[go: up one dir, main page]

WO2018036197A1 - Procédé, terminal, serveur et système de commande de véhicule sans conducteur - Google Patents

Procédé, terminal, serveur et système de commande de véhicule sans conducteur Download PDF

Info

Publication number
WO2018036197A1
WO2018036197A1 PCT/CN2017/083070 CN2017083070W WO2018036197A1 WO 2018036197 A1 WO2018036197 A1 WO 2018036197A1 CN 2017083070 W CN2017083070 W CN 2017083070W WO 2018036197 A1 WO2018036197 A1 WO 2018036197A1
Authority
WO
WIPO (PCT)
Prior art keywords
driverless
information
planning
server
unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/083070
Other languages
English (en)
Chinese (zh)
Inventor
李强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZTE Corp
Original Assignee
ZTE Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZTE Corp filed Critical ZTE Corp
Publication of WO2018036197A1 publication Critical patent/WO2018036197A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station

Definitions

  • the present invention relates to the field of intelligent transportation technologies, and in particular, to an unmanned vehicle control method, terminal, server and system.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an embodiment of the present invention provides a method for controlling an unmanned vehicle, including:
  • 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:
  • 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.
  • An unmanned vehicle control method 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.
  • 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.
  • Embodiment 1 is a flowchart of a method for controlling an unmanned vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a flowchart of a specific control method for an unmanned vehicle according to Embodiment 2 of the present invention
  • Embodiment 3 is a flowchart of another unmanned vehicle control method according to Embodiment 3 of the present invention.
  • Embodiment 4 is a flowchart of a specific control method of another driverless vehicle according to Embodiment 4 of the present invention.
  • FIG. 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.
  • 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.
  • FIG. 1 is a flowchart of a method for controlling an unmanned vehicle according to the embodiment. The control steps are as follows:
  • 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.
  • 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.
  • the driverless request information sent by the driverless vehicle control terminal may be one or more.
  • the server When the request information includes multiple, the server generates a complete set of reasonable driverless planning information for each request information.
  • 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.
  • 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.
  • it is stored for later use.
  • the driverless planning information includes navigation information and an unmanned driving program
  • the driverless control program controls the unmanned vehicle in combination with the navigation information to realize unmanned driving of the vehicle.
  • 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.
  • 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
  • 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.
  • the human driving control program 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.
  • 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.
  • the update time interval can also be set, and the navigation information is updated when the update time interval is satisfied.
  • 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.
  • the unmanned vehicle in the process of unmanned driving according to the unmanned driving information 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.
  • 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.
  • At least one set of default driverless control programs may be stored in the driverless vehicle control terminal.
  • 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.
  • FIG. 2 is the embodiment.
  • the flow chart of the specific control method of the unmanned vehicle is as follows:
  • the acquired location information includes a location name and coordinates, which can be acquired by using a GPS.
  • the driverless request information includes a current location, a target location where the vehicle arrives, a desired driving route, and an expected arrival time.
  • 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.
  • 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.
  • step 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. .
  • 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.
  • 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.
  • step 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.
  • FIG. 3 is a flowchart of another unmanned vehicle control method according to the embodiment. The control steps are as follows:
  • 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.
  • the driverless request information received by the server may be one or more, and the server integrates one or more request information.
  • 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.
  • 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.
  • the driverless vehicle control terminal 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.
  • 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.
  • 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.
  • Comprehensive consideration is made to generate an unmanned control program adapted to the optimal driving route based on the existing reference driverless control program.
  • 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.
  • the navigation information 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.
  • the server 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.
  • 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.
  • 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.
  • 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;
  • the server can be a cloud server
  • 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.
  • more accurate data information can also be obtained, thereby improving the ability of the vehicle to be unmanned.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the driverless control program is a control program adapted to the optimal navigation information.
  • step 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.
  • the navigation information 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.
  • step 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.
  • 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.
  • step 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.
  • related parameters include, but are not limited to, driving speed, whether to change lanes and merging, whether to turn.
  • step 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.
  • 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.
  • 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.
  • 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.
  • it is stored for later use.
  • 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.
  • 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.
  • the update time interval can also be set, and the navigation information is updated when the update time interval is satisfied.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the driverless request receiving module 61 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.
  • the driverless request information received by the server may be one or more, and the server integrates one or more request information.
  • 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.
  • 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.
  • 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.
  • the driverless planning module 62 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.
  • 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.
  • 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.
  • the server 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.
  • 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.
  • 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 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;
  • the server can be a cloud server
  • 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.
  • more accurate data information can also be obtained, thereby improving the ability of the vehicle to be unmanned.
  • modules or steps of the above embodiments of the present invention can be used universally.
  • 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 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.
  • 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.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé, un terminal, un serveur et un système de commande de véhicule sans conducteur. Le procédé consiste : à transmettre, à un serveur, des informations de demande sans conducteur générées (S11) ; à recevoir une information de planification sans conducteur renvoyée par le serveur, l'information de planification sans conducteur étant générée en fonction des informations de demande sans conducteur et des informations routières acquises par le serveur, et comportant des informations de navigation (S12) ; et à exécuter, en fonction de l'information de planification sans conducteur, une commande sans conducteur sur un véhicule sans conducteur (S13).
PCT/CN2017/083070 2016-08-26 2017-05-04 Procédé, terminal, serveur et système de commande de véhicule sans conducteur Ceased WO2018036197A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610735976.2A CN107784850A (zh) 2016-08-26 2016-08-26 一种无人驾驶车辆控制方法、终端、服务器及系统
CN201610735976.2 2016-08-26

