Method for controlling automated driving function via cloud server and method for controlling automated driving function of vehicle

Abstract

The present application relates to a method for controlling an automated driving function via a cloud server, which comprises: in response to received map-element-based automated driving configuration information, pulling map elements related to the automated driving configuration information; generating an automated driving control layer at least based on the pulled map elements; and in response to received navigation request information, sending a map layer related to the navigation request information to a vehicle, the map layer comprising the automated driving control layer and a map standard layer for vehicle navigation. The present application also relates to a cloud server, a method for controlling an automated driving function of a vehicle, an automated driving system, a vehicle and a computer program product. According to the present application, the vehicle controls the automated driving function based on generating an automated driving control layer in the cloud server according to the automated driving configuration information set by users and related map elements, thereby efficiently implementing map-element-based control of the automated driving function of the vehicle at low technical cost.

Description

[0001] 2024P02611WG

[0002] 1

[0003] Mercedes-Benz Group AG

[0004] 10.12.2025

[0005] METHOD FOR CONTROLLING AUTOMATED DRIVING FUNCTION VIA CLOUD SERVERAND METHOD FOR CONTROLLING AUTOMATED DRIVING FUNCTION OF VEHICLE

[0006] TECHNICAL FIELD

[0007] The present application relates to the field of automated driving, in particular to a method for controlling an automated driving function via a cloud server, a cloud server, a method for controlling an automated driving function of a vehicle, an automated driving system, a vehicle comprising the automated driving system according to the present application, and a computer program product for at least assistantly implementing the steps of the method according to the present application.

[0008] BACKGROUND ART

[0009] With the development and popularization of automated driving functions, users have expressed increasing demands for these automated driving functions for various geographic scenarios, such as urban expressways, highways, urban areas, and so on. For instance, a certain automated driving function may only be effective in a certain road segment, or only on roads at a certain level or higher, or only within a certain administrative region, and so forth. These requirements are difficult to be realized in existing automated driving systems on the vehicle side. Even by using vehicle locating data, it is impossible to meet the requirements raised by users for the aforementioned geographic scenarios.

[0010] Therefore, there is space to improve the existing control methods for automated driving functions.

[0011] SUMMARY OF THE INVENTION

[0012] The object of the present application is to provide a method for controlling an automated driving function via a cloud server, a cloud server, a method for controlling an automated driving function of a vehicle, an automated driving system, a vehicle comprising the automated driving system according to the present application, and a computer program product, in order to at least partially solve the problems in the prior art.

[0013] According to a first aspect of the present application, a method for controlling an automated driving function via a cloud server is provided, and the method may comprise:in response to received map-element-based automated driving configuration information, pulling map elements related to the automated driving configuration information;

[0014] generating an automated driving control layer at least based on the pulled map elements; and

[0015] in response to received navigation request information, sending a map layer related to the navigation request information to a vehicle, wherein the map layer comprises the automated driving control layer and a map standard layer for vehicle navigation.

[0016] The core idea of the present application lies in the following: an automated driving control layer is generated in the cloud server of the vehicle manufacturer based on the automated driving configuration information set by users and related map elements. During a traveling process of the vehicle, a map standard layer and the generated automated driving control layer are distributed to the vehicle based on the navigation request information of the vehicle. Consequently, the vehicle may control the automated driving function based on the received map layers, thereby efficiently implementing map-element-based control of the automated driving function of the vehicle via the cloud server at low technical cost.

[0017] According to an optional embodiment of the present application, the map standard layer and the automated driving control layer comply with the NDS. LIVE standard.

[0018] According to another optional embodiment of the present application, the automated driving control layer may comprise map tile markers and automated driving configuration data assigned to each map tile marker, wherein the automated driving configuration data may comprise vehicle configuration parameters related to automated driving level and / or automated driving function.

[0019] According to another optional embodiment of the present application, the map standard layer may comprise map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker, wherein the road static data comprises, for example, lane models, road components, road attributes and / or road environment features, etc., and the traffic dynamic data comprises, for example, traffic operation data, traffic management data and / or high-dynamic data, etc.

