Method for controlling automatic driving function through cloud server and method for controlling automatic driving function of vehicle

Abstract

The invention relates to a method for controlling an automatic driving function through a cloud server, and the method comprises the steps: responding to received automatic driving configuration information based on map elements, and pulling the map elements related to the automatic driving configuration information; generating an automatic driving control layer at least based on the pulled map elements; in response to the received navigation request information, a map layer related to the navigation request information is sent to the vehicle, and the map layer comprises an automatic driving control layer and a map standard layer used for vehicle navigation. The application also relates to a cloud server, a method for controlling an autonomous driving function of a vehicle, an autonomous driving system, a vehicle and a computer program product. According to the application, the vehicle generates the automatic driving control layer to control the automatic driving function according to the automatic driving configuration information set by the user and the related map elements in the cloud server, so that the automatic driving function of controlling the vehicle based on the map elements is efficiently realized with low technical overhead.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and in particular to a method for controlling an autonomous driving function through a cloud server, a cloud server, a method for controlling an autonomous driving function of a vehicle, an autonomous driving system, a vehicle including an autonomous driving system according to the present application, and a computer program product for at least assisting in implementing the steps of the method according to the present application. Background Art

[0002] With the development and popularization of vehicle autonomous driving functions, users have put forward more requirements for autonomous driving functions for various geographical scenarios, such as urban expressways, highways, urban areas, etc. For example, a certain autonomous driving function is only effective on a certain road section, or only effective on roads above a certain level, or only effective in a certain administrative area, etc. These requirements are difficult to achieve in the existing vehicle-side autonomous driving system, and even using vehicle positioning data cannot meet the user's requirements for the above geographical scenarios.

[0003] Therefore, there is room for improvement in the current control methods of autonomous driving functions. Summary of the invention

[0004] The purpose of the present application is to provide a method for controlling an autonomous driving function through a cloud server, a cloud server, a method for controlling an autonomous driving function of a vehicle, an autonomous driving system, a vehicle including an autonomous driving system according to the present application, and a computer program product, so as to at least partially solve the problems in the prior art.

[0005] According to a first aspect of the present application, a method for controlling an autonomous driving function through a cloud server is provided, and the method may include:

[0006] - in response to the received autonomous driving configuration information based on the map elements, pulling the map elements related to the autonomous driving configuration information;

[0007] - generating an autonomous driving control layer based at least on the extracted map elements; and

[0008] -In response to the received navigation request information, sending a map layer related to the navigation request information to the vehicle, wherein the map layer includes the automatic driving control layer and a map standard layer for vehicle navigation.

[0009] The core concept of this application is to generate an autonomous driving control layer in the vehicle manufacturer's cloud server based on the autonomous driving configuration information set by the user and related map elements, and to send the map standard layer and the generated autonomous driving control layer to the vehicle based on the vehicle's navigation request information during driving. The vehicle can control the autonomous driving function based on the received map layer, thereby efficiently realizing the autonomous driving function of controlling the vehicle based on map elements with the help of the cloud server in a low-tech manner.

[0010] According to an optional embodiment of the present application, the map standard layer and the autonomous driving control layer comply with the NDS.LIVE standard.

[0011] According to another optional embodiment of the present application, the autonomous driving control layer may include map tile markers and autonomous driving configuration data assigned to each map tile marker, wherein the autonomous driving configuration data may include vehicle configuration parameters related to the autonomous driving level and / or autonomous driving function.

[0012] According to another optional embodiment of the present application, the map standard layer may include map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker, wherein the road static data includes, for example, lane models, road components, road attributes and / or road environment characteristics, and the road dynamic data includes, for example, traffic operation data, traffic management data and / or high dynamic data, etc.

[0013] According to another optional embodiment of the present application, the navigation request information may include the current location information and navigation path information of the vehicle.

[0014] According to another optional embodiment of the present application, the map element may include a geographical area and / or a road segment.

