Anti-collision control method and device for vehicle in remote driving mode

Abstract

The application discloses a kind of vehicle in the anti-collision control method and device of remote control driving mode, it is related to remote control driving technical field.In which, the method includes: in vehicle in remote control driving mode, the characteristic information of vehicle is obtained, wherein, characteristic information includes at least one of the following: travel control information, travel scene information, travel position information, service type information and vehicle state information;According to the characteristic information of vehicle, target anti-collision strategy is determined;Based on target anti-collision strategy and the travel control information of vehicle, the travel planning track of vehicle is determined;According to travel planning track, control vehicle travels.The present application solves the technical problem that the difficulty is greater to carry out anti-collision control to vehicle in remote control driving mode in mine environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of remote control driving, in particular to a collision avoidance control method and device for a vehicle in a remote control driving mode. BACKGROUND

[0002] Remote control driving provides an important auxiliary escape function in the scene of unmanned operation in a mine. When an unmanned vehicle appears a fault that cannot be repaired autonomously or the scene does not meet the conditions for unmanned driving, remote control driving will undoubtedly be much more efficient than a driver directly taking over the vehicle.

[0003] However, due to the fact that the network quality in a mine scene cannot be guaranteed, a technical problem of excessively large data transmission delay may occur, resulting in that the remote control driving object sees a lag in the monitoring camera picture or the control instruction issued by the remote control driving object to the unmanned vehicle cannot be implemented, thereby causing a great safety hazard when the remote control driving object controls the unmanned vehicle to travel. Moreover, the mine environment has certain particularity, and for the unmanned vehicle in remote control driving in the mine environment, it is necessary to protect the vehicle from collision and prevent the protection from being too strong to affect the vehicle escape function. Therefore, it is difficult to control the vehicle in the remote control driving mode in the mine environment.

[0004] At present, no effective solution has been proposed for the above problems. SUMMARY

[0005] The embodiments of the present application provide a collision avoidance control method and device for a vehicle in a remote control driving mode, so as to at least solve the technical problem that it is difficult to control the vehicle in the remote control driving mode in a mine environment.

[0006] According to an aspect of the embodiments of the present application, a collision avoidance control method for a vehicle in a remote control driving mode is provided, including: acquiring feature information of the vehicle in the remote control driving mode, wherein the feature information includes at least one of the following: driving control information, driving scene information, driving position information, service type information and vehicle state information, the driving control information is related information for controlling the driving of the vehicle, the driving scene information is used to indicate the driving scene of the vehicle, the driving position information is used to indicate the driving position of the vehicle, the service type information is used to indicate the service type that the vehicle is executing or will execute, and the vehicle state information is used to represent the current state of the vehicle, and the driving control information at least includes a remote control driving instruction; determining a target collision avoidance strategy according to the feature information of the vehicle; determining a driving planning track of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle; and controlling the vehicle to drive according to the driving planning track.

[0007] Optionally, the driving control information further comprises at least one of the following: perception information, map information.

[0008] Optionally, the target anti-collision strategy is determined according to the characteristic information of the vehicle, comprising: performing delay detection on any kind of driving control information to obtain a delay duration, wherein the delay duration is used to indicate a duration between a sending time of the driving control information and a receiving time of the driving control information received by the vehicle; in response to the delay duration being greater than a duration threshold, determining that the target anti-collision strategy is switched from a current anti-collision mode to a first anti-collision mode, wherein the safety protection distance corresponding to the first anti-collision mode is greater than the safety protection distance of the current anti-collision mode, or the first anti-collision mode is used to maintain the current position of the vehicle unchanged.

[0009] Optionally, the target anti-collision strategy is determined according to the characteristic information of the vehicle, comprising: performing delay detection on any kind of driving control information to obtain a delay duration, wherein the delay duration is used to indicate a duration between a sending time of the driving control information and a receiving time of the driving control information received by the vehicle; in response to the delay duration being less than a duration threshold, determining that a preset anti-collision strategy corresponding to at least one of the following information: a driving scene indicated by the driving scene information of the vehicle, a driving position indicated by the driving position information, a service type indicated by the service type information, and a vehicle state indicated by the vehicle state information; and determining the preset anti-collision strategy as the target anti-collision strategy.

[0010] Optionally, in a case where the driving control information comprises perception information, the target anti-collision strategy is determined according to the characteristic information of the vehicle, comprising: determining, based on the perception information of the vehicle, that the vehicle satisfies a use condition of an anti-collision mode corresponding to a target service type, and switching the target anti-collision strategy from a current anti-collision mode to a second anti-collision mode, wherein the use condition of the anti-collision mode is used to at least indicate that a distance between the vehicle and an interactive object corresponding to the target service type is within a distance threshold range, and the second anti-collision mode is the anti-collision mode corresponding to the target service type.

[0011] Optionally, in a case where the driving control information comprises perception information, the target anti-collision strategy is determined according to the characteristic information of the vehicle, comprising: determining, according to the perception information, a working state of a perception system of the vehicle; and in response to the perception system being in an abnormal working state, switching the target anti-collision strategy from a current anti-collision mode to a third anti-collision mode, wherein the anti-collision requirement of the third anti-collision mode is lower than that of the current anti-collision mode.

