Cloud Platform Data Processing Method, Device, System and Component for Remote Driving

Abstract

An embodiment of the present invention relates to a cloud platform data processing method, device, system and component for remote driving. The method includes: the monitoring server receives a monitoring task application; identifies a legal monitoring terminal according to the monitoring terminal identifier; queries the monitoring web page address when the identification result is legal; if the current monitoring web page address is not empty, sends it back to the monitoring terminal; if the current monitoring web page address is empty, sends a web page hosting application to the web page hosting server, and receives the monitoring web page address sent back and sends it back to the monitoring terminal. On the one hand, the load pressure of the cloud platform can be balanced through the present invention, and on the other hand, the real-time response ability of remote driving can be improved and the energy consumption of faulty vehicles can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of signal processing, and particularly relates to a cloud platform data processing method, device, system and component for remote driving. Background Art

[0002] When the computing power of the vehicle driving system is insufficient or the trajectory planning fails, driverless vehicles will experience a fault stop, resulting in redundant energy (fuel or battery) loss of the faulty vehicle. Once a fault stop occurs, currently, only relying on staff to arrive at the scene for disposal. Obviously, this conventional practice is often affected by human factors and cannot timely remove the faulty vehicle, thus easily causing problems of traffic congestion.

[0003] To solve this problem, we propose a remote driving solution. The core of this remote driving solution consists of two parts: an in-vehicle terminal and a cloud platform. The in-vehicle terminal collects vehicle state data (such as driving mode, gear, vehicle speed, heading angle, steering wheel angle, throttle percentage, brake percentage, and positioning coordinates, etc.) and video data of the vehicle and uploads them to the cloud platform; on the one hand, the cloud platform plays the video data so that remote monitoring personnel can understand the surrounding environment of the vehicle, and on the other hand, it sends the vehicle state data into a driving simulator for driving simulation to obtain corresponding control state data (such as gear, steering wheel angle, throttle percentage, brake percentage, etc.) and then sends them down to the in-vehicle terminal; the in-vehicle terminal then controls the vehicle driving according to the sent-down control state data.

[0004] This remote driving solution has high requirements for the data processing ability of the cloud platform. It is obviously unrealistic for the cloud platform to implement the reception of vehicle state data / video data, video data playback, remote driving simulation, and control state data sending-down on a large server. Then, how to construct a reasonable cloud platform data processing network is the problem to be solved by the present invention. Summary of the Invention

[0005] The object of the present invention is to provide a cloud platform data processing method, device, system and component for remote driving in view of the defects of the prior art. Four servers are arranged on the cloud platform side: a first monitoring server, a first web hosting server, a first conference control server and a first remote driving server. The first monitoring server is connected to the first web hosting server, and the first conference control server is respectively connected to the first web hosting server and the first remote driving server. In addition, the first monitoring server is connected to each first monitoring terminal, and the first conference control server is connected to each first vehicle-mounted terminal. Based on the real-time multicast conference processing mechanism, a monitoring video transmission channel for remote driving is established between the first monitoring terminal and the first vehicle-mounted terminal through the first monitoring server, the first conference control server and the first web hosting server, and a vehicle state and control signaling transmission channel for remote driving is established between the first vehicle-mounted terminal and the driving simulator loaded on the first remote driving server through the first conference control server and the first remote driving server. Through the data processing network based on the real-time data transmission mechanism provided by the present invention, on the one hand, the load pressure of each server at the back end of the cloud platform can be balanced, so as to reduce the risk of communication blockage or server downtime of the cloud platform; on the other hand, the real-time performance of data transmission can be improved, so as to improve the real-time response ability of remote driving and reduce the energy consumption of faulty vehicles.

[0006] To achieve the above object, a first aspect of an embodiment of the present invention provides a cloud platform data processing method for remote driving, the method comprising:

[0007] The first monitoring server receives a first monitoring task application sent by the first monitoring terminal; and extracts the corresponding first monitoring vehicle identifier and the first monitoring terminal identifier from the first monitoring task application;

[0008] Performs legal monitoring terminal identification processing according to the first monitoring terminal identifier to generate a corresponding first identification result; the first identification result includes legal and illegal;

[0009] When the first identification result is legal, queries the monitoring web page address according to the first monitoring vehicle identifier to obtain the corresponding current monitoring web page address;

[0010] Identify whether the current monitored web page address is empty; if the current monitored web page address is not empty, send the current monitored web page address back to the first monitoring terminal; if the current monitored web page address is empty, send a first web hosting application carrying the first monitoring vehicle identifier to the first web hosting server, receive the first monitored web page address sent back by the first web hosting server as the corresponding current monitored web page address, form and save a corresponding first correspondence record composed of the first monitoring vehicle identifier and the first monitored web page address, and send the current monitored web page address back to the first monitoring terminal.

[0011] Preferably, the first monitoring terminal includes a large screen client or browser, a mobile phone client or browser, a mobile terminal client or browser, a computer client or browser, and a server client or browser.

[0012] Preferably, the method further includes:

[0013] Before the first monitoring server receives the first monitoring task application sent by the first monitoring terminal, the first monitoring terminal uses the license plate number of the monitored vehicle input by the user as the corresponding first monitoring vehicle identifier, uses the locally preset monitoring terminal number as the corresponding first monitoring terminal identifier, and sends the first monitoring task application carrying the first monitoring vehicle identifier and the first monitoring terminal identifier to the first monitoring server;

[0014] After the first monitoring server sends the current monitored web page address back to the first monitoring terminal, the first monitoring terminal receives the current monitored web page address sent back by the first monitoring server; and performs web browsing processing on the current monitored web page address.

