CN112092823A - Parallel driving system based on mobile trip service technology platform - Google Patents
Parallel driving system based on mobile trip service technology platform Download PDFInfo
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- CN112092823A CN112092823A CN202010761857.0A CN202010761857A CN112092823A CN 112092823 A CN112092823 A CN 112092823A CN 202010761857 A CN202010761857 A CN 202010761857A CN 112092823 A CN112092823 A CN 112092823A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- B60W60/0053—Handover processes from vehicle to occupant
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Abstract
The parallel driving system comprises a cloud control center and at least one vehicle-mounted mobile travel service technical platform arranged on a vehicle to be controlled; the cloud control center includes: an image display device; a stage controller; the vehicle-mounted mobile trip service technical platform comprises: an image acquisition device; and the vehicle-mounted controller is connected with an in-vehicle local area network of the vehicle to be controlled. This application can be timely quick realize artifical takeover to the autopilot vehicle, and the high efficiency is solved autopilot potential safety hazard problem.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a parallel driving system based on a mobile trip service technical platform.
Background
With the continuous development of the automatic driving technology, the automatic driving automobile can automatically and safely operate the motor vehicle without any artificial active operation, is a product of the high development of the intelligent control technology, and is an important mark for measuring the national scientific research strength and the industrial level. However, the automatic driving technology is still in a development stage, and further improvement is needed, so that the automatic driving automobile at the present stage still has the situation that the vehicle cannot make an autonomous decision and turns to a human driver.
The parallel driving is a technical means for providing guarantee for automatic driving at the present stage, and the parallel driving technology at the present stage needs to be based on complex hardware and software foundation and cannot be widely popularized and used.
Therefore, a technical scheme of parallel driving is needed to meet the automatic driving requirement at the present stage.
Disclosure of Invention
The application provides a parallel driving system based on remove trip service technology platform, can be timely quick realize artifical takeover to the autopilot vehicle, the high-efficient potential safety hazard problem of solving autopilot.
The application provides a parallel driving system based on a mobile trip service technology platform, which comprises a cloud control center and at least one vehicle-mounted mobile trip service technology platform arranged on a vehicle to be controlled;
the cloud control center comprises:
the image display device is used for receiving and playing the video images inside and outside the vehicle;
the rack controller is used for generating a take-over instruction and control information;
the vehicle-mounted mobile travel service technical platform comprises:
the image acquisition device is used for acquiring the video images inside and outside the vehicle to be controlled;
and the vehicle-mounted controller is connected with the in-vehicle local area network of the vehicle to be controlled and is used for receiving the take-over instruction when the vehicle to be controlled is in an automatic driving state, controlling the vehicle to be controlled to exit the automatic driving state and granting control permission to the rack controller so as to enter a parallel driving state, and receiving the control information to control the vehicle to be controlled.
Further, the rack controller is also used for generating a pipe withdrawing instruction;
the vehicle-mounted controller is further used for receiving the pipe withdrawing instruction when the vehicle to be controlled is in a parallel driving state, controlling the vehicle to be controlled to withdraw from the parallel driving state and withdrawing the control permission of the rack controller.
Further, the vehicle-mounted mobile trip service technology platform further comprises:
the attitude acquisition device is connected with the vehicle-mounted controller and is used for acquiring the attitude information of the vehicle to be controlled;
the vehicle-mounted controller is also used for forwarding the attitude information to the cloud control center;
the cloud control center further comprises a posture simulation device which is used for receiving the posture information and carrying out posture simulation according to the posture information.
Further, the parallel driving system comprises at least two vehicle-mounted mobile trip service technical platforms which correspond to the vehicles to be controlled one by one;
the cloud control center further comprises:
the dispatching console is used for selecting the vehicle to be controlled;
and the rack controller is used for generating the take-over instruction and the control information according to the vehicle to be controlled selected by the dispatching console and needing to be controlled, and sending the take-over instruction and the control information to the corresponding vehicle-mounted controller.
Specifically, the image capturing apparatus includes:
the camera is used for acquiring video images inside and outside the vehicle to be controlled;
and the video coding device is used for coding and compressing the video images inside and outside the vehicle to obtain a video compression file.
Specifically, the image display device includes:
the video decoding device is used for decoding and decompressing the video compression file to obtain the video images inside and outside the vehicle;
and the display is used for playing the video images inside and outside the vehicle.