[0020] According to another optional embodiment of the present application, the navigation request information may comprise current location information and navigation path information of the vehicle.

[0021] According to another optional embodiment of the present application, the map elements may comprise geographical regions and / or road segments.

[0022] According to another optional embodiment of the present application, map tile markers ina predetermined distance range from the current location of the vehicle on the navigation path can be determined based on the current location information and the navigation path information of the vehicle, and the map standard layer and the automated driving control layer assigned to the determined map tile markers can be sent to the vehicle.

[0023] According to another optional embodiment of the present application, the method may further comprise:

[0024] in response to received map update request information, pulling map information from a map provider server based on the map update request information and storing said map information.

[0025] According to a second aspect of the present application, a cloud server is provided, the cloud server being configured to perform the method for controlling an automated driving function via a cloud server according to the present application.

[0026] According to a third aspect of the present application, a method for controlling an automated driving function of a vehicle is provided, and the method may comprise:

[0027] sending acquired map-element-based automated driving configuration information to the cloud server according to the present application;

[0028] sending navigation request information of the vehicle to the cloud server at a predetermined time interval based on acquired navigation information of the vehicle; and in response to a map layer received from the cloud server related to the navigation request information, controlling the automated driving function of the vehicle at least based on the received map layer.

[0029] According to another optional embodiment of the present application, map tile markers corresponding to current location information and / or navigation path information of the vehicle can be determined, and the automated driving function of the vehicle can be controlled based on map layer data assigned to the determined map tile markers, wherein the map layer may comprise an automated driving control layer and a map standard layer complying with the NDS. LIVE standard.

[0030] According to a fourth aspect of the present application, an automated driving system is provided, which may comprise:

[0031] a human-machine interaction unit which is configured to acquire map-element-based automated driving configuration information and navigation information;

[0032] an on-board communication unit which is configured to perform data interaction with the cloud server according to the present application;

[0033] a navigation unit which is configured to determine navigation request information of the vehicle; and

[0034] a control unit which is configured to perform the method for controlling an automateddriving function of a vehicle according to the present application.

[0035] According to a fifth aspect of the present application, a vehicle is provided, the vehicle comprising the automated driving system according to the present application.

[0036] According to a sixth aspect of the present application, a computer program product, such as a computer-readable program carrier, is provided, containing or storing computer program instructions, wherein the computer program instructions, when performed by a processor, at least assistantly implement the steps of the method according to the present application.

[0037] BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The principles, characteristics and advantages of the present application can be better understood through the detailed description below with reference to the accompany drawings, in which:

[0039] Fig. 1 shows a workflow chart of a method for controlling an automated driving function via a cloud server according to an exemplary embodiment of the present application;

[0040] Fig. 2 shows a schematic diagram of a vehicle operation scenario according to an exemplary embodiment of the present application;

[0041] Fig. 3 shows a workflow chart of a method for controlling an automated driving function via a cloud server according to another exemplary embodiment of the present application; and

[0042] Fig. 4 shows a workflow chart of a method for controlling an automated driving function of a vehicle according to an exemplary embodiment of the present application.

[0043] DETAILED DESCRIPTION OF EMBODIMENTS

[0044] For a clearer understanding of the technical problems to be solved, technical solutions and advantageous technical effects of the present invention, the invention will be further elaborated below in conjunction with the drawings and a number of exemplary embodiments. It is to be understood that the specific embodiments described here are merely for explaining the invention, rather than limiting the scope of protection of the invention.

[0045] Fig. 1 shows a workflow chart of a method for controlling an automated driving function via a cloud server according to an exemplary embodiment of the present application. The method according to the present application is described in more detail in the following exemplary embodiments.

