CN107871399B - Automatic vehicle driving system and method - Google Patents
Automatic vehicle driving system and method Download PDFInfo
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- CN107871399B CN107871399B CN201611227082.9A CN201611227082A CN107871399B CN 107871399 B CN107871399 B CN 107871399B CN 201611227082 A CN201611227082 A CN 201611227082A CN 107871399 B CN107871399 B CN 107871399B
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention relates to a vehicle automatic driving system and a method, wherein an unmanned aerial vehicle is used for acquiring road surface information of an automatic driving vehicle on a preset navigation route and sending the road surface information to the automatic driving vehicle and a cloud server; the cloud server is used for monitoring the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receiving and storing road surface information sent by the unmanned aerial vehicle; the cloud server sends road surface information to the automatic driving vehicle when the unmanned aerial vehicle and the automatic driving vehicle are in an unstable or disconnected state; the automatic driving vehicle is used for executing corresponding actions according to the road surface information when receiving the road surface information and entering an automatic early warning state when not receiving the road surface information. Because unmanned aerial vehicle can fly away from the autopilot vehicle, can collect various road surface conditions in advance and timely send for the autopilot vehicle, the autopilot vehicle can in time accurately react according to the road surface condition who receives, great improvement autopilot vehicle's security.
Description
Technical Field
The invention relates to the field of automatic driving of vehicles, in particular to an automatic driving system and method for a vehicle.
Background
The automatic vehicle driving system, also called automatic driving vehicle, also called unmanned vehicle, computer driving vehicle or wheeled mobile robot, is an intelligent vehicle system for realizing unmanned driving by vehicle-mounted computer system. The development of the automatic driving vehicle technology has already been in the 20 th century for decades, and the development of the automatic driving vehicle technology has been vigorous because of the trend of approaching the practical use in the beginning of the 21 st century.
The traditional automatic vehicle driving has great limitation, is not beneficial to the processing of various emergency situations, and can not make accurate response when the emergency situations occur, thus causing accidents. Therefore, the conventional vehicle automatic driving system has low automatic driving safety.
Disclosure of Invention
In view of the above, it is desirable to provide a vehicle automatic driving system and method with high automatic driving safety.
A vehicle automatic driving system comprises an unmanned aerial vehicle, a cloud server and an automatic driving vehicle, wherein the unmanned aerial vehicle, the cloud server and the automatic driving vehicle are connected through wireless communication, the unmanned aerial vehicle flies around the automatic driving vehicle according to a preset navigation route of the automatic driving vehicle,
the unmanned aerial vehicle is used for acquiring road surface information of the automatic driving vehicle on the preset navigation route and sending the road surface information to the automatic driving vehicle and the cloud server;
the cloud server is used for monitoring the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receiving and storing the road surface information sent by the unmanned aerial vehicle; the cloud server sends the road information to the autonomous vehicle when the unmanned aerial vehicle and the autonomous vehicle are in an unstable or disconnected state;
the automatic driving vehicle is used for executing corresponding actions according to the road surface information when receiving the road surface information and entering an automatic early warning state when not receiving the road surface information.
A method of automatic driving of a vehicle, comprising the steps of:
the method comprises the steps that an unmanned aerial vehicle obtains road surface information where the automatic driving vehicle is located on a preset navigation route and sends the road surface information to the automatic driving vehicle and a cloud server, wherein the unmanned aerial vehicle flies around the automatic driving vehicle according to the preset navigation route of the automatic driving vehicle;
the cloud server monitors the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receives and stores the road surface information sent by the unmanned aerial vehicle;
the cloud server sends the road information to the autonomous vehicle when the unmanned aerial vehicle and the autonomous vehicle are in an unstable or disconnected state;
and when the automatic driving vehicle receives the road surface information, executing corresponding actions according to the road surface information, and when the road surface information is not received, entering an automatic early warning state.
According to the automatic vehicle driving system and the automatic vehicle driving method, the unmanned aerial vehicle flies around the automatic vehicle according to the preset navigation route of the automatic vehicle, and the unmanned aerial vehicle is used for acquiring the road information of the automatic vehicle on the preset navigation route and sending the road information to the automatic vehicle and the cloud server; the cloud server is used for monitoring the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receiving and storing road surface information sent by the unmanned aerial vehicle; the cloud server sends road surface information to the automatic driving vehicle when the unmanned aerial vehicle and the automatic driving vehicle are in an unstable or disconnected state; the automatic driving vehicle is used for executing corresponding actions according to the road surface information when receiving the road surface information and entering an automatic early warning state when not receiving the road surface information. Because unmanned aerial vehicle can fly away from the autopilot vehicle itself, see farther, more in front, can collect various road surface conditions in advance and timely send for the autopilot vehicle, the autopilot vehicle can in time accurately react according to the road surface condition who receives, great improvement autopilot vehicle's security.
