CN111489576A - A control method, system and storage medium of a vehicle automatic driving device - Google Patents
A control method, system and storage medium of a vehicle automatic driving deviceDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于车辆自动驾驶技术领域，涉及一种车载自动驾驶设备的自动驾驶方法、系统及存储介质。The invention belongs to the technical field of vehicle automatic driving, and relates to an automatic driving method, system and storage medium of a vehicle-mounted automatic driving device.
背景技术Background technique
全球每年发生大量的交通事故，造成大量的人员伤亡和财产损失。其中，发生交通事故的主要原因在于车辆之间缺乏可靠的信息交互机制。车联网系统旨在通过车辆与X(Vehicle-to-X，V2X)之间的通信来达到提高道路安全，提高交通效率和为用户提供丰富的流媒体服务的目的。具体的，V2X包括V2V(Vehicle to Vehicle，车辆与车辆)、V2I之间(Vehicle-to-Infrastructure，车辆与基础设施)以及V2P(Vehicle-to-Pedestrian，车辆与行人手持终端)A large number of traffic accidents occur every year in the world, resulting in a large number of casualties and property losses. Among them, the main cause of traffic accidents is the lack of reliable information exchange mechanism between vehicles. The vehicle networking system aims to improve road safety, improve traffic efficiency and provide users with rich streaming media services through the communication between vehicles and X (Vehicle-to-X, V2X). Specifically, V2X includes V2V (Vehicle to Vehicle, vehicle to vehicle), V2I (Vehicle-to-Infrastructure, vehicle and infrastructure) and V2P (Vehicle-to-Pedestrian, vehicle and pedestrian handheld terminal)
由于车辆的增多，车联网系统中传输资源的有限性，为了提高道路的安全性，现有技术中，车辆自动驾驶设备与车辆中安装的大量传感器通信，接收传感器感测的大量信息，根据传感器的感测数据与服务器通信，接收服务器的控制。车辆自动驾驶设备可能在同一时间，在同一位置，接收大量的传感器信息，承受巨大的负荷，车辆自动驾驶设备如何识别这些信息的紧急程度，过滤无用信息，成为最需要关注的问题之一。同时车载设备在与服务器通信过程中，存在很多安全漏洞，如果车辆自动驾驶设备处理负荷过大，或者遭到网络攻击，如何保证乘车人的安全也是我们亟需关注的问题。Due to the increase of vehicles and the limited transmission resources in the Internet of Vehicles system, in order to improve road safety, in the prior art, the vehicle automatic driving device communicates with a large number of sensors installed in the vehicle, and receives a large amount of information sensed by the sensors. The sensing data communicates with the server and receives the control of the server. Vehicle automatic driving equipment may receive a large amount of sensor information at the same time and in the same location, and bear a huge load. How to identify the urgency of such information and filter useless information has become one of the most important issues. At the same time, there are many security loopholes in the communication process between the vehicle-mounted device and the server. If the processing load of the vehicle's automatic driving device is too large, or it is attacked by the network, how to ensure the safety of the passengers is also an issue that we need to pay attention to.
发明内容SUMMARY OF THE INVENTION
为解决上述技术问题，本发明提出了一种车辆自动驾驶设备的控制方法，车辆在自动驾驶过程中通过车辆自动驾驶设备中的感测单元检测指定对象，获得感测数据；通过信息收集单元采集车辆自动驾驶设备的网络状态信息；一个或多个处理器通过应用程序处理所述感测数据和所述网络状态信息，向服务器发送指定对象的经过处理的感测数据和所述网络状态数据；所述服务器基于与指定对象之间的距离，与指定对象的预期的碰撞时间，预期可能出现的事件向车辆发送远程控制信息；或所述服务器基于网络状态信息向车辆自动驾驶设备发送警告信息。In order to solve the above technical problems, the present invention proposes a control method of a vehicle automatic driving device. During the automatic driving process, the vehicle detects a designated object through a sensing unit in the vehicle automatic driving device to obtain sensing data; network status information of the vehicle automatic driving device; one or more processors process the sensing data and the network status information through an application program, and send the processed sensing data and the network status data of the specified object to the server; The server sends remote control information to the vehicle based on the distance to the designated object, the expected collision time with the designated object, and an expected event that may occur; or the server sends warning information to the vehicle automatic driving device based on network status information.
