A vehicle and its remote driving control method and system

Abstract

The present invention provides a vehicle, as well as a remote driving control method and system thereof, belonging to the field of autonomous driving. The method includes: the vehicle receives a remote driving control instruction issued by the remote driving system; according to the pre-configured priority of the control instruction input source, it is judged whether the priority of the remote driving system is higher than the current control instruction input source of the vehicle; if so, the control instruction input source of the vehicle is switched to the remote driving system; if not, it is judged whether the priority modification condition is satisfied, and if it is satisfied, the priority of the remote driving system is modified to be higher than the current control instruction input source of the vehicle, and the control instruction input source of the vehicle is switched to the remote driving system, and the original priority of the remote driving system is restored after the switching is completed; if the priority modification condition is not satisfied, the current control instruction input source of the vehicle remains unchanged. The priority of the remote driving system of the present invention is adjustable, and the vehicle can be flexibly remotely driven and controlled according to the driving environment where the vehicle is located.

Description

Technical Field

[0001] The present invention relates to a vehicle and a remote driving control method and system thereof, belonging to the technical field of autonomous driving. Background Art

[0002] With the commercial application of high-bandwidth and low-latency 5G networks, autonomous driving companies such as Baidu, WeRide, General Motors, and Apple have successively launched remote driving functions. The ultra-large bandwidth of the 5G network enables multiple high-definition videos to be uploaded to the remote control end in a timely manner, allowing remote drivers to accurately judge road conditions in a timely manner. At the same time, the 5G network controls the end-to-end delay of vehicle control signal transmission within 10 milliseconds (the communication delay of the 5G new air interface is only within 1 millisecond), making the commercial application of remote driving technically feasible, and the remote driving function will become a standard configuration function for autonomous driving vehicles.

[0003] Currently, autonomous driving vehicles not only have vehicle-end decision-making and control functions, but also have functions such as remote driving system control, safety protection system control, cloud control, handheld terminal (PAD, mobile phone) control, and manual maintenance. These control functions are respectively realized by the vehicle-end decision-making system, remote driving system, safety protection system, cloud control system, handheld terminal control system, and manual maintenance mode. This means that autonomous driving vehicles have multiple control instruction input sources at the same time. During the operation of the vehicle, for different application scenarios, these control instruction input sources may all send control instructions to the vehicle. When the vehicle receives control instructions from multiple control instruction input sources at the same time, if the vehicle simply executes the received control instructions, then when the received control instructions are contradictory, the vehicle will not be able to drive normally, and even dangerous situations may occur.

[0004] To solve the above problems, in the Chinese patent application document with the application publication number CN111994094A, a remote control takeover method is disclosed. This method pre-sets the instruction priority of the remote control takeover instruction to be higher than the driving behavior instruction sent by the autonomous driving computing device. When the vehicle control device receives the remote control takeover instruction, according to the pre-set priority, it switches the driving control mode of the vehicle from the autonomous driving mode to the remote control takeover mode. In the Chinese patent application document with the application publication number CN108710506A, a vehicle instruction processing method is disclosed. This method sets corresponding category priority lists and corresponding instruction priority lists for different driving modes of autonomous driving vehicles. When there is a conflict between the operation instruction currently executed by the vehicle and the subsequent received operation instruction, if the operation instruction categories are different, the operation instruction is executed according to the category priority list; otherwise, the operation instruction is executed according to the instruction priority list corresponding to the category.

[0005] Although the above methods can avoid the command conflict problem caused by multiple control command input sources of autonomous vehicles, they all execute control commands strictly in accordance with the pre-set priority order, and the priority order is fixed and invariable in any case, which is rather rigid and unable to flexibly control the vehicle according to the driving environment in which the vehicle is located. Summary of the Invention

[0006] The object of the present invention is to provide a vehicle, a remote driving control method and a system thereof, which can flexibly remotely control the vehicle according to the driving environment in which the vehicle is located.

