WO2018036197A1 - Driverless vehicle control method, terminal, server, and system - Google Patents

Abstract

A driverless vehicle control method, terminal, server, and system. The method comprises: transmitting, to a server, generated driverless request information (S11); receiving a driverless scheduling information responded by the server, wherein the driverless scheduling information is generated according to the driverless request information and road information acquired by the server, and includes navigation information (S12); and performing, according to the driverless scheduling information, driverless control on a driverless vehicle (S13).

Description

Unmanned vehicle control method, terminal, server and system Technical field

The present invention relates to the field of intelligent transportation technologies, and in particular, to an unmanned vehicle control method, terminal, server and system.

Background technique

With the rapid development of intelligent transportation technology, unmanned vehicles will become the main means of transportation in the future. The driverless system is mainly based on preset automatic control program, which senses the surrounding environment of the vehicle through the on-board sensor, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by the perception, so that the vehicle can be safe and reliable. Drive on the road.

However, the existing unmanned vehicles mainly rely on a computer-based smart pilot in the vehicle to realize unmanned driving, and in a relatively simple road situation, can be unmanned by a preset automatic control program. Once on a complex road (especially a very crowded road), the actual road conditions are beyond the preset range, and the reliability and stability of the driverless is difficult to meet the road safety requirements. At the same time, it only depends on the vehicle sensor. The accuracy of the data is not high enough, resulting in poor driver's ability, which affects the user experience.

Summary of the invention

The technical problem to be solved by the unmanned vehicle control method, terminal, server and system provided by the embodiments of the present invention is that the existing unmanned vehicle cannot perform unmanned driving reliably and stably under complicated road conditions, resulting in The safety of driverless driving is greatly reduced.

To solve the above technical problem, an embodiment of the present invention provides a method for controlling an unmanned vehicle, including:

Sending the generated driverless request information to the server;

Receiving the driverless planning information returned by the server, the driverless planning information is generated according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information;

The driverless vehicle is subjected to driverless control according to the driverless planning information.

The embodiment of the invention further provides an unmanned vehicle control method, including:

Receiving the driverless request information sent by the driverless vehicle control terminal;

Generating unmanned planning information according to the driverless request information and the collected ground information, the driverless planning information including navigation information;

The driverless planning information is transmitted to the driverless vehicle control terminal to control the driverless vehicle for unmanned driving.

An embodiment of the present invention provides an unmanned vehicle control terminal, including:

An driverless request sending module, configured to send the generated driverless request information to the server;

a planning information receiving module, configured to receive the driverless planning information returned by the server, the driverless driver The information is generated according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information;

The first driverless control module is configured to perform driverless control on the unmanned vehicle according to the driverless planning information.

The embodiment of the invention further provides a server, including:

The driverless request receiving module is configured to receive the driverless request information sent by the driverless vehicle control terminal;

The driverless planning module is configured to generate driverless planning information according to the driverless request information and the collected ground information, where the driverless planning information includes navigation information;

A planning information transmitting module is configured to send the driverless planning information to the driverless vehicle control terminal to control the driverless vehicle to perform driverless driving.

An embodiment of the present invention further provides an unmanned vehicle control system, including: an unmanned vehicle control terminal as described above and a server as described above;

The driverless vehicle control terminal sends a driverless control request to the server;

The server generates unmanned planning information according to the driverless control request and the collected ground information, and sends the unmanned driving information to the unmanned vehicle control terminal, where the driverless planning information includes navigation information;

The driverless vehicle control terminal performs driverless control on the unmanned vehicle according to the driverless planning information.

The embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores computer executable instructions for performing the unmanned vehicle control method of any of the foregoing.

The beneficial effects of the invention are:

An unmanned vehicle control method, a terminal, a server, a system, and a computer storage medium according to an embodiment of the present invention, by transmitting the generated driverless request information to a server, and receiving the driverless planning information returned by the server, wherein The driverless planning information is generated according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information; finally, the driverless vehicle is unmanned according to the driverless planning information. The control enables the unmanned vehicle to be managed uniformly through the server, and the unmanned planning information is reasonably issued according to the different needs of the user, and the vehicle unmanned driving control is completed, thereby rationally allocating traffic resources, reducing congestion, and minimizing The occurrence of traffic accidents improves the stability and safety of driverless driving. At the same time, through the large amount of road condition information collected by the server, all unmanned vehicles can be arranged and managed in a unified manner, so that the ability of the vehicle to be unmanned is correspondingly improved, thereby improving the user experience.