[0015] Preferably, the legal monitoring terminal identification process according to the first monitoring terminal identifier to generate a corresponding first identification result specifically includes:

[0016] The first monitoring server queries a preset registered monitoring terminal list according to the first monitoring terminal identifier, extracts the first monitoring terminal registration validity period field of the first registered monitoring terminal record in the registered monitoring terminal list whose first monitoring terminal identifier field matches the first monitoring terminal identifier as the corresponding first validity period; and identifies whether the first validity period is empty; if the first validity period is empty, set the corresponding first identification result as illegal; if the first validity period is not empty, identify whether the current system time meets the first validity period, if not, set the corresponding first identification result as illegal, if so, set the corresponding first identification result as legal; the registered monitoring terminal list includes multiple first registered monitoring terminal records; the first registered monitoring terminal record includes the first monitoring terminal identifier field and the first monitoring terminal registration validity period field.

[0017] Preferably, the querying the corresponding current monitoring web address according to the first monitored vehicle identifier specifically includes:

[0018] The first monitoring server queries all the first corresponding relationship records stored locally according to the first monitored vehicle identifier, extracts the first corresponding relationship record corresponding to the first monitored vehicle identifier as the corresponding current corresponding relationship record; and identifies whether the current corresponding relationship record is empty; if so, set the corresponding current monitoring web address as empty; if not, extract the first monitoring web address from the current corresponding relationship record as the corresponding current monitoring web address.

[0019] A second aspect of the embodiments of the present invention provides a cloud platform data processing method for remote driving, the method includes:

[0020] The first web hosting server receives a first web hosting application sent by the first monitoring server; and extracts the corresponding first monitored vehicle identifier from the first web hosting application;

[0021] Create a corresponding monitoring page for the first monitored vehicle identifier according to a preset monitoring page template as the corresponding first monitoring page; and assign a corresponding public network address to the first monitoring page as the corresponding first monitoring web address; and publish the first monitoring page through the first monitoring web address; and send the first monitoring web address back to the first monitoring server; the first monitoring page includes a monitoring video playback area.

[0022] Create a corresponding video stream buffer for the first monitored vehicle identifier as the corresponding first monitored video stream buffer; send the first meeting opening application carrying the first monitored vehicle identifier to the first conference control server; receive the first meeting video stream interface address sent back by the first conference control server; continuously receive the meeting video stream data pushed by the first conference control server according to the first meeting video stream interface address; store the received meeting video stream data in the first monitored video stream buffer each time; and continuously update the playback content of the monitored video playback area on the first monitored page according to the latest meeting video stream data stored in the first monitored video stream buffer.

[0023] Preferably, the first web hosting server defaults to a WEB server that supports the HTTP / HTTPS protocol.

[0024] A third aspect of the embodiments of the present invention provides a cloud platform data processing method for remote driving, and the method includes:

[0025] The first conference control server receives the first meeting opening application sent by the first web hosting server; extracts the corresponding first monitored vehicle identifier from the first meeting opening application; uses the first in-vehicle terminal corresponding to the first monitored vehicle identifier as the corresponding current in-vehicle terminal; the first conference control server is respectively connected to multiple first in-vehicle terminals; the first conference control server is also connected to the first remote driving server;

[0026] Create a corresponding multicast meeting for the first monitored vehicle identifier as the first monitored vehicle multicast meeting; use the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the meeting members of the first monitored vehicle multicast meeting; assign a meeting member video stream push interface address to the first web hosting server as the corresponding first meeting video stream interface address; assign a meeting member video stream receiving interface address to the current in-vehicle terminal as the corresponding second meeting video stream interface address; assign a meeting member signaling interface address to the current in-vehicle terminal as the corresponding first meeting signaling interface address; assign a meeting member signaling interface address to the first remote driving server as the corresponding second meeting signaling interface address;

[0027] Send the first meeting video stream interface address back to the first web hosting server;

[0028] Send the first meeting invitation notice carrying the second meeting video stream interface address and the first meeting signaling interface address to the current in-vehicle terminal; and set the corresponding first in-vehicle terminal status to the ready state when receiving the first meeting join receipt sent back by the current in-vehicle terminal.

[0029] Send the second conference invitation notice carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready state when receiving the second conference join receipt sent back by the first remote driving server;

[0030] When the first vehicle-mounted terminal status is in the ready state and the first remote driving status is in the ready state, receive the first vehicle video data sent by the current vehicle-mounted terminal through the second conference video stream interface address; and receive the first vehicle status data sent by the current vehicle-mounted terminal through the first conference signaling interface address; and push the first vehicle video data to the first web hosting server through the first conference video stream interface address; and push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current vehicle-mounted terminal through the first conference signaling interface address.

[0031] Preferably, the first conference control server is default to a conference control server that supports SIP service and WebRTC service.

[0032] A fourth aspect of the embodiments of the present invention provides a cloud platform data processing method for remote driving, the method includes:

[0033] The first vehicle-mounted terminal receives the first conference invitation notice sent by the first conference control server; and extracts the corresponding second conference video stream interface address and the first conference signaling interface address from the first conference invitation notice; the first vehicle-mounted terminal is pre-installed on the first vehicle;

[0034] Check the working status of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module and vehicle-mounted camera of the first vehicle to generate the corresponding first inspection result; the first inspection result includes all modules normal and some modules abnormal;

[0035] When the first inspection result is all modules normal, send back the first conference join receipt for confirming to join the conference to the first conference control server;

[0036] After the receipt is successfully sent, the in-vehicle camera is called to continuously capture the vehicle's surrounding environment, and a video stream data is periodically generated during the capture process as the corresponding first vehicle video data; for each generation of the first vehicle video data, the first vehicle video data generated this time is sent to the first conference control server through the second conference video stream interface address;

[0037] After the receipt is successfully sent, the state data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle is collected and processed to generate the corresponding first vehicle state data; and the first vehicle state data is sent to the first conference control server through the first conference signaling interface address; and the first control state data sent back by the first conference control server is received through the first conference signaling interface address; and vehicle motion state control processing is performed according to the first control state data; after the vehicle motion state control processing ends, the next round of state data collection, state data upload, control data reception, and vehicle motion state control operations are continued.