[0015] According to another optional embodiment of the present application, a map tile marker within a predetermined distance range from the current position of the vehicle on the navigation path can be determined based on the vehicle's current position information and navigation path information, and a map standard layer and an autonomous driving control layer assigned to the determined map tile marker can be sent to the vehicle.

[0016] According to another optional embodiment of the present application, the method may further include:

[0017] - In response to the received map update request information, map information is pulled from the map provider server based on the map update request information and stored.

[0018] According to a second aspect of the present application, a cloud server is provided, which is used to execute the method for controlling an autonomous driving function through a cloud server according to the present application.

[0019] According to a third aspect of the present application, a method for controlling an automatic driving function of a vehicle is provided, and the method may include:

[0020] - Sending the acquired map element-based autonomous driving configuration information to a cloud server according to the present application;

[0021] - Based on the acquired navigation information of the vehicle, sending navigation request information of the vehicle to the cloud server at a predetermined time interval; and

[0022] - In response to a map layer associated with the navigation request information received from the cloud server, controlling an autonomous driving function of the vehicle based at least on the received map layer.

[0023] According to another optional embodiment of the present application, a map tile marker corresponding to the vehicle's current position information and / or navigation path information can be determined, and the vehicle's autonomous driving function can be controlled based on map layer data assigned to the determined map tile marker, wherein the map layer can include an autonomous driving control layer and a map standard layer that comply with the NDS.LIVE standard.

[0024] According to a fourth aspect of the present application, an automatic driving system is provided, which may include:

[0025] - a human-computer interaction unit configured to obtain automatic driving configuration information and navigation information based on map elements;

[0026] - an on-board communication unit, which is configured to interact with the cloud server according to the present application;

[0027] - a navigation unit configured to determine navigation request information for the vehicle; and

[0028] - A control unit configured to execute the method for controlling an autonomous driving function of a vehicle according to the present application.

[0029] According to a fifth aspect of the present application, a vehicle is provided, comprising an automatic driving system according to the present application.

[0030] According to a sixth aspect of the present application, a computer program product, such as a computer-readable program carrier, is provided, which contains or stores computer program instructions, and when the computer program instructions are executed by a processor, they at least assist in implementing the steps of the method described in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The principles, features and advantages of the present application may be better understood by describing the present application in more detail below with reference to the accompanying drawings. The accompanying drawings show:

[0032] Figure 1 A flowchart showing a method for controlling an autonomous driving function through a cloud server according to an exemplary embodiment of the present application is shown;

[0033] Figure 2 A schematic diagram of a vehicle operation scenario according to an exemplary embodiment of the present application is shown;

[0034] Figure 3 A flowchart showing a method for controlling an autonomous driving function through a cloud server according to another exemplary embodiment of the present application; and

[0035] Figure 4 A workflow diagram of a method for controlling an automatic driving function of a vehicle according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0037] Figure 1 A workflow diagram of a method for controlling an autonomous driving function through a cloud server according to an exemplary embodiment of the present application is shown. The following exemplary embodiments describe the method according to the present application in more detail.

[0038] like Figure 1As shown, the method may include steps S1 to S3. In step S1, in response to the received automatic driving configuration information based on map elements, map element information related to the automatic driving configuration information may be pulled. Here, the user may input the automatic driving configuration information based on map elements through the human-computer interaction unit 11 of the vehicle 1, such as a central control display screen, a vehicle-mounted voice device, etc. In the meaning of the present application, "map elements" refer to the basic units that constitute a map, which may include not only geographical areas, such as provinces, cities, counties, districts, etc. divided according to administrative regions, or areas divided according to geographical locations, such as urban areas within the ring road, but also road segments, such as urban expressways or sections thereof, provincial roads or sections thereof, national roads or sections thereof, etc. Here, the user can set the configuration information related to the automatic driving function according to the geographical area and / or road segment based on actual needs. The automatic driving function may include adaptive cruise control function, lane centering control function, automatic lane change function, automatic navigation function, active avoidance function and / or automatic parking function, etc. For example, the traffic congestion assistance function is turned on in the area within the Fourth Ring Road of City X, or the automatic lane change function is turned on in all urban expressways in District XX, or the navigation assistance function is turned on in a certain section of Road XXX, etc. The user can also set the configuration information related to the automatic driving level - such as level L2 and above - according to the geographical area and / or road segment based on actual needs, such as turning on the L3 level automatic driving function in the area within the Fourth Ring Road of City X, turning on the L4 level automatic driving function in all urban expressways in District XX, or turning on the L5 level automatic driving function in a certain section of Road XXX, etc. Figure 2 As shown in the schematic diagram of a vehicle operation scenario according to an exemplary embodiment of the present application, the vehicle 1 can send the acquired autonomous driving configuration information to the cloud server 2 of the vehicle manufacturer through the on-board communication unit 12.

