CN114326727B

CN114326727B - Driving method and system

Info

Publication number: CN114326727B
Application number: CN202111604162.2A
Authority: CN
Inventors: 汪沛伟; 王辉; 蒋少峰; 陈树雄; 钟飞
Original assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2024-08-20
Anticipated expiration: 2041-12-24
Also published as: CN114326727A

Abstract

The embodiment of the invention provides a driving method and a driving system, wherein the driving method comprises the following steps: when receiving a service order, sending service information corresponding to the service order to a vehicle through a cloud platform server; when the vehicle encounters a preset condition in the automatic driving process, a first switching instruction is sent to the vehicle, and an auxiliary instruction is sent to a remote driving control end; the vehicle is switched to a remote control mode, and the remote driving control terminal remotely controls the vehicle; when the preset condition is released, sending a disconnection instruction to a remote driving control end, and sending a second switching instruction to the vehicle; and the remote driving control end disconnects the remote control and switches the vehicle to an automatic driving mode so as to continue automatic driving until the business order is completed. Through cloud platform server unified management vehicle and remote driving control end, effectively link up remote control function and autopilot function, realize unmanned scene, and need not the real-time online of remote driving control end, improve availability factor.

Description

Driving method and system

Technical Field

The invention relates to the technical field of intelligent vehicles, in particular to a driving method and system.

Background

An automatic driving vehicle (Autonomous vehicles) is also called an unmanned vehicle, a computer driving vehicle or a wheeled mobile robot, and is an intelligent vehicle for realizing unmanned through a computer system. By means of artificial intelligence, visual computing, radar, monitoring device and global positioning system, the automatic driving vehicle can complete the driving process automatically without driving user operation.

However, even if the automatic driving vehicle is still on site, the safety officer or the driving user can only send out instructions or manually drive when the situation that the automatic driving vehicle cannot handle occurs, such as front traffic control, construction, traffic jam and the like, is met. Therefore, the current automatic driving still has limitations, and cannot completely replace manual driving, so that user experience cannot be improved well.

Disclosure of Invention

In view of the above, embodiments of the present invention have been made to provide a driving method that overcomes or at least partially solves the above-mentioned problems.

The embodiment of the invention also provides a driving device so as to ensure the implementation of the method.

In order to solve the above problems, an embodiment of the present invention discloses a driving method, which is applied to a cloud platform server, and the method includes:

When a service order is received, distributing matched vehicles to the service order, and sending service information corresponding to the service order to the vehicles;

When the situation that the vehicle encounters a preset condition in the automatic driving process based on the service information is monitored, a first switching instruction is sent to the vehicle, and an auxiliary instruction is sent to a remote driving control end; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

When the preset condition is detected to be relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; and the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order.

Optionally, the service order includes location information, and the method further includes:

generating a starting instruction and planning a first route for the vehicle according to the position information;

Generating service information corresponding to the service order according to the starting instruction and the first route; and enabling the vehicle to start an automatic driving mode according to the starting instruction, and automatically driving according to the first route.

Optionally, the method further comprises:

Determining whether a third party information acquisition end exists on the first route; the third party information acquisition end is used for acquiring road monitoring information;

if yes, establishing communication with the third party information acquisition end;

receiving road monitoring information sent by the third party information acquisition end, and sending the road monitoring information to the vehicle; so that the vehicle can automatically drive by adopting the road monitoring information.

Optionally, the remote driving control end comprises a plurality of service nodes; the method further comprises the steps of:

Establishing communication with the remote driving control end to monitor the states of the plurality of service nodes;

the sending a first switching instruction to the vehicle includes:

determining a target service node in an idle state from the plurality of service nodes;

Acquiring address information of the target service node, and generating a first switching instruction according to the address information;

Transmitting the first switching instruction to the vehicle; and switching the vehicle to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, when the monitoring that the preset condition is released, sending a disconnection instruction to the remote driving control end includes:

Receiving released information sent by the target service node; the released information is used for representing that the preset condition is released;

generating a disconnection instruction according to the processed information, and sending the disconnection instruction to the target service node; and enabling the target service node to disconnect communication with the vehicle according to the disconnection instruction.

Optionally, the sending a second switching instruction to the vehicle includes:

planning a second route for the vehicle, and generating a second switching instruction according to the second route;

transmitting the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing to automatically drive according to the second route.

Optionally, the preset condition includes one of temporary traffic control, road construction, and road congestion.

The embodiment of the invention also provides another driving method which is applied to the vehicle and comprises the following steps:

receiving service information sent by a cloud platform server, and starting an automatic driving mode according to the service information so as to perform automatic driving;

When a preset condition is met in the automatic driving process, a first switching instruction sent by the cloud platform server is received, the cloud platform server is switched to a remote control mode according to the first switching instruction, communication is established with a remote driving control end, and the cloud platform server runs according to control information sent by the remote driving control end;

And when the preset condition is released, receiving a second switching instruction sent by the cloud platform server, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service information includes a start instruction and a first route; the automatic driving mode is started according to the business information so as to carry out automatic driving, and the automatic driving method comprises the following steps:

and starting an automatic driving mode according to the starting instruction, and performing automatic driving according to the first route.

Optionally, the method further comprises:

Receiving road monitoring information forwarded by the cloud platform server; the road monitoring information is information obtained from a third party information acquisition end when the cloud platform server determines that the third party information acquisition end exists on the first route;

and adopting the road monitoring information to carry out automatic driving.

Optionally, the remote driving control end comprises a plurality of service nodes; the switching to a remote control mode according to the first switching instruction, and establishing communication with a remote driving control end, includes:

receiving a first switching instruction sent by the cloud platform server; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state;

and switching to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, the switching to the automatic driving mode according to the second switching instruction to continue automatic driving includes:

receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server;

And switching to the automatic driving mode according to the second switching instruction, and continuing to perform automatic driving according to the second route.