特别的，通过应用程序处理感测数据包括应用程序根据感测数据为其添加车辆所处的危险等级标识。In particular, processing the sensing data by the application includes adding the identification of the danger level of the vehicle to the application according to the sensing data.
特别的，所述一个或多个处理器实时统计应用程序所需处理的感测数据的数据包或当前等待应用处理的分组的等待时间，并根据待处理感测数据的数据包数量或等待时间对感测数据进行处理。Particularly, the one or more processors count in real time the data packets of the sensing data to be processed by the application or the waiting time of the packets currently waiting to be processed by the application, and calculate according to the number of data packets of the sensing data to be processed or the waiting time Process the sensed data.
特别的，根据待处理感测数据的数据包数量或等待时间对感测数据进行处理大于相应阈值时，基于道路类型和交通流量两者的至少之一，所述一个或多个处理器对感测数据生成白名单或黑名单。In particular, when the sensing data is processed according to the number of data packets or the waiting time of the sensing data to be processed is greater than a corresponding threshold, the one or more processors are based on at least one of the road type and the traffic flow. Generate a whitelist or blacklist from the measured data.
特别的，服务器所述车辆自动驾驶设备发送所述警告信息包括：服务器分析车辆自动驾驶设备的所述网络状态信息，生成所述车辆自动驾驶设备遭到网络攻击的警告。Particularly, sending the warning information by the server to the vehicle automatic driving device includes: the server analyzes the network status information of the vehicle automatic driving device, and generates a warning that the vehicle automatic driving device is attacked by a network.
特别的，车辆自动驾驶设备根据所述警告，切换到手动驾驶模式。In particular, the vehicle automatic driving device switches to the manual driving mode according to the warning.
特别的，所述车辆自动驾驶设备通过感测单元感测车内人员的生物特征信息，根据感测结果确定是否切换到手动驾驶模式，如果感测结果显示车内人员不适于手动驾驶汽车，则切换到紧急制动模式。In particular, the vehicle automatic driving device senses the biometric information of the person in the vehicle through the sensing unit, and determines whether to switch to the manual driving mode according to the sensing result. If the sensing result shows that the person in the vehicle is not suitable for driving the vehicle manually, then Switch to emergency braking mode.
本发明还提出了一种车辆自动驾驶设备的控制系统，该自动驾驶设备的控制系统包括车辆自动驾驶设备和服务器；车辆自动驾驶设备中包括一个或多个处理器，感测单元，信息收集单元；车辆自动驾驶设备中的感测单元检测指定对象，获得感测数据；通过信息收集单元采集车辆自动驾驶设备的网络状态信息；一个或多个处理器通过应用程序处理所述感测数据和所述网络状态信息，向服务器发送指定对象的经过处理的感测数据和所述网络状态数据；所述服务器用于基于与指定对象之间的距离，与指定对象的预期的碰撞时间，预期可能出现的事件向车辆发送远程控制信息；或所述服务器基于网络状态信息向车辆自动驾驶设备发送警告信息。The present invention also provides a control system for a vehicle automatic driving device, the control system for the automatic driving device includes a vehicle automatic driving device and a server; the vehicle automatic driving device includes one or more processors, a sensing unit, and an information collection unit ; the sensing unit in the vehicle automatic driving device detects the specified object and obtains sensing data; collects the network status information of the vehicle automatic driving device through the information collection unit; one or more processors process the sensing data and all the information through the application program. The network state information, and send the processed sensing data of the designated object and the network state data to the server; the server is used for, based on the distance with the designated object, and the expected collision time with the designated object, it is expected that there may occur The event sends remote control information to the vehicle; or the server sends warning information to the automatic driving device of the vehicle based on the network status information.
本发明还提出了一种车辆自动驾驶设备，包括处理器和存储器，该存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，执行前述的方法。The present invention also provides an automatic driving device for a vehicle, including a processor and a memory, where the memory is used for storing a computer program, and the processor is used for calling and running the computer program stored in the memory to execute the aforementioned method.