[0039] After the cloud server 2 receives the automatic driving configuration information, the map elements related to the automatic driving configuration information, especially the geographical area and / or road segment to execute the set automatic driving function, can be pulled from the high-precision map stored in the cloud server 2. For example, for the user setting to enable the active avoidance function in the area within the Fourth Ring Road of X City, the geographical area within the Fourth Ring Road of X City can be pulled; for example, for the user setting to enable the automatic lane change function in all urban expressways in XX District, all expressways in XX District can be pulled; for example, for a certain section of XXX Road to enable the navigation assistance function, the corresponding section of XXX Road can be pulled.

[0040] In step S2, an automatic driving control layer may be generated based at least on the pulled map elements. Here, the automatic driving control layer refers in particular to a custom layer for controlling the automatic driving function of the vehicle 1 that complies with the NDS.LIVE standard, wherein the NDS.LIVE standard is the latest generation standard for high-precision map format developed and maintained by the NDS (Navigation Data Standard) organization. In the high-precision map, multiple layers may be set according to the NDS.LIVE standard, and each layer may contain map data related to one or more map elements. Here, the map data for controlling the automatic driving function of the vehicle generated based on the pulled map elements are classified into the same layer and organized according to the NDS.LIVE standard, thereby obtaining an automatic driving control layer that complies with the NDS.LIVE standard. The automatic driving control layer may include map tile marks and automatic driving configuration data assigned to each map tile mark, wherein "map tile" refers to a plurality of rectangular tiles obtained by cutting a complete map according to certain rules, as a basic unit for implementing the storage and transmission of map data, and the assignment relationship between map data and rectangular tiles can be determined through the map tile mark. Here, the autonomous driving configuration data may include vehicle configuration parameters related to autonomous driving functions, such as adaptive cruise control function, lane centering control function, automatic lane change function, automatic navigation function, active avoidance function and / or automatic parking function, etc., and may also include vehicle configuration parameters related to autonomous driving level, such as level L2 and above.

[0041] In the current embodiment of the present application, a user can input navigation information, including navigation destination, route preference settings, etc., through the human-computer interaction unit 11 of the vehicle 1, such as a central control display screen, an on-board voice device, etc., so that during the driving process of the vehicle 1, the vehicle 1 can determine the real-time position of the vehicle 1 through the navigation unit 13, and periodically send navigation request information to the cloud server 2 at a predetermined time interval through the on-board communication unit 12, and the navigation request information may include the current position information and navigation path information of the vehicle 1.

[0042] In step S3, in response to the received navigation request information, a map layer related to the navigation request information may be sent to the vehicle 1, wherein the map layer includes a map standard layer and an automatic driving control layer for vehicle navigation. Here, the map standard layer refers in particular to a map standard layer for vehicle navigation that complies with the NDS.LIVE standard, wherein the map standard layer includes a map tile mark and road static data and / or traffic dynamic data assigned to each map tile mark, wherein the road static data and / or traffic dynamic data may be organized and stored in the form of a map sublayer in accordance with the NDS.LIVE standard, and the assignment relationship between the road static data and / or traffic dynamic data in the map sublayer and the map tile is determined by the map tile mark. It should be noted that each map layer - especially the map standard layer and the automatic driving control layer - samples the same map tile division standard, so that the map layer data called based on the same map tile mark is associated.

