Remote assisted driving method, device, vehicle and storage medium

Abstract

Embodiments of the present invention provide a remote assisted driving method, device, vehicle and storage medium. The remote assisted driving method includes: during the process of automatic driving of the vehicle, when an obstacle is detected, receiving obstacle detection information sent by the vehicle-mounted terminal; receiving teaching instructions for the obstacle detection information, and generating indication information according to the teaching instructions; sending the indication information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used to determine a driving path according to the indication information, and control the driving of the vehicle based on the driving path. Embodiments of the present invention can remotely assist the vehicle to pass through obstacles through teaching instructions from a cloud server, make up for the deficiencies in perception, decision-making and planning of the vehicle-mounted terminal, and effectively improve the traffic capacity of the automatic driving vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a remote assisted driving method, a remote assisted driving device, a vehicle and a storage medium. Background Art

[0002] As the process of vehicle intelligence advances, the current relevant technologies can realize automatic driving for vehicle driving control. The process of automatic driving mainly relies on the vehicle terminal to control the vehicle's driving based on the information of the high-precision map and the real-time environmental information monitored by the vehicle sensor. However, when the vehicle encounters obstacles in front of it during the automatic driving process, the vehicle terminal may not be able to make automatic driving decisions because it only relies on the environmental information detected by the vehicle terminal. Due to the inadequacies of the vehicle terminal in perception, decision-making and planning, the vehicle will stop in place and not continue to drive, resulting in a decrease in the traffic capacity of automatic driving. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a remote assisted driving method, a corresponding remote assisted driving device, a vehicle and a storage medium that overcome the above problems or at least partially solve the above problems.

[0004] An embodiment of the present invention provides a remote assisted driving method, which is applied to a cloud server, wherein the cloud server is connected to a vehicle terminal, and the method includes:

[0005] During the automatic driving of the vehicle, when an obstacle is detected, receiving obstacle detection information sent by the vehicle terminal;

[0006] receiving a teaching instruction for the obstacle detection information;

[0007] generating instruction information according to the teaching instruction;

[0008] The indication information is sent to the vehicle-mounted terminal, and the vehicle-mounted terminal is used to determine a driving path according to the indication information and control the driving of the vehicle based on the driving path.

[0009] Optionally, the obstacle detection information includes an obstacle image, the teaching instruction includes a teaching posture point, and the step of receiving the teaching instruction for the obstacle detection information includes:

[0010] Get global map data;

[0011] determining an obstacle icon according to the obstacle image;

[0012] Displaying the obstacle icon on the visualized global map data;

[0013] Receiving a teaching pose point on the visualized global map data.

[0014] Optionally, the obstacle detection information also includes vehicle accessible space information, and the step of generating instruction information according to the teaching instruction includes:

[0015] Determine a reachable position range corresponding to the reachable space information of the vehicle;

[0016] Determining whether the teaching posture point is located within the reachable position range;

[0017] When the teaching posture point is within the reachable position range, a teaching path is generated based on the teaching posture point as indication information.

[0018] Optionally, the teaching posture point corresponds to a teaching time, and the step of generating a teaching path based on the teaching posture point includes:

[0019] Sorting the teaching time to determine the teaching order;

[0020] The teaching posture points are connected according to the teaching sequence to generate a teaching path.

[0021] Optionally, the obstacle detection information includes obstacle edge information; the teaching instruction includes an obstacle envelope range value, and the step of generating indication information according to the teaching instruction includes:

[0022] The obstacle edge information is updated using the obstacle envelope range value to generate indication information.

[0023] The embodiment of the present invention further provides a remote assisted driving method, which is applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal is connected to a cloud server, and the method includes:

[0024] During the process of automatic driving of the vehicle, when an obstacle is detected, obstacle detection information is generated;

[0025] Sending the obstacle detection information to the cloud server, the cloud server is used to receive the obstacle detection information sent by the vehicle terminal; receiving a teaching instruction for the obstacle detection information; generating instruction information according to the teaching instruction; and sending the instruction information to the vehicle terminal;

[0026] receiving the indication information sent by the cloud server;

[0027] A driving path is determined according to the instruction information, and the vehicle is controlled to travel based on the driving path.