The embodiment of the invention also provides a driving system which comprises the cloud platform server, the vehicle and the remote driving control end;

the cloud platform server is used for receiving a service order and sending service information corresponding to the service order to the vehicle;

The vehicle is used for starting an automatic driving mode according to the business information so as to perform automatic driving;

the cloud platform server is used for sending a first switching instruction to the vehicle and sending an auxiliary instruction to the remote driving control end when a preset condition is met in the automatic driving process of the vehicle;

The vehicle is used for switching to a remote control mode according to the first switching instruction and establishing communication with the remote driving control end;

The remote driving control end is used for remotely controlling the vehicle according to the auxiliary instruction;

the cloud platform server is used for sending a disconnection instruction to the remote driving control end and sending a second switching instruction to the vehicle when the cloud platform server detects that the preset condition is released;

The remote driving control end is used for disconnecting the remote control according to the disconnection instruction;

And the vehicle is used for switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service order includes location information,

The cloud platform server is further used for generating a starting instruction, planning a first route for the vehicle according to the position information, and generating service information corresponding to the service order according to the starting instruction and the first route;

the vehicle is used for starting an automatic driving mode according to the starting instruction and automatically driving according to the first route.

Optionally, the cloud platform server is further configured to determine whether a third party information acquisition end exists on the first route;

The third party information acquisition end is used for acquiring road monitoring information;

If yes, the cloud platform server is further used for establishing communication with the third party information acquisition end so as to receive road monitoring information sent by the third party information acquisition end and send the road monitoring information to the vehicle;

the vehicle is also used for automatic driving by adopting the road monitoring information.

Optionally, the remote driving control end comprises a plurality of service nodes;

The cloud platform server is further used for establishing communication with the remote driving control end so as to monitor states of the plurality of service nodes, determining a target service node in an idle state from the plurality of service nodes, acquiring address information of the target service node, generating a first switching instruction according to the address information, and sending the first switching instruction to the vehicle;

the vehicle is used for switching to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, the target service node is configured to send the released information to the cloud platform server; the released information is used for representing that the preset condition is released;

The cloud platform server is used for generating a disconnection instruction according to the processed information and sending the disconnection instruction to the target service node;

the target service node is used for disconnecting communication with the vehicle according to the disconnection instruction.

Optionally, the cloud platform server is configured to plan a second route for the vehicle, generate a second switching instruction according to the second route, and send the second switching instruction to the vehicle;

The vehicle is used for switching to the automatic driving mode according to the second switching instruction and continuing to automatically drive according to the second route.

The embodiment of the invention also provides a driving device which is applied to the cloud platform server and comprises:

The distribution module is used for distributing matched vehicles to the service orders when the service orders are received, and sending service information corresponding to the service orders to the vehicles;

The auxiliary module is used for sending a first switching instruction to the vehicle and sending an auxiliary instruction to a remote driving control end when the vehicle is monitored to meet a preset condition in the automatic driving process based on the service information; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

The disconnection module is used for sending a disconnection instruction to the remote driving control end and sending a second switching instruction to the vehicle when the preset condition is detected to be released; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; and the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order.

Optionally, the service order includes location information, and the apparatus further includes:

the first route planning module is used for generating a starting instruction and planning a first route for the vehicle according to the position information;

the service information generation module is used for generating service information corresponding to the service order according to the starting instruction and the first route; and enabling the vehicle to start an automatic driving mode according to the starting instruction, and automatically driving according to the first route.

Optionally, the apparatus further comprises:

The road monitoring information determining module is used for determining whether a third party information acquisition end exists on the first route; the third party information acquisition end is used for acquiring road monitoring information;

the first establishing module is used for establishing communication with the third party information acquisition end if the first establishing module exists;

Optionally, the remote driving control end comprises a plurality of service nodes; the apparatus further comprises:

the second establishing module is used for establishing communication with the remote driving control end so as to monitor the states of the plurality of service nodes;

the auxiliary module includes:

a target service node determining submodule, configured to determine a target service node in an idle state from the plurality of service nodes;

The first switching instruction generation sub-module is used for acquiring the address information of the target service node and generating a first switching instruction according to the address information;

The first switching instruction sending submodule is used for sending the first switching instruction to the vehicle; and switching the vehicle to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

Optionally, the disconnection module includes:

the released information receiving sub-module is used for receiving the released information sent by the target service node; the released information is used for representing that the preset condition is released;

The disconnection instruction sending submodule is used for generating a disconnection instruction according to the processed information and sending the disconnection instruction to the target service node; and enabling the target service node to disconnect communication with the vehicle according to the disconnection instruction.

Optionally, the disconnection module includes:

The second switching instruction generation submodule is used for planning a second route for the vehicle and generating a second switching instruction according to the second route;

a second switching instruction sending sub-module, configured to send the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing to automatically drive according to the second route.

The embodiment of the invention also provides a driving device which is applied to the vehicle and comprises:

The starting module is used for receiving the service information sent by the cloud platform server and starting an automatic driving mode according to the service information so as to carry out automatic driving;

the cloud platform server comprises a first switching module, a second switching module and a remote driving control terminal, wherein the first switching module is used for receiving a first switching instruction sent by the cloud platform server when a preset condition is met in an automatic driving process, switching to a remote control mode according to the first switching instruction, establishing communication with the remote driving control terminal and driving according to control information sent by the remote driving control terminal;

And the second switching module is used for receiving a second switching instruction sent by the cloud platform server when the preset condition is released, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

Optionally, the service information includes a start instruction and a first route; the starting module comprises:

And the automatic driving sub-module is used for starting an automatic driving mode according to the starting instruction and carrying out automatic driving according to the first route.

Optionally, the apparatus further comprises:

The road monitoring information receiving module is used for receiving the road monitoring information forwarded by the cloud platform server; the road monitoring information is information obtained from a third party information acquisition end when the cloud platform server determines that the third party information acquisition end exists on the first route;

And the road monitoring information adoption module is used for adopting the road monitoring information to carry out automatic driving.

Optionally, the remote driving control end comprises a plurality of service nodes; the first switching module includes:

The first switching instruction receiving sub-module is used for receiving a first switching instruction sent by the cloud platform server; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state;

And the first switching sub-module is used for switching to a remote control mode according to the first switching instruction and establishing communication with the target service node according to the address information.

Optionally, the second switching module includes:

The second switching instruction receiving sub-module is used for receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server;

And the second switching sub-module is used for switching to the automatic driving mode according to the second switching instruction and continuing to automatically drive according to the second route.

The embodiment of the invention also provides an electronic device, which comprises a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs are configured to be executed by the one or more processors, and the one or more programs are used for executing the driving method according to any one of the embodiments of the invention.

The embodiment of the invention also provides a vehicle, which comprises a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs are configured to be executed by the one or more processors, and the one or more programs are used for executing the driving method according to any one of the embodiment of the invention.