[0043] Exemplarily, the road static data may include:

[0044] - Lane model, which is used to accurately describe the lane topology, such as including lane baselines—

[0045] —It is used to reflect the positional relationship between different lanes, lane connection point —It is used to reflect the connection relationship between different lane sections, lane traffic type —It includes driving lane, overtaking lane, ramp, etc., lane function type —It includes bus lane, tidal lane, etc.;

[0046] - Lane components, including road marking information and road facility information, wherein the road marking includes marking type, marking color, marking position, etc., and the road facility information includes toll station location, green belt location, guardrail location, bridge weight limit, culvert height limit, etc.;

[0047] -Road attributes, including lane type attributes and roadside unit attributes, wherein the lane type attributes include, for example, the number, type, slope, curvature, etc. of lanes, and the roadside unit attributes include, for example, the location of traffic lights, the location of traffic signs, the location of points of interest (such as zebra crossings) and their meanings, etc.;

[0048] -Road environment features, which refer to feature data obtained by extracting features from road environment perception data acquired by on-board sensors such as radar, lidar, and cameras, and annotating these feature data, such as the identified traffic lights, traffic signs, landmark buildings, etc. The road environment feature layer thus obtained is used to support feature matching of real-time perception results of autonomous driving vehicles, thereby completing real-time fusion and precise positioning based on the vehicle's absolute positioning data and real-time perception data.

[0049] The traffic dynamics data refers to real-time data about traffic dynamics obtained, for example, through V2X technology, which includes, for example:

[0050] - Traffic operation data, which includes, for example, the real-time status of traffic lights, road congestion conditions, weather conditions in the traffic area, real-time status of charging stations, real-time status of parking lots, etc.;

[0051] - Traffic management data, which includes, for example, temporary traffic signs and traffic control data due to road construction, traffic accidents and / or traffic congestion;

[0052] - High dynamic data, which includes real-time motion data of moving objects on the driving route of vehicle 1, including other vehicles, pedestrians, motorcycles and / or electric bicycles, etc., including motion speed, motion acceleration and / or motion direction, etc.

[0053] Since the data volume of the high-precision map is very large, during the driving process of the vehicle 1, only the layer data related to a part of the map tiles can be transmitted and loaded, rather than the layer data of the entire map, thereby greatly reducing the transmission and processing volume of the layer data. Specifically, the map tile markers within a predetermined distance range from the current position of the vehicle 1 on the navigation path can be determined based on the current position information and navigation path information of the vehicle 1, and the road static data and / or traffic dynamic data of the map standard layer assigned to the determined map tile markers and the autonomous driving configuration data of the autonomous driving control layer assigned to the determined map tile markers can be sent to the vehicle 1.

[0054] After receiving these layer data, vehicle 1 can perform the automatic driving function based on the received layer data. Since the automatic driving control layer is created based on map elements, it can realize the automatic driving function of controlling the vehicle based on map elements.

[0055] Figure 3 The following is a flowchart of a method for controlling an automatic driving function through a cloud server according to another exemplary embodiment of the present application. Figure 1 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0056] like Figure 3As shown, the method may include step S4. In step S4, in response to the received map update request information, map information can be pulled from the map vendor server 3 based on the map update request information and stored. The supplier of high-precision maps will regularly release new versions of high-precision maps based on the collected data, and send map update request information to the cloud server 2 of the vehicle manufacturer through the map vendor server 3. After receiving the map update request information, the cloud server 2 can pull updated map information from the map vendor server 3 based on the map update request information, and merge and store the updated map information and the original high-precision map data, so that the high-precision map stored in the cloud server 2 is always the latest version, avoiding the impact of the vehicle's automatic driving control due to untimely version updates.

