Semi-automatic driving method, system and equipment and storage medium

Abstract

The invention discloses a vehicle end semi-automatic driving method, which comprises the following steps of: acquiring own vehicle information and environment information of a vehicle, and determining vehicle movement limitation of the vehicle; receiving a vehicle pre-motion instruction of the control end; formulating a motion planning track of the vehicle to the vehicle pre-motion instruction based on the vehicle motion limitation; providing the motion planning track to a control end; and after a vehicle driving instruction of a control end is received, the vehicle moves to a planned position according to the motion planning track. According to the scheme, the vehicle end and the control end are decoupled and then combined to drive the vehicle, the advantages of the vehicle end and the control end are combined, efficient and safe driving of the vehicle is achieved, the application range is wide, expansibility is high, great safety and feasibility are brought to the unmanned vehicle in a complex scene, efficiency is not affected, the scheme is proper, the implementation cost is low, and the method is suitable for popularization and application. The effect is obvious.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a semi-autonomous driving method, system, device and storage medium. Background Art

[0002] Currently, autonomous driving systems usually rely on sensor data and preset algorithms to make decisions when dealing with complex scenarios. However, these systems may not be able to accurately determine the best driving path in some cases, especially when encountering congestion, narrow roads or sudden obstacles. At this time, the autonomous driving system may make misjudgments or fail to respond in time, causing the vehicle to get into trouble or cause an accident.

[0003] In order to improve the safety and reliability of autonomous driving systems in complex scenarios, existing technologies have proposed some remote assistance solutions. These solutions usually use a remote control terminal to control the vehicle in real time to help the vehicle get out of trouble. However, remote control also has certain limitations, such as operation delays, high risk of misoperation, and high requirements for operation technology, which makes it difficult to meet the requirements of flexibility and safety in complex scenarios.

[0004] Therefore, there is an urgent need for a new technical solution that can provide a safer, more flexible and efficient remote driving control method in complex scenarios to address the deficiencies in existing technologies and improve the overall performance and safety of autonomous driving systems. Summary of the invention

[0005] In view of this, the present application provides a semi-automatic driving method, system, device and storage medium to improve the traffic capability of autonomous driving vehicles in complex scenarios while ensuring vehicle safety.

[0006] To achieve the above objectives, the proposed solution is as follows:

[0007] In a first aspect, a vehicle-side semi-automatic driving method comprises the following steps:

[0008] S1. Obtaining vehicle information and environmental information of the vehicle and determining vehicle motion restrictions of the vehicle;

[0009] S2, receiving the vehicle pre-motion instruction from the control end;

[0010] S3, formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0011] S4, providing the motion planning trajectory to the control end;

[0012] S5. After receiving the vehicle driving instruction from the control end, move to the planned position according to the motion planning trajectory.

[0013] Preferably, the vehicle pre-motion instruction includes an instantaneous steering wheel adjustment instruction, and formulating the vehicle's motion planning trajectory for the vehicle pre-motion instruction includes: adjusting the vehicle's steering wheel to an instantaneous angle according to the instantaneous steering wheel adjustment instruction, and formulating the vehicle's motion planning trajectory at the instantaneous angle.

[0014] Preferably, the vehicle pre-motion instruction is a synchronous motion instruction, which includes an initial motion instruction and a real-time motion instruction. The motion planning trajectory includes an initial motion planning trajectory formulated according to the initial motion instruction. The movement to the planned position according to the motion planning trajectory is: moving according to the initial motion planning trajectory, and fitting the trajectory of the vehicle's motion in real time according to the real-time motion instruction until the real-time motion instruction is executed.

[0015] Furthermore, steps S1 to S5 are iteratively executed until the vehicle moves to the target position.

[0016] Furthermore, the vehicle is equipped with an on-board system including an automatic driving mode and a semi-automatic driving mode, and before step S1, it also includes: when a warning signal is received, the vehicle switches from the automatic driving mode to the semi-automatic driving mode.

[0017] Further, when the vehicle moves to the target position, the vehicle switches from the semi-automatic driving mode to the automatic driving mode.