Publications (1)

Publication Number Publication Date
WO2018036197A1 true WO2018036197A1 (fr) 2018-03-01

Family

ID=61245340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/083070 Ceased WO2018036197A1 (fr) 2016-08-26 2017-05-04 Procédé, terminal, serveur et système de commande de véhicule sans conducteur

Country Status (2)

Country Link
CN (1) CN107784850A (fr)
WO (1) WO2018036197A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108873865A (zh) * 2018-07-06 2018-11-23 杭州和利时自动化有限公司 一种智能驾驶的网络控制方法、系统、车载控制器及汽车
CN111199083A (zh) * 2018-10-31 2020-05-26 百度在线网络技术（北京）有限公司 复现无人驾驶车辆事故数据的方法和装置
CN111998864A (zh) * 2020-08-11 2020-11-27 东风柳州汽车有限公司 无人车局部路径规划方法、装置、设备及存储介质
CN112419773A (zh) * 2020-11-19 2021-02-26 成都云科新能汽车技术有限公司 一种基于云控平台的车路协同无人驾驶控制系统
CN112556715A (zh) * 2020-12-09 2021-03-26 成都九壹通智能科技股份有限公司 一种机车安全导航系统及方法
CN112863164A (zh) * 2019-11-27 2021-05-28 帝亚一维新能源汽车有限公司 网约无人驾驶车辆系统和方法
CN112950997A (zh) * 2021-01-29 2021-06-11 长城汽车股份有限公司 一种应急联动方法与系统
CN113984074A (zh) * 2021-10-18 2022-01-28 北京中交兴路信息科技有限公司 目标车辆导航路线偏航的识别方法、装置、设备和介质
CN114194214A (zh) * 2021-12-28 2022-03-18 阿波罗智联(北京)科技有限公司 无人驾驶车辆的控制方法、装置及电子设备