The embodiment of the invention also provides a readable storage medium, which when the instructions in the storage medium are executed by a processor of the electronic device, enables the electronic device to execute the driving method according to any one of the embodiments of the invention.

Compared with the prior art, the embodiment of the invention has the following advantages:

In the embodiment of the invention, when a service order is received, service information corresponding to the service order is sent to a vehicle through a cloud platform server; when the vehicle encounters a preset condition in the automatic driving process, a first switching instruction is sent to the vehicle, and an auxiliary instruction is sent to a remote driving control end; the vehicle is switched to a remote control mode, and the remote driving control terminal remotely controls the vehicle; when the preset condition is released, sending a disconnection instruction to a remote driving control end, and sending a second switching instruction to the vehicle; and the remote driving control end disconnects the remote control and switches the vehicle to an automatic driving mode so as to continue automatic driving until the business order is completed. Through cloud platform server unified management vehicle and remote driving control end, effectively link up remote control function and autopilot function, realize unmanned scene, and need not the real-time online of remote driving control end, improve availability factor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of steps of a driving method according to an embodiment of the present invention;

FIG. 2 is a flow chart of steps of another driving method according to an embodiment of the present invention;

Fig. 3 is a communication diagram related to a user terminal, a cloud platform server, a vehicle, a third party information acquisition end and a remote driving control end in the embodiment of the invention;

fig. 4 is a block diagram of a driving apparatus according to an embodiment of the present invention;

Fig. 5 is a block diagram of another driving apparatus according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, a step flow chart of a driving method provided by an embodiment of the present invention is shown and applied to a cloud platform server, where the method specifically may include the following steps:

And 101, when a service order is received, distributing matched vehicles to the service order, and sending service information corresponding to the service order to the vehicles.

The embodiment of the invention can be applied to a cloud platform server, and the service order issued by the user is received through the cloud platform server. The user may make an order through a terminal loaded with the APP, and the terminal may include, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted terminal, and the like. In addition, the service order may be a service from point A to point B, and the service order may include, but is not limited to, automatic vehicle stopping, automatic vehicle washing, automatic vehicle recharging, calling a vehicle to a fixed point, automatic vehicle pickup, etc., as the invention is not limited in this regard.

In the embodiment of the invention, the service order is issued from the user until the vehicle completes the service order, and the service order can be taken over by the cloud platform server in the whole course during the service order, so that the user or a safety person is not required to be in the vehicle or on site, and an unmanned scene can be realized.

In the embodiment of the invention, the service order can comprise vehicle identification information, and the cloud platform server can establish communication with vehicles matched with the service order according to the vehicle identification information. The vehicle identification information may include, but is not limited to, a license plate number, a user phone number bound to the vehicle, and a public network IP address (Internet Protocol Address ) of a vehicle management platform for managing the vehicle.

In a specific implementation, the cloud platform server may locate a vehicle matching the service order through the vehicle identification information, and may then actively establish a first communication channel with the vehicle. Or the cloud platform server can communicate with the vehicle management platform based on the public network IP address of the vehicle management platform, so that the vehicle management platform can be notified to notify the vehicle, and the vehicle can adopt the public network IP address of the cloud platform server to actively establish a first communication channel with the cloud platform server.

In a specific implementation, after the first communication channel is established, the cloud platform server may generate service information according to the service order, and then may send the service information to the vehicle based on the first communication channel, so that the vehicle may execute the service information.

It should be noted that, the first communication channel has low requirement on real-time performance, and is not a security strong, and a 4G (4 th Generation Mobile Communication Technology, fourth generation mobile communication technology) network or a 5G (5 th Generation Mobile Communication Technology, fifth generation mobile communication technology) network may be set, and may be determined according to the capability of the actual communication module of the vehicle and the traffic tariff.

In an alternative embodiment of the present invention, the service order includes location information, and the method may further include:

In a specific implementation, the cloud platform server may generate a start instruction, through which the vehicle may be remotely controlled to start the autopilot mode. In addition, the service order may include location information, which may include a destination location, a current first location of the vehicle may be located via GPS (Global Positioning System ), and then a first route may be planned for the vehicle based on the first location and the destination location.

In a specific implementation, after the starting instruction and the first route are obtained, the cloud platform server can adopt the starting instruction and the first route as service information corresponding to the service order, so that the service information can be sent to the vehicle based on the first communication channel, the vehicle can start an automatic driving mode according to the starting instruction, and in the automatic driving mode, the vehicle can automatically drive according to the first route.

In an alternative embodiment of the present invention, the method may further include:

In a specific implementation, the vehicle can sense the surrounding environment of the vehicle through the acquisition devices such as a radar, a camera and the like, however, the sensing range of the acquisition devices has limitations, such as that a vehicle which is anchored is stopped at a curve in front of a road, but the vehicle is positioned at the curve, and the acquisition devices based on the vehicle are difficult to detect at the moment, so that a collision event is easy to cause.

In order to reduce the occurrence probability of the collision event, whether a third party information acquisition end exists on the first route or not may be determined by the cloud platform server, the third party information acquisition end may acquire road monitoring information, and the road monitoring information may include environment monitoring information, parking space monitoring information, road side obstacle monitoring information, and the like. When the third party information acquisition end exists on the first route, the cloud platform server can establish a second communication channel with the third party information acquisition end, then can receive the road monitoring information sent by the third party information acquisition end based on the second communication channel, and can generate the road monitoring information to the vehicle based on the first communication channel, so that the vehicle can adopt the road monitoring information and combine with own acquisition equipment to carry out automatic driving.

It should be noted that, the vehicle generally has no public network IP address, and some third party information collection terminals are private network IP addresses, for example, the parking space monitoring system of the parking lot is a private network IP address, the vehicle and the parking space monitoring system cannot directly communicate with each other, the vehicle cannot directly obtain parking space monitoring information, and if the vehicle directly obtains all road monitoring information, the load pressure of the vehicle can be greatly increased.

The embodiment of the invention can adopt the cloud platform server as the transfer end, and solves the problems by utilizing the strong filtering and calculating capabilities of the cloud platform server. Specifically, the cloud platform server can receive the road monitoring information acquired by the third party information acquisition end based on the second communication channel, then can filter and calculate the road monitoring information, and finally can send the processed road monitoring information to the vehicle based on the first communication channel, so that the difficulty that communication cannot be carried out between the vehicle and the third party information acquisition end based on the private network IP address can be overcome, and the load pressure of the vehicle can be greatly reduced.