[0018] In a second aspect, a semi-automatic driving method at a control end includes:

[0019] Obtain vehicle information and environmental information from the vehicle side;

[0020] Generate vehicle pre-motion instructions to the vehicle end;

[0021] Receiving a motion planning trajectory of the vehicle pre-motion instruction from the vehicle end, the motion planning trajectory being formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0022] A vehicle driving instruction is issued to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0023] In the third aspect, a vehicle-side semi-automatic driving system includes:

[0024] A motion limit determination module, used to obtain vehicle information and environmental information of the vehicle and determine the vehicle motion limit of the vehicle;

[0025] A pre-motion instruction receiving module, where the user receives the vehicle pre-motion instruction from the control end;

[0026] A motion planning trajectory formulation module, used for formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0027] A motion planning trajectory providing module, used to provide the motion planning trajectory to the control end;

[0028] The driving module is used to move to the planned position according to the motion planning trajectory after receiving the vehicle driving instruction from the control end.

[0029] In a fourth aspect, a control-side semi-automatic driving system includes:

[0030] An information acquisition module is used to obtain vehicle information and environmental information of the vehicle on the vehicle side;

[0031] A pre-motion instruction generation module, used to generate a vehicle pre-motion instruction for the vehicle end;

[0032] A motion planning trajectory receiving module, used for receiving a motion planning trajectory of the vehicle end for the vehicle pre-motion instruction, wherein the motion planning trajectory is formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0033] The driving instruction issuing module is used to issue a vehicle driving instruction to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0034] A fifth aspect, a semi-autonomous driving device, comprising a memory and a processor;

[0035] The memory is used to store programs;

[0036] The processor is used to execute the program to implement the various steps of the vehicle-side semi-automatic driving method as described in any one of claims 1-6, or to implement the various steps of the control-side semi-automatic driving method as described in any one of claims 7-9.

[0037] In a sixth aspect, a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the various steps of the vehicle-side semi-automatic driving method as described in any one of claims 1 to 6 are implemented, or the various steps of the control-side semi-automatic driving method as described in any one of claims 7 to 9 are implemented.

[0038] It can be seen from the above technical scheme that the technical scheme of the present application decomposes the vehicle motion to the vehicle end and the control end, the vehicle end determines the vehicle motion limit, the control end issues the vehicle pre-motion instruction, the vehicle end formulates the motion planning trajectory based on the vehicle motion limit, and after confirming and issuing the vehicle driving instruction to the control end, the vehicle end executes it again, so that the vehicle moves to the planned position according to the motion planning trajectory. This solution of decoupling the vehicle end and the control end and then combining them to drive the vehicle gives full play to the advantages of the vehicle end in obtaining real-time information and planning its own behavior, brings a high degree of algorithm freedom to the vehicle end, and can fully plan the motion trajectory based on the principle of safety priority, while the control end issues instructions, confirmations and controls asynchronously, is simple to operate, and can reasonably use the steps and time in the connection for necessary information analysis and decision-making, which not only avoids the risk of misoperation of the control end, but also ensures the coordination between the vehicle end and the control end. Finally, the vehicle end and the control end are organically combined into a whole, with a wide range of applications and strong scalability, which brings great safety and feasibility to unmanned vehicles in complex scenarios, and does not affect efficiency. The solution is just right, the implementation cost is not high, and the effect is significant. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a process flow of a vehicle-side semi-automatic driving method provided in Embodiment 1 of the present application;

[0041] Figure 2 A schematic diagram of the structure of a vehicle-side semi-automatic driving system provided in Example 1 of the present application;

[0042] Figure 3 A flowchart of a semi-automatic driving method of a controller provided in Embodiment 4 of the present application;

[0043] Figure 4 A schematic diagram of a semi-automatic driving method at a control end provided in Embodiment 4 of the present application;

[0044] Figure 5 This is a hardware structure block diagram of a semi-automatic driving device provided in Example 5 of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] Embodiment 1

[0047] like Figure 1 As shown, this embodiment provides a vehicle-side semi-automatic driving method, including the following steps:

[0048] S1. Obtaining vehicle information and environmental information of the vehicle and determining vehicle motion restrictions of the vehicle;

[0049] Typically, the embodiments of the present invention are run when the vehicle is stationary, and the vehicle's ego information may include the vehicle's position, body posture, steering wheel angle, etc. If the vehicle does not stop moving, the ego information may also include the vehicle's speed, acceleration, etc.

[0050] Environmental information can include various dynamic and static obstacles around the vehicle, such as illegally parked vehicles, pedestrians, fences, etc. It can also include road information, such as traffic lights, lane lines, and anything that affects driving, such as traffic police instructions, unidentified objects, etc.

[0051] The vehicle information and environmental information are not the items listed above, but are determined based on the actual state of the vehicle and the environment it is in. After obtaining the vehicle information and environmental information, the vehicle side can comprehensively consider what will affect the vehicle's movement based on this information, thereby clarifying the areas where the vehicle can and cannot drive, that is, the vehicle's movement restrictions.