DRAWINGS

1 is a flowchart of a method for controlling an unmanned vehicle according to Embodiment 1 of the present invention;

2 is a flowchart of a specific control method for an unmanned vehicle according to Embodiment 2 of the present invention;

3 is a flowchart of another unmanned vehicle control method according to Embodiment 3 of the present invention;

4 is a flowchart of a specific control method of another driverless vehicle according to Embodiment 4 of the present invention;

5 is a schematic diagram of a control terminal of an unmanned vehicle according to Embodiment 5 of the present invention;

FIG. 6 is a schematic diagram of a server according to Embodiment 6 of the present invention.

detailed description

The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

Embodiment 1

In order to solve the existing unmanned vehicles, only the preset conditions in the program can be judged and operated. When the actual road conditions exceed the preset range of the program, the reliability and stability cannot meet the road safety requirements, resulting in driverless driving. The safety is greatly reduced. At the same time, the data information collected by the on-board sensors installed on the unmanned vehicle is not high enough, and the ability to drive unmanned is also poor, which affects the user experience. In this regard, the embodiment provides an unmanned vehicle control method, which generates unmanned vehicle planning information by using ground information collected by the server side and the driverless request information sent by the user, and adopts the unmanned vehicle planning information pair. Unmanned vehicles are equipped with driverless control, enabling unmanned vehicles to be coordinated and managed by the server to achieve maximum optimization of the entire transportation network and minimize traffic accidents. This embodiment will explain the implementation of the present invention by the steps performed by the driverless vehicle control terminal side, which can be installed on an unmanned vehicle to perform driverless control on the unmanned vehicle.

For details, please refer to FIG. 1. FIG. 1 is a flowchart of a method for controlling an unmanned vehicle according to the embodiment. The control steps are as follows:

S11. Send the generated driverless request information to the server.

Specifically, the above-mentioned driverless request information includes target location information of the arrival of the vehicle, location information currently located by the vehicle, expected time to reach, a desired travel route, and the like, wherein the location information includes coordinates and location names, and the expected time and time are It is expected that the driving route is the default setting state of the system, and of course, it can be modified by the user according to his own needs. The request for the above information is sent to the server, which is processed by the server. The server can be a cloud server or a local server. Further, when the driverless request information is transmitted to the server, the transmission can be performed by a communication method well known to those skilled in the art such as a wireless network or radio frequency communication. It should be understood that the driverless request information sent by the driverless vehicle control terminal may be one or more. When the request information includes multiple, the server generates a complete set of reasonable driverless planning information for each request information.

S12. Receive the driverless planning information returned by the server.

Specifically, the above-mentioned driverless planning information is generated by the server according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information. The navigation information includes driving directions and various road conditions corresponding to the driving route. Of course, the driverless planning information may also include an unmanned driving program, and the driverless control program can control the vehicle according to different road conditions under the guidance of the driving route, such as how many meters in the case of a red light. Start braking the driverless vehicle; when the right turn is encountered, control the driverless vehicle to turn right; the current vehicle on the road is low in density, control the unmanned vehicle to accelerate; when it is necessary to change lanes, control the driverless The vehicle is changing lanes, and so on. In addition, after receiving the driverless planning information, it is stored for later use.

S13: Unmanned driving control of the unmanned vehicle according to the driverless planning information.

Specifically, the driverless planning information includes navigation information and an unmanned driving program, and the driverless control program controls the unmanned vehicle in combination with the navigation information to realize unmanned driving of the vehicle.

In step S12, the cloud server collects a large amount of ground information, including all information transmitted by each unmanned vehicle and its surroundings, including the location information of each vehicle, the driving speed, and the relative position of the surrounding vehicles and themselves. , the buildings around the road, abnormal conditions (such as traffic accidents, traffic congestion, construction sections, etc.) and weather conditions, combine these collected ground information with the driverless request information to find the ground information associated with the request information. And determining optimal navigation information, the navigation information including an optimal driving route and various road conditions in the driving route, and generating a user driver's demand according to the navigation information and a reference unmanned driving program pre-stored by the cloud server. The driverless control program then combines navigation information with the driverless control program to generate driverless planning information. It also combines various ground information collected by the cloud server with the driverless request information, and processes the data of the two to generate a set of unmanned planning information that is more accurate and meets the needs of different users, and then passes the unmanned The driving planning information controls the vehicle; under the same management of the unmanned vehicles by the server, the traffic resources can be rationally allocated, thereby reducing traffic congestion, and at the same time, ensuring that the unmanned vehicle on a road can maintain a reasonable Speed, thus minimizing the occurrence of traffic accidents caused by overspeed and merging.

In an embodiment, after receiving the driverless planning information returned by the server in step S12, determining whether to adopt the driverless control program in the driverless planning information according to an operation instruction triggered by the user; The human driving control program receives the unmanned planning information updated by the server in real time, and proceeds to step S13; if the driverless control program is not used, the navigation information is obtained from the server in real time, and the default is based on the navigation information and the pre-stored default. The human driving control program performs driverless control of the unmanned vehicle.