It should be noted that, some third party information collection terminals are public network IP addresses, for example, the road test infrastructure is a public network IP address, the vehicle can directly communicate with the road test infrastructure, the vehicle can directly obtain road side obstacle monitoring information, and the vehicle needs to automatically drive by adopting the road side obstacle monitoring information in real time when turning, so if the road side obstacle monitoring information is forwarded by the cloud platform server, there is a possibility of delayed information reception.

According to the embodiment of the invention, the public network IP address of the third party information acquisition end can be acquired through the cloud platform server based on the second communication channel, and then the public network IP address of the third party information acquisition end can be sent to the vehicle based on the first communication channel, so that the vehicle can adopt the public network IP address to establish the third communication channel with the third party information acquisition end, and thus the vehicle can directly receive the road monitoring information acquired by the third party information acquisition end with the public network IP address based on the third communication channel, thereby avoiding the possibility of information receiving delay, achieving real-time synchronization of the information with the vehicle and reducing the risk of automatic driving.

It should be noted that, the second communication channel has low real-time requirements, is not a safety strong, can be provided with a 4G network or a 5G network, can be determined according to the capability of the actual communication module of the vehicle and the traffic tariff, and the third communication channel is related to driving safety, and can be provided with a 5G network and a higher-order network than 5G for the high real-time requirements.

102, When a preset condition is met in the automatic driving process of the vehicle based on the service information, a first switching instruction is sent to the vehicle, and an auxiliary instruction is sent to a remote driving control end; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle.

In a specific implementation, the cloud platform server can monitor the condition of the vehicle in real time in the automatic driving process of the vehicle based on the service information. When a support request uploaded by a vehicle is received, the cloud platform server can determine that the vehicle encounters a preset condition which cannot be processed by the vehicle, at the moment, the cloud platform server can send a first switching instruction to the vehicle, the vehicle can be instructed to switch to a remote control mode through the first switching instruction, the cloud platform server can send an auxiliary instruction to a remote driving control end, the remote driving control end can be instructed to remotely control the vehicle through the auxiliary instruction, and therefore the vehicle can be submitted to the remote driving control end to process the preset condition.

In an optional embodiment of the present invention, the preset condition includes one of temporary traffic control, road construction, and road congestion.

In a specific implementation, when a vehicle encounters a preset condition which cannot be automatically solved, such as temporary traffic control, road construction and road congestion, the vehicle can generate a support request, and then the support request can be sent to the cloud platform server through the first communication channel, so that the cloud platform server can call the remote driving control end to remotely control the vehicle, the preset condition can be processed through the remote driving control end, a user or a safety person does not need to send an instruction on site or carry out manual driving, and an unmanned scene is realized.

In an optional embodiment of the present invention, the remote driving control terminal includes a plurality of service nodes; the method may further comprise:

And establishing communication with the remote driving control end so as to monitor the states of the plurality of service nodes.

It should be noted that, the cloud platform server may dock a plurality of vehicles, so before the vehicle matched with the service order performs automatic driving, the cloud platform server and the remote driving control end may be in a communication state. Specifically, the cloud platform server can establish a fourth communication channel with the remote driving control end, and through the fourth communication channel, the cloud platform server can schedule available resources of the remote driving control end in a large scale.

In a specific implementation, the remote driving control end may be a service queue, which is used for providing a remote control service, where the service queue may include a plurality of service nodes, and the cloud platform server may monitor the states of the plurality of service nodes based on the fourth communication channel. The states may include, but are not limited to, an idle state, a busy state, and a suspended state. The idle state may be used to characterize the service node as being able to provide remote control services at that time, the busy state may be used to characterize the service node as being able to perform remote control tasks for other vehicles at that time, and the suspended state may be used to characterize the service node as having suspended remote control services at that time.

It should be noted that, the fourth communication channel has low requirement on real-time performance, is not a safety strong, can be provided with a 4G network or a 5G network, and can be determined according to the capability of the actual communication module of the vehicle and the traffic charge.

In an alternative embodiment of the present invention, the step 102 may comprise the sub-steps of:

and a substep S11, determining a target service node in an idle state from the plurality of service nodes.

In a specific implementation, the cloud platform server may monitor the states of the plurality of service nodes based on the fourth communication channel, and then may determine, according to the states of the plurality of service nodes, a target service node in an idle state, so as to call the target service node to provide a remote control service for the vehicle.

And step S12, obtaining the address information of the target service node, and generating a first switching instruction according to the address information.

In a specific implementation, after determining the target service node in the idle state, the cloud platform server may acquire address information of the target service node from the remote driving control terminal. The address information may be an IP address, and the cloud platform server may generate a first switching instruction for remotely controlling the vehicle according to the IP address of the target service node.

A substep S13 of transmitting the first switching instruction to the vehicle; and switching the vehicle to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

In a specific implementation, the cloud platform server may send a first switching instruction carrying address information of the target service node to the vehicle under a preset condition, so that the vehicle may switch to a remote control mode according to the first switching instruction, and may use the address information to establish communication with the target service node.

It should be noted that the vehicle may include a vehicle-end network master control node and a vehicle-end autopilot controller. Because the vehicle is automatically driven by the vehicle-end automatic driving controller, the functional safety requirement is extremely high, and too much load pressure cannot be born. Therefore, the embodiment of the invention can lead the vehicle-end network master control node to bear the work of communicating with the cloud platform server, for example, the vehicle-end network master control node carries out data transmission with the cloud platform server based on the first communication channel, and as the functional safety requirement on the vehicle-end network master control node is not high, the interaction function outside the vehicle can be carried out by the vehicle-end network master control node, for example, the vehicle-end network master control node can bear the work content of video and audio entertainment.

In a specific implementation, the vehicle-end network master control node may receive address information of the target service node sent by the cloud platform server based on the first communication channel, and the vehicle-end network master control node may use the address information to establish a fifth communication channel with the target service node. The vehicle-end network master control node can collect audio data from a microphone and a loudspeaker, collect video data from cameras loaded at various positions of the vehicle, and then upload the audio and video data to the target service node based on a fifth communication channel, so that the target service node can remotely control the vehicle according to the audio and video data.

It should be noted that, the vehicle-end network master control node may transmit the address information of the target service node to the vehicle-end autopilot controller through an ETH (Ethenet, ethernet) channel of the vehicle or a CAN (Controller Area Network ) channel.