[0052] S2, receiving the vehicle pre-motion instruction from the control end;

[0053] There is no particular order between step S2 and step S1 , and they can be performed simultaneously or one after the other.

[0054] The vehicle and the control end have the necessary communication methods so that the vehicle can smoothly receive the instructions from the control end. The control end is usually the remote driving monitoring platform of the vehicle, which uses a specific computer, pad or remote cockpit and other equipment to remotely control the vehicle, such as clicking the set left and right turn, U-turn, pull-over and other buttons on the pad, or turning the simulated steering wheel on the remote cockpit.

[0055] The vehicle pre-movement instruction can be generated and issued to the vehicle by the staff of the control end, or it can be generated and issued by the intelligent system running on the control end based on a unique algorithm, and there is no restriction. After receiving the vehicle pre-movement instruction, the vehicle can display or play it on the vehicle, or it can not display or play it.

[0056] S3, formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0057] The vehicle side will formulate a motion planning trajectory suitable for the vehicle based on the vehicle's actual situation according to the vehicle's pre-motion instructions. The motion planning trajectory should be within the range allowed by the vehicle's motion restrictions. On the one hand, it should comply with the laws of kinematics, and on the other hand, there should be no collisions, sudden rushes, or sudden braking that affect safety and comfort. The vehicle's motion restrictions can include the extreme positions of the vehicle's motion, and the vehicle's motion planning trajectory should be within the extreme positions.

[0058] The motion planning trajectory is usually displayed on the screen on the vehicle side so that the passengers on the vehicle can understand the situation, but it does not have to be displayed.

[0059] S4, providing the motion planning trajectory to the control end;

[0060] The control end needs to understand the motion planning trajectory formulated by the vehicle end to determine whether the motion planning trajectory is reasonable and whether it needs to be adjusted.

[0061] S5. After receiving the vehicle driving instruction from the control end, move to the planned position according to the motion planning trajectory.

[0062] When the motion planning trajectory is feasible, the control end can send vehicle driving instructions to the vehicle end, and the vehicle will be driven only after receiving the instructions, thus ensuring the safety of the vehicle.

[0063] Of course, if the vehicle receives a vehicle braking command during this process, the vehicle will brake in real time and the execution of the vehicle driving command will be terminated. After the vehicle braking command is completed, the vehicle driving command will be re-executed to allow the vehicle to continue to move to the planned position according to the motion planning trajectory. Usually, braking takes precedence over driving. After the vehicle braking command is completed, the vehicle driving command can be delayed for a preset time before executing, or a continue command can be set on the control end or another vehicle driving command can be issued to allow the vehicle to continue to move to the planned position according to the motion planning trajectory.

[0064] Correspondingly, such as Figure 2 As shown, this embodiment also provides a vehicle-side semi-automatic driving system, including:

[0065] A motion restriction determination module 10 is used to obtain vehicle information and environmental information of the vehicle and determine the vehicle motion restriction of the vehicle;

[0066] A pre-movement instruction receiving module 20, where a user receives a vehicle pre-movement instruction from a control terminal;

[0067] A motion planning trajectory formulation module 30, for formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0068] A motion planning trajectory providing module 40, used to provide the motion planning trajectory to the control end;

[0069] The driving module 50 is used to move to the planned position according to the motion planning trajectory after receiving the vehicle driving instruction from the control end.

[0070] The functions, technical means and technical features of each module correspond to the contents of the vehicle-side semi-automatic driving method in this example and can be used as a reference for understanding.

[0071] Since there are many restrictions on vehicle movement in complex scenes, it is usually necessary to move the vehicle multiple times to allow it to leave the complex scene. That is, steps S1 to S5 of this embodiment need to be iteratively executed until the vehicle moves to the target position. The target position is usually the position where the vehicle is out of trouble, or the position where the vehicle is capable of starting automatic driving with the help of the vehicle system.

[0072] Preferably, the vehicle may be equipped with an on-board system including an automatic driving mode and a semi-automatic driving mode, and before step S1, the vehicle may switch from the automatic driving mode to the semi-automatic driving mode upon receiving a warning signal. The warning signal may be issued by the control terminal or based on the on-board system, to remind that there may be risks ahead that are difficult to handle in the automatic driving mode, and the semi-automatic driving mode is operated, and the remote control terminal intervenes and cooperates with the vehicle terminal to ensure vehicle safety.