Drawings
FIG. 1 is a block diagram of an exemplary vehicle autopilot system;
FIG. 2 is a schematic view of an embodiment of unmanned aerial vehicle assisted autonomous vehicle driving under complex road conditions;
FIG. 3 is a diagram of an embodiment of a drone architecture;
FIG. 4 is a schematic view of an unmanned aerial vehicle assisted autonomous vehicle driving according to an embodiment of broken road conditions;
fig. 5 is a schematic view illustrating unmanned aerial vehicle assisted autonomous vehicle driving according to the hollow road condition according to an embodiment;
FIG. 6 is a flowchart illustrating an exemplary method for automatic vehicle driving.
Detailed Description
In one embodiment, as shown in fig. 1, a vehicle automatic driving system includes an unmanned aerial vehicle 110, a cloud server 120, and an automatic driving vehicle 130, and the unmanned aerial vehicle 110, the cloud server 120, and the automatic driving vehicle 130 are connected through wireless communication, wherein the unmanned aerial vehicle 110 flies around the automatic driving vehicle 130 according to a preset navigation route of the automatic driving vehicle 130, and the unmanned aerial vehicle 110 is configured to obtain road information where the automatic driving vehicle 130 is located on the preset navigation route, and send the road information to the automatic driving vehicle 130 and the cloud server 120; the cloud server 120 is configured to monitor a wireless communication state between the unmanned aerial vehicle 110 and the autonomous vehicle 130, and receive and store road information sent by the unmanned aerial vehicle 110; the cloud server 120 sends the road information to the autonomous vehicle 130 when the unmanned aerial vehicle 110 and the autonomous vehicle 130 are in an unstable or disconnected state; the autonomous vehicle 130 is configured to perform a corresponding action according to the road surface information when the road surface information is received, and enter an automatic early warning state when the road surface information is not received.
Specifically, the type of autonomous vehicle 130 is not exclusive and may be, in particular, a bicycle, an automobile, or the like. The three parts of the automatic vehicle driving system realize information intercommunication between two parts, namely: the cloud server 120 and the autonomous vehicle 130, the cloud server 120 and the drone 110, and the autonomous vehicle 130 and the drone 110. One part can also be used as an information transfer station to realize the information intercommunication of the other two parts.
The autonomous driving vehicle 130 is configured to perform a corresponding action according to the road surface information when receiving the road surface information, and enter an automatic early warning state when not receiving the road surface information, including: when the communication rate between the autonomous vehicle 130 and the unmanned aerial vehicle 110 is greater than or equal to a preset threshold value, it indicates that the autonomous vehicle 130 and the unmanned aerial vehicle 110 are in a stable wireless communication state, and the autonomous vehicle 130 receives road surface information sent by the unmanned aerial vehicle 110 and executes corresponding actions according to the road surface information; when the communication rate between the autonomous driving vehicle 130 and the unmanned aerial vehicle 110 is smaller than a preset threshold value, indicating that the autonomous driving vehicle 130 and the unmanned aerial vehicle 110 are in an unstable or disconnected wireless communication state, the unmanned aerial vehicle 110 sends road surface information to the cloud server 120, the cloud server 120 receives and sends the road surface information to the autonomous driving vehicle 130, and the autonomous driving vehicle 130 receives the road surface information sent by the cloud server 120 and executes corresponding actions according to the road surface information; when the autonomous vehicle 130 does not receive the road surface information, the autonomous vehicle 130 enters an automatic early warning state.
The cloud server 120 is further configured to receive the road information shared by the other cloud servers 120 and send the road information to the autonomous vehicle 130 and the unmanned aerial vehicle 110, the autonomous vehicle 130 is configured to receive the road information shared by the other cloud servers 120 as a reference for long-distance route planning and update a preset navigation route, the unmanned aerial vehicle 110 is configured to receive the road information shared by the other cloud servers 120 as a reference for long-distance route planning and update a preset navigation route, in the system, the preset navigation route is only stored in any one of the autonomous vehicle 130 and the unmanned aerial vehicle 110, the autonomous vehicle 130 and the unmanned aerial vehicle 110 will travel along the preset navigation route, the cloud server receives the road information shared by the other cloud servers 120, can obtain the road information of the long-distance route, and send the road information to the autonomous vehicle 130 and the unmanned aerial vehicle 110, as a reference for long-distance route planning, the preset navigation route is updated, so that even when the wireless communication state is unstable or disconnected due to the fact that the autonomous vehicle 130 and the unmanned aerial vehicle 110 pass through a complex road condition, the safety of the autonomous system can be further improved, and accidents are reduced. In addition, fourth information can be implanted into the cloud server 120 and pushed to the unmanned aerial vehicle 110 and the autonomous driving vehicle 130, so that convenience is improved.