[0012] Optionally, the method further comprises: in response to the vehicle receiving a mode switching instruction, switching the target anti-collision strategy of the vehicle from a current anti-collision mode to a fourth anti-collision mode, wherein the anti-collision requirement of the fourth anti-collision mode is lower than or higher than that of the current anti-collision mode.

[0013] Optionally, the working state of the perception system of the vehicle is determined according to the perception information, including: obtaining a matching result between a target operation performed by the vehicle and a guide operation corresponding to the perception information of the vehicle; in response to the matching result indicating that the target operation matches the guide operation, determining that the working state of the perception system is a normal working state; and in response to the matching result indicating that the target operation does not match the guide operation, determining that the working state of the perception system is an abnormal working state.

[0014] Optionally, the business type includes at least one of the following: loading business, unloading business, transportation business, and parking business.

[0015] According to another aspect of the embodiment of the present application, a collision avoidance control device for a vehicle in a remote driving mode is also provided, including: an obtaining unit configured to obtain feature information of the vehicle when the vehicle is in the remote driving mode, wherein the feature information includes at least one of the following: driving control information, driving scene information, driving position information, business type information, and vehicle state information, the driving control information is related information for controlling driving of the vehicle, the driving scene information is used to indicate a driving scene of the vehicle, the driving position information is used to indicate a driving position of the vehicle, the business type information is used to indicate a business type that the vehicle is performing or is about to perform, and the vehicle state information is used to represent a current state of the vehicle, and the driving control information at least includes a remote driving instruction; a first determining unit configured to determine a target collision avoidance strategy according to the feature information of the vehicle; a second determining unit configured to determine a driving planning track of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle; and a control unit configured to control driving of the vehicle according to the driving planning track.

[0016] In the embodiment of the present application, when the vehicle is in the remote driving mode, the feature information of the vehicle is obtained, wherein the feature information includes at least one of the following: driving control information, driving scene information, driving position information, business type information, and vehicle state information; a target collision avoidance strategy is determined according to the feature information of the vehicle; a driving planning track of the vehicle is determined based on the target collision avoidance strategy and the driving control information of the vehicle; and the vehicle is controlled to drive according to the driving planning track. That is, in the embodiment of the present application, the target collision avoidance strategy is determined through fine-grained analysis of the obtained feature information of the vehicle, and then the driving track information for controlling driving of the vehicle is further determined based on the target collision avoidance strategy and the driving control information of the vehicle, the driving planning track that meets the current feature information and the driving control information of the vehicle is determined, and the vehicle is controlled to drive according to the driving planning track, thereby achieving the technical effect of reasonably controlling collision avoidance of the vehicle in the remote driving mode, and further solving the technical problem that it is difficult to control collision avoidance of the vehicle in the remote driving mode in a mine environment. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0018] Figure 1 is a flow chart of a collision avoidance control method for a vehicle in a remote driving mode according to an embodiment of the application;

[0019] Figure 2 is a schematic diagram of an optional collision avoidance control method according to an embodiment of the application;

[0020] Figure 3 is a schematic diagram of a collision avoidance control device for a vehicle in a remote driving mode according to an embodiment of the application. DETAILED DESCRIPTION

[0021] In order to make the persons skilled in the art better understand the application scheme, the technical scheme in the embodiments of the application will be described clearly and completely below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor should belong to the protection scope of the application.

[0022] It should be noted that the terms "first", "second", and the like in the specification and claims of the application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] Embodiment 1

[0024] According to an embodiment of the application, an embodiment of a collision avoidance control method for a vehicle in a remote driving mode is provided. It should be noted that the steps shown in the flow chart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flow chart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0025] Figure 1A collision control method for a vehicle in a remote driving mode according to an embodiment of the present application is provided, as shown in the accompanying drawings, and the method comprises the following steps: Figure 1

[0026] In step S102, characteristic information of the vehicle is acquired when the vehicle is in the remote driving mode.

[0027] The characteristic information comprises at least one of driving control information, driving scene information, driving position information, service type information, and vehicle state information. The driving control information is related information for controlling the driving of the vehicle. The driving scene information is used to indicate the driving scene of the vehicle. The driving position information is used to indicate the driving position of the vehicle. The service type information is used to indicate the service type being performed or about to be performed by the vehicle. The vehicle state information is used to represent the current state of the vehicle. The driving control information at least comprises remote driving instructions.

[0028] The characteristic information in the above step is used to represent the driving characteristics of the vehicle in the remote driving mode in the mine environment.

[0029] The driving control information in the above step is used to control the driving of the vehicle, which can include but is not limited to remote driving instructions. The remote driving instructions can include but are not limited to acceleration instructions, deceleration instructions, steering instructions, forward instructions, and reverse instructions.

[0030] The driving scene information in the above step is used to indicate the driving scene of the vehicle in the mine environment, which can include but is not limited to loading scenes, unloading scenes, transportation scenes, and parking scenes.

[0031] The driving position information in the above step is used to indicate the current position of the vehicle, which can be represented by latitude and longitude coordinates or a position point on a map, but is not limited thereto.