[0073] When the vehicle moves to the target location, it can switch from semi-autonomous driving mode to autonomous driving mode. The vehicle can automatically return to autonomous driving mode after difficult or complex scenes are resolved, making the autonomous driving vehicle smarter and smoother while maintaining safety.

[0074] The scenes encountered by self-driving cars are complex and diverse. For example, in a congested U-turn scene, the traffic in front is blocked by a bunch of cars, and there are cars behind but there is a little space. At this time, it is necessary to rub the body back and forth to adjust the posture of the car body so that the main self-driving car can be put into a good posture to follow the traffic and get out of trouble. There are many constraints when adjusting the posture angle, such as only being able to move within one area, and intersections are usually relatively dangerous, and there cannot be a lot of space for reversing, so there are certain constraints on the range of the vehicle's activity area, and the surrounding vehicles switch between movement and stillness very quickly, requiring the self-driving car to have a strong reaction ability. The technical solution of this embodiment can be well used in complex scenes where such vehicles are easily trapped. It makes the vehicle quite free and fully guarantees safety. Its motion planning trajectory is completely formulated by the internal algorithm of the vehicle under the premise of safety, and the control end and the vehicle-side algorithm have a high degree of coordination. There is no need to worry about trajectory miscalculation problems caused by misoperation of the remote control end. The vehicle's activity distance and activity status can be controlled at any time, and the operation of the control end is simple. When the control end is manual, the staff does not need to remember too many configuration points and risk points. The whole solution is highly flexible, not too rigidly bound by the requirements of the scene, and is scalable. It is very effective in solving dead ends and complex stuck scenes.

[0075] Embodiment 2

[0076] The vehicle-side semi-automatic driving method provided in this embodiment may include:

[0077] Step S1', obtaining vehicle information and environmental information of the vehicle, and determining vehicle movement restrictions of the vehicle;

[0078] Step S2', receiving a vehicle pre-movement instruction from the control end, the vehicle pre-movement instruction including an instant steering wheel adjustment instruction;

[0079] Step S3', based on the vehicle motion restriction, adjusting the vehicle's steering wheel to an instant angle according to the steering wheel instant adjustment instruction, and formulating a motion planning trajectory of the vehicle at the instant angle;

[0080] S4', providing the motion planning trajectory to the control end;

[0081] S5', after receiving the vehicle driving instruction from the control end, move to the planned position according to the motion planning trajectory.

[0082] The main difference between this embodiment and the first embodiment is that the vehicle pre-motion instruction may include an instant steering wheel adjustment instruction. Correspondingly, when formulating the motion planning trajectory of the vehicle for the vehicle pre-motion instruction, the steering wheel of the vehicle is adjusted to the instant angle according to the instant steering wheel adjustment instruction, and the motion planning trajectory of the vehicle at the instant angle is formulated.

[0083] The technical solution of this embodiment is described below by taking the control end as a remote cockpit equipped with an accelerator pedal, a brake pedal, a virtual steering wheel, and a display screen as a specific example.

[0084] After obtaining the vehicle's own vehicle information and environmental information, the display screen of the remote cockpit can display these various screen information uploaded by the vehicle, allowing the remote safety officer to simulate the driving behavior in the car in a real way. The remote safety officer turns the steering wheel to a specific angle, that is, issues an immediate steering wheel adjustment instruction to the vehicle, and then the vehicle side immediately adjusts the vehicle's steering wheel to the immediate angle and formulates the vehicle's motion planning trajectory at the immediate angle. Correspondingly, the display screen can show a trajectory that refers to the angle at which the steering wheel is turned. At this time, when the remote safety officer turns the steering wheel, the motion planning trajectory will also change accordingly. For example, when the steering wheel is straightened, the vehicle on the display screen will plan a trajectory that goes straight forward first. When the steering wheel is turned to the left, the planned trajectory will shift to the left. The instant steering wheel adjustment instruction may only include a single steering wheel angle. In this case, the motion planning trajectory is the planning trajectory for the single steering wheel angle, such as a right turn. The instant steering wheel adjustment instruction may also include complex steering wheel angle adjustments, such as a U-turn, a right turn and then parking by the side, or parking in a specific vehicle avoidance space on the right. In this case, the vehicle's steering wheel angle needs to be adjusted immediately to formulate corresponding motion planning trajectories such as a U-turn, a right turn and then parking by the side. After adjusting the steering wheel to the target angle, the remote safety officer can check whether it is the desired trajectory through the motion planning trajectory displayed on the display. If confirmed, the remote cockpit accelerator pedal is pressed, or the button on the tablet is clicked when the tablet is used at the control end. At this time, the vehicle's onboard system will start moving at a certain speed (such as 1m / s) according to the currently set steering wheel angle, and move to the planned position along the formulated motion planning trajectory. The planned position is usually the extreme position of the vehicle moving in a certain direction under the current environment.