[0046] As shown in Fig. 1, the method may comprise steps S1 to S3. In step S1, in response to received map-element-based automated driving configuration information, map elementinformation related to the automated driving configuration information can be pulled. Here, users can input map-element-based automated driving configuration information via a human-machine interaction unit 11 of the vehicle, such as a central control display, an onboard voice device, etc. In the context of the present application, “map elements” refer to fundamental units constituting a map, the fundamental units may include not only geographic regions, such as provinces, cities, counties, districts and the like divided by administrative boundaries, or regions delineated by geographic location, for example, urban areas inside a ring expressway, but also road segments, such as urban expressways or their sections, provincial highways or their sections, national highways or their sections etc. Here, users can set configuration information related to the automated driving function based on actual needs according to geographic regions and / or road segments. The automated driving function may include adaptive cruise control function, lane centering control function, automatic lane change function, automatic pilot function, active avoidance function, and / or automatic parking function, etc. For example, a trafficjam assist function is enabled in an area within the Fourth Ring Road of City X, or an automatic lane change function is enabled on all urban expressways in District XX, or a pilot assist function is enabled in a certain section of Road XXX, and so on. Users may also set configuration information related to the automated driving level, such as Level L2 or higher, based on actual needs according to geographic regions and / or road segments. For example, the automated driving function at Level L3 is enabled in an area within the Fourth Ring Road area of City X, the automated driving function at Level L4 is enabled on all urban expressways in District XX, or the automated driving function at Level L5 is enabled in a certain section of Road XXX, and so on. As shown in the schematic diagram of the vehicle operation scenario according to an exemplary embodiment of the present application shown in Fig. 2, the vehicle 1 may send acquired automated driving configuration information to the vehicle manufacturer’s cloud server 2 via an on-board communication unit 12.

[0047] After the cloud server 2 receives the automated driving configuration information, map elements related to the automated driving configuration information, particularly the geographic regions and / or road segments where the set automated driving function is to be performed, can be pulled from the high-precision map stored in the cloud server 2. For example, for enabling the active avoidance function in an area within the Fourth Ring Road of City X as set by the user, the geographic region within the Fourth Ring Road of City X may be pulled; for example, for enabling the automatic lane change function on all urban expressways in District XX as set by the user, all expressways in District XX may be pulled; for example, for enabling the pilot assist function in a certain section of Road XXX,the corresponding section of Road XXX may be pulled.

[0048] In step S2, an automated driving control layer can be generated at least based on the pulled map elements. Here, the automated driving control layer refers in particular to a customized layer compliant with the NDS. LIVE standard for controlling the automated driving functions of the vehicle 1. The NDS. LIVE standard is the latest-generation standard for high-precision map formats developed and maintained by NDS (Navigation Data Standard). In a high-precision map, multiple layers may be set according to the NDS. LIVE standard. Each layer may contain map data related to one or more map elements. Here, map data generated based on the pulled map elements and used to control the automated driving functions of the vehicle is categorized into one and the same layer, and said map data is organized according to the NDS. LIVE standard, thereby yielding an automated driving control layer compliant with the NDS. LIVE standard. The automated driving control layer may comprise map tile markers and automated driving configuration data assigned to each map tile marker. “Map tiles” refer to multiple rectangular blocks obtained by cutting a complete map according to certain rules, serving as fundamental units for storing and transmitting map data. An assignment relationship between map data and rectangular blocks may be determined through map tile markers. Here, the automated driving configuration data may comprise vehicle configuration parameters related to the automated driving function, such as adaptive cruise control function, lane centering control function, automatic lane change function, automatic pilot function, active avoidance function, and / or automatic parking function, and may also comprise vehicle configuration parameters related to the automated driving level, such as Level L2 or higher.

[0049] In the present embodiment of the present application, users can input navigation information, including navigation destinations and route preference settings, through the human-machine interaction unit 11 of the vehicle 1, such as the central control display, the on-board voice device, etc. Thereby, during a traveling process of the vehicle 1, the vehicle 1 may determine the real-time location of the vehicle 1 via the navigation unit 13 and periodically send navigation request information to the cloud server 2 at a predetermined time interval via the on-board communication unit 12. The navigation request information may comprise the current location information and navigation path information of the vehicle 1.