Specifically, as shown in fig. 2, when the autonomous vehicle 130 is in a sharp curve, a large obstacle (such as a steep slope or a building) may exist, when the unmanned aerial vehicle 110 loses contact with the autonomous vehicle 130 due to the obstacle and there is a fast-moving vehicle in front of the road, the unmanned aerial vehicle 110 sends the road information to the cloud server 120, the cloud server 120 receives the road information and then sends the road information to the autonomous vehicle 130, and the autonomous vehicle 130 makes an emergency deceleration and avoidance action after receiving the road information. Under such road conditions, the drone 110 and the autonomous vehicle 130 may or may not be in wireless communication. Thus, the specific connection case is as follows: the unmanned aerial vehicle 110 is preferentially connected with the autonomous vehicle 130 to realize data communication, and the data of the unmanned aerial vehicle 110 is preferentially sent to the autonomous vehicle 130; when the wireless communication state between the drone 110 and the autonomous vehicle 130 is unstable or disconnected, the drone 110 sends data information to the cloud server 120, and the cloud server 120 forwards the data information to the autonomous vehicle 130; when the wireless communication states of the unmanned aerial vehicle 110, the autonomous driving vehicle 130 and the cloud server 120 are unstable or disconnected, the autonomous driving vehicle 130 decelerates and moves to the side, and starts the self early warning device to send out an alarm signal, the unmanned aerial vehicle 110 stays in place, and after the unmanned aerial vehicle 110 is normally connected with the autonomous driving vehicle 130, the unmanned aerial vehicle works normally. The automatic driving vehicle 130 can timely receive the road information, and can timely and accurately cope with emergency situations, thereby effectively improving the safety and reliability of automatic driving.
In one embodiment, as shown in fig. 3, the unmanned aerial vehicle 110 includes an onboard satellite navigation device 112, an onboard road information acquisition device 114, an onboard sensor 116 and an onboard intelligent processing terminal 118, the onboard satellite navigation device 112, the onboard road information acquisition device 114 and the onboard sensor 116 are all connected to the onboard intelligent processing terminal 118, and the onboard road information acquisition device 114 is configured to acquire road information and send the road information to the onboard intelligent processing terminal 118; the onboard satellite navigation device 112 is used for storing a preset navigation route and sending the preset navigation route to the onboard intelligent processing terminal 118; the onboard sensor 116 is used for acquiring state data of the unmanned aerial vehicle 110 and sending the state data to the onboard intelligent processing terminal 118; the onboard intelligent processing terminal 118 is configured to control the unmanned aerial vehicle 110 to fly around the autonomous vehicle 130 on a preset navigation route according to the preset navigation route, and receive the road surface information and the status data of the unmanned aerial vehicle 110 and send the road surface information and the status data to the autonomous vehicle 130 and the cloud server 120.
Specifically, the onboard road information acquiring device 114 is used for acquiring road information, and the specific acquiring manner is not unique, and may be a manner of taking an image or scanning; the onboard satellite navigation device 112 and the navigation device of the autonomous driving vehicle 130 may be operated synchronously or independently, and the synchronous operation means that only one of the unmanned aerial vehicle 110 and the autonomous driving vehicle 130 needs to be set, and both of them travel along a set route; the onboard intelligent processing terminal 118, as the main control part of the unmanned aerial vehicle 110, needs to process image data and/or radar information data, sensor data and the like, and also serves as a connecting end to be connected with the autonomous driving vehicle 130 and the cloud server 120, so that data information interaction is realized.
In one embodiment, onboard road information acquisition device 114 includes an onboard aerial device and/or an onboard radar system coupled to onboard intelligent processing terminal 118.