[0038] Preferably, the controller area network of the first vehicle includes a CAN bus, the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, the in-vehicle camera, and the first in-vehicle terminal; the driving control module includes a lateral control module and a longitudinal control module; the positioning module includes a GPS positioning unit and a Beidou positioning unit; the first in-vehicle terminal is connected to the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the in-vehicle camera respectively through the CAN bus;

[0039] The driving mode control module is used to control and feedback the real-time driving mode of the first vehicle; the transmission control module is used to control and feedback the real-time gear of the first vehicle; the vehicle chassis module is used to feedback the real-time vehicle speed of the first vehicle; the inertial measurement unit is used to feedback the real-time orientation angle of the first vehicle; the lateral control module is used to control and feedback the real-time steering wheel angle of the first vehicle; the longitudinal control module is used to control and feedback the real-time throttle percentage and real-time brake percentage of the first vehicle; the positioning module is used to feedback the real-time positioning coordinates of the first vehicle.

[0040] Preferably, the inspection of the working states of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and in-vehicle camera of the first vehicle to generate the corresponding first inspection result specifically includes:

[0041] The first vehicle-mounted terminal sends corresponding module control instructions to the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the vehicle camera respectively through the CAN bus. If the instruction receipts returned by each module, unit, or camera can be received, the corresponding first inspection result is set to normal for all modules. If the instruction receipts returned by each module, unit, or camera cannot be received, the corresponding first inspection result is set to abnormal for some modules.

[0042] Preferably, collecting and processing status data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle status data specifically includes:

[0043] The first vehicle-mounted terminal obtains the corresponding real-time driving mode, real-time gear position, real-time vehicle speed, real-time orientation angle, real-time steering wheel angle, real-time throttle percentage, real-time brake percentage, and real-time positioning coordinates from the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, and the positioning module respectively through the CAN bus as the corresponding first driving mode, first gear position, first vehicle speed, first orientation angle, first steering wheel angle, first throttle percentage, first brake percentage, and first positioning coordinates to form the corresponding first vehicle status data.

[0044] Preferably, the first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

[0045] Preferably, controlling and processing the vehicle motion state according to the first control status data specifically includes:

[0046] The first vehicle-mounted terminal sends the second gear position into the transmission control module through the CAN bus for vehicle gear position control processing; sends the second steering wheel angle into the lateral control module for steering wheel angle control processing; and sends the second throttle percentage and the second brake percentage into the longitudinal control module for throttle pedal opening degree and brake pedal opening degree control processing.

[0047] A fifth aspect of the embodiments of the present invention provides a cloud platform data processing method for remote driving. The method includes:

[0048] The first remote driving server receives a second conference invitation notice sent by the first conference control server; and extracts the corresponding second conference signaling interface address from the second conference invitation notice;

[0049] Load a driving simulator for the second conference signaling interface address as the corresponding first driving simulator;

[0050] After the driving simulator is successfully loaded, send back a second conference join receipt for confirming joining the conference to the first conference control server;

[0051] After the receipt is successfully sent, receive the first vehicle status data pushed by the first conference control server through the second conference signaling interface address; send the first vehicle status data into the first driving simulator for driving state simulation to obtain the corresponding first control status data; and send back the first control status data to the first conference control server through the second conference signaling interface address; the first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

[0052] A sixth aspect of the embodiments of the present invention provides an apparatus for implementing the cloud platform data processing method for remote driving described in the first aspect of the embodiments of the present invention. The apparatus includes: a first receiving module, a legal monitoring terminal identification processing module, and a monitoring web page address processing module;

[0053] The first receiving module is configured to receive a first monitoring task application sent by a first monitoring terminal; and extract the corresponding first monitoring vehicle identifier and the first monitoring terminal identifier from the first monitoring task application;

[0054] The legal monitoring terminal identification processing module is configured to perform legal monitoring terminal identification processing according to the first monitoring terminal identifier to generate a corresponding first identification result; the first identification result includes legal and illegal;

[0055] The monitoring web page address processing module is configured to, when the first identification result is legal, query the monitoring web page address according to the first monitoring vehicle identifier to obtain the corresponding current monitoring web page address; and identify whether the current monitoring web page address is empty; if the current monitoring web page address is not empty, send back the current monitoring web page address to the first monitoring terminal; if the current monitoring web page address is empty, send a first web page hosting application carrying the first monitoring vehicle identifier to a first web page hosting server, and receive the first monitoring web page address sent back by the first web page hosting server as the corresponding current monitoring web page address, form a corresponding first correspondence record with the first monitoring vehicle identifier and the first monitoring web page address and save it, and send back the current monitoring web page address to the first monitoring terminal.

[0056] A seventh aspect of an embodiment of the present invention provides an apparatus for implementing the method for processing cloud platform data for remote driving described in the second aspect of the embodiment of the present invention. The apparatus includes: a second receiving module, a monitoring page creation module, and a monitoring page update module;

[0057] The second receiving module is configured to receive a first web hosting application sent by a first monitoring server; and extract a corresponding first monitored vehicle identifier from the first web hosting application;

[0058] The monitoring page creation module is configured to create a corresponding monitoring page for the first monitored vehicle identifier as a corresponding first monitoring page according to a preset monitoring page template; and assign a corresponding public network URL as a corresponding first monitoring web page address for the first monitoring page; and publish the first monitoring page through the first monitoring web page address; and send the first monitoring web page address back to the first monitoring server; the first monitoring page includes a monitoring video playback area;

[0059] The monitoring page update module is configured to create a corresponding video stream buffer area for the first monitored vehicle identifier as a corresponding first monitoring video stream buffer area; and send a first conference opening application carrying the first monitored vehicle identifier to the first conference control server; and receive a first conference video stream interface address sent back by the first conference control server; and continuously receive the conference video stream data pushed by the first conference control server according to the first conference video stream interface address; and store the received conference video stream data each time into the first monitoring video stream buffer area; and continuously update the playback content of the monitoring video playback area of the first monitoring page according to the latest conference video stream data stored in the first monitoring video stream buffer area.