[0032] The service type information in the above step is used to indicate the service type being performed or about to be performed by the vehicle in the mine environment, such as loading, unloading, transportation, and parking.

[0033] The vehicle state information in the above step is used to represent the current state of the vehicle, which can include but is not limited to loading states, unloading states, transportation states, and parking states.

[0034] ​In an optional embodiment, when the vehicle is in the remote driving mode, the remote driving system of the vehicle can receive the driving control information sent by the remote driving object; the environment around the vehicle can be perceived through the perception system to obtain the driving scene information in the feature information, wherein the perception system of the vehicle can at least include a sensor device; the driving position information in the feature information can be obtained through the global positioning system (GPS), including the latitude and longitude coordinates, the altitude, etc.; the map information sent by the cloud platform can be received; the vehicle-mounted device can be accessed to obtain the current service type of the vehicle, such as loading, unloading, transportation, etc. When obtaining the vehicle state information, the vehicle-mounted sensor can be accessed to obtain the vehicle state information.

[0035] In step S104, the target anti-collision strategy is determined according to the feature information of the vehicle.

[0036] The target anti-collision strategy in the above steps is obtained by analyzing the feature information of the vehicle, and is the anti-collision strategy that should be used by the vehicle at present. The anti-collision strategy can be represented by an anti-collision safety parameter, which can include but is not limited to an anti-collision safety distance, etc.

[0037] In an optional embodiment, the mapping relationship between the feature information of the vehicle and the target anti-collision strategy can be set in advance. After obtaining the feature information of the vehicle, the target anti-collision strategy corresponding to the feature information of the vehicle is found according to the mapping relationship, so as to determine the target anti-collision strategy. Exemplarily, the vehicle scene information can be selected as the feature information of the vehicle, and the mapping relationship between the feature information of the vehicle and the target anti-collision strategy can be set as: the safety protection distance corresponding to the loading scene is 40 meters, the safety protection distance corresponding to the unloading scene is 50 meters, and the safety protection distance corresponding to the running scene is 20 meters. After obtaining the feature information of the vehicle, the corresponding target anti-collision strategy can be determined according to the driving scene information in the feature information.

[0038] It should be noted that the specific numerical values involved in the above examples are only examples, and the specific data used in actual applications can not be limited thereto.

[0039] In another optional embodiment, according to the vehicle state information, it is determined whether the vehicle is in an emergency situation, such as vehicle out of control, encountering an obstacle, etc.; if so, the target anti-collision strategy is to immediately take measures to avoid collision; if not, the surrounding environment and road conditions can be analyzed according to the driving scene information and driving position information to determine whether the vehicle is in a collision risk area; if the vehicle is in a collision risk area, the target anti-collision strategy is to increase the safety protection distance to ensure that the vehicle is not collided; if the vehicle is not in a collision risk area, the target anti-collision strategy is to shorten the safety protection distance to facilitate smooth passing of the vehicle.

[0040] Step S106, determining the driving planning trajectory of the vehicle based on the target anti-collision strategy and the driving control information of the vehicle.

[0041] The driving planning trajectory of the vehicle in the above steps is determined according to the characteristic information of the vehicle, the target anti-collision strategy and the driving control information, and is the driving path of the vehicle in the mine environment. The driving planning path includes information such as how the vehicle should drive, when to change lanes, when to slow down or speed up, etc., to ensure the safety and smoothness of the vehicle driving in the mine environment.

[0042] In an optional embodiment, the driving planning trajectory of the vehicle can be determined using a remote control driving algorithm based on the target anti-collision strategy and the driving control information of the vehicle. The remote control driving algorithm models and perceives the surrounding environment according to the map information, obstacle information, positioning information, etc. in the driving control information. Then, combined with the remote control driving instructions in the driving control information, the driving target and the state to be reached are determined. Then, according to the anti-collision safety parameters in the target anti-collision strategy, considering the position, size, speed, etc. of the surrounding obstacles, a safe driving trajectory is planned as the driving planning trajectory of the vehicle.

[0043] In another optional embodiment, the driving planning trajectory of the vehicle can be predicted by a driving planning trajectory prediction model. The previously existing target anti-collision strategy, driving control information and driving planning trajectory can be used as training data to train the driving planning trajectory prediction model, so that the driving planning trajectory prediction model has the ability to predict the driving planning trajectory of the vehicle according to the target anti-collision strategy and the driving control information. Then, the target anti-collision strategy and the driving control information of the vehicle are input into the trained driving planning trajectory prediction model, so that the driving planning trajectory prediction model outputs the predicted driving planning trajectory.

[0044] Step S108, controlling the vehicle to drive according to the driving planning trajectory.

[0045] In an optional embodiment, the vehicle travels according to the path and speed determined by the travel planning trajectory, and during the travel, the actual position and state of the vehicle are monitored and compared with the travel planning trajectory, and when there is a difference with the travel planning trajectory, the speed and direction of the vehicle are adjusted in time to ensure that the vehicle travels stably according to the planning trajectory.