Specifically, the onboard aerial device is used for capturing images or video, captured or recorded data, and the aerial device can capture a larger area, which can be covered in the front, back, left, and right directions of the unmanned aerial vehicle 110. The airborne aerial photographing device comprises at least one camera device which can be configured by a single camera, double cameras and a plurality of cameras; airborne radar system is used for scanning the road conditions of road, if: the scanned information will be sent by the onboard intelligent terminal to the autonomous vehicle 130 and the cloud server 120 for sharp curves of vehicles, traffic congestion, broken sections, pothole sections, etc. When visibility is high, the field of vision is good, can use machine to carry the aerial device or machine carries radar system, is in the state of going at a high speed when autopilot vehicle 130, and probably there is because the reason in sky color or field of vision, and it is unclear that machine carries the aerial device and shoots image or image, needs machine to carry radar system to scan the road condition this moment, can select to use machine to carry aerial device and/or machine carries radar system as required, can ensure that unmanned aerial vehicle accurately acquires the road surface information.
In one embodiment, the airborne radar system comprises at least one of a lidar system, an ultrasonic radar system, and a microwave radar system.
In particular, the airborne radar system may cover various types of radar modes, and in this embodiment, may be at least one of laser, ultrasonic, and microwave.
Specifically, as shown in fig. 4 and 5, when the autonomous vehicle 130 is in a high-speed driving state, there may be a case where a front broken or stepped section cannot be seen in time due to a sky color or a view. When the unmanned aerial vehicle 110 scans abnormal road conditions in front of the autonomous vehicle 130, the road information is sent to the autonomous vehicle 130 in time, the road information is displayed on a display screen of a vehicle-mounted intelligent processing terminal of the autonomous vehicle 130, and the autonomous vehicle 130 makes emergency deceleration and avoidance actions after receiving the information. Under this kind of road conditions, unmanned aerial vehicle 110 mainly is the mode through the radar scanning, and whether the road in the judgement the place ahead is unusual, normal road conditions, and the information of scanning is flat road conditions information, unusual road conditions, and the information of scanning is cracked road conditions information, and unmanned aerial vehicle 110 sends the road surface information that the scanning obtained to automatic driving vehicle 130 and cloud server 120.
In one embodiment, the on-board sensors 116 include a multi-axis gyroscope, a gravity sensor and a temperature sensor connected to the on-board intelligent processing terminal 118, the multi-axis gyroscope is used for detecting the self-positioning and the walking position of the unmanned aerial vehicle 110 and sending the self-positioning and the walking position to the on-board intelligent processing terminal 118; the gravity sensor is used for detecting the ascending and descending of the unmanned aerial vehicle 110 and sending the ascending and descending to the onboard intelligent processing terminal 118; the temperature sensor is used for sensing the outside temperature and sending the outside temperature to the on-board intelligent processing terminal 118.
In particular, the combined use of multiple sensors of the on-board sensors 116 allows the drone 110 to fly more stably.
In one embodiment, the onboard intelligent processing terminal 118 includes a processor coupled to the onboard satellite navigation device 112, the onboard road information acquisition device 114, and the onboard sensor 116, and a communication device coupled to the processor.
Specifically, the processor is configured to process relevant data information collected from the onboard road information acquisition device 114, the onboard sensor 116, the onboard satellite navigation device 112, the cloud server 120, etc., and sent to the autonomous vehicle 130 and the cloud server 120 via the communication device.
In one embodiment, the communication device includes at least one of a WIFI device, a bluetooth device, and a GPRS device connected to the processor.
Specifically, a suitable wireless communication device can be selected according to actual needs, and the applicability is wide.
Above-mentioned vehicle autopilot system, because unmanned aerial vehicle 110 can fly away from autopilot vehicle 130 itself, see farther, more in front, can collect various road surface conditions in advance and timely send to autopilot vehicle 130, autopilot vehicle 130 can in time accurately react according to the road surface condition who receives, great improvement autopilot vehicle 130's security.
In one embodiment, as shown in fig. 6, a method for automatic driving of a vehicle includes the steps of:
step S110: the unmanned aerial vehicle acquires road surface information where the automatic driving vehicle is located on the preset navigation route, and sends the road surface information to the automatic driving vehicle and the cloud server, wherein the unmanned aerial vehicle flies around the automatic driving vehicle according to the preset navigation route of the automatic driving vehicle.
Step S120: the cloud server monitors the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receives and stores road surface information sent by the unmanned aerial vehicle.
Step S130: the cloud server sends road information to the autonomous driving vehicle when the unmanned aerial vehicle and the autonomous driving vehicle are in an unstable or disconnected state.
Step S140: and when the automatic driving vehicle receives the road surface information, executing corresponding actions according to the road surface information, and when the road surface information is not received, entering an automatic early warning state. Step S140 includes steps 142 to 146.
