Automatic driving demonstration braking control method, device and equipment and readable storage medium

Abstract

The invention provides an automatic driving demonstration braking control method, device and equipment and a readable storage medium, and the method comprises the steps that vehicle surrounding images collected by shooting devices are received, and the shooting devices comprise a vehicle body shooting device and an unmanned aerial vehicle shooting device; the image around the vehicle and driving information of the vehicle are analyzed, the risk condition of the vehicle is determined, and the driving information comprises at least one of the speed, the acceleration and the driving direction of the vehicle; and according to the risk condition and an instruction sent by the remote control terminal, determining whether to brake the vehicle. By means of the method, the effect of timely and accurately controlling the vehicle to brake and stop in the automatic driving demonstration process can be achieved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving testing, and more specifically, to a method, device, equipment and readable storage medium for demonstrating controlled braking of an autonomous driving test. Background Art

[0002] At present, the existing autonomous driving demonstration process usually controls the braking of the vehicle through a monitoring method. The demonstration process of the vehicle can only be monitored through camera monitoring or manual remote control, and a braking command can be given when the vehicle is at risk.

[0003] The above method has great limitations. Once the program runs wild or the controller fails, or an untrained scenario occurs, the vehicle will be out of control, or in some areas with poor signals, it will not be able to transmit signals in time, causing vehicle safety problems.

[0004] Therefore, how to control the vehicle to stop in a timely and accurate manner during the autonomous driving demonstration is a technical problem that needs to be solved. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method for controlling the braking of an autonomous driving demonstration. Through the technical solution of the embodiments of the present application, the effect of timely and accurate control of the vehicle braking can be achieved during the autonomous driving demonstration.

[0006] In the first aspect, an embodiment of the present application provides a method for demonstrating controlled braking for an autonomous driving, which is applied to a controller, and includes receiving images of the vehicle's surroundings captured by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device; analyzing the images of the vehicle's surroundings and the vehicle's driving information to determine the risk situation of the vehicle, wherein the driving information includes at least one of the vehicle's speed, acceleration, and driving direction; and determining whether to brake the vehicle based on the risk situation and instructions sent by a remote control terminal.

[0007] In the above embodiments of the present application, by analyzing the images captured by the vehicle body camera device and the drone camera device, it is determined whether the vehicle has a safety risk, and combined with the instructions of the remote control terminal, an action is made to brake or not. This method can timely and accurately control the vehicle to brake during the autonomous driving demonstration process through multiple detection controls.

[0008] In some embodiments, the vehicle's surrounding images and the vehicle's driving information are analyzed to determine the vehicle's risk situation, including: respectively identifying the vehicle's surrounding images taken by a body camera and a drone camera to determine a first surrounding obstacle situation and a second surrounding obstacle situation of the vehicle; respectively combining the driving information with the first surrounding obstacle situation and the second surrounding obstacle situation to judge a first risk situation and a second risk situation of the vehicle, wherein the risk situation includes a first risk situation and a second risk situation.

[0009] In the above embodiments of the present application, by analyzing the images of the vehicle's surroundings taken by the vehicle body camera device and the drone camera device, it is determined whether the vehicle is at risk in two situations respectively. As long as one of the situations exists, timely braking can be achieved subsequently to prevent safety problems of the vehicle.

[0010] In some embodiments, whether to brake the vehicle is determined based on the risk situation and the instructions sent by the remote control terminal, including: controlling the vehicle to brake when a first risk situation indicates that the vehicle is at risk, when a second risk situation indicates that the vehicle is at risk, or when an instruction sent by the remote control terminal is received.

[0011] In the above embodiments of the present application, as long as at least one of the following situations exists: when the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, and when an instruction sent by the remote control terminal is received, the vehicle can be controlled to stop. The vehicle can be controlled timely and accurately by controlling the vehicle through multiple detections.

[0012] In some embodiments, whether to brake the vehicle is determined based on the risk situation and the instructions sent by the remote control terminal, including: when it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to brake via a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data via the radio frequency signal.

[0013] In the above embodiments of the present application, the vehicle can be quickly controlled to stop by radio frequency signals when there is a safety risk to the vehicle.