[0050] 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. The map layer comprises a map standard layer for vehicle navigation and an automated driving control layer. Here, the map standard layer refers in particular to a map standard layer for vehiclenavigation compliant with the NDS. LIVE standard. The map standard layer comprises map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker, wherein the road static data and / or traffic dynamic data can be organized and stored in the form of map sublayers according to the NDS. LIVE standard, and the assignment relationship between the road static data and / or traffic dynamic data in the map sublayers and the map tiles is determined through the map tile markers. It should be noted that each map layer, in particular the standard map layer and the automated driving control layer, employs the same map tile segmentation criteria, such that map layer data invoked based on the same map tile marker are correlated.

[0051] Exemplarily, the road static data may for example comprise:

[0052] lane models, which are used to precisely describe lane topology relationships, such as comprising lane reference lines which are used to symbolize positional relationships between different lanes, lane connection points which are used to symbolize connection relationships between different lane segments, lane traffic types which comprise driving lanes, overtaking lanes, ramps, etc., and lane function types which comprise bus lanes, tidal lanes, etc.;

[0053] lane components, which comprise pavement marking information and road facility information, wherein the pavement markings comprise marking types, marking colors, marking positions, etc., and the road facility information comprises toll station locations, green belt locations, guardrail locations, bridge weight limits, culvert height limits, etc.; road attributes, which comprise lane type attributes and roadside unit attributes, wherein the lane type attributes, for example, comprise the number, type, gradient, and curvature of lanes, and the roadside unit attributes, for example, comprise the location of traffic signals, the location of traffic signs, the location and meaning of points of interest (e.g., crosswalks);

[0054] road environment features, which refer to feature data extracted from road environment perception data obtained via on-board sensors such as radar, LiDAR, and cameras, and the feature data such as about recognized traffic lights, traffic signs, landmark buildings, etc. are annotated, and the resulting road environment feature layer supports feature matching of real-time perception results of the automated vehicle, thereby achieving real-time fusion and precise positioning based on vehicle-based absolute positioning data and real-time perception data.

[0055] The traffic dynamic data refers to real-time data about traffic dynamics acquired, for example, through V2X technology, which for example comprises:

[0056] traffic operation data, which for example comprises real-time status of traffic signals, road jam conditions, weather conditions in the passage region, real-time status ofcharging stations, real-time status of parking lots, etc.;

[0057] traffic management data, which for example comprises temporary traffic signs and traffic control data generated due to road construction, traffic accidents, and / or traffic congestion and the like;

[0058] high-dynamic data, which comprises real-time motion data, comprising motion velocity, motion acceleration, and / or motion direction, of moving objects, including other vehicles, pedestrians, motorcycles, and / or electric bicycles, and the like, on the travel route of the vehicle 1.

[0059] Since the data volume of high-precision maps is extremely large, only layer data related to a portion of the map tiles can be transmitted and loaded during the traveling process of the vehicle, rather than the layer data of the entire map, thereby significantly reducing the transmission and processing volume of layer data. Specifically, map tile markers in a predetermined distance range from the current location of the vehicle 1 on the navigation path can be determined based on the current location information and the 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 automated driving configuration data of the automated driving control layer assigned to the determined map tile markers may be sent to the vehicle 1.

[0060] After the vehicle 1 receives such layer data, it can perform an automated driving function based on the received layer data. Since the automated driving control layer is created based on map elements, it is possible to control the automated driving function of the vehicle based on map elements.

[0061] Fig. 3 shows a workflow chart of a method for controlling an automated driving function via a cloud server according to another exemplary embodiment of the present application. The following description focuses solely on differences from the embodiment shown in Fig. 1, whereas identical steps are omitted for brevity.

[0062] As shown in Fig. 3, the method may comprise step S4. In step S4, in response to the received map update request information, map information may be pulled from the map provider server 3 based on the map update request information and stored. Suppliers of high-precision maps will regularly release new versions of the high-precision maps based on acquired data, and send map update request information to the vehicle manufacturer’s cloud server 2 via the map provider server 3. After the cloud server 2 receives the map update request information, the updated map information may be pulled from the map provider server 3 based on said map update request information, and the updated map information and the original high-precision map data may be merged and stored, ensuring that the high-precision map stored in the cloud server 2 is always the latest version,thereby preventing the delay in version updates from affecting the automated driving control of the vehicle.