[0085] If it takes multiple iterations to move to the desired position, the remote safety officer will trigger a throttle signal by pressing the accelerator once, and the vehicle will automatically move forward 3m (limit distance, which can also be set within the limit distance) and then slowly stop. If you want to continue moving, you need to press the accelerator again, and the vehicle will continue to move forward for a distance before stopping. During the movement of the vehicle, the on-board system keeps working. During this movement, if other obstacles invade, the vehicle will perform emergency avoidance or brake to ensure safety. During the operation of the on-board system, the steering wheel data will no longer be read. It will always follow the trajectory planned by the steering wheel angle set when the vehicle is running. After the main vehicle has completed a set motion planning trajectory and stopped, the steering wheel angle will be read again. During the movement of the vehicle, if you press the brake pedal, the on-board system will first stop. If you want to move again, you need to release the brake pedal, reset the steering wheel and formulate the motion planning trajectory, and then press the accelerator to move again.

[0086] The technical solution of this embodiment mainly uses an intermittent step-by-step operation method to allow the vehicle side to cooperate with the control side to move. The vehicle side focuses on its own situation, the algorithm has a high degree of freedom, and can prioritize safety. The vehicle side focuses on solving problems in complex scenarios. Once the solution is set, the vehicle side can run automatically. The control method is simple, requires little energy or resources, has a low implementation cost, a wide range of applications, and significant effects.

[0087] Embodiment 3

[0088] The technical solution of this embodiment provides a vehicle-side semi-automatic driving method, which may include:

[0089] Step S1”, obtaining vehicle information and environmental information of the vehicle, and determining vehicle movement restrictions of the vehicle;

[0090] Step S2”, receiving a vehicle pre-motion instruction from the control end, wherein the vehicle pre-motion instruction is a synchronous motion instruction, and the synchronous motion instruction includes an initial motion instruction and a real-time motion instruction;

[0091] Step S3”, based on the vehicle motion restriction, formulate a motion planning trajectory of the vehicle for the vehicle pre-motion instruction, the motion planning trajectory including an initial motion planning trajectory;

[0092] S4”, providing the motion planning trajectory to the control end;

[0093] S5”, after receiving the vehicle driving instruction from the control end, the vehicle moves according to the initial motion planning trajectory, and the trajectory of the vehicle movement is fitted in real time according to the real-time motion instruction until the real-time motion instruction is executed.

[0094] Taking the specific example of the second embodiment as a reference, the main difference is that the technical solution of this embodiment is a synchronous operation mode, which allows the vehicle to continuously read the current steering wheel rotation angle of the remote safety officer to plan the trajectory.

[0095] After the remote safety officer steps on the accelerator pedal, the vehicle system will read the current steering wheel angle and drive along the planned trajectory according to the angle set by the steering wheel. If the remote safety officer turns the steering wheel angle during the movement, the planned trajectory will continue to fit the new trajectory generated after turning the steering wheel. If the accelerator pedal is continuously stepped on, the vehicle will continue to move forward at a certain speed. The driving speed is determined by the opening of the accelerator pedal, and the maximum speed set by the vehicle system on the current road section is not exceeded. If it is on a tablet, the maximum speed and maximum steering wheel angle that can be driven in the current driving mode can also be set. After continuously stepping on the accelerator for a period of time and then releasing the accelerator, the vehicle will slowly slow down and stop after the accelerator signal is interrupted. At this time, stepping on the accelerator again will re-accelerate to the set maximum speed. If the brake pedal is stepped on, it will slow down and brake according to the pedal angle. During the driving process, the on-board system will also maintain safety functions. When encountering some obstacles, it will brake or avoid them in time. The braking or avoidance methods will not deviate too much from the original motion planning trajectory. When braking to avoid danger, the steering wheel and pedals on the simulator at the control end will not work until the danger is eliminated. After the avoidance is completed, it will slowly re-fit to the currently set steering wheel angle.

[0096] To select forward or reverse, use the gear switch on the simulator in the remote cockpit.

[0097] In order to brake safely, the vehicle will also maintain a system-set safety distance from obstacles. If you need to get closer to other vehicles in some congested scenarios, you can continue to step on the accelerator. When the vehicle detects a continuous throttle output signal, it will try to reduce the safety distance from other obstacles, allowing the main vehicle to get closer in congested scenarios to facilitate squeezing in.