本发明还提出了一种计算机可读存储介质，其特征在于，用于存储计算机程序，所述计算机程序使得计算机执行前述的方法。通过实现本方法，车辆自动驾驶设备可以准确识别感测数据，控制自身的负荷状态，过滤掉无用消息，并在存在安全隐患时，切换驾驶模式。The present invention also provides a computer-readable storage medium, which is characterized in that it is used for storing a computer program, and the computer program causes a computer to execute the aforementioned method. By implementing the method, the vehicle automatic driving device can accurately identify the sensing data, control its own load state, filter out useless messages, and switch the driving mode when there is a safety hazard.
附图说明Description of drawings
图1为本发明提出的车辆自动驾驶设备的结构框图；FIG. 1 is a structural block diagram of a vehicle automatic driving device proposed by the present invention;
图2为本发明提出的车辆自动驾驶设备与服务器通信过程的示意图。FIG. 2 is a schematic diagram of a communication process between a vehicle automatic driving device and a server according to the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的具体实施方式作出详细说明。The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
对本申请实施例中的技术方案进行描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application are described. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
应理解，本申请实施例的技术方案可以应用于各种通信系统，例如：全球移动通讯(Global System of Mobile communication，GSM)系统、码分多址(Code DivisionMultiple Access，CDMA)系统、宽带码分多址(Wideband Code Division MultipleAccess，WCDMA)系统、通用分组无线业务(General Packet Radio Service，GPRS)、长期演进LTE系统、LTE频分双工(Frequency Division Duplex，FDD)系统、LTE时分双工(TimeDivision Duplex，TDD)、通用移动通信系统(Universal Mobile TelecommunicationSystem，UMTS)、全球互联微波接入(Worldwide Interoperability for MicrowaveAccess，WiMAX)通信系统、新无线(New Radio，NR)或未来的5G系统等。It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division Multiple Access (Wideband Code Division Multiple Access, WCDMA) system, General Packet Radio Service (General Packet Radio Service, GPRS), Long Term Evolution LTE system, LTE Frequency Division Duplex (Frequency Division Duplex, FDD) system, LTE Time Division Duplex (Time Division) Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, New Radio (NR) or future 5G systems, etc.
特别地，本申请实施例的技术方案可以应用于各种基于非正交多址接入技术的通信系统，例如稀疏码多址接入(Sparse Code Multiple Access，SCMA)系统、低密度签名(Low Density Signature，LDS)系统等，当然SCMA系统和LDS系统在通信领域也可以被称为其他名称；进一步地，本申请实施例的技术方案可以应用于采用非正交多址接入技术的多载波传输系统，例如采用非正交多址接入技术正交频分复用(Orthogonal FrequencyDivision Multiplexing，OFDM)、滤波器组多载波(Filter Bank Multi-Carrier，FBMC)、通用频分复用(Generalized Frequency Division Multiplexing，GFDM)、滤波正交频分复用(Filtered-OFDM，F-OFDM)系统等。In particular, the technical solutions of the embodiments of the present application can be applied to various communication systems based on non-orthogonal multiple access technologies, such as sparse code multiple access (SCMA) systems, low density signature (Low Density Signature, LDS) system, etc. Of course, SCMA system and LDS system can also be called other names in the field of communication; further, the technical solutions of the embodiments of the present application can be applied to multi-carrier using non-orthogonal multiple access technology The transmission system, for example, adopts the non-orthogonal multiple access technology Orthogonal Frequency Division Multiplexing (OFDM), Filter Bank Multi-Carrier (FBMC), Generalized Frequency Division Multiplexing (Generalized Frequency Division Multiplexing) Division Multiplexing, GFDM), Filtered Orthogonal Frequency Division Multiplexing (Filtered-OFDM, F-OFDM) system, etc.