[0063] Above is described a method for controlling the automated driving function via the cloud server 2, performed in the vehicle manufacturer’s cloud server 2. During the execution of this method, data is continuously exchanged between the cloud server 2 and the automated driving system 10 of the vehicle 1. Next, a method for controlling an automated driving function of a vehicle, performed in the vehicle 1, is described in detail.

[0064] Fig. 4 shows a workflow chart of a method for controlling an automated driving function of a vehicle according to an exemplary embodiment of the present application.

[0065] As shown in Fig. 4, the method may comprise steps ST to S3’. In step ST, acquired map-element-based automated driving configuration information may be sent to the cloud server 2 according to the present application. Here, users can input map-element-based automated driving configuration information via a human-machine interaction unit 11 of the vehicle, such as a central control display, an on-board voice device, etc. Specifically, users may set configuration information related to the automated driving function or set configuration information related to the automated driving level, based on actual needs, according to geographic regions and / or road segments. The vehicle 1 may send the acquired automated driving configuration information to the vehicle manufacturer’s cloud server 2 via the on-board communication unit 12.

[0066] In step S2’, based on the acquired navigation information of the vehicle 1, the navigation request information of the vehicle 1 may be sent to the cloud server 2 at a predetermined time interval. In the present embodiment of the present application, users may input navigation information, including navigation destinations and route preference settings, through the human-machine interface unit 11 of the vehicle 1, such as the central control display, the on-board voice device, etc. Thereby, during a traveling process of the vehicle 1, the vehicle 1 may determine the real-time location of the vehicle 1 via the navigation unit 13. Especially when the vehicle 1 misses an intersection or encounters a road jam ahead, the navigation path may be replanned based on the real-time location of the vehicle and the traffic dynamic data of the map standard layer, and navigation request information may be periodically sent to the cloud server 2 via the on-board communication unit 12 at a predetermined time interval. The navigation request information may comprise the current location information and navigation path information of the vehicle 1.

[0067] In step S3’, in response to the map layer related to the navigation request information received from the cloud server 2, the automated driving function of the vehicle 1 may be controlled at least based on the received map layer. Here, the map layer may comprise the automated driving control layer and a map standard layer for vehicle navigation. Themap standard layer complies with the NDS. LIVE standard and comprises map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker; the automated driving control layer also complies with the NDS. LIVE standard and comprises map tile markers and automated driving configuration data assigned to each map tile marker, wherein the automated driving configuration data comprises vehicle configuration parameters related to the automated driving level and / or automated driving function.

[0068] During a traveling process of the vehicle, map tile markers corresponding to the current location information and / or navigation path information of the vehicle 1 can be determined, and the automated driving function of the vehicle 1 can be controlled based on the map layer data assigned to the determined map tile markers, and in particular, the automated driving function of the vehicle 1 can be controlled by invoking the automated driving configuration data assigned to the determined map tile markers. For example, a traffic-jam assist function is enabled in an area within the Fourth Ring Road of City X, or the automated driving function at Level 4 is enabled on all urban expressways in District XX, or a pilot assist function is enabled in a certain section of Road XXX, and so on.

[0069] According to an embodiment of the present application, an automated driving control layer is generated in the cloud server of the vehicle manufacturer based on the automated driving configuration information set by users and related map elements. During a traveling process of the vehicle, a map standard layer and the generated automated driving control layer are distributed to the vehicle based on the navigation request information of the vehicle. Consequently, the vehicle may control the automated driving function based on the received map layers, thereby efficiently implementing map-element-based control of the automated driving function of the vehicle via the cloud server at low technical cost.

[0070] Additionally, it should be noted that the step serial numbers described herein do not necessarily represent a sequential order but serve merely as figure references. The sequence may be altered based on specific circumstances, as long as the technical objectives of the present application can be achieved.