[0060] An eighth aspect of an embodiment of the present invention provides an apparatus for implementing the method for processing cloud platform data for remote driving described in the third aspect of the embodiment of the present invention. The apparatus includes: a third receiving module, a multicast conference creation module, a conference invitation module, and a conference forwarding module;

[0061] The third receiving module is configured to receive a first conference opening application sent by a first web hosting server; and extract a corresponding first monitored vehicle identifier from the first conference opening application; and use the first in-vehicle terminal corresponding to the first monitored vehicle identifier as a corresponding current in-vehicle terminal; the first conference control server is respectively connected to a plurality of the first in-vehicle terminals; the first conference control server is further connected to a first remote driving server;

[0062] The multicast conference creation module is used to create a corresponding multicast conference for the first monitoring vehicle identifier as the corresponding first monitoring vehicle multicast conference; and use the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the conference members of the first monitoring vehicle multicast conference; and allocate a conference member video stream push interface address for the first web hosting server as the corresponding first conference video stream interface address; and allocate a conference member video stream receiving interface address for the current in-vehicle terminal as the corresponding second conference video stream interface address; and allocate a conference member signaling interface address for the current in-vehicle terminal as the corresponding first conference signaling interface address; and allocate a conference member signaling interface address for the first remote driving server as the corresponding second conference signaling interface address; and send the first conference video stream interface address back to the first web hosting server;

[0063] The conference invitation module is used to send a first conference invitation notification carrying the second conference video stream interface address and the first conference signaling interface address to the current in-vehicle terminal; and set the corresponding first in-vehicle terminal status to the ready state when receiving the first conference join receipt sent back by the current in-vehicle terminal;

[0064] The conference invitation module is also used to send a second conference invitation notification carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready state when receiving the second conference join receipt sent back by the first remote driving server;

[0065] The conference forwarding module is used to, when the first in-vehicle terminal status is the ready state and the first remote driving status is the ready state, receive the first vehicle video data sent by the current in-vehicle terminal through the second conference video stream interface address; and receive the first vehicle status data sent by the current in-vehicle terminal through the first conference signaling interface address; and push the first vehicle video data to the first web hosting server through the first conference video stream interface address; and push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current in-vehicle terminal through the first conference signaling interface address.

[0066] A ninth aspect of the embodiments of the present invention provides a device for implementing the cloud platform data processing method for remote driving described in the fourth aspect of the embodiments of the present invention. The device includes: a fourth receiving module, a first conference invitation confirmation module, and a first conference data processing module;

[0067] The fourth receiving module is configured to receive a first conference invitation notice sent by the first conference control server; and extract a corresponding second conference video stream interface address and a first conference signaling interface address from the first conference invitation notice; the first vehicle-mounted terminal is pre-installed on a first vehicle;

[0068] The first conference invitation confirmation module is configured to check the working states of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and vehicle-mounted camera of the first vehicle to generate a corresponding first inspection result; and when the first inspection result is that all modules are normal, send a first conference joining receipt for confirming joining the conference back to the first conference control server; the first inspection result includes all modules being normal and some modules being abnormal;

[0069] After the receipt is successfully sent, the first conference data processing module is configured to call the vehicle-mounted camera to continuously capture the surrounding environment of the vehicle and regularly generate a video stream data as a corresponding first vehicle video data during the capturing process; for each generated first vehicle video data, send the first vehicle video data generated this time to the first conference control server through the second conference video stream interface address;

[0070] After the receipt is successfully sent, the first conference data processing module is further configured to collect and process status data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle status data; and send the first vehicle status data to the first conference control server through the first conference signaling interface address; and receive first control status data sent back by the first conference control server through the first conference signaling interface address; and perform vehicle motion state control processing according to the first control status data; after the vehicle motion state control processing ends, continue with the next round of status data collection, status data upload, control data reception, and vehicle motion state control operations.

[0071] A tenth aspect of the embodiments of the present invention provides an apparatus for implementing the cloud platform data processing method for remote driving described in the fifth aspect of the embodiments of the present invention. The apparatus includes: a fifth receiving module, a second conference invitation confirmation module, and a second conference data processing module;

[0072] The fifth receiving module is configured to receive a second conference invitation notice sent by the first conference control server; and extract a corresponding second conference signaling interface address from the second conference invitation notice;

[0073] The second conference invitation confirmation module is used to load a driving simulator as the corresponding first driving simulator for the second conference signaling interface address; and after the driving simulator is successfully loaded, send back a second conference joining receipt for confirming joining the conference to the first conference control server;

[0074] The second conference data processing module is used to, after the receipt is successfully sent, receive the first vehicle status data pushed by the first conference control server through the second conference signaling interface address; send the first vehicle status data into the first driving simulator to perform driving state simulation to obtain the corresponding first control status data; and send back the first control status data to the first conference control server through the second conference signaling interface address; the first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

[0075] An eleventh aspect of the embodiments of the present invention provides a cloud platform data processing system for remote driving, the system includes: a first monitoring terminal and a first monitoring server of the method according to the first aspect of the embodiments of the present invention, a first web hosting server of the method according to the second aspect of the embodiments of the present invention, a first conference control server of the method according to the third aspect of the embodiments of the present invention, a first in-vehicle terminal of the method according to the fourth aspect of the embodiments of the present invention, and a first remote driving server of the method according to the fifth aspect of the embodiments of the present invention.