Specifically, the control information includes light control information, driving control information, braking control information, steering control information, and driving mode switching information.
Preferably, the attitude acquisition device is an IMU attitude instrument.
Preferably, the attitude acquisition device is connected with the vehicle-mounted controller through a serial port RS 232.
Preferably, the cloud control center is in signal connection with the vehicle-mounted mobile trip service technology platform through a 5G network.
The beneficial effect that technical scheme that this application provided brought includes:
1. the application provides a parallel driving's technique based on remove trip service technology platform, can be in time quick realize artifical takeover to the autopilot vehicle, the high-efficient potential safety hazard problem of solving autopilot.
2. The remote control system can take over the automatically-driven vehicle in a remote distance, can realize remote control, complete functions of starting, accelerating and decelerating, parking, straight going, turning, vehicle scheduling, dynamic driving and the like, and reduces safety risks.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of a parallel driving system based on a mobile trip service technology platform according to an embodiment of the present disclosure;
fig. 2 is a block diagram of an image display device of a parallel driving system based on a mobile trip service technology platform according to an embodiment of the present application;
fig. 3 is a block diagram of an image acquisition device of a parallel driving system based on a mobile trip service technology platform according to an embodiment of the present application;
fig. 4 is a schematic connection diagram of a parallel driving system based on a mobile travel service technology platform according to an embodiment of the present application;
the labels in the figure are:
1. a cloud control center; 10. an image display device; 100. a video decoding device; 101. a display; 11. a stage controller; 12. an attitude simulation device; 13. a dispatching console; 2. a vehicle-mounted mobile trip service technology platform; 20. an image acquisition device; 200. a camera; 201. a video encoding device; 21. a vehicle-mounted controller; 22. gesture collection system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The embodiment of the invention provides a parallel driving system based on a mobile trip service technology platform, which can realize manual take-over of an automatic driving vehicle timely and quickly and efficiently solve the problem of potential safety hazard of automatic driving.
In order to achieve the technical effects, the general idea of the application is as follows:
a parallel driving system based on a mobile trip service technology platform comprises a cloud control center 1 and at least one vehicle-mounted mobile trip service technology platform 2 installed on a vehicle to be controlled;
the cloud control center 1 includes:
an image display device 10 for receiving and playing an in-vehicle and out-of-vehicle video image;
a gantry controller 11 for generating take-over instructions and control information;
the vehicle-mounted mobile trip service technology platform 2 comprises:
the image acquisition device 20 is used for acquiring the video images inside and outside the vehicle to be controlled;
and the vehicle-mounted controller 21 is connected with the in-vehicle local area network of the vehicle to be controlled and is used for receiving a take-over instruction when the vehicle to be controlled is in an automatic driving state, controlling the vehicle to be controlled to exit the automatic driving state and granting control permission to the rack controller 11 so as to enter a parallel driving state, and receiving control information to control the vehicle to be controlled.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, an embodiment of the invention provides a parallel driving system based on a mobile trip service technology platform, which includes a cloud control center 1 and at least one vehicle-mounted mobile trip service technology platform 2 installed on a vehicle to be controlled;
the cloud control center 1 includes:
an image display device 10 for receiving and playing an in-vehicle and out-of-vehicle video image;
a gantry controller 11 for generating take-over instructions and control information;
the vehicle-mounted mobile trip service technology platform 2 comprises:
the image acquisition device 20 is used for acquiring the video images inside and outside the vehicle to be controlled;
and the vehicle-mounted controller 21 is connected with the in-vehicle local area network of the vehicle to be controlled and is used for receiving a take-over instruction when the vehicle to be controlled is in an automatic driving state, controlling the vehicle to be controlled to exit the automatic driving state and granting control permission to the rack controller 11 so as to enter a parallel driving state, and receiving control information to control the vehicle to be controlled.