[0057] The above describes a method executed in the cloud server 2 of the vehicle manufacturer for controlling the automatic driving function through the cloud server 2, during which data is continuously exchanged between the cloud server 2 and the automatic driving system 10 of the vehicle 1. Next, the method executed in the vehicle 1 for controlling the automatic driving function of the vehicle is described in detail.

[0058] Figure 4 A workflow diagram of a method for controlling an automatic driving function of a vehicle according to an exemplary embodiment of the present application is shown.

[0059] like Figure 4 As shown, the method may include steps S1' to S3'. In step S1', the acquired autonomous driving configuration information based on map elements may be sent to the cloud server 2 according to the present application. Here, the user may input the autonomous driving configuration information based on map elements through the human-computer interaction unit 11 of the vehicle 1, such as a central control display screen, an on-board voice device, etc. Specifically, the user may set the configuration information related to the autonomous driving function according to the geographical area and / or road segment based on actual needs, or set the configuration information related to the autonomous driving level. The vehicle 1 may send the acquired autonomous driving configuration information to the cloud server 2 of the vehicle manufacturer through the on-board communication unit 12.

[0060] In step S2', based on the acquired navigation information of the vehicle 1, the navigation request information of the vehicle 1 can be sent to the cloud server 2 at a predetermined time interval. In the current embodiment of the present application, the user can input navigation information, including navigation destination, route preference settings, etc., through the human-computer interaction unit 11 of the vehicle 1, such as the central control display screen, the vehicle-mounted voice device, etc., so that during the driving process of the vehicle 1, the vehicle 1 can determine the real-time position of the vehicle 1 through the navigation unit 13, especially when the vehicle 1 misses the intersection or there is road congestion ahead, the navigation path can be re-planned based on the real-time position of the vehicle and the traffic dynamic data of the map standard layer, and the navigation request information can be periodically sent to the cloud server 2 at a predetermined time interval through the vehicle-mounted communication unit 12, and the navigation request information can include the current position information of the vehicle 1 and the navigation path information.

[0061] In step S3', in response to the map layer related to the navigation request information received from the cloud server 2, the automatic driving function of the vehicle 1 can be controlled at least based on the received map layer. Here, the map layer may include the automatic driving control layer and the map standard layer for vehicle navigation. The map standard layer complies with the NDS.LIVE standard, and includes map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker; the automatic driving control layer also complies with the NDS.LIVE standard, and includes map tile markers and automatic driving configuration data assigned to each map tile marker, wherein the automatic driving configuration data includes vehicle configuration parameters related to the automatic driving level and / or automatic driving function.

[0062] During the driving process of the vehicle 1, the map tile mark corresponding to the current position information and / or navigation path information of the vehicle 1 can be determined, and the automatic driving function of the vehicle 1 can be controlled based on the map layer data assigned to the determined map tile mark, especially calling the automatic driving configuration data assigned to the determined map tile mark to control the automatic driving function of the vehicle 1, for example, turning on the traffic congestion assistance function in the area within the Fourth Ring Road of City X, or turning on the L4 level automatic driving function in all urban expressways in District XX, or turning on the navigation assistance function in a certain section of Road XXX, and so on.

[0063] According to an embodiment of the present application, an autonomous driving control layer is generated in the cloud server of the vehicle manufacturer according to the autonomous driving configuration information set by the user and related map elements, and a map standard layer and the generated autonomous driving control layer are sent to the vehicle based on the navigation request information of the vehicle during driving. The vehicle can control the autonomous driving function based on the received map layer, thereby efficiently realizing the autonomous driving function of controlling the vehicle based on map elements with the help of the cloud server in a low technical overhead manner.

[0064] In addition, it should be noted that the step numbers described herein do not necessarily represent a chronological order, but are merely a figure mark. The order can be changed according to specific circumstances as long as the technical purpose of the present application can be achieved.