In a specific implementation, the vehicle-end autopilot controller may use the address information to establish a sixth communication channel with the target service node. The vehicle-end automatic driving controller can collect real-time sensing data from radar, cameras and other acquisition equipment, and then can upload the real-time sensing data to the target service node based on the sixth communication channel, so that the target service node can remotely control the vehicle according to the real-time sensing data.

In the embodiment of the invention, the vehicle-end network main control node and the vehicle-end automatic driving controller respectively establish communication with the target service node, and respectively upload different vehicle data to the target service node, so that the load capacity of the vehicle-end automatic driving controller can be effectively reduced, and the automatic driving function with extremely high safety requirements is greatly met.

The fifth communication channel and the sixth communication channel are related to driving safety, and a 5G network and a 5G or higher order network may be provided for high real-time requirements.

It should be noted that the order may be determined according to the development stage of the mobile communication technology, for example, the order corresponding to the second generation mobile communication technology is 2, the order corresponding to the third generation mobile communication technology is 3, the order corresponding to the fourth generation mobile communication technology is 4, and the order corresponding to the fifth generation mobile communication technology is 5. If the network technology is advanced to the sixth generation mobile communication technology, the 6G (6 th Generation Mobile Communication Technology, sixth generation mobile communication technology) network is a 5G or higher order network.

Step 103, when the preset condition is detected to be released, sending a disconnection instruction to the remote driving control end and sending a second switching instruction to the vehicle; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; and the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order.

In a specific implementation, in the process that the target service node carries out remote control on the vehicle, the cloud platform server can monitor the conditions of the target service node and the vehicle in real time. When the cloud platform server detects that the preset condition is relieved, the cloud platform server can send a disconnection instruction to the remote driving control end based on the fourth communication channel, the remote driving control end can forward the disconnection instruction to the target service node, and the target service node can be instructed to disconnect remote control on the vehicle through the disconnection instruction. And the cloud platform server can send a second switching instruction to the vehicle based on the first communication channel, and the vehicle can be instructed to switch to an automatic driving mode through the second switching instruction, so that the vehicle can continue to automatically drive until the vehicle completes a service order.

In an alternative embodiment of the present invention, the step 103 may comprise the following sub-steps:

A substep S21, receiving the released information sent by the target service node; the released information is used for representing that the preset condition is released.

In a specific implementation, when the target service node releases the preset condition, the target service node may generate released information, and then based on the fourth communication channel, the released information may be sent to the cloud platform server, and the cloud platform server may determine that the preset condition is released according to the released information, so as to determine that the vehicle has been out of the dilemma at this time.

Step S22, a disconnection instruction is generated according to the processed information, and the disconnection instruction is sent to the target service node; and enabling the target service node to disconnect communication with the vehicle according to the disconnection instruction.

In a specific implementation, when the preset condition is determined to be released according to the processed information, the cloud platform server may generate a disconnection instruction, and then based on the fourth communication channel, the disconnection instruction may be sent to the target service node, so that the target service node responds to the disconnection instruction to disconnect the fifth communication channel and the sixth communication channel of the vehicle, thereby disconnecting remote control on the vehicle, and no real-time online remote driving control terminal is required.

And a substep S31 of planning a second route for the vehicle and generating a second switching instruction according to the second route.

In a specific implementation, the current second location of the vehicle may be located by GPS, then a second route may be re-planned for the vehicle according to the second location and the destination location in the service order, and then a second switching instruction may be generated according to the second route.

A substep S32 of transmitting the second switching instruction to the vehicle; and switching the vehicle to an automatic driving mode according to the second switching instruction, and continuing to automatically drive according to the second route.

In a specific implementation, the cloud platform server may send the second switching instruction to the vehicle based on the first communication channel, so that the vehicle may switch to an automatic driving mode according to the second switching instruction, and in the automatic driving mode, the vehicle may continue to perform automatic driving according to the second route.

Referring to fig. 2, a flowchart illustrating steps of another driving method according to an embodiment of the present invention is shown, and the method may specifically include the following steps:

step 201, receiving service information sent by a cloud platform server, and starting an automatic driving mode according to the service information so as to perform automatic driving.

The method and the device can be applied to the vehicle, the vehicle can establish a first communication channel with the cloud platform server, and the vehicle can receive service information distributed by the cloud platform server based on the first communication channel. The service information may be generated by the cloud platform server according to a service order issued by a user, the user may issue a service through a terminal loaded with an APP, the service order may be a service from point a to point B, and the service order may include, but is not limited to, automatic vehicle stopping, calling a vehicle to stop, automatic vehicle stopping, and the like.

In the embodiment of the invention, the service order is issued from the user until the vehicle completes the service order, and the vehicle can be taken over by the cloud platform server in the whole process, so that the vehicle can have no user or safety in the vehicle or on site when receiving the service information sent by the cloud platform server, and the unmanned scene can be realized.

It should be noted that, the first communication channel has low requirement on real-time performance, is not a safety strong, can be provided with a 4G or 5G network, and can be determined according to the capability of the actual communication module of the vehicle and the traffic charge.

In an optional embodiment of the invention, the service information includes a start instruction and a first route; said step 201 may comprise the sub-steps of:

In a specific implementation, the service information may include a start instruction and a first route, where the first route may be planned by the cloud platform server according to position information in the service order, and the vehicle may start an automatic driving mode according to the start instruction, and in the automatic driving mode, the vehicle may automatically drive according to the first route.

and adopting the road monitoring information to carry out automatic driving.

In order to reduce the occurrence probability of the collision event, the vehicle may receive road monitoring information forwarded by the cloud platform server, where the road monitoring information may be information acquired from a third party information acquisition end when the cloud platform server determines that the third party information acquisition end exists on the first route. Specifically, when the cloud platform server determines that the third party information acquisition end exists on the first route, a second communication channel with the third party information acquisition end can be established, then the cloud platform server can acquire road monitoring information from the third party information acquisition end based on the second communication channel, and then the cloud platform server can forward the road monitoring information to the vehicle based on the first communication channel, so that the vehicle can adopt the road monitoring information and combine the acquisition equipment of the vehicle to carry out automatic driving.

The third party information collection end can be used as a redundant backup and also can be used as monitoring of blind areas, such as all information of the vehicle on the other side of a curve and the other side of the curve is unknown to the sensor of the vehicle, so that the road monitoring information can refer to field end information except the vehicle, namely, the road monitoring information can be information deployed outside the vehicle, and the road monitoring information can comprise environment monitoring information, parking space monitoring information, road side obstacle monitoring information and the like, and the embodiment of the invention is not limited to the above.