In the embodiment of the application, the vehicle to be controlled has an automatic driving function, and the application is mainly used for carrying out manual take-over when the vehicle to be controlled is in an automatic driving state so as to reduce safety risks;
firstly, the rack controller 11 of the cloud control center 1 sends a take-over instruction to the vehicle-mounted controller 21 of the vehicle-mounted mobile travel service technical platform 2 of the corresponding vehicle to be controlled, the vehicle-mounted controller 21 receives the take-over instruction, verifies the identity information of the rack controller 11 and the corresponding cloud control center 1 according to the take-over instruction, verifies the legality of the take-over instruction, grants a control permission right to the rack controller 11 after the verification is passed, and then quits the automatic driving state and shifts to the parallel driving state;
when the vehicle to be controlled enters a parallel driving state, the image acquisition device 20 sends the acquired video images inside and outside the vehicle of the vehicle to be controlled to the vehicle-mounted controller 21, and then the vehicle-mounted controller 21 forwards the video images inside and outside the vehicle to the image display device 10, and the video images inside and outside the vehicle are played through the image display device 10;
the staff looks at the video image inside and outside the vehicle that image display device 10 broadcast, according to actual demand, sends control information to on-vehicle controller 21 through rack controller 11, and on-vehicle controller 21 receives control information to treat the vehicle of controlling according to control information and control, thereby accomplish parallel driving operation.
The control information includes light control information, driving control information, braking control information, steering control information, and driving mode switching information.
The application provides a parallel driving technology based on a mobile trip service technology platform, manual pipe connection can be timely and quickly realized for an automatic driving vehicle, and the problem of potential safety hazard of automatic driving is efficiently solved;
the remote control system can take over the automatic driving vehicle in a remote distance, can realize remote control, complete functions of starting, accelerating and decelerating, parking, straight going, turning, vehicle dispatching, dynamic driving and the like, and reduce safety risk.
The vehicle-mounted mobile trip service technology platform 2 may be a vehicular mobile terminal of Sharing-Van.
It should be noted that, in order to further improve the driving safety, the driver may stop the vehicle to be controlled in the safety area, and then the worker sends a take-over instruction to the onboard controller 21 of the onboard mobile trip service technology platform 2 of the vehicle to be controlled through the rack controller 11 of the cloud control center 1, the onboard controller 21 receives the take-over instruction and verifies the identity information of the rack controller 11 and the corresponding cloud control center 1 according to the take-over instruction, so as to verify the validity of the take-over instruction, and after the verification is passed, a control permission right is granted to the rack controller 11 to enter the parallel driving state.
Preferably, the cloud control center 1 is in signal connection with the vehicle-mounted mobile trip service technology platform 2 through a 5G network;
communication quality is kept through the 5G network, and stability of data transmission is guaranteed.
Further, a gantry controller 11 for generating a pipe withdrawal command;
and the vehicle-mounted controller 21 is used for receiving the pipe withdrawing instruction when the vehicle to be controlled is in the parallel driving state, controlling the vehicle to be controlled to be withdrawn from the parallel driving state and withdrawing the control permission authority of the rack controller 11. (ii) a
At this time, if the subsequent stage controller 11 continues to send a control instruction to the on-vehicle controller 21, the on-vehicle controller 21 does not respond to the control instruction.
Further, the vehicle-mounted mobile trip service technology platform 2 further includes:
the attitude acquisition device 22 is connected with the vehicle-mounted controller 21 and is used for acquiring the attitude information of the vehicle to be controlled;
the vehicle-mounted controller 21 is also used for forwarding the attitude information to the cloud control center;
the cloud control center 1 further includes a posture simulation device 12, which is configured to receive the posture information and perform posture simulation according to the posture information.
Preferably, the attitude acquisition device 22 is an IMU attitude instrument;
the Inertial Measurement Unit (IMU) is used for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object;
the attitude acquisition device 22 is connected with the vehicle-mounted controller 21 through a serial port RS 232.
It should be noted that the attitude simulation device 12 mainly includes a plurality of hydraulic telescopic rods, a base, and a seat, that is, similar to the conventional attitude simulation apparatus, and is used for simulating the vehicle running state of the vehicle to be controlled;
preferably, the attitude simulation means 12 can perform attitude simulation in six degrees of freedom.
Further, the parallel driving system comprises at least two vehicle-mounted mobile travel service technical platforms 2 which correspond to the vehicles to be controlled one by one;
cloud control center 1 still includes:
a dispatching console 13 for selecting a vehicle to be controlled;
and the rack controller 11 is used for generating a take-over instruction and control information according to the vehicle to be controlled selected by the dispatching console and needing to be controlled, and sending the take-over instruction and the control information to the corresponding vehicle-mounted controller 21.