[0046] In the embodiment of the present application, when the vehicle is in the remote driving mode, the characteristic information of the vehicle is obtained, wherein the characteristic information includes at least one of the following: travel control information, travel scene information, travel position information, service type information, and vehicle state information; the target anti-collision strategy is determined according to the characteristic information of the vehicle; the travel planning trajectory of the vehicle is determined based on the target anti-collision strategy and the travel control information of the vehicle; and the vehicle is controlled to travel according to the travel planning trajectory. That is, in the embodiment of the present application, the target anti-collision strategy is determined through fine-grained analysis of the obtained characteristic information of the vehicle, and then the travel trajectory information for controlling the vehicle to travel is further determined based on the target anti-collision strategy and the travel control information of the vehicle, the travel planning trajectory that meets the current vehicle characteristic information and travel control information is determined, and the vehicle is controlled to travel according to the travel planning trajectory, thereby achieving the technical effect of reasonably controlling the anti-collision of the vehicle in the remote driving mode, and further solving the technical problem that it is difficult to control the anti-collision of the vehicle in the remote driving mode in the mine environment.

[0047] Optionally, the travel control information further includes at least one of the following: perception information, map information.

[0048] The perception information in the above step is obtained by the vehicle through a sensor, and can include, but is not limited to, the position, speed, and moving direction of other vehicles, pedestrians, and obstacles around the vehicle in the mine environment.

[0049] The map information in the above step is map data around the position where the vehicle is located in the mine environment, and can include, but is not limited to, road information and traffic signs.

[0050] Optionally, the target anti-collision strategy is determined according to the characteristic information of the vehicle, including: performing delay detection on any kind of travel control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the sending time of the travel control information and the receiving time of the travel control information received by the vehicle; in response to the delay duration being greater than a duration threshold, determining to switch the target anti-collision strategy from a current anti-collision mode to a first anti-collision mode, wherein the safety protection distance corresponding to the first anti-collision mode is greater than the safety protection distance of the current anti-collision mode, or the first anti-collision mode is used to maintain the current position of the vehicle unchanged.

[0051] The time length threshold in the above step is a time length reference value set in advance, which can be used to compare with the delay time length to determine whether the delay time length is abnormal, and further determine the target anti-collision strategy.

[0052] The safety protection distance in the above step is set to ensure the safety of the vehicle, and the safety distance between the vehicle and the obstacle. In the case that the distance between the vehicle and the obstacle is greater than the safety protection distance, the vehicle can normally drive, and in the case that the distance between the vehicle and the obstacle is less than the safety protection distance, the vehicle needs to stop urgently. The safety protection distance can change with the change of the anti-collision mode.

[0053] In an optional embodiment, when detecting the delay of the driving control information, a timestamp recording the sending time of the driving control information can be added to the driving control information when sending the driving control information. When the vehicle receives the driving control information, the receiving time can be subtracted from the sending time recorded in the timestamp to calculate the delay time length.

[0054] The delay time length is compared with the time length threshold. If the delay time length is greater than the time length threshold, it can be considered that the network quality in the current mine environment is poor, resulting in excessive data transmission delay. In this case, the vehicle receiving the driving control information sent by the driving control system is likely to have a receiving delay, which causes the vehicle to fail to make driving behavior in time, and there is a safety hazard.

[0055] Therefore, the anti-collision mode should be adjusted in time at this time to reduce the safety hazard as much as possible, and the target anti-collision strategy is determined as switching the current anti-collision mode to the first anti-collision mode to increase the safety protection distance or control the vehicle to stop urgently, thereby improving the safety of the vehicle under network fluctuation.

[0056] Optionally, the target anti-collision strategy is determined according to the characteristic information of the vehicle, including: detecting the delay of any kind of driving control information to obtain a delay time length, wherein the delay time length is used to indicate the time length between the sending time of the driving control information and the receiving time of the vehicle receiving the driving control information; in response to the delay time length being less than a time length threshold, determining a preset anti-collision strategy corresponding to at least one of the following information: the driving scene indicated by the driving scene information of the vehicle, the driving position indicated by the driving position information, the service type indicated by the service type information, and the vehicle state indicated by the vehicle state information; and determining the preset anti-collision strategy as the target anti-collision strategy.

[0057] The preset anti-collision strategy in the above step is a preset anti-collision strategy, which has a corresponding relationship with the driving scene, the driving position, the service type, and the vehicle state. The preset anti-collision strategy can be determined by any one of the driving scene, the driving position, the service type, and the vehicle state, or by any multiple of the driving scene, the driving position, the service type, and the vehicle state.

[0058] In an optional embodiment, after determining the driving control information, the time delay duration is compared with the time duration threshold value. If the time delay duration is less than the time duration threshold value, it can be considered that the network in the current mine environment is good and there is no time delay in data transmission. The preset anti-collision strategy can be further determined according to the driving scene, driving position, service type and vehicle state.

[0059] A mapping relationship between the vehicle state and the preset anti-collision strategy is established, and the loading state, unloading state, transportation state and parking state are respectively mapped to different preset anti-collision strategies.