本申请实施例中的车辆自动驾驶控制设备，及服务器之间可能通过各种网络设备实现通信，网络设备可以是用于与终端设备通信的设备，该网络设备可以是GSM或CDMA中的基站(Base Transceiver Station，BTS)，也可以是WCDMA系统中的基站(NodeB，NB)，还可以是LTE系统中的演进型基站(Evolutional NodeB，eNB或eNodeB)，还可以是云无线接入网络(Cloud Radio Access Network，CRAN)场景下的无线控制器，或者该网络设备可以为中继站、接入点、车载设备、可穿戴设备以及未来5G网络中的网络设备或者未来演进的PLMN网络中的网络设备等，本申请实施例并不限定。Communication between the vehicle automatic driving control device and the server in the embodiments of the present application may be achieved through various network devices, and the network device may be a device used for communication with a terminal device, and the network device may be a base station in GSM or CDMA ( Base Transceiver Station, BTS), or a base station (NodeB, NB) in a WCDMA system, an evolved base station (Evolutional NodeB, eNB or eNodeB) in an LTE system, or a cloud radio access network (Cloud Radio Access Network (CRAN) scenario, or the network device can be a relay station, an access point, a vehicle-mounted device, a wearable device, and a network device in a future 5G network or a network device in a future evolved PLMN network, etc. , the embodiments of the present application are not limited.
D2D通信模式可以应用于车对车(Vehicle to Vehicle，V2V)通信或车辆到其他设备(Vehicle to Everything，V2X)通信。在V2X通信中，X可以泛指任何具有无线接收和发送能力的设备，例如但不限于慢速移动的无线装置，快速移动的车载设备，或是具有无线发射接收能力的网络控制节点等。应理解，本申请实施例主要应用于V2X通信的场景，但也可以应用于任意其它D2D通信场景，本申请实施例对此不做任何限定。The D2D communication mode can be applied to Vehicle to Vehicle (V2V) communication or Vehicle to Everything (V2X) communication. In V2X communication, X can generally refer to any device with wireless reception and transmission capabilities, such as but not limited to slow-moving wireless devices, fast-moving vehicle-mounted devices, or network control nodes with wireless transmission and reception capabilities. It should be understood that the embodiments of the present application are mainly applied to a V2X communication scenario, but may also be applied to any other D2D communication scenarios, and the embodiments of the present application do not make any limitation on this.
本发明提出了车辆自动驾驶设备控制方法，参见图2所示，具体包括如下步骤，The present invention proposes a method for controlling a vehicle automatic driving device, as shown in FIG. 2 , which specifically includes the following steps:
S201，车辆中的车辆自动驾驶设备通过感测单元感测周围感测对象；感测单元可以包括多个传感器，并且每个传感器可以生成关于相同感测对象的感测数据；车辆自动驾驶设备中的应用程序基于车辆到感测对象的距离，预期的碰撞时间和/或出现事件来确定当前的危险等级标识，将其添加到感测数据中，发送给服务器；危险等级可以包括三个等级，按照从大到小的顺序，等级越小，代表危险程度越高，需要服务器的响应越迫切。S201, the vehicle automatic driving device in the vehicle senses the surrounding sensing objects through the sensing unit; the sensing unit may include a plurality of sensors, and each sensor may generate sensing data about the same sensing object; the vehicle automatic driving device Based on the distance from the vehicle to the sensed object, the expected collision time and/or the occurrence of the event, the application of the APP determines the current hazard level identification, adds it to the sensing data, and sends it to the server; the hazard level can include three levels, In descending order, the smaller the level, the higher the risk, and the more urgent the response from the server is.
S202，服务器对根据感测数据和危险等级标识确定感测对象的类型，根据危险等级和感测数据确定感测对象对驾驶车辆是否构成威胁，根据判断结论确定是否对感测对象进行分类和跟踪，发送控制命令给车辆自动驾驶设备。S202, the server determines the type of the sensing object according to the sensing data and the danger level identifier, determines whether the sensing object poses a threat to the driving vehicle according to the danger level and the sensing data, and determines whether to classify and track the sensing object according to the judgment conclusion. , send control commands to the vehicle autopilot device.
例如，车辆通过雷达传感器识别出左前方有一个接近20米的静止的障碍。车辆自动驾驶设备根据雷达传感器的感测结果，将危险等级确定为第三等级，即最低等级；并将感测数据，如左前方15米，第三等级等数据传输到服务器。服务器基于第三等级和感测数据，确定并不对对象进行跟踪，并且可以通过对道路信息和其他感测数据来确定车辆是否能够向右车道避让行驶。车辆正在行驶，以及对后方车辆与车辆之间的距离的估计后，发送控制指令给车辆并注意您可以移至右侧车道。For example, the vehicle detects a stationary obstacle close to 20 meters ahead on the left by the radar sensor. According to the sensing result of the radar sensor, the vehicle automatic driving device determines the danger level as the third level, that is, the lowest level; and transmits the sensing data, such as 15 meters in front of the left, the third level and other data to the server. Based on the third level and the sensed data, the server determines that the object is not to be tracked, and may determine whether the vehicle is able to evade to the right lane through road information and other sensed data. After the vehicle is moving, and an estimate of the distance between the vehicle behind and the vehicle, send control commands to the vehicle and note that you can move to the right lane.