Specifically, the image capturing apparatus 20 includes:
the system comprises at least one camera 200, a control unit and a display unit, wherein the camera 200 is used for acquiring an inside and outside video image of a vehicle to be controlled;
a video encoding device 201 for encoding and compressing video images inside and outside the vehicle to obtain a video compression file;
it should be noted that the number and the installation positions of the cameras 200 are set according to actual conditions, and at least most of the area inside and outside the vehicle of the vehicle to be controlled can be clearly collected.
Preferably, the camera 200 is a 360 ° camera.
Specifically, the image display device 10 includes:
the video decoding device 100 is used for decoding and decompressing the video compressed file to obtain video images inside and outside the vehicle;
a display 101 for playing in-vehicle and out-of-vehicle video images;
preferably, the display 101 is an encircling large screen.
Here, specific functions of the examples of the present application are shown in table 1 below:
TABLE 1
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A parallel driving system based on a mobile trip service technology platform is characterized by comprising a cloud control center and at least one vehicle-mounted mobile trip service technology platform arranged on a vehicle to be controlled;
the cloud control center comprises:
the image display device is used for receiving and playing the video images inside and outside the vehicle;
the rack controller is used for generating a take-over instruction and control information;
the vehicle-mounted mobile travel service technical platform comprises:
the image acquisition device is used for acquiring the video images inside and outside the vehicle to be controlled;
and the vehicle-mounted controller is connected with the in-vehicle local area network of the vehicle to be controlled and is used for receiving the take-over instruction when the vehicle to be controlled is in an automatic driving state, controlling the vehicle to be controlled to exit the automatic driving state and granting control permission to the rack controller so as to enter a parallel driving state, and receiving the control information to control the vehicle to be controlled.
2. The parallel driving system based on mobile travel service technology platform according to claim 1, characterized in that:
the rack controller is also used for generating a pipe withdrawing instruction;
the vehicle-mounted controller is further used for receiving the pipe withdrawing instruction when the vehicle to be controlled is in a parallel driving state, controlling the vehicle to be controlled to withdraw from the parallel driving state and withdrawing the control permission of the rack controller.
3. The parallel driving system based on mobile trip service technology platform according to claim 1, wherein said vehicle-mounted mobile trip service technology platform further comprises:
the attitude acquisition device is connected with the vehicle-mounted controller and is used for acquiring the attitude information of the vehicle to be controlled;
the vehicle-mounted controller is also used for forwarding the attitude information to the cloud control center;
the cloud control center further comprises a posture simulation device which is used for receiving the posture information and carrying out posture simulation according to the posture information.
4. The parallel driving system based on mobile trip service technology platform according to claim 1, wherein the parallel driving system comprises at least two vehicle-mounted mobile trip service technology platforms corresponding to the vehicles to be controlled one by one;
the cloud control center further comprises:
the dispatching console is used for selecting the vehicle to be controlled;
and the rack controller is used for generating the take-over instruction and the control information according to the vehicle to be controlled selected by the dispatching console and needing to be controlled, and sending the take-over instruction and the control information to the corresponding vehicle-mounted controller.
5. The parallel driving system based on mobile travel service technology platform according to claim 1, wherein the image capturing device comprises:
the camera is used for acquiring video images inside and outside the vehicle to be controlled;
and the video coding device is used for coding and compressing the video images inside and outside the vehicle to obtain a video compression file.
6. The parallel driving system based on mobile travel service technology platform according to claim 5, wherein the image display device comprises:
the video decoding device is used for decoding and decompressing the video compression file to obtain the video images inside and outside the vehicle;
and the display is used for playing the video images inside and outside the vehicle.
7. The parallel driving system based on mobile travel service technology platform according to claim 1, characterized in that:
the control information includes light control information, driving control information, braking control information, steering control information, and driving mode switching information.
8. The parallel driving system based on mobile travel service technology platform according to claim 3, characterized in that:
the attitude acquisition device is an IMU attitude instrument.
9. The parallel driving system based on mobile travel service technology platform according to claim 3, characterized in that:
the attitude acquisition device is connected with the vehicle-mounted controller through a serial port RS 232.
10. The parallel driving system based on mobile travel service technology platform according to claim 1, characterized in that:
the cloud control center is in signal connection with the vehicle-mounted mobile trip service technology platform through a 5G network.
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| CN202010761857.0A CN112092823A (en) | 2020-07-31 | 2020-07-31 | Parallel driving system based on mobile trip service technology platform |
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Application publication date: 20201218 |