[0076] A twelfth aspect of the embodiments of the present invention provides a cloud platform data processing component for remote driving, the component includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cloud platform data processing method for remote driving as described in the first aspect of the embodiments of the present invention, or execute the cloud platform data processing method for remote driving as described in the second aspect of the embodiments of the present invention, or execute the cloud platform data processing method for remote driving as described in the third aspect of the embodiments of the present invention, or execute the cloud platform data processing method for remote driving as described in the fourth aspect of the embodiments of the present invention, or execute the cloud platform data processing method for remote driving as described in the fifth aspect of the embodiments of the present invention.

[0077] A method, device, system and component for cloud platform data processing for remote driving provided by an embodiment of the present invention; four servers are set on the cloud platform side: a first monitoring server, a first web hosting server, a first conference control server and a first remote driving server. The first monitoring server is connected to the first web hosting server, and the first conference control server is respectively connected to the first web hosting server and the first remote driving server. In addition, the first monitoring server is connected to each first monitoring terminal, and the first conference control server is connected to each first vehicle-mounted terminal; based on the real-time multicast conference processing mechanism, a monitoring video transmission channel for remote driving is established between the first monitoring terminal and the first vehicle-mounted terminal through the first monitoring server, the first conference control server and the first web hosting server, and a vehicle state and control signaling transmission channel for remote driving is established between the first vehicle-mounted terminal and the driving simulator loaded on the first remote driving server through the first conference control server and the first remote driving server. Through the data processing network based on the real-time data transmission mechanism given by the present invention, on the one hand, the load pressure of each server at the back end of the cloud platform can be balanced, and the risk of communication blockage or server downtime of the cloud platform is reduced; on the other hand, the real-time performance of data transmission can be improved, the real-time response ability of remote driving is improved, and the energy consumption of faulty vehicles is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a schematic diagram of a method for cloud platform data processing for remote driving provided by Embodiment 1 of the present invention;

[0079] Figure 2 It is a schematic diagram of a method for cloud platform data processing for remote driving provided by Embodiment 2 of the present invention;

[0080] Figure 3 It is a schematic diagram of a method for cloud platform data processing for remote driving provided by Embodiment 3 of the present invention;

[0081] Figure 4 It is a schematic diagram of a method for cloud platform data processing for remote driving provided by Embodiment 4 of the present invention;

[0082] Figure 5 It is a schematic diagram of a method for cloud platform data processing for remote driving provided by Embodiment 5 of the present invention;

[0083] Figure 6 It is a module structure diagram of a device for cloud platform data processing for remote driving provided by Embodiment 6 of the present invention;

[0084] Figure 7 It is a module structure diagram of a device for cloud platform data processing for remote driving provided by Embodiment 7 of the present invention;

[0085] Figure 8 It is a module structure diagram of a cloud platform data processing device for remote driving provided in the eighth embodiment of the present invention;

[0086] Figure 9 It is a module structure diagram of a cloud platform data processing device for remote driving provided in the ninth embodiment of the present invention;

[0087] Figure 10 It is a module structure diagram of a cloud platform data processing device for remote driving provided in the tenth embodiment of the present invention;

[0088] Figure 11 It is a module structure diagram of a cloud platform data processing system for remote driving provided in the eleventh embodiment of the present invention;

[0089] Figure 12 It is a module structure diagram of a cloud platform data processing component for remote driving provided in the twelfth embodiment of the present invention. Detailed implementation manners

[0090] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0091] Embodiment 1

[0092] The first embodiment of the present invention provides a cloud platform data processing method for remote driving, as Figure 1 shown in the schematic diagram of the cloud platform data processing method for remote driving provided in the first embodiment of the present invention. The method mainly includes the following steps:

[0093] Step 1, the first monitoring server receives a first monitoring task application sent by the first monitoring terminal; and extracts the corresponding first monitoring vehicle identifier and the first monitoring terminal identifier from the first monitoring task application;

[0094] Among them, the first monitoring terminal includes a large-screen client or browser, a mobile phone client or browser, a mobile terminal client or browser, a computer client or browser, and a server client or browser.

[0095] It should be noted that before the first monitoring server receives the first monitoring task application sent by the first monitoring terminal, the first monitoring terminal uses the license plate number of the monitored vehicle input by the user as the corresponding first monitored vehicle identifier, and uses the locally preset monitoring terminal number as the corresponding first monitoring terminal identifier, and sends the first monitoring task application carrying the first monitored vehicle identifier and the first monitoring terminal identifier to the first monitoring server.

[0096] Step 2: Perform legal monitoring terminal identification processing according to the first monitoring terminal identifier to generate a corresponding first identification result;

[0097] Among them, the first identification result includes legal and illegal;

[0098] Specifically, the first monitoring server queries the preset registered monitoring terminal list according to the first monitoring terminal identifier, extracts the first monitoring terminal registration validity period field of the first registered monitoring terminal record whose first monitoring terminal identifier field in the registered monitoring terminal list matches the first monitoring terminal identifier as the corresponding first validity period; and identifies whether the first validity period is empty; if the first validity period is empty, set the corresponding first identification result as illegal; if the first validity period is not empty, identify whether the current system time meets the first validity period, if it does not meet, set the corresponding first identification result as illegal, if it meets, set the corresponding first identification result as legal;

[0099] Among them, the registered monitoring terminal list includes multiple first registered monitoring terminal records; the first registered monitoring terminal record includes a first monitoring terminal identifier field and a first monitoring terminal registration validity period field.

[0100] Here, a registered monitoring terminal list is preset on the side of the first monitoring server. Each first registered monitoring terminal record in the list corresponds to a first monitoring terminal that has completed registration; the first monitoring terminal identifier field in the record is the monitoring terminal number of the corresponding terminal, and the first monitoring terminal registration validity period field stores a valid time period, which is the time period during which the corresponding terminal can legally access the first monitoring server.