Step 142: when the communication rate between the automatic driving vehicle and the unmanned aerial vehicle is larger than or equal to a preset threshold value, the automatic driving vehicle receives road surface information sent by the unmanned aerial vehicle and executes corresponding actions according to the road surface information.
Step 144: when the communication rate between the automatic driving vehicle and the unmanned aerial vehicle is smaller than a preset threshold value, the automatic driving vehicle receives road surface information sent by the cloud server and executes corresponding actions according to the road surface information.
Step 146: and when the automatic driving vehicle does not receive the road surface information, the automatic driving vehicle enters an automatic early warning state.
In one embodiment, the method for automatic driving of a vehicle further comprises the steps of: the cloud server receives road surface information shared by other cloud servers and sends the road surface information to the automatic driving vehicle and the unmanned aerial vehicle; the automatic driving vehicle receives road surface information shared by other cloud servers as a reference for long-distance route planning, and updates the preset navigation route; and the unmanned aerial vehicle receives road surface information shared by other cloud servers as a reference for long-distance route planning, and updates the preset navigation route.
According to the automatic driving method for the vehicle, the unmanned aerial vehicle can fly away from the automatic driving vehicle to see farther and more ahead, various road conditions can be collected in advance and sent to the automatic driving vehicle in time, the automatic driving vehicle can timely and accurately react according to the received road conditions, and the safety of the automatic driving vehicle is greatly improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A vehicle automatic driving system is characterized by comprising an unmanned aerial vehicle, a cloud server and an automatic driving vehicle, wherein the unmanned aerial vehicle, the cloud server and the automatic driving vehicle are connected through wireless communication, the unmanned aerial vehicle flies around the automatic driving vehicle according to a preset navigation route of the automatic driving vehicle,
the unmanned aerial vehicle is used for acquiring road surface information of the automatic driving vehicle on the preset navigation route and sending the road surface information to the automatic driving vehicle and the cloud server; the road information comprises information of vehicles turning at a sharp curve, traffic jam conditions, broken sections and/or hollow sections;
the cloud server is used for monitoring the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receiving and storing the road surface information sent by the unmanned aerial vehicle; the cloud server sends the road information to the autonomous vehicle when the unmanned aerial vehicle and the autonomous vehicle are in an unstable or disconnected state; the cloud server is also used for receiving road surface information shared by other cloud servers and sending the road surface information to the automatic driving vehicle and the unmanned aerial vehicle;
the automatic driving vehicle is used for executing corresponding actions according to the road information when receiving the road information, and entering an automatic early warning state when not receiving the road information, wherein the automatic early warning state comprises that the automatic driving vehicle performs deceleration and side approaching actions, and starts a self early warning device to send out a warning signal; the unmanned aerial vehicle stays in place, and normal work is carried out after the unmanned aerial vehicle is normally connected with the automatic driving vehicle;
the unmanned aerial vehicle comprises an airborne satellite navigation device, an airborne road surface information acquisition device, an airborne sensor and an airborne intelligent processing terminal, wherein the airborne satellite navigation device, the airborne road surface information acquisition device and the airborne sensor are all connected with the airborne intelligent processing terminal,
the airborne satellite navigation device is used for storing the preset navigation route and sending the preset navigation route to the airborne intelligent processing terminal;
the airborne road information acquisition device is used for acquiring road information and sending the road information to the airborne intelligent processing terminal;
the airborne sensor is used for acquiring state data of the unmanned aerial vehicle and sending the state data to the airborne intelligent processing terminal;
the airborne intelligent processing terminal is used for controlling the unmanned aerial vehicle to fly around the automatic driving vehicle on a preset navigation route according to the preset navigation route, receiving the road surface information and the state data of the unmanned aerial vehicle and sending the road surface information and the state data of the unmanned aerial vehicle to the automatic driving vehicle and the cloud server;
the airborne road information acquisition device comprises an airborne aerial photographing device and/or an airborne radar system which is connected with the airborne intelligent processing terminal, and the airborne radar system comprises at least one of a laser radar system, an ultrasonic radar system and a microwave radar system.
2. The vehicle autopilot system of claim 1 wherein the onboard sensors include a multi-axis gyroscope, a gravity sensor, and a temperature sensor coupled to the onboard intelligent processing terminal,
the multi-axis gyroscope is used for detecting the self-positioning and walking position of the unmanned aerial vehicle and sending the self-positioning and walking position to the airborne intelligent processing terminal;
the gravity sensor is used for detecting the ascending and descending of the unmanned aerial vehicle and sending the ascending and descending to the airborne intelligent processing terminal;
the temperature sensor is used for sensing the outside temperature and sending the outside temperature to the airborne intelligent processing terminal.