[0098] The semi-automatic driving mode is not limited to the use of a remote driving simulator, but can also use a tablet computer equipped with a virtual control operation panel, which has scales for adjusting the steering wheel, accelerator buttons (forward and reverse), brake buttons, etc. The remote safety officer can input corresponding signals from the panel to the on-board automatic driving system of the vehicle to control the driving of the automatic driving vehicle.

[0099] The technical solution of this embodiment adopts a synchronous operation mode, so that the vehicle can respond to the instructions of the control end in real time, ensuring the flexibility and real-time nature of the operation, and the overall execution efficiency is higher. This method is particularly suitable for complex and dynamic driving environments, and can adjust the vehicle's motion trajectory in time to avoid potential dangers. During the movement of the vehicle, the on-board system will continue to monitor the surrounding environment, and can brake or avoid obstacles in time when encountering obstacles to ensure driving safety. Even in the case of a remote safety officer's operating error, the system can correct it through a preset safety mechanism to reduce the risk of accidents. The remote safety officer can control the vehicle through simple operations on the simulator or tablet, reducing the difficulty of operation and learning cost. Even in complex scenarios, the remote safety officer can easily cope with it, improving the ease of use and reliability of the system. This technical solution is not only applicable to the simulator of the remote cockpit, but can also be operated through devices such as tablets, and has strong adaptability and scalability. Whether in congested urban roads or in complex parking scenarios, it can play an effective role. The remote safety officer can view the vehicle's motion trajectory in real time through the display screen to ensure the visualization and transparency of the operation, which can help the remote safety officer better understand and control the movement of the vehicle. At the same time, passengers in the car can also intuitively understand the situation, which also improves the user experience.

[0100] Embodiment 4

[0101] like Figure 3 This embodiment provides a semi-automatic driving method at a control end, including:

[0102] D1. Obtain vehicle information and environment information from the vehicle side;

[0103] D2, generating a vehicle pre-motion instruction to the vehicle end;

[0104] D3, receiving a motion planning trajectory of the vehicle pre-motion instruction from the vehicle end, where the motion planning trajectory is formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0105] D4. Send a vehicle driving command to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0106] Correspondingly, if Figure 4 This embodiment also provides a control-side semi-automatic driving system, including:

[0107] The information acquisition module 100 is used to acquire vehicle information and environment information of the vehicle at the vehicle end;

[0108] A pre-motion instruction generating module 200 is used to generate a vehicle pre-motion instruction for the vehicle end;

[0109] A motion planning trajectory receiving module 300 is used to receive a motion planning trajectory of the vehicle side for the vehicle pre-motion instruction, where the motion planning trajectory is formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0110] The driving instruction sending module 400 is used to send a vehicle driving instruction to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0111] In one case, the vehicle pre-motion instruction may include an instant steering wheel adjustment instruction, and the vehicle side adjusts the steering wheel of the vehicle to an instant angle according to the instant steering wheel adjustment instruction, and formulates the motion planning trajectory at the instant angle.

[0112] In another case, the vehicle pre-motion instruction can be a synchronous motion instruction, which includes an initial motion instruction and a real-time motion instruction. The motion planning trajectory includes an initial motion planning trajectory formulated according to the initial motion instruction. Then, the vehicle moves according to the initial motion planning trajectory, and the trajectory of the vehicle's motion is fitted in real time according to the real-time motion instruction until the real-time motion instruction is executed.

[0113] Likewise, if the vehicle cannot escape from the trapped scene after one execution, the above steps may be iteratively executed multiple times until the vehicle moves to the target position where it can escape.

[0114] Furthermore, the vehicle can be equipped with an on-board system that includes an automatic driving mode and a semi-automatic driving mode. The control end can send a warning signal to the vehicle end in certain circumstances to switch the vehicle from the automatic driving mode to the semi-automatic driving mode. When the vehicle moves to the target location, that is, when the vehicle is out of trouble or can be driven automatically safely, the vehicle can switch from the semi-automatic driving mode to the automatic driving mode. This seamless switching mechanism improves the intelligence and adaptability of the system, ensuring that the vehicle can operate safely and efficiently in different scenarios.

[0115] The same or similar aspects as those of the above-mentioned embodiments 1 to 3 are not repeated here.