[0014] In a second aspect, an embodiment of the present application provides a device for demonstrating automatic driving and controlling braking, comprising:

[0015] A receiving module, used to receive images of the vehicle surroundings collected by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device;

[0016] A determination module, configured to analyze an image around the vehicle and driving information of the vehicle to determine a risk condition of the vehicle, wherein the driving information includes at least one of a speed, an acceleration, and a driving direction of the vehicle;

[0017] The brake control module is used to determine whether to brake the vehicle based on the risk situation and the instructions sent by the remote control terminal.

[0018] Optionally, determine whether the module is specifically used for:

[0019] Respectively identifying the vehicle surrounding images taken by the vehicle body camera device and the drone camera device, and determining the first surrounding obstacle situation and the second surrounding obstacle situation of the vehicle;

[0020] The driving information is combined with the first surrounding obstacle situation and the second surrounding obstacle situation respectively to determine a first risk situation and a second risk situation of the vehicle, wherein the risk situation includes the first risk situation and the second risk situation.

[0021] Optionally, the brake control module is specifically used for:

[0022] When the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, or when a command sent by the remote control terminal is received, the vehicle is controlled to stop.

[0023] Optionally, the brake control module is specifically used for:

[0024] When it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to stop via a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data via the radio frequency signal.

[0025] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are performed.

[0026] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method provided in the first aspect are performed.

[0027] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A flowchart of a method for controlling braking for an automatic driving demonstration provided in an embodiment of the present application;

[0030] Figure 2 A flowchart of an implementation method for an automatic driving demonstration control brake stop provided in an embodiment of the present application;

[0031] Figure 3 A schematic block diagram of a device for demonstrating automatic driving and controlling braking provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of the structure of a device for demonstrating controlled braking of an autonomous driving vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] First, some terms involved in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0036] SOC (State of Charge) in new energy vehicles refers to the battery charging state, indicating the percentage of the remaining battery power to the total battery capacity.

[0037] The ASIL rating (Automotive Safety Integrity Level) is a standard used to evaluate the safety of automotive electronic components, which are classified according to the potential degree of harm when the components fail.

[0038] ASIL levels are divided into four levels: ASIL A, ASIL B, ASIL C and ASIL D, where ASIL A represents the lowest safety level and ASIL D represents the highest safety level.

[0039] A microcontroller unit (MCU), also known as a single-chip microcomputer or a single-chip microcomputer, appropriately reduces the frequency and specifications of the central processing unit (CPU), and integrates peripheral interfaces such as memory, timer, USB, A / D conversion, UART, PLC, DMA, and even LCD driver circuits on a single chip to form a chip-level computer, which can perform different combination controls for different application scenarios.

[0040] SPI (Serial Peripheral Interface) is a high-speed, full-duplex, synchronous communication bus, mainly used for short-distance communication in embedded systems.

[0041] CAN (Controller Area Network) communication is a serial communication protocol specially designed for high-speed real-time data transmission.

[0042] VCU (Vehicle Control Unit) is the core control unit of new energy vehicles, which is equivalent to the "brain" of new energy vehicles and is responsible for monitoring and managing various functions of the vehicle.

[0043] This application is applied to the scenario of autonomous driving testing. The specific scenario is to monitor the vehicle's driving conditions through a body camera or a drone, and stop the vehicle when there is a risk of driving or when the user manually controls the brakes.

[0044] At present, the existing autonomous driving demonstration process usually controls the braking of the vehicle through a monitoring method. The demonstration process of the vehicle can only be monitored by camera monitoring or manual remote control, and the braking command is given when the vehicle is at risk. The above method has great limitations. Once the program runs away or the controller fails, or an untrained scene occurs, the vehicle will be out of control, or in some areas with poor signals, the signal cannot be transmitted in time, causing vehicle safety problems.

[0045] To this end, the present application receives images of the vehicle's surroundings captured by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device; analyzes the images of the vehicle's surroundings and the vehicle's driving information to determine the risk of the vehicle, wherein the driving information includes at least one of the vehicle's speed, acceleration, and driving direction; and determines whether to brake the vehicle based on the risk situation and the instructions sent by the remote control terminal. By analyzing the images captured by the vehicle body camera device and the drone camera device, it is determined whether the vehicle has a safety risk, and combined with the instructions of the remote control terminal, an action of whether to brake is made. This method can timely and accurately control the vehicle to stop by multiple detection and control methods during the autonomous driving demonstration process.