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108492602A (zh) * 2018-03-28 2018-09-04 浙江鼎奕科技发展有限公司 车辆自动驾驶方法及装置
CN108766003B (zh) * 2018-04-26 2020-10-02 上海钛鑫科技有限公司 智能车辆及其行驶控制方法
CN108873902A (zh) * 2018-07-04 2018-11-23 北京踏歌智行科技有限公司 一种无人驾驶矿用车辆的远程控制方法及装置
CN109164799A (zh) * 2018-07-24 2019-01-08 江苏大学 一种行车主动避撞系统及方法
CN109211257B (zh) * 2018-08-31 2021-07-16 北京图森智途科技有限公司 一种无人驾驶车行驶路线规划方法和系统
CN109326119A (zh) * 2018-09-28 2019-02-12 上汽通用五菱汽车股份有限公司 无人驾驶摆渡车的调度方法、服务器和存储介质
CN109189082B (zh) 2018-11-20 2020-10-02 百度在线网络技术（北京）有限公司 用于控制移动机器人的方法、装置和控制系统
CN109769246B (zh) * 2018-12-29 2020-10-02 同济大学 一种用于无人驾驶汽车航线数据的认证系统
CN109859511A (zh) * 2019-01-30 2019-06-07 苏州昆承智能车检测科技有限公司 一种自动驾驶辅助装置
CN111757289B (zh) * 2019-03-26 2023-12-15 华为云计算技术有限公司 一种信息处理方法及相关设备
CN111309005A (zh) * 2019-12-24 2020-06-19 广东天创同工大数据应用有限公司 一种基于无人驾驶车辆的动态路线规划方法
WO2021134217A1 (fr) * 2019-12-30 2021-07-08 深圳元戎启行科技有限公司 Procédé et appareil de commande de véhicule basés sur une prise en charge à distance, et dispositif informatique
KR102874624B1 (ko) * 2020-03-06 2025-10-23 셴젠 인왕 인텔리전트 테크놀러지 컴퍼니 리미티드 데이터 전송 방법, 차량 측 디바이스 및 네트워크 측 디바이스
CN111669306A (zh) * 2020-04-19 2020-09-15 东风汽车股份有限公司 一种用作城市行驶的自动驾驶物流车的急停装置及其方法
CN111988399B (zh) * 2020-08-19 2023-09-05 北京小马慧行科技有限公司 分布式计算方法、装置及系统
CN112700668B (zh) 2020-12-22 2022-08-02 北京百度网讯科技有限公司 自动驾驶的远程控制方法、自动驾驶车辆及云端设备
WO2023050144A1 (fr) * 2021-09-29 2023-04-06 华为技术有限公司 Procédé de commande de véhicule, système côté scène, système véhicule-entreprise et dispositif terminal

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020099481A1 (en) * 2001-01-22 2002-07-25 Masaki Mori Travel controlling apparatus of unmanned vehicle
US20030065429A1 (en) * 2001-09-21 2003-04-03 Tadashi Yamamoto System, method and program products for supporting to drive cars
CN103383265A (zh) * 2013-07-04 2013-11-06 浙江吉利汽车研究院有限公司杭州分公司 汽车自动驾驶系统
CN104267721A (zh) * 2014-08-29 2015-01-07 陈业军 一种智能汽车的无人驾驶系统
CN104460667A (zh) * 2014-10-31 2015-03-25 成都众易通科技有限公司 一种汽车自动驾驶系统
CN105243864A (zh) * 2015-10-30 2016-01-13 桂林市腾瑞电子科技有限公司 一种无人驾驶车辆的智能控制系统
CN105741595A (zh) * 2016-04-27 2016-07-06 常州加美科技有限公司 一种基于云端数据库的无人驾驶车辆导航行车方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103413455B (zh) * 2013-08-23 2016-01-20 招商局重庆交通科研设计院有限公司 一种道路交通引导方法及系统
KR101737792B1 (ko) * 2014-11-10 2017-05-19 현대모비스 주식회사 자율 주행 차량, 자율 주행 관리 장치 및 그 제어 방법
CN105128817A (zh) * 2015-09-14 2015-12-09 广东顺德车联管家科技有限公司 一种车辆监控管理方法及服务器
CN105719484A (zh) * 2016-04-22 2016-06-29 百度在线网络技术（北京）有限公司 行车路线的道路数据的获取方法、装置及系统
CN105788330A (zh) * 2016-04-29 2016-07-20 百度在线网络技术（北京）有限公司 无人驾驶车辆的实时路况预警方法和装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020099481A1 (en) * 2001-01-22 2002-07-25 Masaki Mori Travel controlling apparatus of unmanned vehicle
US20030065429A1 (en) * 2001-09-21 2003-04-03 Tadashi Yamamoto System, method and program products for supporting to drive cars
CN103383265A (zh) * 2013-07-04 2013-11-06 浙江吉利汽车研究院有限公司杭州分公司 汽车自动驾驶系统
CN104267721A (zh) * 2014-08-29 2015-01-07 陈业军 一种智能汽车的无人驾驶系统
CN104460667A (zh) * 2014-10-31 2015-03-25 成都众易通科技有限公司 一种汽车自动驾驶系统
CN105243864A (zh) * 2015-10-30 2016-01-13 桂林市腾瑞电子科技有限公司 一种无人驾驶车辆的智能控制系统
CN105741595A (zh) * 2016-04-27 2016-07-06 常州加美科技有限公司 一种基于云端数据库的无人驾驶车辆导航行车方法