[0101] Step 3: When the first identification result is legal, query the monitoring web address according to the first monitored vehicle identifier to obtain the corresponding current monitoring web address;

[0102] Specifically, it includes: The first monitoring server queries all the first correspondence records stored locally according to the first monitored vehicle identifier, extracts the first correspondence record corresponding to the first monitored vehicle identifier as the corresponding current correspondence record; and identifies whether the current correspondence record is empty; if so, sets the corresponding current monitoring web address to be empty; if not, extracts the first monitoring web address from the current correspondence record as the corresponding current monitoring web address;

[0103] Among them, the first correspondence record includes the first monitored vehicle identifier and the first monitoring web address.

[0104] Here, as can be seen from the subsequent step 4, after a corresponding first monitoring web page is applied for and created for each first monitored vehicle identifier each time, a corresponding first correspondence record is generated and saved from the first monitored vehicle identifier + the first monitoring web address; if the current correspondence record is empty, it means that the first monitoring server has not yet opened the corresponding first monitoring web page for the current first monitored vehicle identifier before, and naturally the corresponding current monitoring web address is set to be empty; if the current correspondence record is not empty, it means that the first monitoring server has already opened the corresponding first monitoring web page for the current first monitored vehicle identifier before, and at this time, the first monitoring web address can be directly extracted from the current correspondence record as the corresponding current monitoring web address.

[0105] Step 4, identify whether the current monitoring web address is empty; if the current monitoring web address is not empty, send the current monitoring web address back to the first monitoring terminal; if the current monitoring web address is empty, send the first web hosting application carrying the first monitored vehicle identifier to the first web hosting server, and receive the first monitoring web address sent back by the first web hosting server as the corresponding current monitoring web address, and form a corresponding first correspondence record from the first monitored vehicle identifier and the first monitoring web address and save it, and send the current monitoring web address back to the first monitoring terminal.

[0106] Here, the first web hosting server connected to the first monitoring server in the first embodiment of the present invention is a server specifically responsible for opening the corresponding first monitoring web page for each first monitored vehicle identifier.

[0107] It should be noted that after the first monitoring server sends the current monitoring web address back to the first monitoring terminal, the first monitoring terminal receives the current monitoring web address sent back by the first monitoring server; and performs web browsing processing on the current monitoring web address.

[0108] Embodiment Two

[0109] The second embodiment of the present invention provides a cloud platform data processing method for remote driving, as Figure 2As shown in the schematic diagram of a cloud platform data processing method for remote driving provided in the second embodiment of the present invention, the method mainly includes the following steps:

[0110] Step 101, the first web hosting server receives the first web hosting application sent by the first monitoring server; and extracts the corresponding first monitored vehicle identifier from the first web hosting application.

[0111] Here, the first monitoring server and the first web hosting server in the second embodiment of the present invention are the first monitoring server and the first web hosting server in the foregoing embodiment; the first web hosting server is by default a WEB server that supports the HTTP / HTTPS protocol.

[0112] Step 102, create a corresponding monitoring page for the first monitored vehicle identifier as the corresponding first monitoring page according to a preset monitoring page template; and assign a corresponding public network URL as the corresponding first monitoring web page address for the first monitoring page; and publish the first monitoring page through the first monitoring web page address; and send the first monitoring web page address back to the first monitoring server;

[0113] Among them, the first monitoring page includes a monitoring video playback area.

[0114] Here, the monitoring page template in the second embodiment of the present invention is a preset page format template for constructing a standard monitoring page, and this template customizes a monitoring video playback area on the page to receive and play video data.

[0115] Step 103, create a corresponding video stream buffer area for the first monitored vehicle identifier as the corresponding first monitoring video stream buffer area; and send the first conference opening application carrying the first monitored vehicle identifier to the first conference control server; and receive the first conference video stream interface address sent back by the first conference control server; and continuously receive the conference video stream data pushed by the first conference control server according to the first conference video stream interface address; and store the conference video stream data received each time into the first monitoring video stream buffer area; and continuously update the playback content of the monitoring video playback area of the first monitoring page according to the latest conference video stream data stored in the first monitoring video stream buffer area.

[0116] Embodiment Three

[0117] The third embodiment of the present invention provides a cloud platform data processing method for remote driving, as Figure 3 As shown in the schematic diagram of a cloud platform data processing method for remote driving provided in the third embodiment of the present invention, the method mainly includes the following steps:

[0118] Step 201: The first conference control server receives the first conference opening application sent by the first web hosting server; extracts the corresponding first monitored vehicle identifier from the first conference opening application; and takes the first in-vehicle terminal corresponding to the first monitored vehicle identifier as the corresponding current in-vehicle terminal.

[0119] Among them, the first conference control server is respectively connected to multiple first in-vehicle terminals; the first conference control server is also connected to the first remote driving server.

[0120] Here, the first web hosting server and the first conference control server in the third embodiment of the present invention are the first web hosting server and the first conference control server in the foregoing embodiment; the first in-vehicle terminal is a terminal device pre-installed on the monitored vehicle, that is, the first vehicle mentioned below. The first conference control server in the embodiment of the present invention defaults to a conference control server that supports SIP services and WebRTC services.

[0121] Step 202: Create a corresponding multicast conference for the first monitored vehicle identifier as the corresponding first monitored vehicle multicast conference; and take the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the conference members of the first monitored vehicle multicast conference; and allocate a conference member video stream push interface address for the first web hosting server as the corresponding first conference video stream interface address; and allocate a conference member video stream receiving interface address for the current in-vehicle terminal as the corresponding second conference video stream interface address; and allocate a conference member signaling interface address for the current in-vehicle terminal as the corresponding first conference signaling interface address; and allocate a conference member signaling interface address for the first remote driving server as the corresponding second conference signaling interface address.