Specifically, after receiving the driverless planning information returned by the cloud server, the user may select whether to adopt the driverless control program in the driverless planning information, for example, if the cloud server generates the driverless control program and the user. If there is a deviation in the control method of the actual demand, the user may choose not to use the driverless control program, and only need to download the navigation information from the cloud server, the navigation information includes the optimal driving route, and is updated from the server in real time to The navigation information obtained is always consistent with the actual situation, and then the unmanned vehicle is unmanned by its pre-stored default driverless control program and the navigation information acquired in real time. Of course, the update time interval can also be set, and the navigation information is updated when the update time interval is satisfied. If the driverless control program generated by the cloud server does not deviate from the driving mode actually required by the user, the user may select the driverless control program generated by the cloud server and obtain updated driverless planning information from the cloud server in real time. The driverless vehicle is subjected to driverless control based on the real-time acquired driverless planning information.

During the driving process, detecting whether the unmanned vehicle arrives at the target location, and comparing the current location information with the target location information, if the two are consistent, the unmanned vehicle arrives at the target location, if the two are inconsistent, Continue to obtain updated unmanned planning information from the cloud server in real time to control the unmanned vehicle, or continue to obtain navigation information containing the optimal driving route from the cloud server in real time, and combine the default driverless control program with the unmanned vehicle. Take control.

In an embodiment, the unmanned vehicle in the process of unmanned driving according to the unmanned driving information, the unmanned vehicle control terminal can collect ground information along the road, such as its own vehicle condition information, surrounding road condition information, current Weather conditions, surrounding buildings, etc., and send the collected ground information to the cloud server for storage. Of course, a vehicle equipped with an unmanned vehicle control terminal can transmit ground information collected along the road to the cloud server, so that the cloud server can be combined with the cloud server. Some ground information is processed by big data to form a complete traffic network database.

In addition, at least one set of default driverless control programs may be stored in the driverless vehicle control terminal. When the cloud server is abnormal or cannot communicate with the cloud server, the driverless vehicle control terminal may enable default driverless driving. The control program controls or directly shuts down the entire driverless vehicle control system for manual driving. The unmanned vehicle control system includes a cloud server and an unmanned vehicle control terminal.

The unmanned vehicle control method provided by the embodiment sends the generated driverless request information to the cloud server, and then receives the unmanned driving plan generated by the cloud server according to the driverless request information and the ground information collected by the cloud server. Information, through the unmanned planning information to control the unmanned vehicle, while improving the vehicle's unmanned ability, but also improve the stability and safety of driverless. That is to say, the cloud server develops a corresponding unmanned driving scheme for each unmanned vehicle, and rationally controls all the unmanned vehicles in the entire transportation network, thereby rationally allocating traffic resources, reducing congestion, and maximizing the realization of the entire traffic. Maximize network performance.

Embodiment 2

The embodiment is based on the first embodiment, and the steps of the unmanned vehicle control terminal side are mainly performed, and the unmanned vehicle control method provided by the embodiment is further described. For details, please refer to FIG. 2, FIG. 2 is the embodiment. The flow chart of the specific control method of the unmanned vehicle is as follows:

S21: Acquire current location information.

Specifically, the acquired location information includes a location name and coordinates, which can be acquired by using a GPS.

S22. Generate driverless request information and send it to the cloud server.

Specifically, the driverless request information includes a current location, a target location where the vehicle arrives, a desired driving route, and an expected arrival time.

S23. Receive the driverless planning information returned by the cloud server.

Specifically, the driverless planning information is generated according to the driverless request information and the ground information collected by the cloud server, and mainly includes navigation information, where the navigation information includes a driving route and various road conditions on the driving route. Of course, the unmanned Ajiji planning information may further include an driverless control program, and the driverless control program may control the unmanned vehicle to perform left turn, right turn, brake, acceleration and deceleration, lane change, and the like according to the navigation information.

S24. Determine whether the driverless control program in the driverless planning information provided by the cloud server is used. If the driverless control program is used, execute step S25. If the driverless control program is not used, perform step S26. .

Specifically, the step may be selected by the user. For example, the user needs to make a temporary turn through a certain place because some things need to be turned, and the driverless control program in the driverless planning information generated by the cloud server does not set a turn in the road section. Then, the user can choose not to adopt the driverless control program, and use the driverless control program set by the vehicle itself to complete the driverless driving.

S25: Acquire updated updated driverless planning information from the server in real time, and perform unmanned driving on the vehicle according to the driverless planning information.

S26, obtaining the updated optimal driving route from the server in real time, and unmanned driving the vehicle in combination with the default driverless control program of the unmanned vehicle itself.

Specifically, the driverless vehicle control terminal downloads an optimal driving route from the server according to a user-triggered operation, and Update in real time from the cloud server and then unmanned with unmanned vehicles through their own driverless system.