[0007] To achieve the above object, the present invention provides a remote driving control method, which includes the following steps:

[0008] The vehicle receives a remote driving control command issued by the remote driving system;

[0009] According to the pre-configured priority of the control command input source, it is judged whether the priority of the remote driving system is higher than the current control command input source of the vehicle; the control command input source at least includes: a safety protection system, a remote driving system and a vehicle-end decision-making system, and the priority of the control command input source from high to low is: safety protection system > remote driving system > vehicle-end decision-making system;

[0010] If so, the control command input source of the vehicle is switched to the remote driving system, and the vehicle is controlled by the remote driving system;

[0011] If not, it is combined with the vehicle state information and the road traffic conditions around the vehicle body to judge whether the priority modification condition is met. If the priority modification condition is met, the priority of the remote driving system is modified to be higher than the current control command input source of the vehicle, and the control command input source of the vehicle is switched to the remote driving system, and the original priority of the remote driving system is restored after the switching is completed; if the priority modification condition is not met, the current control command input source of the vehicle remains unchanged;

[0012] The satisfaction of the priority modification condition includes: when the vehicle is braked by the safety protection system, it is judged in combination with the vehicle state information and the road traffic conditions around the vehicle body that the vehicle can be remotely taken over to resume normal driving.

[0013] The present invention also provides a remote driving control system, which includes a remote driving cockpit, a remote server and a vehicle-end service program. The remote driving cockpit is communicatively connected to the remote server, and the remote server is communicatively connected to the vehicle-end service program;

[0014] The remote driving cockpit sends a remote driving control command to the vehicle-end service program through the remote server;

[0015] The vehicle-end service program is used to implement the above-mentioned remote driving control method according to the received remote driving control instruction.

[0016] The present invention also provides a vehicle, which includes a vehicle body and a remote driving control system. The remote driving control system includes a remote driving cockpit, a remote server, and a vehicle-end service program. The remote driving cockpit is communicatively connected to the remote server, and the remote server is communicatively connected to the vehicle-end service program;

[0017] The remote driving cockpit sends a remote driving control instruction to the vehicle-end service program through the remote server;

[0018] The vehicle-end service program is used to implement the above-mentioned remote driving control method according to the received remote driving control instruction.

[0019] The beneficial effects of the present invention are as follows: When the present invention receives the remote driving control instruction issued by the remote driving system, it will first judge two judgment conditions, namely, "whether the priority of the remote driving system is higher than the current control instruction input source of the vehicle" and "whether the priority modification condition is met", and realize the maintenance or switching of the vehicle control instruction input source based on the judgment results of these two judgment conditions. On the one hand, the present invention can ensure that when the vehicle receives control instructions issued by multiple control input sources during the automatic driving process, the vehicle can realize the safe and reliable switching of the vehicle control instruction input source according to the pre-configured priority of the control instruction input source, and only execute the control instruction issued by one control instruction input source at the same time, so as to safely and reliably realize remote driving control; on the other hand, the priority of the remote driving system of the present invention is adjustable. When the priority modification condition is met, the priority of the remote driving system can be modified to be higher than the current control instruction input source of the vehicle, and the control instruction input source of the vehicle can be switched to the remote driving system, so as to flexibly remotely control the vehicle according to the driving environment where the vehicle is located.

[0020] Further, in the above vehicle, its remote driving control method and system, the method further includes a safety verification step. Only when both the priority modification condition is met and the safety verification is passed, the priority of the remote driving system is modified.

[0021] The beneficial effect of doing so is: The priority of the remote driving system is modified only when safety is ensured, which is safer and more reliable.

[0022] Further, in the above vehicle, its remote driving control method and system, the control instruction input source further includes: manual maintenance mode, cloud control system, and handheld terminal control system. The priorities of the control instruction input sources from high to low are: manual maintenance mode > safety protection system > remote driving system > vehicle-end decision-making system > cloud control system > handheld terminal control system.

[0023] Further, in the above-mentioned vehicle and its remote driving control method and system, when the remote driving system determines that the vehicle needs to be remotely taken over by combining the vehicle status information and the road traffic conditions around the vehicle body, or when the remote driving system receives a remote takeover request sent by the vehicle, the remote driving system sends a remote driving control instruction to the vehicle.

[0024] Further, in the above-mentioned vehicle and its remote driving control method and system, when the remote driving system receives a remote takeover request sent by the vehicle, it first determines whether the network condition is up to standard. Only when the network condition is up to standard does the remote driving system send a remote driving control instruction to the vehicle.

[0025] The beneficial effect of this is that after the remote driving system receives a remote takeover request sent by the vehicle, it sends a remote driving control instruction to the vehicle only when the network condition is up to standard (for example, when the network delay, video clarity, and fluency meet the requirements), which can ensure the reliability and safety of remote driving.