[0028] The embodiment of the present invention further provides a remote assisted driving device, which is applied to a cloud server, wherein the cloud server is connected to a vehicle terminal, and the device comprises:

[0029] A first receiving module is used to receive obstacle detection information sent by the vehicle terminal when an obstacle is detected during the automatic driving of the vehicle;

[0030] A second receiving module is used to receive a teaching instruction for the obstacle detection information.

[0031] A generating module, used for generating instruction information according to the teaching instruction;

[0032] The first sending module is used to send the indication information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used to determine a driving path according to the indication information and control the driving of the vehicle based on the driving path.

[0033] The embodiment of the present invention further provides a remote assisted driving device, which is applied to a vehicle-mounted terminal, and the vehicle-mounted terminal is connected to a cloud server, and the device includes:

[0034] A detection module, used to generate obstacle detection information when an obstacle is detected during the automatic driving of the vehicle;

[0035] A second sending module is used to send the obstacle detection information to the cloud server, and the cloud server is used to receive the obstacle detection information sent by the vehicle terminal; receive a teaching instruction for the obstacle detection information; generate instruction information according to the teaching instruction; and send the instruction information to the vehicle terminal;

[0036] A third receiving module, used to receive the indication information sent by the cloud server;

[0037] A control module is used to determine a driving path according to the indication information and control the vehicle to travel based on the driving path.

[0038] An embodiment of the present invention further provides a vehicle, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the remote assisted driving method as described above when executed by the processor.

[0039] An embodiment of the present invention further provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the remote assisted driving method as described above are implemented.

[0040] The embodiments of the present invention include the following advantages:

[0041] In the process of automatic driving of a vehicle, an embodiment of the present invention receives obstacle detection information sent by the vehicle terminal when an obstacle is detected; receives a teaching instruction for the obstacle detection information; generates instruction information according to the teaching instruction; and sends the instruction information to the vehicle terminal, and the vehicle terminal is used to determine a driving path according to the instruction information, and control the driving of the vehicle based on the driving path. When the automatic driving encounters an obstacle and cannot pass, by leveraging the perception and decision-making capabilities of the remote driver of the cloud server, a teaching instruction for operating decisions based on the obstacle detection information corresponding to the obstacle is issued to indicate the feasible path of the vehicle. The vehicle terminal passes through the obstacle based on the instruction information, providing driving assistance to the remote driver, making up for the deficiencies in the perception, decision-making and planning of the vehicle terminal, and effectively improving the passability of the automatic driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flowchart of a remote assisted driving method embodiment of the present invention;

[0043] Figure 2 is a flowchart of another remote assisted driving method embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of global map data of an example of a remote assisted driving method of the present invention;

[0045] Figure 4 is a flowchart of steps of another embodiment of a remote assisted driving method of the present invention;

[0046] Figure 5 is a structural block diagram of an embodiment of a remote assisted driving device of the present invention;

[0047] Figure 6 It is a structural block diagram of another embodiment of the remote assisted driving device of the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] In related technologies, the driving control of autonomous vehicles mainly relies on on-board sensors such as cameras and lidar to detect and identify the environment around the vehicle, and plan the path based on the vehicle's current position and high-precision maps. And the vehicle drives according to the established path based on real-time environmental information. However, in actual application, since the driving control will reserve a certain amount of safety lateral margin, when passing through some narrow passages or encountering obstacles on the road, the vehicle may stagnate under autonomous driving conditions due to detection errors in the measurement margin or a small detection margin. The vehicle will stop in place and not continue to drive. The traffic capacity of autonomous driving is poor, and unmanned driving cannot be achieved throughout the entire process.

[0050] Reference Figure 1 , shows a flowchart of a remote assisted driving method embodiment of the present invention, which is applied to a cloud server, and the cloud server is connected to the vehicle terminal. The connection network between the cloud server and the vehicle terminal can be a mobile communication network or an Internet of Things, which is not specifically limited in the embodiment of the present invention.