例如，车辆通过雷达传感器感测到距离正在直线行驶的车辆近200米的其他车辆；车辆自动驾驶设备根据雷达传感器的感测结果，将危险等级确定为第二等级；车辆自动驾驶设备将危险等级添加到感测数据中发送到服务器。服务器接收感测数据，对接近的物体执行物体检测，物体分类和物体跟踪，并确定车辆正在接近，并且以当前速度行驶可能在5秒后发生碰撞；服务器生成控制消息，车辆接收该消息，并随即通过制动系统在3秒钟后将制动扭矩降低到30km/h的速度。For example, the vehicle detects other vehicles that are nearly 200 meters away from the vehicle that is driving in a straight line through the radar sensor; the vehicle automatic driving device determines the danger level as the second level according to the sensing result of the radar sensor; the vehicle automatic driving device determines the danger level Add to the sensor data and send it to the server. The server receives the sensed data, performs object detection, object classification, and object tracking for approaching objects, and determines that the vehicle is approaching and may collide in 5 seconds while traveling at the current speed; the server generates a control message, the vehicle receives the message, and The braking torque is then reduced to a speed of 30 km/h after 3 seconds by the braking system.
再如，如果感测数据和危险等级存在错误，则会通过传感器再次接收感测数据进行验证；基于感应数据生成控制消息。验证过程可以由服务器的AI处理器或车辆的AI处理器执行。For another example, if there is an error in the sensed data and the danger level, the sensor will receive the sensed data again for verification; and a control message will be generated based on the sensed data. The verification process can be performed by the server's AI processor or the vehicle's AI processor.
并且，在无人驾驶系统中，车辆自动驾驶设备基于所处的道路状态或交通状况，可能会同时接收大量的感测数据，此时为了保证车辆自动驾驶设备能够快速准确相应感测数据，并及时接收服务器的控制命令，进行相应的响应，需要对接收到的感测数据进行过滤；处理器的应用程序实时统计局待处理的感测数据包数量，等待时间，当其大于相应阈值时，基于道路类型和交通流量两者的至少之一，所述一个或多个处理器对感测数据生成白名单或黑名单。Moreover, in an unmanned system, the automatic driving device of the vehicle may receive a large amount of sensing data at the same time based on the road state or traffic conditions. To receive the control command from the server in time and respond accordingly, it is necessary to filter the received sensing data; the application program of the processor counts the number of sensing data packets to be processed by the bureau in real time, and the waiting time is greater than the corresponding threshold. The one or more processors generate a whitelist or a blacklist of the sensory data based on at least one of road type and traffic flow.
例如，当应用程序的内部接收队列中的分组的数量是5个或更多，并且内部接收队列中等待的时间是100ms或更多时，需要根据道路类型或交通状态对感测数据生成白名单或黑名单。For example, when the number of packets in the internal receive queue of the application is 5 or more, and the waiting time in the internal receive queue is 100ms or more, it is necessary to generate a whitelist for the sensing data according to the road type or traffic state or blacklist.
例如当车辆在十字路口进行等待时，车辆感测单元需要对前后车辆以及侧面的车辆都会进行感测和跟踪，在车辆处于静止状态，应用程序可能接收到超过阈值的感测数据，此时车辆自动驾驶设备中的处理器会对感测数据生成黑名单。For example, when a vehicle is waiting at an intersection, the vehicle sensing unit needs to sense and track both the front and rear vehicles and the vehicles on the side. When the vehicle is stationary, the application may receive sensing data that exceeds the threshold. At this time, the vehicle Processors in self-driving devices generate blacklists of sensory data.