S27: It is determined whether the unmanned vehicle arrives at the target location, and if it reaches the target location, the process ends. If the target location is not reached, step S23 is performed.

The unmanned vehicle control method provided in this embodiment generates a driverless planning information by comprehensively processing the driverless request information and the ground information collected by the cloud server, and the unmanned vehicles of the entire transportation network through the cloud server. Coordinate planning to ensure that each unmanned vehicle travels at a reasonable speed, or effectively avoid uncontrollable vehicles, in order to minimize the occurrence of traffic accidents caused by overspeed, parallel and other reasons.

Embodiment 3

This embodiment describes the embodiment of the present invention by using the steps performed by the server side. The server may be a cloud server, and optionally, a local server may also be used. For details, please refer to FIG. 3. FIG. 3 is a flowchart of another unmanned vehicle control method according to the embodiment. The control steps are as follows:

S31. Receive unattended request information sent by the unmanned vehicle control terminal.

Specifically, the driverless request information is generated according to parameters set by the user, and mainly includes a target location to which the user is to arrive, a desired route, an expected driving time, and a current location of the vehicle. Meanwhile, the driverless request information received by the server may be one or more, and the server integrates one or more request information.

S32. Generate driverless planning information according to the driverless request information and the collected ground information.

Specifically, the server collects all the ground information in each area by various means, and the information mainly includes: an expressway network, an urban road network, a road section that fails in the road, and fault information, and all buildings, weather, and roads on the ground are abnormal. The situation affects all relevant information about the vehicle's travel, as well as information about all the vehicles on the road, such as the location of the vehicle, the speed of travel, and the destination. In addition, the server is responsible for collecting unmanned vehicles on each road that can be controlled by the entire unmanned vehicle control system, and those that are beyond the control of the unmanned vehicle control system, such as non-unmanned vehicles and other system controls. Unmanned vehicle. Then, the collected ground information and the driverless request information are processed by data to generate the driverless planning information.

S33. Send the driverless planning information to the driverless vehicle control terminal to control the driverless vehicle to perform driverless driving.

Specifically, after the generated driverless planning information is transmitted to the driverless vehicle control terminal, the driverless vehicle control terminal performs unmanned driving on the vehicle according to the driverless planning information.

In an embodiment, in step S32, navigation information that meets a preset condition is first acquired from the collected ground information, and then the driverless control program is generated according to the navigation information and the pre-stored reference driverless control program, and finally The driverless planning information is generated based on the navigation information and the driverless control program.

Specifically, pre-fabricated one or more sets of driverless control programs are implemented in the server, and the driverless control program is a reference unmanned driving control program, and then acquired from the collected a large amount of ground information and associated with the driverless request information. Ground information, and obtaining navigation information from the associated ground information, the navigation information including the optimal driving route and the load information of the optimal driving route and the road abnormality information, etc., and finally combining one or more unmanned driving information Comprehensive consideration is made to generate an unmanned control program adapted to the optimal driving route based on the existing reference driverless control program. Further, a set of matching driverless planning information is generated for each unmanned vehicle, and the driverless vehicle completes the driverless driving according to the driverless planning information.

In an embodiment, when the navigation information is acquired from the ground information, first acquiring all navigation information associated with the driverless request information from the collected a large amount of ground information, and then selecting a road complex from all the acquired navigation information. And the lowest navigation information; and/or, the navigation information with the lowest road congestion degree is selected from all the acquired navigation information; and/or, the navigation information with the shortest expected arrival time is selected from all the acquired navigation information. According to the above steps, it is possible to find the optimal driving route from the ground information, and various road conditions on the driving route, thereby accurately generating a reasonable unmanned planning information for the unmanned vehicle, for the unmanned Drive the vehicle for control.

After the server collects a large amount of ground information, it needs to perform big data processing on each ground information to obtain load information and abnormal information of each road. Specifically, calculating the load amount of each road, the load amount of each road in a certain period of time in the future (the possibility of determining whether congestion occurs), and the vehicle load information of each road in a certain period of time in the future, in addition, including The treatment of abnormal conditions on the road, that is, when an accident occurs in a certain road section, it is necessary to calculate the impact of the accident on the surrounding traffic and the entire transportation system, such as the sudden road load and whether the line is changed.

After obtaining the optimal driving route from the ground information, the load information of the optimal driving route, the abnormal information and the preset reference unmanned driving program are combined to generate an initial driverless control program adapted to the driving route. Finally, according to the driverless control program and driving route (or navigation information, the navigation information includes the optimal driving route and various road conditions on the route), a complete set of driverless planning information is generated, through the driverless driving. Planning information to drive the vehicle unmanned.