[0051] The cloud server can also be connected to the terminal device used by the remote driver, and the remote driver can make manual assisted decisions based on the data received from the cloud server through the terminal device.

[0052] The remote assisted driving method may specifically include the following steps:

[0053] Step 101, when an obstacle is detected during the automatic driving of the vehicle, receiving obstacle detection information sent by the vehicle terminal;

[0054] The cloud server can be connected to the vehicle terminal in real time. During the automatic driving of the vehicle based on the automatic driving condition, when the vehicle terminal detects that there is an obstacle on the driving path, the relevant information generated for the obstacle detection can be used as the obstacle detection information; if the vehicle is stuck due to an obstacle and cannot continue to drive, the vehicle terminal can send the obstacle detection information to the cloud server, and the cloud server receives the obstacle detection information. It should be noted that the above-mentioned driving process may refer to the driving path of the vehicle, such as the path from the current location to the target location; it may also refer to the parking path of the vehicle, such as the path from the current location to the target parking space. In addition, the automatic driving function of the vehicle can be turned on remotely or by triggering relevant instructions in the vehicle.

[0055] Step 102, receiving a teaching instruction for the obstacle detection information;

[0056] After the cloud server receives the obstacle detection information, the remote driver can remotely observe the current obstacle situation of the vehicle on the cloud server. The remote driver can make a teaching instruction for manual decision-making based on the obstacle detection information; the cloud server receives the teaching instruction.

[0057] Step 103, generating instruction information according to the teaching instruction;

[0058] The cloud server generates instruction information for instructing the vehicle terminal to make an automatic driving decision based on the teaching instruction of the decision made by the remote driver in response to the obstacle detection information. The instruction information is used to assist the vehicle terminal in making an automatic decision.

[0059] In one embodiment of the present invention, the obstacle detection information includes obstacle edge information; the teaching instruction includes an obstacle envelope range value, and the step of generating instruction information according to the teaching instruction includes:

[0060] Sub-step S1031: using the obstacle envelope range value to update the obstacle edge information to generate indication information.

[0061] In actual applications, when a vehicle encounters an obstacle during automatic driving, it may get stuck because the on-board terminal has difficulty in determining the edge of the obstacle, resulting in incorrect obstacle edge information being detected. Therefore, the obstacle envelope range value may be included in the teaching instruction issued by the remote driver. The obstacle envelope range value is used to update the obstacle edge information to correct the actual edge of the obstacle, so as to generate instruction information to instruct the on-board terminal to perform path planning based on the updated obstacle edge.

[0062] Step 104, sending the indication information to the vehicle-mounted terminal, the vehicle-mounted terminal is used to determine a driving path according to the indication information, and control the driving of the vehicle based on the driving path.

[0063] After the cloud server generates the instruction information, it sends the instruction information to the vehicle terminal. The vehicle terminal can determine the driving path through the obstacle according to the instruction information and control the vehicle to drive through the obstacle according to the driving path.

[0064] In the process of automatic driving of a vehicle, when an obstacle is detected, the embodiment of the invention receives obstacle detection information sent by the vehicle terminal; receives teaching instructions for the obstacle detection information; generates indication information according to the teaching instructions; and sends the indication information to the vehicle terminal, and the vehicle terminal is used to determine the driving path according to the indication information, and control the driving of the vehicle based on the driving path. When the automatic driving encounters an obstacle and cannot pass, by leveraging the perception and decision-making capabilities of the remote driver of the cloud server, a teaching instruction for the operation decision made according to the obstacle detection information corresponding to the obstacle is issued, and the feasible path of the vehicle is indicated. The vehicle terminal passes through the obstacle based on the indication information, and provides driving assistance to the remote driver, making up for the deficiencies in the perception, decision-making and planning of the vehicle terminal, and effectively improving the passing capacity of the automatic driving vehicle.