[0026] Further, in the above-mentioned vehicle and its remote driving control method and system, before switching the control instruction input source of the vehicle to the remote driving system, it first determines whether the vehicle speed is 0. If the vehicle speed is 0, it switches the control instruction input source of the vehicle to the remote driving system. If the vehicle speed is not 0, it first reduces the vehicle speed to 0 and then switches the control instruction input source of the vehicle to the remote driving system.

[0027] The beneficial effect of this is that the control instruction input source is switched only when the vehicle speed is 0, which can ensure the safety of the vehicle during the switching process of the control instruction input source.

[0028] Further, in the above-mentioned vehicle and its remote driving control system, the communication connection is implemented through a 5G network. Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of the remote driving control system in the vehicle embodiment of the present invention;

[0030] Figure 2 Flowchart of the remote driving control method in the vehicle embodiment of the present invention;

[0031] Figure 3 Flowchart of the control when the remote driving system in the vehicle embodiment of the present invention actively takes over the vehicle;

[0032] Figure 4 Flowchart of the control when the vehicle in the vehicle embodiment of the present invention actively requests the remote driving system to take over;

[0033] Figure 5 Flowchart of the priority modification in the vehicle embodiment of the present invention. Specific implementation manners

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0035] Vehicle embodiment:

[0036] The vehicle of this embodiment includes a vehicle body and a remote driving control system. As Figure 1 shown, the remote driving control system of this embodiment includes: a vehicle-end service program, a remote server, and a remote cockpit; the remote cockpit is communicatively connected to the remote server, and the remote server is communicatively connected to the vehicle-end service program. Among them, the communication connection can be realized through a 5G network or other wireless networks with very small communication delays.

[0037] Among them, the remote cockpit includes a display terminal and a driving simulator. The display terminal is used to display information such as videos uploaded from the vehicle end and vehicle status; the driving simulator is used to simulate actions such as the steering wheel, accelerator, brake, and gear. A remote cockpit can control different vehicles through configuration; the remote server is used to forward information such as videos uploaded from the vehicle end and vehicle body status to the remote cockpit, and forward remote driving control instructions issued by the remote cockpit to the vehicle end; the vehicle-end service program real-time feeds back vehicle body status information, in-vehicle and vehicle-peripheral video information to the remote server through a 5G wireless network, and responds to remote driving control instructions issued by the remote cockpit while ensuring safety.

[0038] The vehicle-end service program needs to process control instructions issued by multiple control instruction input sources (including an autonomous driving vehicle-end decision-making system, an autonomous driving safety protection system, an autonomous driving remote driving system, an autonomous driving cloud control system, an autonomous driving handheld terminal control system, an autonomous driving manual maintenance mode, etc.). In this embodiment, a control instruction input source priority table as shown in Table 1 is pre-configured in the vehicle-end service program. In Table 1, the smaller the number, the higher the priority.

[0039] Table 1 Control instruction input source priority table

[0040]

[0041]

[0042] As can be seen from Table 1: The manual maintenance mode has the highest priority. In the case of a failure of the autonomous driving system, the vehicle can be driven manually to a repair point for fault handling. The autonomous driving safety protection system aims to ensure the basic safe driving of the vehicle. It can monitor all autonomous driving behaviors. Once a dangerous situation is detected, the automatic action will be immediately interrupted and the vehicle will be controlled to move to a safe state. Remote driving is applied when the vehicle's autonomous driving cannot work properly. However, for the vehicle, it is also a type of autonomous driving. Therefore, its priority should be higher than that of the vehicle-end decision-making system. The control systems of the cloud and the handheld terminal rely on the vehicle-end decision-making system, so their priorities are lower than that of the vehicle-end decision-making system. The cloud is usually where all the information of intelligent transportation is integrated, with comprehensive information, and its priority is higher than that of the handheld terminal.

[0043] In this embodiment, a control instruction input source priority table as shown in Table 1 is established based on 6 control instruction input sources. As other implementation manners, when the types of control instruction input sources increase or decrease, the control instruction input source priority table needs to be adjusted accordingly, as long as it is ensured that the priority of the safety protection system > the remote driving system > the vehicle-end decision-making system.