In an embodiment, when generating the driverless planning information according to the navigation information and the driverless control program, it is required to detect whether the navigation information changes in real time, and if the navigation information changes, the corresponding driverless control program also performs Corresponding changes, such as changing certain parameters in the control program, will eventually change the driverless planning information accordingly. Therefore, the server monitors the navigation information in real time, and once the navigation information changes, the unmanned control program is updated in real time, thereby generating new unmanned planning information to ensure that the unmanned driving process can be based on external road information at any time. The changes are adapted to improve the stability and safety of driverless driving.

The unmanned vehicle control method provided by the embodiment enables the unmanned vehicle to be uniformly managed by the server (the server can be a cloud server), and rationally allocates traffic resources according to different needs of the user, thereby reducing traffic congestion; On the same road, unified management of unmanned vehicles through the server enables each vehicle to maintain a reasonable uniform speed at all times, and can effectively avoid vehicles that cannot be controlled by the unmanned vehicle control system, thereby maximizing The reduction of traffic accidents caused by overspeed and parallel. Of course, through the above methods, more accurate data information can also be obtained, thereby improving the ability of the vehicle to be unmanned.

Embodiment 4

The embodiment is based on the third embodiment, and the steps performed by the server side are mainly used. The method for controlling another unmanned vehicle provided in this embodiment is further described. For details, please refer to FIG. 4. FIG. 4 is another embodiment of the present embodiment. A flow chart of a specific control method for an unmanned vehicle, the control process is as follows:

S401. Receive an driverless request information from an unmanned vehicle control terminal.

Specifically, the driverless request information includes a current location of the user, a target location to be reached, and an expected line. Car time and expected driving directions. The received driverless request information may be one or more.

S402. Read all navigation information associated with the driverless request information from the collected ground information.

Specifically, the navigation information includes all driving routes to the target location, and various road conditions on the driving route, such as the degree of congestion, expected driving time, road complexity (including pedestrians and various non-motor vehicles), and the like. . Since the server obtains a large amount of ground information from each unmanned vehicle or various transportation networks, it is necessary to find information related to the driverless request information from the ground information, thereby obtaining more preferable information from the related information. Land driving planning.

S403. Select optimal navigation information from all the navigation information read.

Specifically, all the navigation information read includes a plurality of driving routes, and the optimal navigation information is found from the driving routes, and the optimal navigation information includes the optimal driving route and various road condition information on the optimal driving route. In the selection process, you can search in the following priority order:

First, select the route with the lowest road complexity from all the navigation information read, that is, the route with fewer pedestrians and non-motor vehicles; then, select the route with the lowest congestion degree from the route with the lowest road complexity selected, thereby optimizing the whole Traffic network; Finally, select the route with the shortest expected travel time from the route with the lowest road complexity, and customize a more reasonable and humanized driving plan for users.

S404. Generate an driverless control program adapted to the optimal driving route according to the optimal navigation information and the reference driverless control program.

Specifically, at least one set of reference driverless control programs are preset in the server, and the reference driverless control program includes parameter information such as driving speed, turning, braking, lane change, and the like, and then acquiring navigation information in real time. Based on the adjustment of the parameters of the reference driverless control program, an unmanned control program adapted to the optimal driving route is generated.

S405. Combine the selected optimal navigation information with the generated driverless control program to generate unmanned planning information that meets the user's needs, and send the information to the driverless vehicle control terminal for unmanned control of the vehicle.

Specifically, the driverless control program is a control program adapted to the optimal navigation information.

S406: During the running of the vehicle, detecting whether the navigation information changes, if the change occurs, executing step S407, and if no change occurs, executing step S410.

Specifically, since the road condition information on the road changes in real time, the navigation information also changes, for example, the driving route or the road condition information pit in the navigation information can change; the navigation information and the driverless control program need to be performed in real time. Update, generate new driverless planning information, and send updated driverless planning information to the driverless vehicle control terminal in a timely manner.

S407. Determine whether the optimal driving route in the navigation information needs to be changed. If it needs to be changed, execute step S408. If no change is needed, execute step S410.

Specifically, when the optimal driving route in the navigation information cannot be normally used to travel on the route due to sudden situations or road congestion, the driving route needs to be adjusted.

S408. Determine whether to change related parameters in the driverless control program. If modification is needed, execute step S409. If no modification is needed, execute step S410.

Specifically, related parameters include, but are not limited to, driving speed, whether to change lanes and merging, whether to turn.

S409, updating the driverless control program, and regenerating the driverless planning information according to the changed navigation information and the driverless control program, and transmitting to the driverless vehicle control terminal to perform the driverless control of the vehicle.

S410, it is determined whether the target location is reached, and if it reaches the target location, the process ends. If the target location is not reached, the step S402 is performed.