[0065] Reference Figure 2 , shows a flowchart of another embodiment of a remote assisted driving method of the present invention, which is applied to a cloud server, and the cloud server is connected to a vehicle terminal. The remote assisted driving method may specifically include the following steps:

[0066] Step 201, when an obstacle is detected during the automatic driving of the vehicle, obstacle detection information sent by the vehicle terminal is received, wherein the obstacle detection information includes an obstacle image and vehicle accessible space information;

[0067] During the process of autonomous driving, when the vehicle terminal detects an obstacle and cannot drive according to the path planned by autonomous driving because it cannot determine the movement intention of the obstacle (such as when there is a traffic jam ahead and the vehicle ahead is not moving) or the specific edge, the vehicle terminal will send the obstacle image taken for the obstacle and the real-time vehicle accessible space information of the detected vehicle's current position as obstacle detection information to the cloud server. The cloud server receives the obstacle detection information. Among them, the obstacle image can be obtained by taking pictures with the visual sensor installed on the vehicle itself, such as using the image containing the obstacle taken by the camera of the vehicle-mounted surround view system as the obstacle image; or a third-party camera installed on the vehicle, such as a driving recorder, can be used.

[0068] It should be noted that the vehicle's reachable space information refers to the location that the vehicle can reach without obstacles at the current location. The vehicle's reachable space information consists of multiple reachable space coordinate points. The reachable space coordinate points can be regarded as the coordinates of the location that can be finally reached by walking along several straight lines from the current location of the vehicle to other locations.

[0069] Step 202, obtaining global map data;

[0070] After the cloud server receives the obstacle image and the vehicle's accessible space information, it can determine the vehicle's current position. Obtain global map data based on the current position. The global map data may be global map data within a preset distance range centered on the current position, to avoid obtaining too much global map data, which results in reduced decision-making efficiency. The size of the preset distance range can be determined based on the planned path range for the vehicle's autonomous driving, such as a circular range with a radius of 10 meters, etc. Those skilled in the art may also set ranges of other sizes, which are not specifically limited in the embodiments of the present invention.

[0071] Step 203, determining an obstacle icon according to the obstacle image;

[0072] The range occupied by the obstacle on the global map is determined based on the obstacle image, so as to determine the corresponding obstacle icon. The obstacle icon can be an icon showing the specific outline of the obstacle, or a simple icon with a size corresponding to the edge width of the obstacle can be used. For example, a rectangular icon is used as a simple icon, and the edge width of the obstacle is used as the length of the rectangular icon.

[0073] Step 204, displaying the obstacle icon on the visualized global map data;

[0074] After obtaining the global map data, the global map data can be visualized so that the global map data is displayed in a graphical style, and obstacle icons are displayed on the visualized global map data so that the remote driver can intuitively observe the situation of obstacles. Figure 3 , the style of the current road is displayed on the global map 100, and there is an obstacle icon 200 on the road, and the obstacle icon 200 intuitively displays the edge of the obstacle.

[0075] Step 205, receiving a teaching pose point on the visualized global map data;

[0076] The remote driver can click on the visualized global map data, and the cloud server receives several teaching pose points clicked by the click operation. Among them, the teaching pose points are the vehicle pose control points for the remote driver to pass through obstacles. The number of teaching pose points is at least two, so that the teaching pose points can form a path. For example, you can refer to Figure 3 , there are 5 teaching posture points.

[0077] Step 206, determining a reachable position range corresponding to the vehicle reachable space information;

[0078] In practical applications, the specific position range that the vehicle can currently reach can be determined based on the vehicle's reachable space information, and the position range is taken as the reachable position range. Specifically, the edge of the reachable position range can be determined based on the reachable space coordinate points in the vehicle's reachable space information, and the position range surrounded by the edge is taken as the reachable position range.

[0079] Step 207, determining whether the teaching posture point is located within the reachable position range;

[0080] After determining the reachable position range, it is possible to determine whether the teaching posture point is within the reachable position range, so as to determine whether the teaching posture point at which the remote driver makes a decision is achievable by the vehicle, and verify the teaching posture point.