In the embodiment of the invention, the vehicle can receive the road monitoring information forwarded by the cloud platform server based on the first communication channel, and the road monitoring information can be obtained after being filtered and calculated by the cloud platform server, so that the difficulty that communication cannot be carried out between the vehicle and the third party information acquisition end based on the private network IP address can be overcome, and the load pressure of the vehicle can be greatly reduced.

In the embodiment of the invention, the vehicle can establish a third communication channel with a third party information acquisition end with a public network IP address besides receiving the road monitoring information forwarded by the cloud platform server based on the first communication channel. Specifically, the vehicle can receive the public network IP address of the third party information acquisition end sent by the cloud platform server based on the first communication channel, then the vehicle adopts the public network IP address to establish the third communication channel with the third party information acquisition end, and thus the vehicle can directly receive the road monitoring information acquired by the third party information acquisition end with the public network IP address based on the third communication channel, thereby avoiding the possibility of information receiving delay, achieving real-time synchronization of the information with the vehicle and reducing the risk of automatic driving.

Step 202, when a preset condition is met in the automatic driving process, a first switching instruction sent by the cloud platform server is received, the cloud platform server is switched to a remote control mode according to the first switching instruction, communication is established with a remote driving control end, and the cloud platform server runs according to control information sent by the remote driving control end.

In the embodiment of the invention, if preset conditions such as temporary traffic control, road construction and road congestion are met in the automatic driving process of the vehicle, the vehicle can request the cloud platform server to remotely take over. The cloud platform server responds to a request of the vehicle and sends a first switching instruction to the vehicle, so that the vehicle can be switched from an automatic driving mode to a remote control mode according to the first switching instruction. And the cloud platform server responds to the request of the vehicle and calls the remote driving control end, so that the vehicle can establish communication with the remote driving control end and can run according to the control information sent by the remote driving control end.

In a specific implementation, assuming that temporary traffic control occurs in front, a vehicle can sense that an obstacle exists in front, stop, pause a service, enter waiting, if the temporary traffic control is finished, the vehicle can sense that the obstacle disappears in front, automatic driving can be continued, however, if the vehicle waiting time exceeds a time threshold, the vehicle can request a remote take over from a cloud platform server, for example, generate a support request and send the support request to the cloud platform server, so that the cloud platform server can call a remote driving control end to process a preset condition, the vehicle can run under the remote control of the remote driving control end, and a user or a safety person does not need to send an instruction on site or perform manual driving, thereby realizing an unmanned scene.

In an optional embodiment of the present invention, the remote driving control terminal includes a plurality of service nodes; the step 202 may comprise the sub-steps of:

step S41, a first switching instruction sent by the cloud platform server is received; the first switching instruction comprises address information of a target service node; the target service node is a target service node which is determined by the cloud platform server from the plurality of service nodes and is in an idle state.

And a substep S42, switching to a remote control mode according to the first switching instruction, and establishing communication with the target service node according to the address information.

In the embodiment of the invention, the remote driving control end may be a service queue for providing remote control service, and the service queue may include a plurality of service nodes. The cloud platform server may establish a fourth communication channel with the remote driving control end, so that the cloud platform server may monitor states of the plurality of service nodes based on the fourth communication channel, where the states may include, but are not limited to, an idle state, a busy state, and a suspended state.

In the embodiment of the invention, the cloud platform server can determine the target service node in the idle state according to the states of the plurality of service nodes, can acquire the address information of the target service node from the remote driving control end, can generate the first switching instruction according to the address information of the target service node, and can send the first switching instruction to the vehicle based on the first communication channel, so that the vehicle can switch from the automatic driving mode to the remote control mode according to the first switching instruction, can extract the address information of the target service node from the first switching instruction, and can establish communication with the target service node by adopting the address information.

In the embodiment of the invention, the vehicle can comprise a vehicle-end network master control node and a vehicle-end automatic driving controller. The vehicle-end network main control node can receive address information of the target service node sent by the cloud platform server based on the first communication channel, so that the vehicle-end network main control node can establish a fifth communication channel with the target service node by adopting the address information. Meanwhile, the vehicle-end automatic driving controller CAN receive the address information of the target service node transmitted by the vehicle-end network main control node based on the ETH channel or the CAN channel of the vehicle, so that the vehicle-end automatic driving controller CAN establish a sixth communication channel with the target service node by adopting the address information.

In the embodiment of the invention, the vehicle-end network master control node can upload audio and video data to the target service node based on the fifth communication channel, and the vehicle-end automatic driving controller can upload real-time perception data to the target service node based on the sixth communication channel, so that the target service node can generate control information to the vehicle according to the audio and video data and the real-time perception data, and the vehicle runs by adopting the control information.

In a specific implementation, the vehicle-end network master control node can not only bear the work of communicating with the cloud platform server, but also bear the work content of video and audio entertainment. For example, assuming temporary traffic control is in front, traffic police intercepts the vehicle, the vehicle stops, the cloud platform server can be requested by the vehicle-side network master control node to perform remote processing, the cloud platform server can call a target service node in an idle state in the remote driving control side, and then the vehicle can establish communication with the target service node. The vehicle-end network main control node of the vehicle can collect audio data of the external environment of the vehicle from acquisition equipment such as a microphone and a loudspeaker, and can collect video data of the external environment of the vehicle from acquisition equipment such as a roof camera, a head camera, a tail camera and a body camera, and then the vehicle-end network main control node can upload the audio and video data to a target service node based on a fifth communication channel, so that the target service node can communicate with traffic police in real time according to the audio and video data.

In a specific implementation, the vehicle-side autopilot controller may undertake autopilot work. For example, the vehicle end autopilot controller may collect real-time sensory data such as wheel rotation angle, heading angle, speed, acceleration, etc. from various acquisition devices. The steering angle of the wheel can be determined by collecting the deflection angle of the steering wheel, the course angle can be determined by collecting data collected by a gyroscope of the yaw rate of the vehicle, the speed can be determined by collecting data collected by a speed sensor, and the acceleration can be determined according to the data collected by an acceleration sensor. And then the vehicle-end automatic driving controller can upload real-time perception data to the target service node based on the sixth communication channel, so that the target service node can generate control information according to the real-time perception data, and the control information can comprise control parameters such as wheel rotation angle, course angle, speed, acceleration and the like, and the vehicle-end automatic driving controller can drive according to the control information. For example, assuming that the control information includes "wheel angle is shifted to the left by 10 °", "to be decelerated to 60km/h", the vehicle-end autopilot controller may control the steering wheel of the vehicle to rotate such that the wheel angle is shifted to the left by 10 °, and control the brake of the vehicle to decelerate the vehicle to 60km/h.