Embodiment 5

This embodiment is an apparatus embodiment corresponding to the first embodiment, and provides an unmanned vehicle control terminal. For the description of the module of the unmanned vehicle control terminal, please refer to the first embodiment, and details are not described herein again. Referring to FIG. 5, FIG. 5 is a schematic diagram of a control terminal of an unmanned vehicle according to the embodiment, where the terminal includes:

The driverless request sending module 51 is configured to send the generated driverless request information to the server;

The planning information receiving module 52 is configured to receive the driverless planning information returned by the server, where the driverless planning information is generated according to the driverless request information and the ground information collected by the server, where the driverless planning information includes navigation information;

The first driverless control module 53 is configured to perform driverless control on the unmanned vehicle according to the driverless planning information.

Specifically, the driverless request information in the driverless request transmitting module 51 includes target position information of the arrival of the vehicle, position information currently located by the vehicle, expected time of arrival, a desired travel route, and the like, wherein the position information includes coordinates. And the location name, the expected time and the desired driving route are the default settings of the system, and of course can be modified by the user according to their own needs. The request for the above information is sent to the server, which is processed by the server. The server can be a cloud server or a local server. In addition, when the driverless request information is sent to the server, the driverless vehicle control terminal further includes a wireless communication module, and the wireless communication module can transmit by using a communication method well known to those skilled in the art such as a wireless network or radio frequency communication.

The above-mentioned driverless planning information is generated by the server according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information and an driverless control program. The navigation information includes driving directions and various road conditions corresponding to the driving route, and the driverless control program can control the vehicle according to different road conditions under the guidance of the driving route, and if the red light is encountered, how many meters start Brake unmanned vehicles; control the unmanned vehicle to turn right when encountering right turn; control the unmanned vehicle to accelerate when the current driving road is low in density; control the unmanned vehicle when it is necessary to change lanes Make a lane change, and so on. In addition, after receiving the driverless planning information, it is stored for later use.

In an embodiment, the control terminal further includes:

The second driverless control module 54 is configured to perform driverless control on the unmanned vehicle according to the navigation information and the pre-stored default driverless control program after receiving the driverless planning information returned by the server.

Specifically, after receiving the driverless planning information returned by the cloud server, the user may select whether to adopt the driverless control program in the driverless planning information, for example, if the cloud server generates the driverless control program and the user. If there is a deviation in the control method of the actual demand, the user may choose not to use the driverless control program, and only need to download the navigation information from the cloud server, the navigation information includes the optimal driving route, and is updated from the server in real time to Guaranteed access The navigation information is always consistent with the actual situation, and then the unmanned vehicle is unmanned by its pre-stored default driverless control program and the navigation information acquired in real time. Of course, the update time interval can also be set, and the navigation information is updated when the update time interval is satisfied. If the driverless control program generated by the cloud server does not deviate from the driving mode actually required by the user, the user may select the driverless control program generated by the cloud server and obtain updated driverless planning information from the cloud server in real time. The driverless vehicle is subjected to driverless control based on the real-time acquired driverless planning information.

In an embodiment, the control terminal further includes:

The information collecting module 55 is configured to collect ground information around the unmanned vehicle and send it to the server for storage when the driverless control is performed on the unmanned vehicle according to the driverless planning information.

Specifically, in the process of unmanned driving of the unmanned vehicle according to the unmanned planning information, the unmanned vehicle control terminal can collect ground information along the road, such as its own vehicle condition information, surrounding road condition information, and current weather conditions. , surrounding buildings, etc., and the collected ground information is sent to the cloud server for storage. Of course, the vehicle installed with the driverless vehicle control terminal can send the ground information collected along the road to the cloud server, so that the cloud server combines the existing ground information for big data processing, thereby forming a complete traffic network database.

The unmanned vehicle control terminal provided by the embodiment generates the driverless request information and the ground information to generate unmanned planning information that meets the actual needs of the user, and performs unmanned driving on the vehicle according to the uninhabited family planning information, so that the server It can manage all unmanned vehicles in the entire transportation network and allocate traffic resources reasonably, thus minimizing the occurrence of traffic accidents caused by overspeed and parallel.

Embodiment 6

This embodiment is an apparatus embodiment corresponding to the third embodiment, and provides a server. For the description of the server part module, refer to the third embodiment, and details are not described herein again. Referring to FIG. 6, FIG. 6 is a schematic diagram of a server according to the embodiment, where the server includes:

The driverless request receiving module 61 is configured to receive the driverless request information sent by the driverless vehicle control terminal;

The driverless planning module 62 is configured to generate driverless planning information according to the driverless request information and the collected ground information, where the driverless planning information includes navigation information;

The planning information sending module 63 is configured to send the driverless planning information to the driverless vehicle control terminal to control the driverless vehicle to perform driverless driving.