[0081] The judgment method can be a difference method. The specific position coordinates of the teaching posture point are subtracted from the reachable position range. When the difference meets the edge requirement of the reachable position range, it is determined that the teaching posture point is in the reachable position range; otherwise, it is determined that the teaching posture point is not in the reachable position range. The judgment of the teaching posture point can be performed on each teaching posture point one by one. In this way, the state of each teaching posture point is determined.

[0082] Step 208, when the teaching posture point is within the reachable position range, generating a teaching path based on the teaching posture point as indication information;

[0083] When the teaching posture point is within the reachable position range, it can be determined that the teaching posture point is a position point that the vehicle can reach, and a teaching path is generated based on the teaching posture point within the reachable position range as instruction information to instruct the vehicle-mounted terminal to drive.

[0084] In addition, when a teaching pose point is outside the reachable position range, the teaching pose point may be deleted.

[0085] In one embodiment of the present invention, the teaching posture point corresponds to a teaching time, and the step of generating a teaching path based on the teaching posture point includes:

[0086] Sub-step S2081, sorting the teaching time to determine the teaching order;

[0087] In practical applications, the time when the remote driver clicks the teaching posture point on the visualized global map data can be used as the teaching time corresponding to the teaching posture point. The teaching time corresponding to all teaching posture points is sorted in chronological order to determine the teaching order.

[0088] Sub-step S2082, connecting the teaching posture points according to the teaching sequence to generate a teaching path.

[0089] After the teaching sequence is determined, a teaching path is generated starting from the first teaching pose point and sequentially connected to the next teaching pose point until the last teaching pose point. The teaching path should be a multi-line segment with smooth transition so that there is no sudden change point on the path.

[0090] Step 209: sending the instruction information to the vehicle-mounted terminal, wherein the vehicle-mounted terminal is used to determine a driving path according to the instruction information and control the driving of the vehicle based on the driving path.

[0091] In actual applications, the cloud server sends the teaching path to the vehicle terminal, and the vehicle terminal uses the teaching path as the vehicle's driving path to control the vehicle to drive along the driving path.

[0092] In an embodiment of the present invention, when the automatic driving encounters an obstacle and cannot pass through, by leveraging the perception and decision-making capabilities of the remote driver of the cloud server, teaching posture points are made on the visualized global map data, and the cloud server can generate a teaching path to instruct the on-board terminal based on the teaching posture points; the on-board terminal passes through the obstacle based on the teaching path, and when the on-board terminal is unable to make a decision, it can make a decision based on the teaching posture points of the remote driver, so that the on-board terminal can continue to control the vehicle to pass through the obstacle, effectively improving the passability of the automatic driving vehicle; allowing the vehicle to achieve fully unmanned driving.

[0093] Reference Figure 4 , shows a step flow chart of another remote assisted driving method embodiment of the present invention, which is applied to a vehicle-mounted terminal, and the vehicle-mounted terminal is connected to a cloud server.

[0094] The remote assisted driving method specifically comprises the following steps:

[0095] Step 401, when an obstacle is detected during the automatic driving of the vehicle, obstacle detection information is generated;

[0096] During the process of automatic driving of the vehicle, the vehicle terminal determines in real time whether an obstacle is detected based on the signal from the sensor, and when an obstacle is detected, it can generate obstacle detection information, which may include the image of the obstacle, edge information, and the spatial information of the reachable position of the vehicle.

[0097] Step 402, sending the obstacle detection information to the cloud server, the cloud server is used to receive the obstacle detection information sent by the vehicle terminal; receive a teaching instruction for the obstacle detection information; generate instruction information according to the teaching instruction; and send the instruction information to the vehicle terminal;

[0098] The on-board terminal sends the obstacle detection information to the cloud server, which can receive and display the obstacle detection information. The remote driver makes corresponding teaching instructions based on the obstacle detection information to assist the on-board terminal in making decisions; the cloud server generates corresponding instruction information based on the teaching instructions and sends the instruction information to the on-board terminal.

[0099] Step 403, receiving the instruction information sent by the cloud server;

[0100] After the cloud server sends the indication information, the indication information can be received and analyzed.