例如在车辆在行驶时，其预设半径内数字化的交通量大于或等于参考值时，此时车辆自动驾驶设备中的处理器会对感测数据生成白名单；反之，如果预设半径内数字化的交通量小于参考值时，则可能包括生成黑名单。For example, when the vehicle is driving and the digitized traffic volume within the preset radius is greater than or equal to the reference value, the processor in the vehicle's automatic driving device will generate a whitelist for the sensing data; otherwise, if the digitized traffic volume within the preset radius is greater than or equal to the reference value When the traffic volume is less than the reference value, it may include generating a blacklist.
例如，当车辆拥挤在高速公路上时，由于车辆周围的其他车辆是危险车辆，感测单元需要从附近的其他车辆(包括前后车辆和侧面车辆)接收感测数据，此时处理器可以生成白名单。For example, when the vehicle is crowded on the highway, since other vehicles around the vehicle are dangerous vehicles, the sensing unit needs to receive sensing data from other nearby vehicles (including front and rear vehicles and side vehicles). At this time, the processor can generate white list.
例如，车辆在没有路口和交叉路口的高速公路上行驶的情况下以及车辆以10km/h或更小的平均速度行驶的情况下行驶时，也适用生成白名单。For example, generating a whitelist is also applicable when the vehicle is traveling on a highway without junctions and intersections and when the vehicle is traveling at an average speed of 10km/h or less.
进而，黑名单中的感测数据可以以附近的车辆标识作为统计依据进行处理。因为车辆经常会在一段时间内频繁接收到相同来源的感测数据；当应用程序已经接收到来自感测单元的感测数据时，其检查在预定的一段时间如5s内，感测数据来源的车辆标识是否与黑名单中的车辆标识相同，如果确定来源相同，则会忽略其感测数据。Furthermore, the sensing data in the blacklist can be processed based on the nearby vehicle identifiers as statistical basis. Because the vehicle often receives sensing data from the same source frequently within a period of time; when the application has received the sensing data from the sensing unit, it checks that within a predetermined period of time, such as 5s, the source of the sensing data Whether the vehicle identification is the same as the vehicle identification in the blacklist, if it is determined that the source is the same, its sensing data will be ignored.
并且，车辆自动驾驶设备在与服务器通信过程中，可能存在很多安全漏洞，如果车辆自动驾驶设备处理出现异常，或者遭到网络攻击，其与服务器之间的通信可能被恶意程序拦截和操控，由此造成的巨大的安全隐患。In addition, there may be many security loopholes in the communication between the vehicle's automatic driving device and the server. If the vehicle's automatic driving device is processed abnormally or is attacked by a network, the communication between it and the server may be intercepted and manipulated by malicious programs. This creates a huge security risk.
基于此，车辆自动驾驶设备还包括信息收集单元，其用于定时采集车辆自动驾驶设备的网络状态信息，并向服务器发送。服务器分析网络状态信息，如果服务器确定车辆自动驾驶设备中存在安全隐患，其会发送警告信息给车辆自动驾驶设备。基于警告信息，处理器通过感测单元收集用户状态信息；用户状态信息可以包括用户的睡眠状态，血液酒精浓度或血氧饱和度中的至少一种。基于用户状态信息确定用户的手动驾驶支持的可能性；如果用户状态支持手动驾驶，并且假设用户拥有驾照，则课可以将车辆切换到手动驾驶模式，并可实时为用户推荐和切换不同的驾驶路线，以便顺利完成驾驶。如果确定用户状态无法进行手动驾驶，则将车辆切换到紧急制动模式，具体包括控制车辆行驶到附近的合法停车位置，将车辆制动，并通知用户。Based on this, the vehicle automatic driving device further includes an information collection unit, which is used for regularly collecting network status information of the vehicle automatic driving device and sending it to the server. The server analyzes the network status information, and if the server determines that there is a safety hazard in the vehicle's automatic driving device, it will send a warning message to the vehicle's automatic driving device. Based on the warning information, the processor collects user state information through the sensing unit; the user state information may include at least one of the user's sleep state, blood alcohol concentration or blood oxygen saturation. Determine the possibility of the user's manual driving support based on the user state information; if the user state supports manual driving, and assuming the user has a driver's license, the class can switch the vehicle to manual driving mode, and can recommend and switch different driving routes for the user in real time , in order to complete the driving smoothly. If it is determined that the user's state cannot be used for manual driving, the vehicle is switched to an emergency braking mode, which includes controlling the vehicle to drive to a nearby legal parking position, braking the vehicle, and notifying the user.