3. The vehicle autopilot system of claim 1 wherein the onboard intelligent processing terminal includes a processor and a communication device, the processor being coupled to the onboard satellite navigation device, the onboard road information acquisition device and the onboard sensor, the communication device being coupled to the processor.
4. The vehicle autopilot system of claim 3 wherein the communication device includes at least one of a WIFI device, a Bluetooth device, and a GPRS device coupled to the processor.
5. A method for automatically driving a vehicle, comprising the steps of:
the method comprises the steps that an unmanned aerial vehicle obtains road surface information where the automatic driving vehicle is located on a preset navigation route and sends the road surface information to the automatic driving vehicle and a cloud server, wherein the unmanned aerial vehicle flies around the automatic driving vehicle according to the preset navigation route of the automatic driving vehicle; the road information comprises information of vehicles turning at a sharp curve, traffic jam conditions, broken sections and/or hollow sections; the unmanned aerial vehicle comprises an airborne satellite navigation device, an airborne road information acquisition device, an airborne sensor and an airborne intelligent processing terminal, wherein the airborne satellite navigation device, the airborne road information acquisition device and the airborne sensor are all connected with the airborne intelligent processing terminal, and the airborne satellite navigation device is used for storing the preset navigation route and sending the preset navigation route to the airborne intelligent processing terminal; the airborne road information acquisition device is used for acquiring road information and sending the road information to the airborne intelligent processing terminal; the airborne sensor is used for acquiring state data of the unmanned aerial vehicle and sending the state data to the airborne intelligent processing terminal; the airborne intelligent processing terminal is used for controlling the unmanned aerial vehicle to fly around the automatic driving vehicle on a preset navigation route according to the preset navigation route, receiving the road surface information and the state data of the unmanned aerial vehicle and sending the road surface information and the state data of the unmanned aerial vehicle to the automatic driving vehicle and the cloud server; the airborne road information acquisition device comprises an airborne aerial photographing device and/or an airborne radar system which are connected with an airborne intelligent processing terminal; the airborne radar system comprises at least one of a laser radar system, an ultrasonic radar system and a microwave radar system;
the cloud server monitors the wireless communication state between the unmanned aerial vehicle and the automatic driving vehicle, and receives and stores the road surface information sent by the unmanned aerial vehicle;
the cloud server sends the road information to the autonomous vehicle when the unmanned aerial vehicle and the autonomous vehicle are in an unstable or disconnected state; the cloud server is also used for receiving road surface information shared by other cloud servers and sending the road surface information to the automatic driving vehicle and the unmanned aerial vehicle;
when the automatic driving vehicle receives the road surface information, executing corresponding actions according to the road surface information, and entering an automatic early warning state when the road surface information is not received, wherein the automatic early warning state comprises that the automatic driving vehicle performs deceleration and side approaching actions, and starts a self early warning device to send out a warning signal; the unmanned aerial vehicle stays in place, and normal work is carried out after the unmanned aerial vehicle is normally connected with the automatic driving vehicle.
6. The vehicle automatic driving method according to claim 5, wherein the step of the automatic driving vehicle performing a corresponding action according to the road surface information when receiving the road surface information, and entering an automatic early warning state when not receiving the road surface information comprises:
when the communication rate between the automatic driving vehicle and the unmanned aerial vehicle is larger than or equal to a preset threshold value, the automatic driving vehicle receives the road surface information sent by the unmanned aerial vehicle and executes corresponding actions according to the road surface information;
when the communication rate between the automatic driving vehicle and the unmanned aerial vehicle is smaller than a preset threshold value, the automatic driving vehicle receives the road surface information sent by the cloud server and executes corresponding actions according to the road surface information;
and when the automatic driving vehicle does not receive the road surface information, the automatic driving vehicle enters an automatic early warning state.
7. The vehicle automatic driving method according to claim 5, characterized by further comprising the steps of:
the cloud server receives road surface information shared by other cloud servers and sends the road surface information to the automatic driving vehicle and the unmanned aerial vehicle;
the automatic driving vehicle receives road surface information shared by other cloud servers as a reference for long-distance route planning, and updates the preset navigation route;
and the unmanned aerial vehicle receives the road surface information shared by the other cloud servers as a reference for long-distance route planning, and updates the preset navigation route.
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