[0044] Based on the remote driving control system of this embodiment, a remote driving control method can be implemented, as Figure 2 shown. The method includes the following steps:

[0045] (1) The vehicle receives a remote driving control instruction issued by the remote driving system;

[0046] Among them, when the remote driving system determines that the vehicle needs to be remotely taken over by combining the vehicle status information and the road traffic conditions around the vehicle body, or when the remote driving system receives a remote takeover request sent by the vehicle and the network conditions are up to standard (for example, the network delay, video clarity, and smoothness meet the requirements), the remote driving system issues a remote driving control instruction to the vehicle.

[0047] (2) Obtain the current control instruction input source of the vehicle;

[0048] (3) According to the pre-configured control instruction input source priority, determine whether the priority of the remote driving system is higher than the current control instruction input source of the vehicle; if so, switch the control instruction input source of the vehicle to the remote driving system, and the vehicle is controlled by the remote driving system;

[0049] (4) If the priority of the remote driving system is lower than the current control instruction input source of the vehicle, combine the vehicle status information and the road traffic conditions around the vehicle body to determine whether the priority modification condition is met; if the priority modification condition is not met, keep the current control instruction input source of the vehicle unchanged;

[0050] (5) If the priority modification condition is met, continue to determine whether the security verification is passed. When both the priority modification condition and the security verification are passed, modify the priority of the remote driving system to be higher than the current control instruction input source of the vehicle, and switch the control instruction input source of the vehicle to the remote driving system (restore the original priority of the remote driving system after the switch is completed), and the vehicle is controlled by the remote driving system;

[0051] Among them, meeting the priority modification condition includes: when the vehicle is braked by the safety protection system, it is judged that the vehicle can be remotely taken over and the vehicle can resume normal driving by combining the vehicle status information and the road traffic conditions around the vehicle body.

[0052] The security verification is implemented by means of a security key. Specifically, the remote driving system sends a security verification request, and the vehicle end will return a random key seed. The remote driving system calculates the key according to the key seed and the VIN code of the vehicle by using a security verification algorithm and sends it to the vehicle end. The vehicle end also calculates the key according to the key seed and the VIN code of the vehicle by using the same security verification algorithm. If it is the same as the key received from the remote driving system, the security verification is passed and the next step can be carried out, otherwise the next step cannot be carried out.

[0053] In this embodiment, after the remote driving system receives the remote takeover request sent by the vehicle, it only sends the remote driving control instruction to the vehicle when the network condition meets the standard, which can ensure the reliability and security of remote driving; as other implementation methods, the remote driving system can also send the remote driving control instruction to the vehicle when it receives the remote takeover request sent by the vehicle.

[0054] In this embodiment, the priority of the remote driving system is modified only when both the priority modification condition and the security verification are met, which is more secure and reliable; as other implementation methods, the priority of the remote driving system can also be modified when the priority modification condition is met.

[0055] The remote driving control method of this embodiment will be introduced in detail below by scenarios.

[0056] Scenario 1: The remote driving system actively takes over the vehicle. For example, during the automatic driving process of the vehicle, the safety officer in the remote driving cockpit judges that the vehicle has a fault according to the reported vehicle status information, but the vehicle is still running and there is a safety risk, and it is necessary to remotely take over the vehicle.

[0057] The working process of Scenario 1 is as Figure 3 shown:

[0058] The safety officer in the remote driving cockpit observes the video around the vehicle and the vehicle movement state in the remote driving cockpit to judge whether it is necessary to remotely take over the vehicle;

[0059] When the safety officer determines that it is necessary to remotely take over the vehicle, a remote driving control instruction is sent through the driving simulator, and the remote server forwards the remote driving control instruction to the vehicle terminal service program;

[0060] The vehicle terminal service program receives the remote driving control instruction and obtains the current control instruction input source of the vehicle; queries the control instruction input source priority table. When the priority of the remote driving system is lower than the current control instruction input source of the vehicle, the current input source remains unchanged; when the priority of the remote driving system is higher than the current control instruction input source of the vehicle, the control instruction input source switching starts. Before switching, it first judges whether the vehicle speed is 0. If the vehicle speed is 0, the control instruction input source of the vehicle is switched to the remote driving system, and only the vehicle control instructions issued by the remote driving system are executed; if the vehicle speed is not 0, the vehicle speed is first reduced to 0 (for example, the vehicle pulls over to the side of the road by the vehicle terminal decision-making system), and then the control instruction input source of the vehicle is switched to the remote driving system.