[0060] The driving scene, driving position or service type can be used to determine the vehicle state. In the case that the driving position of the vehicle is located in the loading area, the driving scene is a loading scene, or the service type is a loading service, it can be determined that the vehicle state is a loading state. In the case that the driving position of the vehicle is located in the unloading area, the driving scene is an unloading scene, or the service type is an unloading service, it can be determined that the vehicle state is an unloading state. In the case that the driving position of the vehicle is located in the transportation area, the driving scene is a transportation scene, or the service type is a transportation service, it can be determined that the vehicle state is a transportation state. In the case that the driving position of the vehicle is located in the parking area, the driving scene is a parking scene, or the service type is a parking service, it can be determined that the vehicle state is a parking state. The vehicle state can also be directly determined by accessing the vehicle-mounted sensor.

[0061] After determining the vehicle state, the preset anti-collision strategy corresponding to the vehicle state is determined according to the mapping relationship between the vehicle state and the preset anti-collision strategy, and the preset anti-collision strategy is determined as the target anti-collision strategy.

[0062] Optionally, in the case that the driving control information includes the perception information, the target anti-collision strategy is determined according to the characteristic information of the vehicle, including: based on the perception information of the vehicle, determining that the vehicle satisfies the use condition of the anti-collision mode corresponding to the target service type, and switching the target anti-collision strategy from the current anti-collision mode to a second anti-collision mode, wherein the use condition of the anti-collision mode is used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target service type is within a distance threshold value range, and the second anti-collision mode is the anti-collision mode corresponding to the target service type.

[0063] The target service type in the above step is the service type corresponding to the target anti-collision strategy. After determining that the service type of the vehicle is the target service type, the vehicle also needs to satisfy the use condition of the anti-collision mode corresponding to the target service type, so as to switch the anti-collision mode according to the target anti-collision strategy.

[0064] The interactive object in the above step can be other vehicles, equipment, pedestrians, obstacles and the like around the vehicle in the mine environment.

[0065] The distance threshold in the above step is a preset distance, which can be preset according to actual application conditions, and is used for comparison with the distance between the vehicle and the target object, so as to determine whether the vehicle meets the use condition of the anti-collision mode corresponding to the target service type.

[0066] In an optional embodiment, the current service type of the vehicle is determined, and the current service type is taken as the target service type. For example, the target service type can be a loading type, and the interactive object can be a shovel. The distance threshold corresponding to the loading type is determined, and the distance between the vehicle and the interactive object is determined according to the perception information of the vehicle. Then, the distance between the vehicle and the interactive object is compared with the distance threshold. If the distance between the vehicle and the interactive object is less than the distance threshold, it can be determined that the vehicle is executing the loading type service in the loading area, that is, it is determined that the vehicle meets the use condition of the anti-collision mode corresponding to the loading type.

[0067] The target anti-collision strategy is determined to be switched from the current anti-collision mode to a second anti-collision mode, and the second anti-collision mode is an anti-collision mode corresponding to the loading service. Since the vehicle executes the loading type service in the loading area, it will work in an environment with more falling earth and rocks. Therefore, the second anti-collision mode can be a mode with reduced anti-collision requirements, that is, the anti-collision requirements are lower than those of the current anti-collision mode, so that the vehicle can continue to execute the loading type service even if falling earth and rocks are detected when executing the loading type service, reducing the interference of falling earth and rocks.

[0068] Optionally, in the case where the driving control information includes the perception information, the target anti-collision strategy is determined according to the characteristic information of the vehicle, including: determining the working state of the perception system of the vehicle according to the perception information; and in response to the perception system being in an abnormal working state, switching the target anti-collision strategy from the current anti-collision mode to a third anti-collision mode, wherein the anti-collision requirements of the third anti-collision mode are lower than those of the current anti-collision mode.

[0069] The working state in the above step can include a normal working state and an abnormal working state, and the target anti-collision strategy corresponding to different working states is different.

[0070] The anti-collision requirements in the above step can be represented by a safety protection distance, but are not limited thereto. The larger the safety protection distance, the higher the anti-collision requirements, and the smaller the safety protection distance, the lower the anti-collision requirements.

[0071] In an alternative embodiment, it can be determined according to the perception information whether the vehicle perception system is in an abnormal working state. Illustratively, the driver of the remote control vehicle can view the perception information provided by the perception system through the interface of the remote control system, and at the same time, view the situation of the working site of the vehicle through the video of the interface. If the perception information indicates that the vehicle is stopped due to an obstacle, but the video shows no obstacle, it indicates that the perception system is malfunctioning and is in an abnormal working state.

[0072] At this time, the driver of the remote control vehicle can send a mode switching instruction to the vehicle to control the target anti-collision strategy of the vehicle to switch from the current anti-collision mode to the third anti-collision mode, i.e., enter the emergency mode, and lower the anti-collision requirement. In the emergency anti-collision mode, the anti-collision capability for small obstacles such as stones is reduced while the anti-collision capability for the vehicle is retained, so that the vehicle can normally travel and complete the evacuation in the presence of small obstacles such as stones, meeting the escape needs of remote control driving.

[0073] Optionally, the method further comprises: in response to the vehicle receiving the mode switching instruction, switching the target anti-collision strategy of the vehicle from the current anti-collision mode to a fourth anti-collision mode, wherein the anti-collision requirement of the fourth anti-collision mode is lower or higher than that of the current anti-collision mode.