Specifically, when the driverless request receiving module 61 receives the driverless request information, the driverless request receiving module 61 can transmit through a communication method well known to those skilled in the art such as a wireless network or radio frequency communication. The driverless request information is generated according to parameters set by the user, and mainly includes the target location to which the user is to arrive, the desired route, the expected travel time, and the current location of the vehicle. Meanwhile, the driverless request information received by the server may be one or more, and the server integrates one or more request information.

In an embodiment, the driverless planning module 62 is configured to acquire navigation information that meets a preset condition from the ground information, and generate an driverless control program according to the navigation information and the pre-stored reference unmanned driving program, according to the navigation information. And the driverless control program generates driverless planning information.

Specifically, the driverless planning module 62 collects all ground information in each area by various means, and the information is mainly It should include: highway network, urban road network, faulty road sections and fault information, all buildings on the ground, weather, road abnormalities, etc., all relevant information that affects the vehicle's travel, and information on all vehicles on the road. Such as the location of the vehicle, the speed of travel and reaching the destination. In addition, the driverless planning module 62 is also responsible for collecting, on each road, which are unmanned vehicles that can be controlled by the entire unmanned vehicle control system, and which are uncontrollable vehicles, such as non-unmanned driving. Unmanned vehicles controlled by vehicles and other systems. Then, the collected ground information and the driverless request information are processed by data to generate the driverless planning information.

When planning the driving route, the driverless planning module 62 first obtains navigation information that satisfies a preset condition from the collected ground information, and then generates the driverless control according to the navigation information and the pre-stored reference unmanned driving program. The program finally generates driverless planning information based on the navigation information and the driverless control program.

Specifically, pre-fabricated one or more sets of driverless control programs are implemented in the server, and the driverless control program is a reference unmanned driving control program, and then acquired from the collected a large amount of ground information and associated with the driverless request information. Ground information, and obtaining navigation information from the associated ground information, the navigation information including the optimal driving route and the load information of the optimal driving route and the road abnormality information, etc., and finally combining one or more unmanned driving information Comprehensive consideration is given to generate an unmanned control program adapted to the optimal driving route based on the existing reference unmanned driving program, and then generate a set of matching driverless planning information for each unmanned vehicle, The human driving vehicle completes the driverless driving based on the driverless planning information.

After the server collects a large amount of ground information, it needs to perform big data processing on each ground information to obtain load information and abnormal information of each road. Specifically, calculating the load amount of each road, the load amount of each road in a certain period of time in the future (the possibility of determining whether congestion occurs), and the vehicle load information of each road in a certain period of time in the future, in addition, including The treatment of abnormal conditions on the road, that is, when an accident occurs in a certain road section, it is necessary to calculate the impact of the accident on the surrounding traffic and the entire transportation system, such as the sudden road load and whether the line is changed.

In an embodiment, the driverless planning module 62 is further configured to detect whether the navigation information changes in real time, and if the navigation information changes, update the driverless control program in real time to regenerate the driverless planning information.

In addition, the embodiment further provides an unmanned vehicle control system, the system comprising: the foregoing unmanned vehicle control terminal and a server;

The driverless vehicle control terminal sends a driverless control request to the server;

The server generates the driverless planning information according to the driver control request and the collected ground information, and sends the driverless planning information to the driverless vehicle control terminal, where the driverless planning information includes navigation information;

The driverless vehicle control terminal performs driverless control on the unmanned vehicle based on the driverless planning information.

The unmanned vehicle control system provided by the embodiment enables the unmanned vehicle to be uniformly managed by the server (the server can be a cloud server), and rationally allocates traffic resources according to different needs of the user, thereby reducing traffic congestion; On the same road, unified management of unmanned vehicles through the server enables each vehicle to maintain a reasonable uniform speed at all times, and can effectively avoid vehicles that cannot be controlled by the unmanned vehicle control system, thereby maximizing The reduction of traffic accidents caused by overspeed and parallel. Of course, through the above methods, more accurate data information can also be obtained, thereby improving the ability of the vehicle to be unmanned.

Obviously, those skilled in the art should understand that the modules or steps of the above embodiments of the present invention can be used universally. Implemented by computing devices, which may be centralized on a single computing device or distributed over a network of computing devices, optionally implemented in program code executable by the computing device, such that they may be The storage is performed by a computing device in a computer storage medium (ROM/RAM, disk, optical disk), and in some cases, the steps shown or described may be performed in an order different from that herein, or they may be separately It is made by making individual integrated circuit modules, or by making a plurality of modules or steps of them into a single integrated circuit module. Therefore, the invention is not limited to any particular combination of hardware and software.

The above is a detailed description of the embodiments of the present invention in conjunction with the specific embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Industrial applicability

The present disclosure is applicable to the field of intelligent transportation technology, for reasonably allocating traffic resources, reducing congestion, minimizing the occurrence of traffic accidents, and improving the stability and safety of driverless driving. At the same time, through the large amount of road condition information collected by the server, all unmanned vehicles can be arranged and managed in a unified manner, so that the ability of the vehicle to be unmanned is correspondingly improved, thereby improving the user experience.