[0061] Among them, the switching of the control instruction input source is only carried out when the vehicle speed is 0, which can ensure the safety of the vehicle during the switching of the control instruction input source.

[0062] Scenario 2: The vehicle actively requests the remote driving system to take over. For example, during the operation of an autonomous vehicle, when encountering temporary traffic control, road construction and other situations that cannot be handled by itself, it actively requests the remote driving system to take over the vehicle.

[0063] The working process of Scenario 2 is as Figure 4 shown:

[0064] During the process of the vehicle terminal decision-making system controlling the vehicle operation, when encountering a scenario that cannot be decided to pass by itself, such as traffic control, obstacles preventing passage, etc., a remote takeover request is sent to the remote server through the vehicle terminal service program, and the remote server forwards the remote takeover request to the remote cockpit;

[0065] The remote cockpit receives the remote takeover request and, when the takeover conditions are met (i.e., the network condition is up to standard), selects the corresponding vehicle and issues a remote driving control instruction; the remote server forwards the remote driving control instruction to the vehicle terminal service program;

[0066] The in-vehicle service program receives a remote driving control instruction and obtains the current control instruction input source of the vehicle; queries the control instruction input source priority table. When the priority of the remote driving system is lower than the current control instruction input source of the vehicle, the current input source remains unchanged; when the priority of the remote driving system is higher than the current control instruction input source of the vehicle, the control instruction input source switching starts. Before switching, it first judges whether the vehicle speed is 0. If the vehicle speed is 0, the control instruction input source of the vehicle is switched to the remote driving system, and only the vehicle control instructions issued by the remote driving system are executed; if the vehicle speed is not 0, the vehicle speed is first reduced to 0 (for example, the vehicle side decision-making system pulls over) and then the control instruction input source of the vehicle is switched to the remote driving system.

[0067] Scenario 3: Meet the priority modification condition and temporarily increase the priority of the remote driving system. For example: The autonomous vehicle gets stuck and does not move. The safety officer in the remote driving cab analyzes the vehicle status information and finds that the reason for the vehicle getting stuck is that the safety protection system takes effect and brakes the vehicle. And, the safety officer in the remote driving cab can comprehensively judge through video information and vehicle status information that the vehicle can be remotely taken over to get rid of the braked state and resume normal driving. However, in the pre-configured control instruction input source priority table, the priority of the remote driving system is lower than that of the safety protection system and the vehicle cannot be directly taken over. In this situation, the priority of the remote driving system can be temporarily increased to achieve this.

[0068] The priority modification process is as Figure 5 shown:

[0069] The safety officer in the remote driving cab finds that the vehicle is braked by the safety protection system and comprehensively judges through analyzing video information and vehicle status information that the vehicle needs to be remotely taken over, and sends a priority modification instruction to the remote server, requesting to increase the priority of the remote driving system higher than that of the safety protection system. The remote server forwards the priority modification instruction to the in-vehicle service program;

[0070] The in-vehicle service program receives the priority modification instruction and the priority modification instruction passes the security verification. The in-vehicle service program increases the priority of the remote driving system higher than that of the safety protection system;

[0071] After increasing the priority of the remote driving system, the control instruction input source of the vehicle can be switched to the remote driving system according to the working process of Scenario 1, and the vehicle is controlled by the remote driving system. At the same time, after switching the control instruction input source of the vehicle to the remote driving system, the priority of the remote driving system needs to be restored to the original priority, that is, the conventional control instruction input source priority table is restored.

[0072] In summary, the remote driving control method of this embodiment has the following advantages:

[0073] (1) For an autonomous vehicle with remote driving function, a control instruction input source priority table is set. To ensure that during the autonomous driving process of the vehicle, when multiple control instructions from different control input sources are received simultaneously, the vehicle can switch the control instruction input source safely and reliably according to the pre-configured priority of the control instruction input source, and only execute the control instruction from one control instruction input source at the same time, so as to achieve remote driving control safely and reliably, and avoid unexpected actions of the vehicle under the condition of multiple input sources, thus causing danger.

[0074] (2) The priority of the remote driving system is adjustable. When the priority modification condition is met, the priority of the remote driving system can be modified to be higher than the current control instruction input source of the vehicle, and the control instruction input source of the vehicle can be switched to the remote driving system, so that the vehicle can be flexibly controlled remotely according to the driving environment where the vehicle is located, making the function of the remote driving system have certain configurability and flexibility, which is conducive to the realization of full-scenario driverless driving.