[0116] The technical solution of the fourth embodiment, by obtaining the vehicle information and environmental information of the vehicle end, the control end can fully understand the current state of the vehicle and the surrounding environment, so as to generate more accurate vehicle pre-motion instructions. When the vehicle executes the motion planning trajectory, it can avoid collisions and other dangerous situations and improve driving safety. The vehicle pre-motion instruction can include an instant steering wheel adjustment instruction or a synchronous motion instruction, and the control end can select the appropriate instruction type according to the actual situation. This flexibility enables the system to adapt to different driving scenarios, whether it is a simple direction adjustment or a complex real-time trajectory fitting, it can effectively cope with it. By receiving the motion planning trajectory of the vehicle end, the control end can quickly judge the rationality of the trajectory, reduce the vehicle's residence time in complex scenes, and improve the overall operation efficiency. In the case that the vehicle cannot get out of trouble at one time, the above steps can be iterated multiple times. This iterative operation mode ensures the vehicle's ability to get out of trouble in complex scenes and avoids being stranded in dangerous or unfavorable environments for a long time. In addition, the control end can control the vehicle's motion trajectory through a simple instruction generation and issuance process, which reduces the difficulty of operation and learning cost. Even in complex scenes, the control end can easily cope with it, improving the ease of use and reliability of the system.

[0117] Embodiment 5

[0118] This embodiment provides a semi-automatic driving device. Optionally, Figure 5 The hardware structure block diagram of the semi-autonomous driving device is shown. The hardware structure of the semi-autonomous driving device may include: at least one processor 01, at least one communication interface 02, at least one memory 03 and at least one communication bus 04.

[0119] In the embodiment of the present application, the number of the processor 01 , the communication interface 02 , the memory 03 , and the communication bus 04 is at least one, and the processor 01 , the communication interface 02 , and the memory 03 communicate with each other through the communication bus 04 .

[0120] The processor 01 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0121] The memory 03 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory.

[0122] The memory stores a program, and the processor can call the program stored in the memory, and the program is used to execute the following vehicle-side semi-automatic driving device method, including:

[0123] Obtaining vehicle information and environmental information of the vehicle and determining vehicle motion restrictions of the vehicle;

[0124] Receive vehicle pre-motion instructions from the control end;

[0125] Formulate a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0126] Providing the motion planning trajectory to the control end;

[0127] After receiving the vehicle driving instruction from the control end, it moves to the planned position according to the motion planning trajectory.

[0128] Alternatively, the program is used to execute the following control-side semi-automatic driving method, including:

[0129] Obtain vehicle information and environmental information from the vehicle side;

[0130] Generate vehicle pre-motion instructions to the vehicle end;

[0131] Receiving a motion planning trajectory of the vehicle pre-motion instruction from the vehicle end, the motion planning trajectory being formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0132] A vehicle driving instruction is issued to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0133] Optionally, the detailed functions and extended functions of the program may refer to the descriptions in other embodiments.

[0134] Embodiment 6

[0135] The embodiment of the present application further provides a storage medium, which may store a program suitable for execution by a processor, and when the program is running, controls the device where the storage medium is located to execute the following vehicle-side semi-automatic driving device method, including:

[0136] Obtaining ego information and environmental information of the vehicle and determining vehicle motion restrictions of the vehicle;

[0137] Receive vehicle pre-motion instructions from the control end;

[0138] Formulate a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction;

[0139] Providing the motion planning trajectory to the control end;

[0140] After receiving the vehicle driving instruction from the control end, it moves to the planned position according to the motion planning trajectory.

[0141] Alternatively, when the program is running, the device where the storage medium is located is controlled to execute the following control-side semi-automatic driving method, including:

[0142] Obtain vehicle information and environmental information from the vehicle side;

[0143] Generate vehicle pre-motion instructions to the vehicle end;

[0144] Receiving a motion planning trajectory of the vehicle pre-motion instruction from the vehicle end, the motion planning trajectory being formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information;

[0145] A vehicle driving instruction is issued to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

[0146] Specifically, the storage medium may be a computer-readable storage medium, and the computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk or a ROM.

[0147] Optionally, the detailed functions and extended functions of the program may refer to the description in the method embodiment.

[0148] In addition, the functional modules in the various embodiments of the present disclosure can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a live broadcast device, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present disclosure.

[0149] 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 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 device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0150] 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.

[0151] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle-side semi-automatic driving method, characterized in that: The following steps are involved: S1. Obtaining vehicle information and environmental information of the vehicle and determining vehicle motion restrictions of the vehicle; S2, receiving the vehicle pre-motion instruction from the control end; S3, formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction; S4, providing the motion planning trajectory to the control end; S5. After receiving the vehicle driving instruction from the control end, move to the planned position according to the motion planning trajectory.