本发明还提出了一种车辆自动驾驶设备的控制系统，包括车辆自动驾驶设备和服务器，该自动驾驶设备的控制系统包括车辆自动驾驶设备和服务器；车辆自动驾驶设备中包括一个或多个处理器，感测单元，信息收集单元；车辆自动驾驶设备中的感测单元检测指定对象，获得感测数据；通过信息收集单元采集车辆自动驾驶设备的网络状态信息；一个或多个处理器通过应用程序处理所述感测数据和所述网络状态信息，向服务器发送指定对象的经过处理的感测数据和所述网络状态数据；所述服务器用于基于与指定对象之间的距离，与指定对象的预期的碰撞时间，预期可能出现的事件；向车辆发送远程控制信息；或所述服务器基于网络状态信息向车辆自动驾驶设备发送警告信息。The present invention also provides a control system for a vehicle automatic driving device, including the vehicle automatic driving device and a server, the control system for the automatic driving device includes the vehicle automatic driving device and the server; the vehicle automatic driving device includes one or more processors , sensing unit, information collection unit; the sensing unit in the vehicle automatic driving device detects the specified object and obtains sensing data; collects the network status information of the vehicle automatic driving device through the information collection unit; one or more processors pass the application program Process the sensing data and the network state information, and send the processed sensing data and the network state data of the specified object to the server; The expected collision time, the expected event; sending remote control information to the vehicle; or the server sending warning information to the vehicle automatic driving device based on the network status information.
应理解，本发明实施例的处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(Digital SignalProcessor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。It should be understood that the processor in this embodiment of the present invention may be an integrated circuit chip, which has the capability of processing signals. In the implementation process, each step of the above method embodiments may be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable Logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
可以理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data RateSDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(DirectRambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。It can be understood that the memory in this embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Wherein, the non-volatile memory may be Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable PROM, EPROM), Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) And direct memory bus random access memory (DirectRambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but not be limited to, these and any other suitable types of memory.
应理解，上述存储器为示例性但不是限制性说明，例如，本申请实施例中的存储器还可以是静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synch link DRAM，SLDRAM)以及直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)等等。也就是说，本申请实施例中的存储器旨在包括但不限于这些和任意其它适合类型的存储器。It should be understood that the above-mentioned memory is an example but not a limitative description. For example, the memory in this embodiment of the present application may also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.
本申请实施例还提供了一种计算机可读存储介质，用于存储计算机程序。Embodiments of the present application further provide a computer-readable storage medium for storing a computer program.
可选地，该计算机可读存储介质可应用于本申请实施例中的终端设备，并且该计算机程序使得计算机执行本申请实施例的各个方法中由移动终端/终端设备实现的相应流程，为了简洁，在此不再赘述。Optionally, the computer-readable storage medium may be applied to the terminal device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the mobile terminal/terminal device in each method of the embodiments of the present application, for the sake of brevity. , and will not be repeated here.
本申请实施例还提供了一种计算机程序产品，包括计算机程序指令。Embodiments of the present application also provide a computer program product, including computer program instructions.
可选地，该计算机程序产品可应用于本申请实施例中的终端设备，并且该计算机程序指令使得计算机执行本申请实施例的各个方法中由移动终端/终端设备实现的相应流程，为了简洁，在此不再赘述。Optionally, the computer program product can be applied to the terminal device in the embodiments of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the mobile terminal/terminal device in each method of the embodiments of the present application. For brevity, It is not repeated here.
本申请实施例还提供了一种计算机程序。The embodiments of the present application also provide a computer program.
可选地，该计算机程序可应用于本申请实施例中的车辆自动驾驶设备，当该计算机程序在计算机上运行时，使得计算机执行本申请实施例的各个方法中由终端设备实现的相应流程，为了简洁，在此不再赘述。Optionally, the computer program can be applied to the vehicle automatic driving device in the embodiment of the present application, and when the computer program is run on the computer, the computer is made to execute the corresponding process implemented by the terminal device in each method of the embodiment of the present application, For brevity, details are not repeated here.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
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