[0046] In the embodiment of the present application, the executing entity can be the autonomous driving demonstration control brake device in the autonomous driving demonstration control brake system. In actual applications, the autonomous driving demonstration control brake device can be electronic devices such as controller devices, terminal devices and servers, and there is no limitation here.

[0047] Combine the following Figure 1 The method for controlling braking for the autonomous driving demonstration in an embodiment of the present application is described in detail.

[0048] Please see Figure 1 , Figure 1 A flowchart of a method for controlling braking for an automatic driving demonstration provided in an embodiment of the present application is applied to a controller, such as Figure 1 The method of controlling the brakes in the autonomous driving demonstration shown includes:

[0049] Step 110: Receive the vehicle surrounding image captured by the camera.

[0050] The shooting device includes a vehicle camera and a drone camera. The vehicle camera includes multiple cameras installed inside and outside the vehicle. The drone camera refers to a camera carried by a drone flying together with the vehicle. The camera can be a built-in binocular or tri-camera camera. The vehicle surrounding image includes the area where the vehicle is located and the adjacent surrounding area.

[0051] Optionally, the photographing device may also be a remote sensing image of the vehicle area taken by a satellite during the driving of the vehicle to obtain an image of the surroundings of the vehicle.

[0052] Step 120: Analyze the vehicle's surrounding images and the vehicle's driving information to determine the risk situation of the vehicle.

[0053] The driving information includes at least one of the vehicle's speed, acceleration and driving direction, and may also include information such as the length and width of the vehicle and average speed.

[0054] Optionally, analyzing the images around the vehicle and the driving information of the vehicle to determine the risk situation of the vehicle can be performed on the vehicle control, or it can be executed on a photographing device or a remote control terminal and then analyzing the risk situation and sending a risk signal to the vehicle controller, where the vehicle controller can be one or more of a vehicle redundant controller, a vehicle remote control terminal controller, a vehicle receiving terminal controller and a line controller.

[0055] In some embodiments of the present application, the vehicle's surrounding images and the vehicle's driving information are analyzed to determine the vehicle's risk situation, including: respectively identifying the vehicle's surrounding images taken by a vehicle body camera and a drone camera to determine a first surrounding obstacle situation and a second surrounding obstacle situation of the vehicle; respectively combining the driving information with the first surrounding obstacle situation and the second surrounding obstacle situation to judge a first risk situation and a second risk situation of the vehicle, wherein the risk situation includes a first risk situation and a second risk situation.

[0056] In the above process, the present application analyzes the images of the vehicle's surroundings taken by the body camera device and the drone camera device to determine whether the vehicle is at risk in two situations. As long as one of the situations exists, timely braking can be achieved to prevent safety problems of the vehicle.

[0057] Among them, obstacles can be people, animals, plants, vehicles, potholes, etc. The risk situation includes multiple risk levels. When the preset risk level is met, the vehicle is at risk.

[0058] Optionally, the controller includes one or more of a redundant controller of the vehicle itself, a drone controller, a vehicle-mounted remote control terminal controller, a vehicle-mounted receiving terminal controller and a line controller.

[0059] Specifically, after the vehicle camera analyzes the images around the vehicle, it sends the surrounding road conditions, obstacle information and images around the vehicle to the SOC inside the redundant controller for processing and identification, and determines the obstacles around the vehicle body and whether there are people, objects or vehicles approaching the vehicle. At the same time, combined with information such as vehicle speed, it makes a decision on whether it is necessary to make a brake stop. The SOC and MCU inside the redundant controller communicate in real time through SPI communication. The MCU monitors whether the SOC is working normally and whether it has received a brake stop decision. At the same time, the MCU is connected to the wire control brake controller through CAN communication and follows a communication protocol. When the SOC of the redundant controller makes a brake stop decision, the MCU receives this instruction and sends the brake stop instruction to the wire control brake controller through CAN communication. The wire control brake controller makes a brake stop action after receiving the brake stop instruction. When the MCU detects that the SOC of the redundant controller fails and cannot work normally, the MCU sends a brake stop instruction to the wire control controller through CAN communication. The wire control brake controller makes a brake stop action after receiving the brake stop instruction.