[0074] The mode switching instruction in the above steps can be actively sent by the driver of the remote control vehicle. When the driver of the remote control vehicle observes that the safety protection distance of the current anti-collision mode is inappropriate, he can operate on the remote control system to generate a mode switching instruction and send it to the vehicle to instruct the vehicle to switch the current anti-collision mode.

[0075] In an alternative embodiment, the safety protection distance is generally set to be conservative, and the driver of the remote control vehicle can modify the safety protection distance when he assesses that it is feasible.

[0076] If the driver of the remote control vehicle assesses that the current safety protection distance is too small and is not conducive to the safe driving of the vehicle, he can modify the safety protection distance to a larger value on the remote control system and press the modification button. After detecting the operation of the driver, the remote control system can generate a mode switching instruction and send it to the vehicle. The vehicle switches to a fourth anti-collision mode with a higher anti-collision requirement than the current anti-collision mode based on the mode switching instruction.

[0077] If the driver of the remote control vehicle assesses that the current safety protection distance is too large and is not conducive to the flexibility and smoothness of the vehicle, he can modify the safety protection distance to a smaller value on the remote control system and press the modification button. After detecting the operation of the driver, the remote control system can generate a mode switching instruction and send it to the vehicle. The vehicle switches to a fourth anti-collision mode with a lower anti-collision requirement than the current anti-collision mode based on the mode switching instruction.

[0078] Optionally, the working state of the perception system of the vehicle is determined according to the perception information, including: obtaining a matching result between a target operation performed by the vehicle and a guidance operation corresponding to the perception information of the vehicle; in response to the matching result indicating that the target operation matches the guidance operation, determining that the working state of the perception system is a normal working state; and in response to the matching result indicating that the target operation does not match the guidance operation, determining that the working state of the perception system is an abnormal working state.

[0079] The target operation in the above step is an operation being performed by the vehicle.

[0080] The guidance operation in the above step is an operation that the perception system generates based on the perception information and considers that the vehicle needs to perform.

[0081] In an optional embodiment, the guidance operation corresponding to the perception information can be obtained from the perception system of the vehicle, and the target operation being performed by the vehicle can be obtained by accessing the control system of the vehicle.

[0082] The working state of the perception system can be determined by comparing the target operation and the guidance operation. For example, if the target operation performed by the vehicle is to move forward, but the guidance operation given by the perception system is to stop or detour due to the perception information indicating that there is an obstacle in front, the two operations do not match, and it is determined that the perception system is in an abnormal working state. If the target operation matches the guidance operation, it is determined that the working state of the perception system is a normal working state.

[0083] Optionally, the business type includes at least one of the following: loading business, unloading business, transportation business, and parking business.

[0084] The loading business in the above step is a business of loading mined ore or other mineral materials from a mine into the vehicle.

[0085] The unloading business in the above step is a business of unloading the ore or other mineral materials loaded in the vehicle to a designated location or facility.

[0086] The transportation business in the above step is a business of the vehicle driving in the mine area with the ore or other mineral materials.

[0087] The parking business in the above step is a business of the vehicle parking at a designated location in the mine area.

[0088] The following describes a preferred embodiment, Figure 2 is a flowchart of an optional anti-collision control method according to an embodiment of the application, as shown in Figure 2 The method includes the following steps:

[0089] Step S202, receiving information such as obstacles, maps, driving instructions, etc. and performing time delay detection.

[0090] In this embodiment, the control vehicle receives obstacle, map, driving instruction and the like information, and performs time delay detection on the received information, and determines the corresponding anti-collision mode of the vehicle according to the time delay detection result, wherein the obstacle, map, driving instruction are the perception information, map information, remote control driving instruction in the above.

[0091] In step S204, the corresponding anti-collision parameter is selected according to the self-vehicle anti-collision mode, the position information and the like.

[0092] In this embodiment, the corresponding anti-collision parameter can be selected according to the anti-collision mode of the vehicle and the position information, wherein the anti-collision parameter can be used to represent the target anti-collision strategy.

[0093] In step S206, the driving trajectory is planned according to the obstacle, driving instruction and the like information.

[0094] In this embodiment, the driving trajectory of the vehicle is planned according to the obstacle, driving instruction and the like information through the remote control driving algorithm, wherein the driving trajectory is the driving planning trajectory in the above.

[0095] In step S208, the vehicle is controlled to execute the driving trajectory through the driving module.

[0096] Embodiment 2

[0097] According to the embodiment of the present application, an embodiment of a vehicle anti-collision control device in a remote control driving mode is provided, which can execute the vehicle anti-collision control method in a remote control driving mode provided in the above-mentioned embodiment 1, and the specific implementation manner and preferred application scenario are the same as those of the above-mentioned embodiment 1, which will not be described here.

[0098] Figure 3 A schematic diagram of a vehicle anti-collision control device in a remote control driving mode according to an embodiment of the present application is shown in Figure 3 .