[0101] Step 404: determine a driving path according to the indication information, and control the vehicle to travel based on the driving path.

[0102] In actual applications, the driving path through the obstacle can be determined according to the indication information. The vehicle terminal can detect the current posture of the vehicle, control the current posture of the vehicle to enter the posture corresponding to the starting point of the driving path, and control the vehicle to drive according to the driving path to pass the obstacle.

[0103] In order to facilitate technical personnel to further deepen their understanding of the present invention, the present invention is explained below by taking specific scenarios as examples.

[0104] The user triggers the vehicle to perform autonomous driving by remotely summoning the vehicle through the application; the on-board terminal plans the path according to the high-precision map under autonomous driving conditions and controls the vehicle according to the path.

[0105] When a vehicle encounters a vehicle (obstacle) in front of it that stops on the road and blocks its driving, the on-board terminal cannot determine the movement intention of the vehicle in front, and cannot control the vehicle to drive according to the planned path, causing the vehicle to get stuck. At this time, the on-board terminal can take an image of the vehicle in front (obstacle image) based on the panoramic surround view system on the vehicle, and determine the real-time vehicle accessible space information based on the vehicle's surrounding environment conditions of the panoramic surround view system, and send the image of the vehicle in front and the vehicle accessible space information to the cloud server.

[0106] After receiving the image of the vehicle in front and the vehicle's accessible space information sent by the vehicle terminal, the cloud server obtains the global map data and visualizes the global map data. The width of the vehicle is determined based on the image of the vehicle in front, and a corresponding obstacle icon is generated. The obstacle icon is displayed on the visualized global map data, such as Figure 3 As shown, an obstacle icon 200 is displayed on the visualized global map data 100 .

[0107] The remote driver clicks on the visualized global map data 100, and 5 teaching posture points (1-5) are displayed. When it is determined that the teaching posture points are within the reachable space of the vehicle, the vehicle posture corresponding to the 5 teaching posture points is determined, and the 5 teaching posture points are connected to determine the indicated path. The indicated path is sent to the vehicle terminal.

[0108] The vehicle terminal receives the indicated path, converts the indicated path into a driving path for controlling the vehicle, detects the current posture 300 of the vehicle, controls the vehicle to enter the first indicated posture point from the current posture, and then controls the vehicle to move forward according to the driving path.

[0109] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0110] Reference Figure 5 , shows a structural block diagram of an embodiment of a remote assisted driving device of the present invention, wherein the remote assisted driving device is applied to a cloud server, and the cloud server is connected to a vehicle-mounted terminal, and specifically may include the following modules:

[0111] The first receiving module 501 is used to receive obstacle detection information sent by the vehicle terminal when an obstacle is detected during the automatic driving of the vehicle;

[0112] The second receiving module 502 is used to receive a teaching instruction for the obstacle detection information.

[0113] A generating module 503, used for generating instruction information according to the teaching instruction;

[0114] The first sending module 504 is used to send the instruction information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used to determine a driving path according to the instruction information and control the driving of the vehicle based on the driving path.

[0115] In one embodiment of the present invention, the obstacle detection information includes an obstacle image, the teaching instruction includes a teaching posture point, and the second receiving module 502 includes:

[0116] Get submodule, used to get global map data;

[0117] A first determining submodule, configured to determine an obstacle icon according to the obstacle image;

[0118] A display submodule, used for displaying the obstacle icon on the visualized global map data;

[0119] The receiving submodule is used to receive the teaching pose points on the visualized global map data.

[0120] In one embodiment of the present invention, the obstacle detection information also includes vehicle accessible space information, and the generation module 503 includes:

[0121] A second determination submodule is used to determine a reachable position range corresponding to the reachable space information of the vehicle;

[0122] A judgment submodule, used to judge whether the teaching posture point is located in the reachable position range;

[0123] A generating submodule is used to generate a teaching path based on the teaching posture point as indication information when the teaching posture point is within the reachable position range.