[0060] Specifically, when the autonomous vehicle is running, the drone flies above and in front of the vehicle, and synchronously observes the road conditions around the vehicle through the camera. The drone controller uses the drone camera to transmit the images around the vehicle to determine the obstacles around the vehicle body and whether there are people, objects or vehicles approaching the vehicle. At the same time, combined with the vehicle speed and other information transmitted by the vehicle to the drone, the drone controller makes a decision on whether to brake. If braking is required, the drone controller sends a braking command to the vehicle receiving end controller through a wireless signal (for example, a 2.4GHz wireless signal) according to the braking communication protocol. After receiving the braking signal, the vehicle receiving end controller sends a braking command to the wire controller, and the wire controller performs a braking action after receiving the braking command.

[0061] Specifically, when the vehicle is running, the on-site personnel hold the remote control terminal and make a decision on whether to brake by observing the road conditions around the vehicle in real time. When there are sudden obstacles around the vehicle body that cannot be avoided, or when there are emergencies such as people, objects or vehicles approaching the vehicle, press the brake button of the remote control terminal. A radio frequency communication protocol is followed between the handheld remote control terminal (remote control terminal) and the on-board receiving end controller and the on-board remote control end controller. The MCU of the handheld remote control terminal identifies the pressed brake signal button by identifying the encoding unit of the on-board remote control end controller, and sends this information to the outside through the serial port to 2.4GHz communication module. The on-board receiving end controller has pre-written the code of the handheld remote control terminal, and only receives signals from the handheld remote control terminal with this code. When receiving the coded brake command sent by the remote control terminal, the corresponding brake button command is sent to the wire control controller through the CAN communication module. The wire control controller performs a brake action after receiving the brake command.

[0062] Optionally, analyzing the images around the vehicle and the driving information of the vehicle to determine the risk situation of the vehicle also includes: analyzing the satellite remote sensing images and the driving information of the vehicle to determine the third risk situation of the vehicle

[0063] Step 130: Determine whether to stop the vehicle based on the risk situation and the instruction sent by the remote control terminal.

[0064] In some embodiments of the present application, whether to brake the vehicle is determined based on the risk situation and the instructions sent by the remote control terminal, including: controlling the vehicle to brake when a first risk situation indicates that the vehicle is at risk, when a second risk situation indicates that the vehicle is at risk, or when an instruction sent by the remote control terminal is received.

[0065] In the above process of the present application, as long as at least one of the following situations exists: when the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, and when an instruction sent by the remote control terminal is received, the vehicle can be controlled to stop. The vehicle can be controlled timely and accurately by controlling the vehicle through multiple detections.

[0066] Among them, the third risk situation can be obtained by identifying satellite remote sensing images to determine whether to stop the vehicle, or other methods can be used to determine that the vehicle is at risk, in which case the vehicle can be braked.

[0067] Optionally, the vehicle receiving end has pre-written the code of the handheld remote control end (remote control terminal), and only receives signals sent by the handheld remote control end with this code. When the coded brake stop command is received from the remote control end, the corresponding brake stop button command is sent to the wire control brake controller through the CAN communication module. The wire control controller performs a brake stop action after receiving the brake stop command.

[0068] In some embodiments of the present application, whether to brake the vehicle is determined based on the risk situation and the instructions sent by the remote control terminal, including: when it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to brake via a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data via the radio frequency signal.

[0069] In the above process, the present application can quickly control the vehicle to stop by radio frequency signals when there is a safety risk to the vehicle.

[0070] Among them, the preset level can be set according to needs.

[0071] In the above Figure 1In the process shown, the present application receives images of the surroundings of the vehicle captured by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device; analyzes the images of the surroundings of the vehicle and the driving information of the vehicle to determine the risk situation of the vehicle, wherein the driving information includes at least one of the vehicle's speed, acceleration, and driving direction; and determines whether to brake the vehicle based on the risk situation and the instructions sent by the remote control terminal. By analyzing the images captured by the vehicle body camera device and the drone camera device, it is determined whether the vehicle has a safety risk, and in combination with the instructions of the remote control terminal, an action of whether to brake is made. This method can timely and accurately control the vehicle to stop by multiple detection and control methods during the autonomous driving demonstration process.

[0072] Combine the following Figure 2 The implementation method of the autonomous driving demonstration control brake stop in an embodiment of the present application is described in detail.

[0073] Please see Figure 2 , Figure 2 A flowchart of an implementation method of an automatic driving demonstration control brake stop provided in an embodiment of the present application, such as Figure 2 The implementation method of the autonomous driving demonstration control brake stop shown includes:

[0074] Step 210: A first redundancy scheme is initiated to monitor vehicle risk signals.