[0099] The acquisition module 30 is configured to acquire feature information of the vehicle in the remote control driving mode, wherein the feature information comprises at least one of the following: driving control information, driving scene information, driving position information, service type information and vehicle state information, the driving control information is related information for controlling the driving of the vehicle, the driving scene information is used to represent the driving scene of the vehicle, the driving position information is used to represent the driving position of the vehicle, the service type information is used to represent the service type that the vehicle is executing or will execute, and the vehicle state information is used to represent the current state of the vehicle, and the driving control information at least comprises remote control driving instruction.

[0100] The first determination module 32 is configured to determine a target anti-collision strategy according to the feature information of the vehicle.

[0101] The second determining module 34 is configured to determine a driving planning track of the vehicle based on the target anti-collision strategy and the driving control information of the vehicle.

[0102] The control module 36 is configured to control driving of the vehicle according to the driving planning track.

[0103] Optionally, the driving control information in the obtaining module further includes at least one of the following: perception information, map information.

[0104] Optionally, the first determining module further includes: a delay detecting unit, configured to perform delay detection on any kind of driving control information to obtain a delay duration, wherein the delay duration is used to indicate a duration between a sending time of the driving control information and a receiving time at which the vehicle receives the driving control information; and a first determining unit, configured to determine that the target anti-collision strategy is switched from the current anti-collision mode to a first anti-collision mode in response to the delay duration being greater than a duration threshold, wherein the first anti-collision mode corresponds to a safety protection distance that is greater than a safety protection distance of the current anti-collision mode, or the first anti-collision mode is used to maintain a current position of the vehicle unchanged.

[0105] Optionally, the first determining module further includes: a delay detecting unit, configured to perform delay detection on any kind of driving control information to obtain a delay duration, wherein the delay duration is used to indicate a duration between a sending time of the driving control information and a receiving time at which the vehicle receives the driving control information; a second determining unit, configured to determine a preset anti-collision strategy corresponding to at least one of the following information in response to the delay duration being less than the duration threshold: a driving scene indicated by driving scene information of the vehicle, a driving position indicated by driving position information, a service type indicated by service type information, and a vehicle state indicated by vehicle state information; and a third determining unit, configured to determine the preset anti-collision strategy as the target anti-collision strategy.

[0106] Optionally, the first determining module is further configured to determine, based on the perception information of the vehicle, that the vehicle satisfies a use condition of an anti-collision mode corresponding to a target service type, and switch the target anti-collision strategy from a current anti-collision mode to a second anti-collision mode, wherein the use condition of the anti-collision mode is used to at least indicate that a distance between the vehicle and an interaction object corresponding to the target service type is within a distance threshold range, and the second anti-collision mode is the anti-collision mode corresponding to the target service type.

[0107] Optionally, the first determining module is further configured to determine, according to the perception information, a working state of a perception system of the vehicle; and switch the target anti-collision strategy from a current anti-collision mode to a third anti-collision mode in response to the perception system being in an abnormal working state, wherein an anti-collision requirement of the third anti-collision mode is lower than that of the current anti-collision mode.

[0108] Optionally, the first determining module further comprises a switching unit, configured to switch the target anti-collision strategy of the vehicle from the current anti-collision mode to a fourth anti-collision mode in response to the vehicle receiving a mode switching instruction, wherein the anti-collision requirement of the fourth anti-collision mode is lower or higher than that of the current anti-collision mode.

[0109] Optionally, the first determining module is further configured to acquire a matching result between the target operation performed by the vehicle and a guided operation corresponding to the perception information of the vehicle; determine that the working state of the perception system is the normal working state in response to the matching result indicating that the target operation matches the guided operation; and determine that the working state of the perception system is the abnormal working state in response to the matching result indicating that the target operation does not match the guided operation.

[0110] Optionally, the service type in the acquiring module comprises at least one of the following: loading service, unloading service, transportation service and parking service.

[0111] Embodiment 3

[0112] According to the embodiments of the present application, an electronic device is further provided, comprising: a memory storing an executable program; and a processor configured to run the program, wherein the program, when running, performs the anti-collision control method for the vehicle in the remote driving mode according to the embodiments.

[0113] Embodiment 4

[0114] According to the embodiments of the present application, a computer readable storage medium is further provided, comprising a stored executable program, wherein the executable program, when running, controls the device where the computer readable storage medium is located to perform the anti-collision control method for the vehicle in the remote driving mode according to the embodiments of the present application.

[0115] Embodiment 5

[0116] According to the embodiments of the present application, a computer program product is further provided, comprising a computer program, which, when executed by a processor, implements the anti-collision control method for the vehicle in the remote driving mode according to the embodiments of the present application.

[0117] Embodiment 6

[0118] According to the embodiments of the present application, a computer program product is further provided, comprising a non-volatile computer readable storage medium, which is configured to store a computer program, and the computer program, when executed by a processor, implements the anti-collision control method for the vehicle in the remote driving mode according to the embodiments of the present application.

[0119] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0120] In the above-mentioned embodiments of the present application, the description of each embodiment is focused on, and the part not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0121] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and in actual implementation, there can be another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, and can be electrical or other forms.

[0122] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0123] In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0124] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and various program code storage media.