[0122] Here, the first conference control server in the embodiments of the present invention is a conference control server that supports SIP services and WebRTC services. From the well-known basic functions of the conference control server, it can be known that the first conference control server can create a multicast conference for multiple conference members, and configure corresponding video stream channels and signaling stream channels for each conference member in the multicast conference and give the corresponding port or interface address. Based on the basic functions of the conference control server, the first conference control server in the embodiments of the present invention takes the first web hosting server, the current vehicle-mounted terminal, and the first remote driving server as three conference members and creates a corresponding multicast conference, namely the first monitoring vehicle multicast conference, and allocates a video stream channel address for one-way video stream pushing, namely the first conference video stream interface address, to the first web hosting server, allocates a video stream channel address for one-way video stream receiving, namely the second conference video stream interface address, to the current vehicle-mounted terminal, allocates a signaling stream channel address for two-way data transmission, namely the first conference signaling interface address, to the current vehicle-mounted terminal, and allocates a signaling stream channel address for two-way data transmission, namely the second conference signaling interface address, to the first remote driving server.

[0123] Step 203: Send back the first conference video stream interface address to the first web hosting server.

[0124] Step 204: Send the first conference invitation notification carrying the second conference video stream interface address and the first conference signaling interface address to the current vehicle-mounted terminal; and set the corresponding first vehicle-mounted terminal status to the ready state when receiving the first conference join receipt sent back by the current vehicle-mounted terminal.

[0125] Step 205: Send the second conference invitation notification carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready state when receiving the second conference join receipt sent back by the first remote driving server.

[0126] Step 206: When the first vehicle-mounted terminal status is the ready state and the first remote driving status is the ready state, receive the first vehicle video data sent up by the current vehicle-mounted terminal through the second conference video stream interface address; and receive the first vehicle status data sent up by the current vehicle-mounted terminal through the first conference signaling interface address; and push the first vehicle video data to the first web hosting server through the first conference video stream interface address; and push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current vehicle-mounted terminal through the first conference signaling interface address.

[0127] Here, it is not difficult to see that the first conference control server of the embodiment of the present invention forwards the first vehicle video data uploaded by the first vehicle terminal to the first web hosting server through the second conference video stream interface and the first conference video stream interface address. From the second embodiment of the present invention in the foregoing text, we also know that the first web hosting server updates the first vehicle video data to the corresponding first monitoring page. From the first embodiment of the present invention in the foregoing text, we also know that the first monitoring terminal can access the first monitoring page through the first monitoring web address. Therefore, the technical solution of the present invention establishes a video transmission channel for watching the remote driving monitoring video between the first monitoring terminal and the first vehicle terminal through the first monitoring server, the first conference control server, and the first web hosting server of the first, second, and third embodiments of the present invention.

[0128] In addition, it is not difficult to see that the first conference control server of the embodiment of the present invention forwards the first vehicle control data uploaded by the first vehicle terminal to the first remote driving server through the first conference signaling interface address and the second conference signaling interface address, and forwards the first vehicle control data uploaded by the first remote driving server to the first vehicle terminal through the second conference signaling interface address and the first conference signaling interface address; From the fifth embodiment of the present invention in the following text, we know that the first remote driving server performs driving simulation according to the first vehicle control data to obtain the corresponding first vehicle control data. From the fourth embodiment of the present invention in the following text, we know that the first vehicle terminal controls the motion state of the vehicle according to the first vehicle control data. Therefore, the technical solution of the present invention establishes a vehicle state and control signaling transmission channel for remote driving control between the first vehicle terminal and the driving simulator loaded on the first remote driving server through the first conference control server and the first remote driving server of the third, fourth, and fifth embodiments of the present invention.

[0129] Embodiment Four

[0130] The fourth embodiment of the present invention provides a cloud platform data processing method for remote driving, as Figure 4 shown in the schematic diagram of a cloud platform data processing method for remote driving provided by the fourth embodiment of the present invention. This method mainly includes the following steps:

[0131] Step 301, the first vehicle terminal receives the first conference invitation notice sent by the first conference control server; and extracts the corresponding second conference video stream interface address and the first conference signaling interface address from the first conference invitation notice;

[0132] Among them, the first vehicle-mounted terminal is pre-installed on the first vehicle; the controller area network of the first vehicle includes a CAN bus, a driving mode control module, a transmission control module, a vehicle chassis module, an inertial measurement unit, a driving control module, a positioning module, an on-vehicle camera, and the first vehicle-mounted terminal; the driving control module includes a lateral control module and a longitudinal control module; the positioning module includes a GPS positioning unit and a Beidou positioning unit; the first vehicle-mounted terminal is connected to the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the on-vehicle camera through the CAN bus respectively; the driving mode control module is used to control and feedback the real-time driving mode of the first vehicle; the transmission control module is used to control and feedback the real-time gear of the first vehicle; the vehicle chassis module is used to feedback the real-time vehicle speed of the first vehicle; the inertial measurement unit is used to feedback the real-time orientation angle of the first vehicle; the lateral control module is used to control and feedback the real-time steering wheel angle of the first vehicle; the longitudinal control module is used to control and feedback the real-time throttle percentage and the real-time brake percentage of the first vehicle; the positioning module is used to feedback the real-time positioning coordinates of the first vehicle.

[0133] Here, the first vehicle-mounted terminal and the first conference control server in the fourth embodiment of the present invention are the first vehicle-mounted terminal and the first conference control server in the foregoing embodiment.

[0134] Step 302, check the working states of the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the on-vehicle camera of the first vehicle to generate corresponding first inspection results;

[0135] Among them, the first inspection results include all modules are normal and some modules are abnormal;

[0136] Specifically, the first vehicle-mounted terminal sends corresponding module control commands to the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the on-vehicle camera through the CAN bus respectively. If the command receipts returned by each module, unit, or camera can be received, the corresponding first inspection result is set to all modules are normal. If the command receipts returned by each module, unit, or camera cannot be received, the corresponding first inspection result is set to some modules are abnormal.

[0137] Step 303, when the first inspection result is that all modules are normal, send a first conference joining receipt for confirming joining the conference to the first conference control server.