2. The vehicle-side semi-automatic driving method according to claim 1, characterized in that: The vehicle pre-motion instruction includes an instantaneous steering wheel adjustment instruction, and formulating a motion planning trajectory for the vehicle for the vehicle pre-motion instruction includes: adjusting the steering wheel of the vehicle to an instantaneous angle according to the instantaneous steering wheel adjustment instruction, and formulating a motion planning trajectory for the vehicle at the instantaneous angle.

3. The vehicle-side semi-automatic driving method according to claim 1, characterized in that: The vehicle pre-motion instruction is a synchronous motion instruction, which includes an initial motion instruction and a real-time motion instruction. The motion planning trajectory includes an initial motion planning trajectory formulated according to the initial motion instruction. The movement to the planned position according to the motion planning trajectory is: moving according to the initial motion planning trajectory, and fitting the trajectory of the vehicle's movement in real time according to the real-time motion instruction until the real-time motion instruction is executed.

4. The vehicle-side semi-automatic driving method according to claim 1, 2 or 3, characterized in that: The steps S1 to S5 are iteratively executed until the vehicle moves to the target position.

5. The vehicle-side semi-automatic driving method according to claim 4, characterized in that: The vehicle is equipped with an on-board system including an automatic driving mode and a semi-automatic driving mode, and before step S1, it also includes: when receiving a warning signal, the vehicle switches from the automatic driving mode to the semi-automatic driving mode.

6. The vehicle-side semi-automatic driving method according to claim 5, characterized in that: When the vehicle moves to the target position, the vehicle switches from the semi-automatic driving mode to the automatic driving mode.

7. A semi-automatic driving method at a control end, characterized in that: include: Obtain vehicle information and environmental information from the vehicle side; Generate vehicle pre-motion instructions to the vehicle end; Receiving a motion planning trajectory of the vehicle pre-motion instruction from the vehicle end, the motion planning trajectory being formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information; A vehicle driving instruction is issued to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

8. The semi-automatic driving method of the control end according to claim 7, characterized in that: The vehicle pre-motion instruction includes an instant steering wheel adjustment instruction. The vehicle end adjusts the steering wheel of the vehicle to an instant angle according to the instant steering wheel adjustment instruction, and formulates the motion planning trajectory at the instant angle.

9. The semi-automatic driving method of the control end according to claim 7, characterized in that: The vehicle pre-motion instruction is a synchronous motion instruction, which includes an initial motion instruction and a real-time motion instruction. The motion planning trajectory includes an initial motion planning trajectory formulated according to the initial motion instruction. The step of making the vehicle move to the planned position according to the motion planning trajectory is: making the vehicle move according to the initial motion planning trajectory, and fitting the trajectory of the vehicle's motion in real time according to the real-time motion instruction until the real-time motion instruction is executed.

10. A vehicle-side semi-automatic driving system, characterized in that: include: A motion limit determination module, used to obtain vehicle information and environmental information of the vehicle and determine the vehicle motion limit of the vehicle; A pre-motion instruction receiving module, where the user receives the vehicle pre-motion instruction from the control end; A motion planning trajectory formulation module, used for formulating a motion planning trajectory of the vehicle for the vehicle pre-motion instruction based on the vehicle motion restriction; A motion planning trajectory providing module, used to provide the motion planning trajectory to the control end; The driving module is used to move to the planned position according to the motion planning trajectory after receiving the vehicle driving instruction from the control end.

11. A semi-automatic driving system at the control end, characterized in that: include: An information acquisition module is used to obtain vehicle information and environmental information of the vehicle on the vehicle side; A pre-motion instruction generation module, used to generate a vehicle pre-motion instruction for the vehicle end; A motion planning trajectory receiving module, used for receiving a motion planning trajectory of the vehicle end for the vehicle pre-motion instruction, wherein the motion planning trajectory is formulated by the vehicle based on the vehicle motion restriction determined by the vehicle information and the environment information; The driving instruction issuing module is used to issue a vehicle driving instruction to the vehicle end, so that the vehicle moves to the planned position according to the motion planning trajectory.

12. A semi-automatic driving device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the vehicle-side semi-automatic driving method as described in any one of claims 1-6, or to implement the various steps of the control-side semi-automatic driving method as described in any one of claims 7-9.

13. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the various steps of the vehicle-side semi-automatic driving method as described in any one of claims 1-6, or implements the various steps of the control-side semi-automatic driving method as described in any one of claims 7-9.

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