgment module, after step S19, further comprises:
step S110, if the step S19 judges that the remote end hot switching instruction is 'NO', whether the automatic driving task is completed is judged, and if the remote end hot switching instruction is 'YES', the vehicle is stopped in a safe area by a vehicle safe stopping system; if no, the automatic driving mode is continued, and the process proceeds to step S14.
6. The automatic driving and remote driving hot switching method according to any one of claims 1 to 5, wherein the determination process of the remote driving determination module specifically includes:
step S21, sending a remote driving control request by the vehicle-mounted terminal communication equipment;
step S22, the remote end communication equipment receives the remote control request;
step S23, after the driver passes through the remote end main system, the remote end human-computer interaction system requests the driver to control and authorize;
step S24, judging whether the remote driver is authorized, if it is unauthorized, entering step S25; if "authorized", the process proceeds to step S26.
Step S25, judging whether the driver control request exceeds N seconds, if yes, entering step S5'; if no, go to step S23;
step S26, verifying remote driving conditions;
step S27, judging whether the remote driving condition verification is passed, if the verification is not passed, entering step S28; if "passed", the flow proceeds to step S29;
step S28, judging whether the remote driving condition is verified for more than N times, if yes, entering step S5'; if no, go to step S26;
step S29, starting the remote driving system and taking over the vehicle by the remote driver;
step S211, judging the fault of the remote end, and if the fault occurs, entering the step S5'; if no fault occurs, go to step S212;
step S212, receiving vehicle-mounted terminal hot switching instruction information;
step S213, judging the vehicle-mounted terminal hot switching instruction information, if a vehicle-mounted terminal hot switching command is received, determining a fifth switching time, and entering step S1; if the vehicle-mounted terminal hot switching instruction is not received, the step S214 is executed;
step S214, determining a remote hot-swap command, and if it is determined that there is a remote hot-swap command, entering step S1 at a sixth handoff timing.
7. The automatic driving and remote driving hot switching method according to claim 6, wherein in the determination process of the remote driving determination module, after step S29, the method further comprises:
in step S210, the remote driving mode is maintained, and the process proceeds to step S211.
8. The utility model provides an automatic drive and long-range driving hot switched systems, its characterized in that includes on-vehicle end main system and, long-range end main system, wherein: an automatic driving judgment module is preset in the vehicle-mounted main system, and a remote driving judgment module is preset in the remote main system;
the automatic driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is automatic driving or the initial selection after the vehicle is started, and the switching time comprises the following steps:
first switching occasion: after the vehicle is started, carrying out remote driving and automatic driving mode initial selection, wherein the initial selection is an automatic driving mode, but the automatic driving function fails to be self-checked;
a second switching occasion: in the automatic driving process, the automatic driving function is abnormal, and the system automatically switches the driving mode;
a third switching occasion: in the automatic driving process, a vehicle-mounted end passenger manually switches the driving mode;
a fourth switching occasion: in the automatic driving process, a remote end operator manually switches the driving mode;
the remote driving judgment module is used for judging the switching time of the vehicle under the condition that the driving mode is remote driving, and the switching time comprises the following steps:
a fifth switching occasion: in the remote driving process, a vehicle-mounted end passenger manually switches the driving mode;
a sixth switching occasion: in the remote driving process, a remote end operator manually switches the driving mode;
wherein, from the first switching time to the sixth switching time, the priority level of the switching time is gradually decreased.
9. The system for automatic driving and remote driving hot swap according to claim 8, wherein the automatic driving determination module specifically comprises:
the automatic driving function normal judging unit is used for judging whether the automatic driving function is normal or not, and if the automatic driving function is judged to be not normal, the automatic driving function normal judging unit is in a first switching opportunity and enters a remote driving mode; in the case where the determination is "yes", starting an automatic driving function in the automatic driving system;
the automatic driving running state judging unit is used for monitoring and judging whether the automatic driving running state is normal in real time, and under the condition that the automatic driving running state is judged to be 'no', the automatic driving running state judging unit is in a second switching opportunity and enters a remote driving mode;
the first vehicle-mounted terminal hot switching instruction judging unit is used for judging whether a vehicle-mounted terminal hot switching instruction is received or not, and if the judgment result is yes, the first vehicle-mounted terminal hot switching instruction judging unit is in a third switching opportunity and enters a remote driving mode; receiving a remote end hot switching instruction under the condition of judging to be 'no';
the first remote end hot switching instruction judging unit is used for judging whether a remote end hot switching instruction is received or not, and if the judgment result is yes, the first remote end hot switching instruction is in a fourth switching opportunity and enters a remote driving mode; under the condition of judging as no, judging whether the automatic driving task is completed, and under the condition of judging as yes, stopping the vehicle in a safe area by a vehicle safe parking system; if the determination is "no," the automatic driving mode is continuously maintained.
10. The automatic driving and remote driving hot switching system according to claim 8 or 9, wherein the remote driving determination module specifically includes:
the remote driver control request analysis unit is used for judging whether a remote driver is authorized or not after receiving the remote control request, and under the condition that the remote driver control request is judged to be unauthorized, the remote driver control request analysis unit is used for judging whether the driver control request exceeds N seconds or not, if yes, a vehicle stop operation instruction is sent, the vehicle is stopped in a safe area by a vehicle safe parking system, and if not, the remote end human-computer interaction system requests the driver to perform control authorization;
a remote driving condition analysis unit for judging whether the remote driving condition verification is passed or not under the condition that the remote driver control request analysis unit judges that the remote driving condition is authorized and judges that the verification remote driving condition is not passed for more than N times, if the remote driving condition verification is not passed, judging that the verification remote driving condition is passed for more than N times, if the remote driving condition verification is not passed, sending a vehicle stop operation instruction, and stopping the vehicle in a safe area by a vehicle safe parking system; if the vehicle passes the condition, starting a remote driving system, and taking over the vehicle by a remote driver;
the remote end fault judging unit is used for judging a fault of the remote end in a remote driving mode, sending a vehicle stop operation instruction under the condition of the fault, and stopping the vehicle in a safe area by a vehicle safe parking system; if the fault does not occur, receiving hot switching instruction information of the vehicle-mounted terminal;
the second vehicle-mounted terminal hot switching instruction unit is used for judging whether a vehicle-mounted terminal hot switching instruction is received or not, and if the judgment result is yes, the second vehicle-mounted terminal hot switching instruction unit is in a fifth switching time and enters an automatic driving mode;
the second remote end hot switching instruction judging unit is used for judging whether a remote end hot switching instruction is received or not, and entering an automatic driving mode at a sixth switching opportunity; in the case where the determination is "no", the remote driving mode is maintained.
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