Claims (16)

An unmanned vehicle control method includes: Sending the generated driverless request information to the server; Receiving the driverless planning information returned by the server, the driverless planning information is generated according to the driverless request information and the ground information collected by the server, and the driverless planning information includes navigation information; The driverless vehicle is subjected to driverless control according to the driverless planning information. The unmanned vehicle control method according to claim 1, wherein after the receiving the unmanned planning information returned by the server, the method further comprises: The driverless vehicle is subjected to driverless control based on the navigation information and a pre-stored default driverless control program. The unmanned vehicle control method according to claim 1, wherein when the driverless control is performed on the unmanned vehicle according to the driverless planning information, the method further includes: Ground information around the unmanned vehicle is collected and sent to the server for storage. The unmanned vehicle control method according to any one of claims 1 to 3, wherein the driverless request information includes: target position information, current position information, a desired arrival time, and a desired travel route. An unmanned vehicle control method includes: Receiving the driverless request information sent by the driverless vehicle control terminal; Generating unmanned planning information according to the driverless request information and the collected ground information, the driverless planning information including navigation information; The driverless planning information is transmitted to the driverless vehicle control terminal to control the driverless vehicle for unmanned driving. The unmanned vehicle control method according to claim 5, wherein the generating the driverless planning information based on the driverless request information and the collected ground information comprises: Acquiring navigation information that satisfies a preset condition from the ground information according to the driverless request information; Generating the driverless control program according to the navigation information and a pre-stored reference driverless control program; The driverless planning information is generated according to the navigation information and the driverless control program. The driverless vehicle control method according to claim 6, wherein the generating the driverless planning information according to the navigation information and the driverless control program comprises: Real-time detecting whether the navigation information changes; If the navigation information changes, the driverless control program is updated in real time to regenerate the driverless planning information. The unmanned vehicle control method according to claim 6, wherein the obtaining navigation information that satisfies a preset condition from the ground information according to the driverless request information comprises: Acquiring all navigation information associated with the driverless request information from the ground information; Selecting the navigation information with the lowest road complexity from all the acquired navigation information; and/or Selecting the navigation information with the lowest degree of road congestion from all the obtained navigation information; and/or Select the navigation information with the shortest expected arrival time from all the navigation information obtained. The unmanned vehicle control method according to any one of claims 5-8, wherein the driverless request information includes: target position information, current position information, a desired arrival time, and a desired travel route. An unmanned vehicle control terminal includes: An driverless request sending module, configured to send the generated driverless request information to the server; a planning information receiving module, configured to receive the driverless planning information returned by the server, where the driverless planning information is generated according to the driverless request information and ground information collected by the server, the unmanned person Driving planning information includes navigation information; The first driverless control module is configured to perform driverless control on the unmanned vehicle according to the driverless planning information. The driverless vehicle control terminal of claim 10, further comprising: a second driverless control module configured to: after receiving the driverless planning information returned by the server, perform unmanned vehicle on the unmanned vehicle according to the navigation information and a pre-stored default driverless control program Driving control. The driverless vehicle control terminal according to claim 10 or 11, further comprising: The information collecting module is configured to collect ground information around the unmanned vehicle and send it to the server for storage when the driverless control is performed on the unmanned vehicle according to the driverless planning information. A server that includes: The driverless request receiving module is configured to receive the driverless request information sent by the driverless vehicle control terminal; The driverless planning module is configured to generate driverless planning information according to the driverless request information and the collected ground information, where the driverless planning information includes navigation information; A planning information transmitting module is configured to send the driverless planning information to the driverless vehicle control terminal to control the driverless vehicle to perform driverless driving. The server according to claim 13, wherein the driverless planning module is configured to acquire navigation information satisfying a preset condition from the ground information according to the driverless request information, according to the navigation information and pre-stored The reference driverless control program generates the driverless control program, and generates the driverless planning information based on the navigation information and the driverless control program. The server according to claim 14, wherein the driverless planning module is configured to detect whether the navigation information changes in real time, and if the navigation information changes, update the driverless control program in real time. Regenerating the driverless planning information. An unmanned vehicle control system comprising the driverless vehicle control terminal according to any one of claims 10-12 and the server according to any one of claims 13-15; The driverless vehicle control terminal sends a driverless control request to the server; The server generates unmanned planning information according to the driverless control request and the collected ground information, and sends the unmanned driving information to the unmanned vehicle control terminal, where the driverless planning information includes navigation information; The driverless vehicle control terminal performs driverless control on the unmanned vehicle according to the driverless planning information.

Images