It should be noted that, the fourth communication channel has low real-time requirements, is not a safety strong, can be provided with a 4G network or a 5G network, can be determined according to the capability of the actual communication module of the vehicle and the traffic tariff, and the fifth communication channel and the sixth communication channel are related to driving safety, and can be provided with a 5G network and a higher-order network than 5G for the real-time requirements.

And 203, when the preset condition is released, receiving a second switching instruction sent by the cloud platform server, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed.

In an alternative embodiment of the present invention, the step 203 may comprise the sub-steps of:

step S51, receiving a second switching instruction sent by the cloud platform server; the second switching instruction comprises a second route planned by the cloud platform server.

And a substep S52, switching to the automatic driving mode according to the second switching instruction, and continuing to perform automatic driving according to the second route.

In a specific implementation, when the cloud platform server monitors that the preset condition is released, the cloud platform server sends a disconnection instruction to the target service node based on the fourth communication channel, and the target service node can be instructed to disconnect the fifth communication channel and the sixth communication channel through the disconnection instruction, so that remote control on the vehicle can be disconnected, and a remote driving control end is not required to be online in real time.

Then, the vehicle may receive a second switching instruction sent by the cloud platform server based on the first communication channel, where the second switching instruction may include a second route planned by the cloud platform server, and the second route may be a route obtained by re-planning according to a current second position of the vehicle and position information in the service order, so that the vehicle may switch from a remote control mode to an automatic driving mode according to the second switching instruction, and in the automatic driving mode, the vehicle may continue to perform automatic driving according to the second route until the service order is completed.

In order that those skilled in the art may better understand the embodiments of the present invention, a description of the embodiments of the present invention will be given below by way of example:

example one: the system comprises a user terminal 301, a cloud platform server 302, a vehicle 303, a third party information acquisition terminal 304 and a remote driving control terminal 305.

Referring to fig. 3, a communication diagram related to a user terminal, a cloud platform server, a vehicle, a third party information acquisition end and a remote driving control end in the embodiment of the invention is shown, and a specific communication process is as follows:

1. The user can make an order through the user terminal 301 loaded with the APP, and the user terminal 301 can send the service order to the cloud platform server 302;

2. The cloud platform server 302 may establish a first communication channel with a vehicle end network master control node 3032 in the vehicle 303; wherein the first communication channel may use a 4G network or a 5G network; the cloud platform server 302 may generate service information according to the service order, and based on the first communication channel, may send the service information to the vehicle-end network master control node 3032;

3. if the third party information collection end 304 exists on the first route, the cloud platform server 302 may establish a second communication channel with the third party information collection end 304; wherein the second communication channel may use a 4G network or a 5G network; based on the second communication channel, the cloud platform server 302 may receive the road monitoring information collected by the third party information collection end 304, then may process the road monitoring information, and then based on the first communication channel, may send the processed road monitoring information to the vehicle end network master control node 3032;

4. The cloud platform server 302 may instruct the vehicle-side network master control node 3032 to establish a third communication channel with the third party information acquisition end 304; wherein, the third communication channel can use 5G network and above 5G network; based on the third communication channel, the vehicle-end network master control node 3032 can receive the road monitoring information acquired by the third party information acquisition end 304;

5. Cloud platform server 302 may establish a fourth communication channel with remote driving control end 305 to monitor the status of remote driving control end 305; wherein, the fourth communication channel can use a 4G network or a 5G network;

6. The vehicle-end network master control node 3032 CAN forward service information and road monitoring information to the vehicle-end automatic driving controller 3031 based on the ETH channel/CAN channel;

7. The vehicle-end automatic driving controller 3031 can automatically drive according to the business information and the road monitoring information;

8. When the vehicle 303 encounters a preset condition, the vehicle-end network master control node 3032 may generate a support request, and then, based on the first communication channel, may send the support request to the cloud platform server 302;

9. according to the state of the remote driving control terminal 305, the cloud platform server 302 can determine a target service node in an idle state from the remote driving control terminal 305;

10. Cloud platform server 302 may instruct vehicle 303 to establish communication with a target service node in remote driving control 305; so that the vehicle-end network master control node 3032 and the target service node in the remote driving control end 305 can establish a fifth communication channel; so that the vehicle-end autopilot controller 3031 and the target service node in the remote driving control end 305 can establish a sixth communication channel; wherein, the fifth communication channel and the sixth communication channel can use 5G network and above 5G network;

11. The vehicle-end network master control node 3032 can upload audio and video data to a target service node in the remote driving control end 305 based on the fifth communication channel; the vehicle-end autopilot controller 3031 may upload real-time awareness data to the target service node in the remote driving control end 305 based on the sixth communication channel;

12. the target service node in the remote driving control terminal 305 can remotely control the vehicle 303 according to the audio/video data and the real-time sensing data so as to process the preset condition;

13. When the preset condition is released, the cloud platform server 302 may instruct the target service node in the remote driving control end 305 to disconnect the fifth communication channel and the sixth communication channel, so as to disconnect the remote control on the vehicle;

14. Cloud platform server 302 may instruct vehicle 303 to continue with the autopilot to cause vehicle 303 to complete the business order.

In an alternative embodiment of the invention, the service order includes location information,

In an optional embodiment of the present invention, the cloud platform server is further configured to determine whether a third party information acquisition end exists on the first route;

In an optional embodiment of the present invention, the remote driving control terminal includes a plurality of service nodes;

In an optional embodiment of the present invention, the target service node is configured to send the released information to the cloud platform server; the released information is used for representing that the preset condition is released;

In an optional embodiment of the present invention, the cloud platform server is configured to plan a second route for the vehicle, generate a second switching instruction according to the second route, and send the second switching instruction to the vehicle;

For system embodiments, the description is relatively simple as it is substantially similar to method embodiments, and reference is made to the description of method embodiments for relevant points.