[0065] like Figure 2 The schematic diagram of a vehicle operation scenario according to an exemplary embodiment of the present application is shown. An automatic driving system 10 is configured in a vehicle 1. The automatic driving system 10 may include the following components:

[0066] - a human-computer interaction unit 11, which is configured to obtain automatic driving configuration information and navigation information based on map elements, wherein the human-computer interaction unit 11 includes, for example, a central control display screen and / or a vehicle-mounted voice device, etc.;

[0067] - an on-board communication unit 12, which is configured to perform data interaction with the cloud server 2 according to the present application;

[0068] - a navigation unit 13, which is configured to determine navigation request information of the vehicle 1, wherein the navigation request information may include current position information and navigation path information of the vehicle 1;

[0069] and

[0070] A control unit 14 configured to execute the method according to the present application for controlling an automated driving function of a vehicle.

[0071] If an embodiment includes an “and / or” association between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment has both the first feature and the second feature, and according to another embodiment, the embodiment has either only the first feature or only the second feature.

[0072] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative, not restrictive, unless otherwise stated. In specific implementations, multiple features may be combined with each other, where technically feasible, according to actual needs. Various substitutions, changes, and modifications may also be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for controlling an autonomous driving function via a cloud server (2), the method comprising: In response to the received autonomous driving configuration information based on the map elements, pulling the map elements related to the autonomous driving configuration information; generating an autonomous driving control layer based at least on the pulled map elements; as well as In response to the received navigation request information, a map layer related to the navigation request information is sent to the vehicle (1), wherein the map layer includes the automatic driving control layer and a map standard layer for vehicle navigation.

2. The method according to claim 1, wherein: The map standard layer and the autonomous driving control layer comply with the NDS.LIVE standard.

3. The method according to claim 2, wherein: The autonomous driving control layer includes map tile markers and autonomous driving configuration data assigned to each map tile marker, wherein the autonomous driving configuration data includes vehicle configuration parameters related to the autonomous driving level and / or autonomous driving function; and / or The map standard layer includes map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker, wherein the road static data, for example, includes lane models, road components, road attributes and / or road environment characteristics, and the road dynamic data, for example, includes traffic operation data, traffic management data and / or high dynamic data.

4. The method according to any one of claims 1 to 3, wherein: The navigation request information includes current position information and navigation path information of the vehicle (1); and / or The map elements include geographical areas and / or road segments.

5. The method according to claim 4, wherein: Based on the current position information and navigation path information of the vehicle (1), a map tile marker within a predetermined distance range from the current position of the vehicle (1) on the navigation path is determined, and a map standard layer and an automatic driving control layer assigned to the determined map tile marker are sent to the vehicle (1).

6. The method according to any one of claims 1 to 3, wherein: The method further comprises: In response to the received map update request information, map information is pulled from a map provider server (3) based on the map update request information and stored.

7. A cloud server (2), configured to execute the method according to any one of claims 1 to 6.

8. A method for controlling an autonomous driving function of a vehicle (1), the method comprising: Sending the acquired map element-based autonomous driving configuration information to the cloud server (2) according to claim 7; Based on the acquired navigation information of the vehicle (1), sending navigation request information of the vehicle (1) to the cloud server (2) at a predetermined time interval; as well as In response to a map layer associated with the navigation request information received from the cloud server (2), an automatic driving function of the vehicle (1) is controlled based at least on the received map layer.

9. The method according to claim 8, wherein: A map tile marker corresponding to current position information and / or navigation path information of a vehicle (1) is determined, and an autonomous driving function of the vehicle (1) is controlled based on map layer data assigned to the determined map tile marker, wherein the map layer includes an autonomous driving control layer and a map standard layer that conform to the NDS.LIVE standard.

10. An automatic driving system (10), comprising: A human-computer interaction unit (11) configured to obtain automatic driving configuration information and navigation information based on map elements; An on-vehicle communication unit (12) configured to perform data interaction with the cloud server (2) according to claim 7; A navigation unit (13) configured to determine navigation request information of the vehicle (1); and A control unit (14) configured to perform the method according to claim 8 or 9.

11. A vehicle (1), comprising an automatic driving system (10) according to claim 10.

12. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the method according to any one of claims 1 to 6, 8 and 9.

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