[0075] Specifically: receiving vehicle surrounding images collected by cameras around the vehicle body; analyzing vehicle surrounding images and vehicle driving information, determining the risk situation of the vehicle, and sending a risk signal to the vehicle controller when a risk situation exists.

[0076] Step 220: The double redundancy scheme is activated to monitor vehicle risk signals.

[0077] Specifically: receiving the images around the vehicle collected by the camera of the drone device; analyzing the images around the vehicle and the vehicle's driving information, determining the risk situation of the vehicle, and sending a risk signal to the vehicle controller when a risk situation exists.

[0078] Step 230: The triple redundancy scheme is activated to monitor vehicle risk signals.

[0079] Specifically: the risk situation of the vehicle is determined by the buttons of the remote control terminal controlled by the user, and a risk signal is sent to the vehicle controller when a risk situation exists.

[0080] Step 240: Determine whether the controller receives a risk signal.

[0081] Specifically: when it is determined that the controller receives a risk signal, execute 250, otherwise re-execute the solution in step 210-step 230.

[0082] Step 250: Control the vehicle to perform a braking action.

[0083] Specifically: when the risk situation indicates that the vehicle is at risk or when a brake stop command is received from a remote control terminal, the vehicle is controlled to brake.

[0084] also, Figure 2 The specific methods and steps shown can be found in Figure 1 The method shown will not be described in detail here.

[0085] Previous article Figure 1-Figure 2 Describes the method of controlling the brakes for autonomous driving demonstration. Figure 3-Figure 4 Describe the device for demonstrating controlled braking for autonomous driving.

[0086] Please refer to Figure 3 , is a schematic block diagram of a device 300 for controlling the braking of an automatic driving demonstration provided in an embodiment of the present application. The device 300 may be a module, a program segment or a code on an electronic device. The device 300 is similar to the above Figure 1 The method embodiment corresponds to and can be executed Figure 1 The various steps involved in the method embodiment and the specific functions of the device 300 can be found in the description below. To avoid repetition, the detailed description is appropriately omitted here.

[0087] Optionally, the device 300 includes:

[0088] The receiving module 310 is used to receive the vehicle surrounding image collected by the shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device;

[0089] A determination module 320, configured to analyze the surrounding image of the vehicle and the driving information of the vehicle to determine the risk situation of the vehicle, wherein the driving information includes at least one of the speed, acceleration and driving direction of the vehicle;

[0090] The control brake module 330 is used to determine whether to brake the vehicle according to the risk situation and the instruction sent by the remote control terminal.

[0091] Optionally, determine whether the module is specifically used for:

[0092] Respectively identify the vehicle surrounding images taken by the vehicle body camera device and the drone camera device to determine the first surrounding obstacle situation and the second surrounding obstacle situation of the vehicle; respectively combine the driving information with the first surrounding obstacle situation and the second surrounding obstacle situation to judge the first risk situation and the second risk situation of the vehicle, wherein the risk situation includes the first risk situation and the second risk situation.

[0093] Optionally, the brake control module is specifically used for:

[0094] When the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, or when a command sent by the remote control terminal is received, the vehicle is controlled to stop.

[0095] Optionally, the brake control module is specifically used for:

[0096] When it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to stop via a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data via the radio frequency signal.

[0097] Please refer to Figure 4 The structure schematic block diagram of a device for controlling the braking of an automatic driving demonstration provided in an embodiment of the present application, the device may include a memory 410 and a processor 420. Optionally, the device may also include: a communication interface 430 and a communication bus 440. The device and the above Figure 1 The method embodiment corresponds to and can be executed Figure 1 The various steps involved in the method embodiment and the specific functions of the device can be found in the description below.

[0098] Specifically, the memory 410 is used to store computer-readable instructions.

[0099] Processor 420 is used to process the readable instructions stored in the memory and can execute Figure 1 The steps in the method.

[0100] The communication interface 430 is used for signaling or data communication with other node devices, for example, for communication with a server or a terminal, or for communication with other device nodes, but the embodiments of the present application are not limited thereto.

[0101] The communication bus 440 is used to realize direct connection and communication among the above components.

[0102] The communication interface 430 of the device in the embodiment of the present application is used to communicate signals or data with other node devices. The memory 410 can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The memory 410 can also be at least one storage device located away from the aforementioned processor. The memory 410 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 420, the electronic device executes the aforementioned Figure 1The method process shown. The processor 420 can be used on the device 300 and is used to perform the functions in the present application. Exemplarily, the above-mentioned processor 420 can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the embodiments of the present application are not limited thereto.