[0124] In one embodiment of the present invention, the teaching posture point corresponds to the teaching time, and the generating submodule includes:

[0125] A sorting unit, used for sorting the teaching time and determining the teaching order;

[0126] A connection module is used to connect the teaching posture points according to the teaching sequence to generate a teaching path.

[0127] In one embodiment of the present invention, the obstacle detection information includes obstacle edge information; the teaching instruction includes obstacle envelope range value;

[0128] An updating module is used to update the obstacle edge information by using the obstacle envelope range value to generate indication information.

[0129] Reference Figure 6 , shows a structural block diagram of another embodiment of a remote assisted driving device of the present invention, wherein the remote assisted driving device is applied to a vehicle-mounted terminal, and the vehicle-mounted terminal is connected to a cloud server, and specifically may include the following modules:

[0130] The detection module 601 is used to generate obstacle detection information when an obstacle is detected during the automatic driving of the vehicle;

[0131] The second sending module 602 is used to send the obstacle detection information to the cloud server, and the cloud server is used to receive the obstacle detection information sent by the vehicle terminal; receive a teaching instruction for the obstacle detection information; generate instruction information according to the teaching instruction; and send the instruction information to the vehicle terminal;

[0132] A third receiving module 603, used to receive the indication information sent by the cloud server;

[0133] The control module 604 is used to determine a driving path according to the indication information, and control the vehicle to drive based on the driving path.

[0134] In one embodiment of the present invention, the obstacle detection information includes an obstacle image, the teaching instruction includes a teaching posture point, and the cloud server is used to obtain global map data; determine an obstacle icon based on the obstacle image; display the obstacle icon on the visualized global map data; and receive the teaching posture point on the visualized global map data.

[0135] In one embodiment of the present invention, the obstacle detection information also includes vehicle reachable space information, and the cloud server is used to determine the reachable position range corresponding to the vehicle reachable space information; determine whether the teaching posture point is located in the reachable position range; when the teaching posture point is located in the reachable position range, generate a teaching path based on the teaching posture point as indication information.

[0136] In one embodiment of the present invention, the teaching posture points correspond to teaching times, and the cloud server is further used to sort the teaching times to determine the teaching order; the teaching posture points are connected according to the teaching order to generate a teaching path.

[0137] In one embodiment of the present invention, the obstacle detection information includes obstacle edge information; the teaching instruction includes an obstacle envelope range value, and the cloud server is used to update the obstacle edge information using the obstacle envelope range value to generate instruction information.

[0138] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0139] An embodiment of the present invention further provides an electronic device, including:

[0140] A processor and a storage medium, wherein the storage medium stores a computer program executable by the processor, and when the electronic device is running, the processor executes the computer program to perform the method as described in any one of the embodiments of the present invention. The specific implementation method and technical effect are similar to those of the method embodiment, and will not be repeated here.

[0141] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to execute the method as described in any one of the embodiments of the present invention. The specific implementation method and technical effect are similar to those of the method embodiment, and will not be repeated here.

[0142] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0143] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0144] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0148] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0149] The remote assisted driving method, device, vehicle and storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A remote assisted driving method, characterized in that: Applied to a cloud server, the cloud server is connected to a vehicle-mounted terminal, and the method includes: During the automatic driving of the vehicle, when an obstacle is detected, receiving obstacle detection information sent by the vehicle terminal, wherein the obstacle detection information includes obstacle edge information; receiving a teaching instruction for the obstacle detection information, wherein the teaching instruction includes an obstacle envelope range value; generating instruction information according to the teaching instruction; Sending the instruction information to the vehicle-mounted terminal, the vehicle-mounted terminal is used to determine a driving path according to the instruction information, and control the vehicle to travel based on the driving path; Wherein, the step of generating instruction information according to the teaching instruction comprises: The obstacle edge information is updated using the obstacle envelope range value to correct the actual edge of the obstacle, so as to generate instruction information to instruct the vehicle-mounted terminal to perform path planning based on the updated obstacle edge.