[0075] (3) The priority modification needs to meet the priority modification condition and pass the security verification at the same time. The priority of the remote driving system is modified only when safety is ensured, which is more secure and reliable.

[0076] Method embodiment:

[0077] The remote driving control method in this embodiment is the same as the remote driving control method in the vehicle embodiment, and will not be elaborated here.

[0078] System embodiment:

[0079] The remote driving control system in this embodiment is the same as the remote driving control system in the vehicle embodiment, and will not be elaborated here.

Claims

1. A remote driving control method, characterized in that, The method includes the following steps: The vehicle receives a remote driving control instruction issued by the remote driving system; According to the pre-configured priority of the control instruction input source, it is judged whether the priority of the remote driving system is higher than the current control instruction input source of the vehicle; the control instruction input sources at least include: the safety protection system, the remote driving system, and the vehicle-end decision-making system, and the priorities of the control instruction input sources from high to low are: safety protection system > remote driving system > vehicle-end decision-making system; If so, switch the control instruction input source of the vehicle to the remote driving system, and the vehicle is controlled by the remote driving system; If not, combine the vehicle status information and the road traffic conditions around the vehicle body to judge whether the priority modification condition is met. If the priority modification condition is met, modify the priority of the remote driving system so that it is higher than the current control instruction input source of the vehicle, and switch the control instruction input source of the vehicle to the remote driving system. After the switch is completed, restore the original priority of the remote driving system; if the priority modification condition is not met, keep the current control instruction input source of the vehicle unchanged; The satisfaction of the priority modification condition includes: when the vehicle is braked by the safety protection system, it is judged in combination with the vehicle status information and the road traffic conditions around the vehicle body that the vehicle can be remotely taken over to resume normal driving.

2. The remote driving control method according to claim 1, characterized in that The method also includes a safety verification step. Only when both the priority modification condition is met and the safety verification is passed, the priority of the remote driving system is modified.

3. The remote driving control method according to claim 1 or 2, characterized in that, The control instruction input sources also include: manual maintenance mode, cloud control system, and handheld terminal control system, and the priorities of the control instruction input sources from high to low are: manual maintenance mode > safety protection system > remote driving system > vehicle-end decision-making system > cloud control system > handheld terminal control system.

4. The remote driving control method according to claim 3, wherein When the remote driving system judges in combination with the vehicle status information and the road traffic conditions around the vehicle body that the vehicle needs to be remotely taken over, or when the remote driving system receives a remote takeover request sent by the vehicle, the remote driving system sends a remote driving control instruction to the vehicle.

5. The remote driving control method according to claim 4, wherein, When the remote driving system receives a remote takeover request sent by the vehicle, first judge whether the network condition is up to standard. Only when the network condition is up to standard does the remote driving system send a remote driving control instruction to the vehicle.

6. The remote driving control method according to claim 5, wherein Before switching the control instruction input source of the vehicle to the remote driving system, first judge whether the vehicle speed is 0. If the vehicle speed is 0, switch the control instruction input source of the vehicle to the remote driving system. If the vehicle speed is not 0, first reduce the vehicle speed to 0 and then switch the control instruction input source of the vehicle to the remote driving system.

7. A remote driving control system, characterized in that, The remote driving control system includes a remote driving cockpit, a remote server, and a vehicle-end service program. The remote driving cockpit is communicatively connected to the remote server, and the remote server is communicatively connected to the vehicle-end service program; The remote driving cockpit sends a remote driving control instruction to the vehicle-end service program through the remote server; The vehicle-end service program is used to implement the remote driving control method according to any one of claims 1-6 based on the received remote driving control instruction.

8. The remote driving control system according to claim 7, characterized in that, The communication connection is implemented through a 5G network.

9. A vehicle, comprising a vehicle body and a remote driving control system, characterized in that, The remote driving control system includes a remote cockpit, a remote server, and a vehicle-end service program. The remote cockpit is communicatively connected to the remote server, and the remote server is communicatively connected to the vehicle-end service program; The remote cockpit sends remote driving control instructions to the vehicle-end service program through the remote server; The vehicle-end service program is used to implement the remote driving control method according to any one of claims 1-6 based on the received remote driving control instructions.

10. The vehicle according to claim 9, characterized in that, The communicative connection is implemented through a 5G network.

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