[0103] The embodiment of the present application also provides a readable storage medium, when the computer program is executed by a processor, Figure 1 The method process in the method embodiment shown is executed by the electronic device.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method, and will not be described in detail here.

[0105] In summary, the embodiments of the present application provide a method, device, equipment and readable storage medium for controlling the braking of an autonomous driving demonstration, the method comprising: receiving images of the surroundings of the vehicle captured by a shooting device, wherein the shooting device comprises a vehicle body camera device and a drone camera device; analyzing the images of the surroundings of the vehicle and the driving information of the vehicle to determine the risk situation of the vehicle, wherein the driving information comprises at least one of the speed, acceleration and driving direction of the vehicle; determining whether to brake the vehicle according to the risk situation and the instruction sent by the remote control terminal. This method can achieve the effect of timely and accurate control of the vehicle braking during the autonomous driving demonstration.

[0106] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0107] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0108] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0109] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0110] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0111] 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 existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for demonstrating automatic driving and controlling braking, characterized in that: Applicable to controllers, including: Receiving an image of the surroundings of the vehicle collected by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device; Analyzing the vehicle surrounding image and the vehicle driving information to determine the risk situation of the vehicle, wherein the driving information includes at least one of the speed, acceleration and driving direction of the vehicle; Determine whether to stop the vehicle based on the risk situation and the instruction sent by the remote control terminal.

2. The method according to claim 1, characterized in that The analyzing the vehicle surrounding image and the vehicle driving information to determine the risk situation of the vehicle includes: Respectively identifying the vehicle surrounding images taken by the vehicle body camera device and the drone camera device, and determining a first surrounding obstacle situation and a second surrounding obstacle situation of the vehicle; The driving information is combined with the first surrounding obstacle situation and the second surrounding obstacle situation respectively to determine a first risk situation and a second risk situation of the vehicle, wherein the risk situation includes the first risk situation and the second risk situation.

3. The method according to claim 2, characterized in that The determining whether to stop the vehicle according to the risk situation and the instruction sent by the remote control terminal includes: When the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, or when an instruction sent by the remote control terminal is received, the vehicle is controlled to stop.

4. The method according to any one of claims 1 to 3, characterized in that: The determining whether to stop the vehicle according to the risk situation and the instruction sent by the remote control terminal includes: When it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to stop by a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data by means of radio frequency signals.

5. A device for demonstrating automatic driving and controlling braking, characterized in that: include: A receiving module, used to receive the vehicle surrounding image collected by a shooting device, wherein the shooting device includes a vehicle body camera device and a drone camera device; a determination module, configured to analyze the vehicle surrounding image and the vehicle driving information to determine the risk situation of the vehicle, wherein the driving information includes at least one of the speed, acceleration and driving direction of the vehicle; The brake control module is used to determine whether to brake the vehicle according to the risk situation and the instruction sent by the remote control terminal.

6. The device according to claim 5, characterized in that The determination module is specifically used for: Respectively identifying the vehicle surrounding images taken by the vehicle body camera device and the drone camera device, and determining a first surrounding obstacle situation and a second surrounding obstacle situation of the vehicle; The driving information is combined with the first surrounding obstacle situation and the second surrounding obstacle situation respectively to determine a first risk situation and a second risk situation of the vehicle, wherein the risk situation includes the first risk situation and the second risk situation.

7. The device according to claim 6, characterized in that The control brake stop module is specifically used for: When the first risk situation indicates that the vehicle is at risk, when the second risk situation indicates that the vehicle is at risk, or when an instruction sent by the remote control terminal is received, the vehicle is controlled to stop.

8. The device according to any one of claims 5 to 7, characterized in that: The control brake stop module is specifically used for: When it is determined that the safety level displayed by the risk situation is less than or equal to the preset level or a brake command sent by the remote control terminal is received, the vehicle is controlled to stop by a radio frequency signal, wherein the controller, the camera and the remote control terminal transmit data by means of radio frequency signals.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 4 are executed.

10. A computer-readable storage medium, characterized in that: include: A computer program, when the computer program is run on a computer, causes the computer to execute the method according to any one of claims 1 to 4.

Images