[0071] As shown in the schematic diagram of a vehicle operation scenario according to an exemplary embodiment of the present application shown in Fig. 2, an automated driving system 10 is provided in the vehicle 1, and the automated driving system 10 may comprise the following components:

[0072] a human-machine interaction unit 11 which is configured to acquire map-element-based automated driving configuration information and navigation information, wherein the human-machine interaction unit 11 comprises, for example, a central control displayscreen and / or an on-board voice device, etc.;

[0073] an on-board communication unit 12 which is configured to perform data interaction with the cloud server 2 according to the present application;

[0074] a navigation unit 13 which is configured to determine navigation request information of the vehicle 1, wherein the navigation request information may comprise the current location information and navigation path information of the vehicle 1 ; and

[0075] a control unit 14 which is configured to perform the method for controlling an automated driving function of a vehicle according to the present application.

[0076] If an embodiment includes an “and / or” conjunction between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment includes both the first feature and the second feature, and according to another embodiment, the embodiment includes either only the first feature or only the second feature.

[0077] While specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, and the same applies to cases where a single embodiment is described only with respect to particular features. The examples of features provided in the present disclosure are intended to be illustrative rather than limiting, unless stated otherwise. In specific implementation, multiple features may be combined with one another, if technically feasible, according to actual needs. Various substitutions, changes and modifications can be devised without deviating from the spirit and scope of the present invention.

Claims

2024P02611WG12Mercedes-Benz Group AG10.12.2025Claims1. A method for controlling an automated driving function via a cloud server (2), the method comprising:in response to received map-element-based automated driving configuration information, pulling map elements related to the automated driving configuration information; generating an automated driving control layer at least based on the pulled map elements; andin response to received navigation request information, sending a map layer related to the navigation request information to a vehicle (1), wherein the map layer comprises the automated 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 automated driving control layer comply with the NDS. LIVE standard.

3. The method according to claim 2, wherein the automated driving control layer comprises map tile markers and automated driving configuration data assigned to each map tile marker, wherein the automated driving configuration data comprises vehicle configuration parameters related to automated driving level and / or automated driving function; and / orthe map standard layer comprises map tile markers and road static data and / or traffic dynamic data assigned to each map tile marker, wherein the road static data comprises, for example, lane models, road components, road attributes and / or road environment features, and the road dynamic data comprises, for example, 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 comprises current location information and navigation path information of the vehicle (1); and / orthe map elements comprise geographical regions and / or road segments.

5. The method according to claim 4, wherein map tile markers in a predetermined distance range from the current location of the vehicle (1) on the navigation path are determined based on the current location information and the navigation path information of the vehicle (1), and the map standard layer and the automated driving control layer assigned to the determined map tile markers 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 received map update request information, pulling map information from a map provider server (3) based on the map update request information and storing said map information.

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

8. A method for controlling an automated driving function of a vehicle (1), the method comprising:sending acquired map-element-based automated driving configuration information to the cloud server (2) according to claim 7;sending navigation request information of the vehicle (1) to the cloud server (2) at a predetermined time interval based on acquired navigation information of the vehicle (1); andin response to a map layer received from the cloud server (2) related to the navigation request information, controlling the automated driving function of the vehicle (1) at least based on the received map layer.

9. The method according to claim 8, wherein map tile markers corresponding to current location information and / or navigation path information of the vehicle (1) are determined, and the automated driving function of the vehicle (1) is controlled based on map layer data assigned to the determined map tile markers, wherein the map layer comprises an automated driving control layer and a map standard layer complying with the NDS. LIVE standard.

10. An automated driving system (10), which comprises:a human-machine interaction unit (11) which is configured to acquire map-element-based automated driving configuration information and navigation information;an on-board communication unit (12) which is configured to perform data interaction with the cloud server (2) according to claim 7;a navigation unit (13) which is configured to determine navigation request information of the vehicle (1); anda control unit (14) which is configured to perform the method according to claim 8 or 9.

11. A vehicle (1), the vehicle (1) comprising the automated driving system (10) according to claim 10.

12. A computer program product, such as a computer-readable program carrier, containing or storing computer program instructions, wherein the computer program instructions, when performed by a processor, at least assistantly implement the steps of the method according to any one of claims 1 to 6, 8 and 9.

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