[0125] The above-mentioned is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

Claims

1. A collision avoidance control method for a vehicle in remote driving mode, characterized in that, include: When the vehicle is in remote driving mode, the vehicle's characteristic information is acquired, wherein the characteristic information includes at least one of the following: driving control information, driving scenario information, driving location information, service type information, and vehicle status information. The driving control information is related to controlling the vehicle's driving, the driving scenario information is used to represent the vehicle's driving scenario, the driving location information is used to represent the vehicle's driving location, the service type information is used to represent the type of service that the vehicle is executing or is about to execute, and the vehicle status information is used to characterize the vehicle's current status. The driving control information includes at least remote driving commands. Based on the vehicle's characteristic information, a target collision avoidance strategy is determined; Based on the target collision avoidance strategy and the vehicle's driving control information, the vehicle's driving trajectory is determined; Control the vehicle to drive according to the planned driving trajectory; The step of determining the target collision avoidance strategy based on the vehicle's feature information includes: performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the sending time of the driving control information and the receiving time of the driving control information received by the vehicle; in response to the delay duration being greater than a duration threshold, determining to switch the target collision avoidance strategy from the current collision avoidance mode to a first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or the first collision avoidance mode is used to maintain the current position of the vehicle unchanged; or, in response to the delay duration being less than a duration threshold, determining a preset collision avoidance strategy corresponding to at least one of the following information: the driving scenario indicated by the vehicle's driving scenario information, the driving position indicated by the driving position information, the service type indicated by the service type information, and the vehicle status indicated by the vehicle status information; and determining the preset collision avoidance strategy as the target collision avoidance strategy; Alternatively, the method further includes: when the driving control information includes perception information, determining the operating state of the vehicle's perception system based on the perception information; and in response to the perception system being in an abnormal operating state, switching the target collision avoidance strategy from the current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirements of the third collision avoidance mode are lower than those of the current collision avoidance mode.

2. The method according to claim 1, characterized in that, The driving control information also includes at least one of the following: perception information and map information.

3. The method according to claim 2, characterized in that, When the driving control information includes perception information, determining the target collision avoidance strategy based on the vehicle's characteristic information includes: Based on the vehicle's perception information, it is determined that the vehicle meets the usage conditions of the collision avoidance mode corresponding to the target business type, and the target collision avoidance strategy is switched from the current collision avoidance mode to the second collision avoidance mode. The usage conditions of the collision avoidance mode are used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target business type is within a distance threshold range, and the second collision avoidance mode is the collision avoidance mode corresponding to the target business type.

4. The method according to claim 1, characterized in that, The method further includes: In response to the vehicle receiving a mode switching command, the target collision avoidance strategy of the vehicle is switched from the current collision avoidance mode to a fourth collision avoidance mode, wherein the collision avoidance requirements of the fourth collision avoidance mode are lower or higher than those of the current collision avoidance mode.

5. The method according to claim 1, characterized in that, Determining the operating state of the vehicle's perception system based on the perceived information includes: Obtain the matching result between the target operation performed by the vehicle and the guidance operation corresponding to the vehicle's perception information; In response to the matching result indicating that the target operation matches the guided operation, the operating state of the sensing system is determined to be a normal operating state. In response to the matching result indicating that the target operation does not match the guided operation, the operating state of the sensing system is determined to be an abnormal operating state.

6. The method according to any one of claims 1 to 5, characterized in that, The business types include at least one of the following: loading business, unloading business, transportation business, and parking business.

7. A collision avoidance control device for a vehicle in remote driving mode, characterized in that, include: The acquisition unit is configured to acquire vehicle feature information when the vehicle is in remote driving mode, wherein the feature information includes at least one of the following: driving control information, driving scenario information, driving location information, service type information, and vehicle status information. The driving control information is related to controlling the driving of the vehicle. The driving scenario information is used to represent the driving scenario of the vehicle. The driving location information is used to represent the driving location of the vehicle. The service type information is used to represent the type of service that the vehicle is executing or is about to execute. The vehicle status information is used to characterize the current state of the vehicle. The driving control information includes at least remote driving commands. The first determining unit is used to determine a target collision avoidance strategy based on the characteristic information of the vehicle. The second determining unit is used to determine the vehicle's driving trajectory based on the target collision avoidance strategy and the vehicle's driving control information. The control unit is used to control the vehicle to drive according to the driving plan trajectory; The first determining unit is further configured to perform delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the time between the sending time of the driving control information and the receiving time of the driving control information by the vehicle; in response to the delay duration being greater than a duration threshold, determining to switch the target collision avoidance strategy from the current collision avoidance mode to a first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or, the first collision avoidance mode is used to maintain the current position of the vehicle unchanged; or, In response to the delay duration being less than a duration threshold, a preset collision avoidance strategy corresponding to at least one of the following information is determined: the driving scenario indicated by the vehicle's driving scenario information, the driving position indicated by the driving position information, the service type indicated by the service type information, and the vehicle status indicated by the vehicle status information; the preset collision avoidance strategy is determined as the target collision avoidance strategy. Alternatively, the first determining unit is further configured to, when the driving control information includes perception information, determine the operating state of the vehicle's perception system based on the perception information; and, in response to the perception system being in an abnormal operating state, switch the target collision avoidance strategy from the current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirements of the third collision avoidance mode are lower than those of the current collision avoidance mode.

Images