2. The method according to claim 1, characterized in that The obstacle detection information includes an obstacle image, the teaching instruction includes a teaching posture point, and the step of receiving the teaching instruction for the obstacle detection information includes: Get global map data; determining an obstacle icon according to the obstacle image; Displaying the obstacle icon on the visualized global map data; Receiving a teaching pose point on the visualized global map data.

3. The method according to claim 2, characterized in that The obstacle detection information also includes vehicle accessible space information, and the step of generating instruction information according to the teaching instruction includes: Determine a reachable position range corresponding to the reachable space information of the vehicle; Determining whether the teaching posture point is located within the reachable position range; When the teaching posture point is within the reachable position range, a teaching path is generated based on the teaching posture point as indication information.

4. The method according to claim 3, characterized in that The teaching posture points correspond to teaching time, and the step of generating a teaching path based on the teaching posture points includes: Sorting the teaching time to determine the teaching order; The teaching posture points are connected according to the teaching sequence to generate a teaching path.

5. A remote assisted driving method, characterized in that: Applied to a vehicle-mounted terminal, the vehicle-mounted terminal is connected to a cloud server, and the method includes: During the automatic driving of the vehicle, when an obstacle is detected, obstacle detection information is generated, wherein the obstacle detection information includes obstacle edge information; Sending the obstacle detection information to the cloud server, the cloud server is used to receive the obstacle detection information sent by the vehicle terminal; receiving a teaching instruction for the obstacle detection information, the teaching instruction including an obstacle envelope range value; generating instruction information according to the teaching instruction; and sending the instruction information to the vehicle terminal; receiving the indication information sent by the cloud server; determining a driving path according to the indication information, and controlling the vehicle to travel based on the driving path, Wherein, the step of generating instruction information according to the teaching instruction comprises: The obstacle edge information is updated using the obstacle envelope range value to correct the actual edge of the obstacle, so as to generate instruction information to instruct the vehicle-mounted terminal to perform path planning based on the updated obstacle edge.

6. A remote assisted driving device, characterized in that: Applied to a cloud server, the cloud server is connected to a vehicle terminal, and the device includes: A first receiving module is used to receive obstacle detection information sent by the vehicle terminal when an obstacle is detected during the automatic driving of the vehicle, wherein the obstacle detection information includes obstacle edge information; A second receiving module is used to receive a teaching instruction for the obstacle detection information, wherein the teaching instruction includes an obstacle envelope range value; A generating module, used for generating instruction information according to the teaching instruction; A first sending module, used for sending the instruction information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used for determining a driving path according to the instruction information, and controlling the driving of the vehicle based on the driving path; The generating module also includes: An updating module is used to update the obstacle edge information by using the obstacle envelope range value to correct the actual edge of the obstacle, so as to generate instruction information to instruct the vehicle-mounted terminal to perform path planning based on the updated obstacle edge.

7. A remote assisted driving device, characterized in that: Applied to a vehicle-mounted terminal, the vehicle-mounted terminal is connected to a cloud server, and the device includes: A detection module, configured to generate obstacle detection information when an obstacle is detected during the automatic driving of the vehicle, wherein the obstacle detection information includes obstacle edge information; a second sending module, configured to send the obstacle detection information to the cloud server, the cloud server being configured to receive the obstacle detection information sent by the vehicle-mounted terminal; receive a teaching instruction for the obstacle detection information, the teaching instruction including an obstacle envelope range value; generate instruction information according to the teaching instruction; and send the instruction information to the vehicle-mounted terminal; A third receiving module, used to receive the indication information sent by the cloud server; a control module, configured to determine a driving path according to the indication information, and control the vehicle to travel based on the driving path, The cloud server also includes: An updating module is used to update the obstacle edge information by using the obstacle envelope range value to correct the actual edge of the obstacle, so as to generate instruction information to instruct the vehicle-mounted terminal to perform path planning based on the updated obstacle edge.

8. A vehicle, characterized in that: The vehicle includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the steps of the remote assisted driving method as described in any one of claims 1 to 4 or claim 5 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the remote assisted driving method according to any one of claims 1 to 4 or claim 5 are implemented.

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