Referring to fig. 4, a block diagram of a driving device provided by an embodiment of the present invention is shown, and the driving device is applied to a cloud platform server, where the device may specifically include the following steps:

The allocation module 401 is configured to allocate a matched vehicle to a service order when receiving the service order, and send service information corresponding to the service order to the vehicle;

The auxiliary module 402 is configured to send a first switching instruction to the vehicle and send an auxiliary instruction to a remote driving control end when it is monitored that the vehicle encounters a preset condition in an automatic driving process based on the service information; the first switching instruction is used for indicating the vehicle to switch to a remote control mode; the auxiliary instruction is used for indicating the remote driving control end to remotely control the vehicle;

The disconnection module 403 is configured to send a disconnection instruction to the remote driving control end and send a second switching instruction to the vehicle when it is detected that the preset condition is released; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; and the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order.

In an alternative embodiment of the present invention, the service order includes location information, and the apparatus may further include:

In an alternative embodiment of the present invention, the apparatus may further include:

In an optional embodiment of the present invention, the remote driving control terminal includes a plurality of service nodes; the apparatus may further include:

In an alternative embodiment of the present invention, the auxiliary module 402 may include:

In an alternative embodiment of the present invention, the disconnection module 403 may include:

Referring to fig. 5, a block diagram of another driving apparatus according to an embodiment of the present invention is shown, and the driving apparatus is applied to a vehicle, and the apparatus may specifically include the following steps:

the starting module 501 is configured to receive service information sent by the cloud platform server, and start an automatic driving mode according to the service information, so as to perform automatic driving;

the first switching module 502 is configured to receive a first switching instruction sent by the cloud platform server when a preset condition is met in an automatic driving process, switch to a remote control mode according to the first switching instruction, establish communication with a remote driving control end, and drive according to control information sent by the remote driving control end;

And a second switching module 503, configured to receive a second switching instruction sent by the cloud platform server when the preset condition is released, and switch to the automatic driving mode according to the second switching instruction, so as to continue automatic driving until the service order is completed.

In an optional embodiment of the invention, the service information includes a start instruction and a first route; the start module 501 may include:

In an optional embodiment of the present invention, the remote driving control terminal includes a plurality of service nodes; the first switching module 502 may include:

In an alternative embodiment of the present invention, the second switching module 503 may include:

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.

The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description of the driving method, system, apparatus, electronic device, vehicle and readable storage medium that are provided herein may be better understood, and in order that the present invention may be better suited for use in conjunction with the following description; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A driving method, characterized by being applied to a cloud platform server, the method comprising:

When the preset condition is detected to be relieved, sending a disconnection instruction to the remote driving control end, and sending a second switching instruction to the vehicle; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order;

The remote driving control end comprises a plurality of service nodes; the first switching instruction is further used for instructing the vehicle to establish communication with a target service node in an idle state so as to provide remote control service for the vehicle through the target service node; the vehicle comprises a vehicle-end network main control node and a vehicle-end automatic driving controller, wherein the vehicle-end network main control node is used for transmitting audio and video data to the target service node; the cloud platform server is used for acquiring road monitoring information acquired by a third party information acquisition end and transmitting the road monitoring information to the vehicle-end network master control node; if the internet protocol address of the third party information acquisition end is a public network internet protocol address, the cloud platform server is further used for acquiring the public network internet protocol address and transmitting the public network internet protocol address to the vehicle end network master control node; the public network internet protocol address is used for establishing a communication channel between a third party information acquisition end corresponding to the public network internet protocol address and the vehicle; the vehicle-end network master control node is used for reducing the load pressure of the vehicle-end automatic driving controller and ensuring the automatic driving safety of the vehicle.

2. The method of claim 1, wherein the service order includes location information, the method further comprising:

3. The method according to claim 2, wherein the method further comprises:

4. The method according to claim 1, wherein the method further comprises:

the sending a first switching instruction to the vehicle includes:

5. The method according to claim 4, wherein the sending a disconnection instruction to the remote driving control terminal when the preset condition is detected to be released comprises:

6. The method of claim 1, wherein the sending a second switch instruction to the vehicle comprises:

7. A driving method, characterized by being applied to a vehicle, the method comprising:

When the preset condition is released, receiving a second switching instruction sent by the cloud platform server, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed;

8. The method of claim 7, wherein the business information comprises an initiation instruction and a first route; the automatic driving mode is started according to the business information so as to carry out automatic driving, and the automatic driving method comprises the following steps:

9. The method of claim 8, wherein the method further comprises:

and adopting the road monitoring information to carry out automatic driving.

10. The method of claim 7, wherein switching to a remote control mode according to the first switching instruction and establishing communication with a remote driving control terminal comprises:

11. The method of claim 7, wherein the switching to the autopilot mode in accordance with the second switching instruction to continue autopilot comprises:

12. The driving system is characterized by comprising a cloud platform server, a vehicle and a remote driving control end;

the vehicle is used for switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed;

13. The system of claim 12, wherein the service order includes location information,

14. The system of claim 13, wherein the system further comprises a controller configured to control the controller,

The cloud platform server is further used for determining whether a third party information acquisition end exists on the first route;

15. The system of claim 12, wherein the system further comprises a controller configured to control the controller,

16. The system of claim 15, wherein the system further comprises a controller configured to control the controller,

The target service node is used for sending the released information to the cloud platform server; the released information is used for representing that the preset condition is released;

17. The system of claim 12, wherein the system further comprises a controller configured to control the controller,

The cloud platform server is used for planning a second route for the vehicle, generating a second switching instruction according to the second route and sending the second switching instruction to the vehicle;

18. A steering apparatus for use with a cloud platform server, the apparatus comprising:

The disconnection module is used for sending a disconnection instruction to the remote driving control end and sending a second switching instruction to the vehicle when the preset condition is detected to be released; the disconnection instruction is used for instructing the remote driving control end to disconnect the remote control; the second switching instruction is used for indicating the vehicle to switch to an automatic driving mode so as to enable the vehicle to continue to automatically drive until the vehicle completes the service order;

19. A driving apparatus, characterized by being applied to a vehicle, the apparatus comprising:

The second switching module is used for receiving a second switching instruction sent by the cloud platform server when the preset condition is released, and switching to the automatic driving mode according to the second switching instruction so as to continue automatic driving until the service order is completed;

20. An electronic device comprising a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the driving method of any of method claims 1-6 or method claims 7-11.

21. A vehicle comprising a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, the one or more programs comprising instructions for performing the driving method of any of claims 7-11.

22. A readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the driving method according to any one of the method claims 1-6 or the method claims 7-11.