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108873865A (zh) * 2018-07-06 2018-11-23 杭州和利时自动化有限公司 一种智能驾驶的网络控制方法、系统、车载控制器及汽车
CN111199083A (zh) * 2018-10-31 2020-05-26 百度在线网络技术（北京）有限公司 复现无人驾驶车辆事故数据的方法和装置
CN111199083B (zh) * 2018-10-31 2023-12-15 阿波罗智能技术(北京)有限公司 复现无人驾驶车辆事故数据的方法和装置
CN112863164A (zh) * 2019-11-27 2021-05-28 帝亚一维新能源汽车有限公司 网约无人驾驶车辆系统和方法
CN111998864B (zh) * 2020-08-11 2023-11-07 东风柳州汽车有限公司 无人车局部路径规划方法、装置、设备及存储介质
CN111998864A (zh) * 2020-08-11 2020-11-27 东风柳州汽车有限公司 无人车局部路径规划方法、装置、设备及存储介质
CN112419773A (zh) * 2020-11-19 2021-02-26 成都云科新能汽车技术有限公司 一种基于云控平台的车路协同无人驾驶控制系统
CN112556715A (zh) * 2020-12-09 2021-03-26 成都九壹通智能科技股份有限公司 一种机车安全导航系统及方法
CN112950997A (zh) * 2021-01-29 2021-06-11 长城汽车股份有限公司 一种应急联动方法与系统
CN112950997B (zh) * 2021-01-29 2022-08-30 长城汽车股份有限公司 一种应急联动方法与系统
CN113984074A (zh) * 2021-10-18 2022-01-28 北京中交兴路信息科技有限公司 目标车辆导航路线偏航的识别方法、装置、设备和介质
CN114194214A (zh) * 2021-12-28 2022-03-18 阿波罗智联(北京)科技有限公司 无人驾驶车辆的控制方法、装置及电子设备
CN114194214B (zh) * 2021-12-28 2024-02-13 阿波罗智联(北京)科技有限公司 无人驾驶车辆的控制方法、装置及电子设备

Also Published As

Publication number Publication date
CN107784850A (zh) 2018-03-09

Similar Documents

Publication Publication Date Title
WO2018036197A1 (fr) Procédé, terminal, serveur et système de commande de véhicule sans conducteur
US20240246540A1 (en) Data driven rule books
US11131554B2 (en) Systems and methods for vehicle telemetry
US11287270B2 (en) Systems and methods for safe route planning for a vehicle
US12073725B2 (en) Systems and methods for coordinating an arrival of one or more assets at a location
CN111915917A (zh) 用于规划和更新运载工具的轨迹的系统和方法
US20210311491A1 (en) Intelligent roadside toolbox
US11520339B2 (en) Systems and methods for changing a destination of an autonomous vehicle in real-time
TW202108419A (zh) 用於與具有不同自主水平的車輛建立協調式駕駛參與的方法和系統
CN111344725B (zh) 用于确定自主车辆是否可以为乘车者提供所请求的服务的系统和方法
JP2019537155A (ja) 問題の状況に対処するための自律走行車の遠隔操作
CN110422177A (zh) 一种车辆控制方法、装置及系统
US11968261B2 (en) Systems, methods, and computer program products for testing of cloud and onboard autonomous vehicle systems
JP2019537159A (ja) 生成されたインターフェースを使用する自律走行車の監視
KR20230110460A (ko) 조건부 움직임 예측
CN110568847B (zh) 一种车辆的智能控制系统、方法，车载设备和存储介质
US11878695B2 (en) Surface guided vehicle behavior
US11513488B2 (en) Controlling power of electronic devices on a vehicle
WO2020139324A1 (fr) Systèmes et procédés de planification d'itinéraire sûr pour un véhicule
WO2020258276A1 (fr) Procédé et appareil pour laisser la priorité pour véhicule à conduite intelligente et dispositif monté sur véhicule
JP2024013227A (ja) 車両のナビゲーションのためのシステム、方法及び計算装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17842622

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17842622

Country of ref document: EP

Kind code of ref document: A1