[0138] Step 304, after the receipt is successfully sent, the in-vehicle camera is called to continuously capture the surrounding environment of the vehicle, and a video stream data is periodically generated during the capturing process as the corresponding first vehicle video data; for each generated first vehicle video data, the first vehicle video data generated this time is sent to the first conference control server through the second conference video stream interface address.

[0139] Here, after the first in-vehicle terminal of the embodiment of the present invention sends the first conference join receipt, it will continuously perform video capture and continuously upload the first vehicle video data obtained each time to the first monitoring vehicle multicast conference of the first conference control server through the second conference video stream interface address.

[0140] Step 305, after the receipt is successfully sent, the state data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle is collected and processed to generate the corresponding first vehicle state data; and the first vehicle state data is sent to the first conference control server through the first conference signaling interface address; and the first control state data sent back by the first conference control server is received through the first conference signaling interface address; and the vehicle motion state control process is performed according to the first control state data; after the vehicle motion state control process ends, the next round of state data collection, state data upload, control data reception, and vehicle motion state control operations are continued;

[0141] Among them,

[0142] The first control state data includes the second gear, the second steering wheel angle, the second throttle percentage, and the second brake percentage;

[0143] Collecting and processing the state data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate the corresponding first vehicle state data specifically includes: the first in-vehicle terminal obtains the corresponding real-time driving mode, real-time gear, real-time vehicle speed, real-time orientation angle, real-time steering wheel angle, real-time throttle percentage, real-time brake percentage, and real-time positioning coordinates from the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module respectively through the CAN bus as the corresponding first driving mode, first gear, first vehicle speed, first orientation angle, first steering wheel angle, first throttle percentage, first brake percentage, and first positioning coordinates to form the corresponding first vehicle state data;

[0144] Perform vehicle motion state control processing according to the first control state data, specifically including: the first in-vehicle terminal sends the second gear to the transmission control module through the CAN bus for vehicle gear control processing; and sends the second steering wheel angle to the lateral control module for steering wheel angle control processing; and sends the second throttle percentage and the second brake percentage to the longitudinal control module for throttle pedal opening degree and brake pedal opening degree control processing.

[0145] Embodiment 5

[0146] Embodiment 5 of the present invention provides a cloud platform data processing method for remote driving, as Figure 5 As shown in the schematic diagram of a cloud platform data processing method for remote driving provided by Embodiment 5 of the present invention, this method mainly includes the following steps:

[0147] Step 401, the first remote driving server receives the second conference invitation notice sent by the first conference control server; and extracts the corresponding second conference signaling interface address from the second conference invitation notice.

[0148] Here, the first remote driving server and the first conference control server in Embodiment 5 of the present invention are the first remote driving server and the first conference control server in the foregoing embodiments.

[0149] Step 402, load a driving simulator as the corresponding first driving simulator for the second conference signaling interface address.

[0150] The first remote driving server in the embodiment of the present invention can dynamically load a driving simulator; a driving simulator is a software module or hardware device that can perform driving simulation based on vehicle state data and give simulated vehicle control data; the embodiment of the present invention does not provide technical protection for how the driving simulator performs driving simulation according to vehicle state data, and relevant content can be queried from the publicly available driving simulator instruction documents, which will not be further elaborated here.

[0151] After the driving simulator is successfully loaded, send a second conference join receipt for confirming joining the conference back to the first conference control server.

[0152] After the receipt is successfully sent, receive the first vehicle state data pushed by the first conference control server through the second conference signaling interface address; and send the first vehicle state data into the first driving simulator for driving state simulation to obtain the corresponding first control state data; and send the first control state data back to the first conference control server through the second conference signaling interface address; wherein, the first control state data includes the second gear, the second steering wheel angle, the second throttle percentage, and the second brake percentage.

[0153] Embodiment 6

[0154] Figure 6 This is the module structure diagram of a cloud platform data processing device for remote driving provided in Embodiment 6 of the present invention, as Figure 6 shown. The device includes: a first receiving module 501, a legal monitoring terminal identification and processing module 502, and a monitoring web page address processing module 503.

[0155] The first receiving module 501 is used to receive a first monitoring task application sent by a first monitoring terminal; and extract the corresponding first monitoring vehicle identifier and the first monitoring terminal identifier from the first monitoring task application.

[0156] The legal monitoring terminal identification and processing module 502 is used to perform legal monitoring terminal identification and processing based on the first monitoring terminal identifier to generate a corresponding first identification result; the first identification result includes legal and illegal.

[0157] The monitoring web page address processing module 503 is used to, when the first identification result is legal, query the monitoring web page address according to the first monitoring vehicle identifier to obtain the corresponding current monitoring web page address; and identify whether the current monitoring web page address is empty; if the current monitoring web page address is not empty, send the current monitoring web page address back to the first monitoring terminal; if the current monitoring web page address is empty, send a first web page hosting application carrying the first monitoring vehicle identifier to the first web page hosting server, and receive the first monitoring web page address sent back by the first web page hosting server as the corresponding current monitoring web page address, and record and save the corresponding first correspondence relationship composed of the first monitoring vehicle identifier and the first monitoring web page address, and send the current monitoring web page address back to the first monitoring terminal.

[0158] A cloud platform data processing device for remote driving provided in Embodiment 6 of the present invention is used to execute the steps of the method provided in Embodiment 1 of the present invention, and its implementation principle and technical effects are similar and will not be elaborated here.

[0159] Embodiment 7

[0160] Figure 7 This is the module structure diagram of a cloud platform data processing device for remote driving provided in Embodiment 7 of the present invention, as Figure 7 shown. The device includes: a second receiving module 601, a monitoring page creation module 602, and a monitoring page update module 603.

[0161] The second receiving module 601 is used to receive a first web page hosting application sent by a first monitoring server; and extract the corresponding first monitoring vehicle identifier from the first web page hosting application.

[0162] The monitoring page creation module 602 is used to create a corresponding monitoring page for the first monitored vehicle identifier according to a preset monitoring page template as the corresponding first monitoring page; and assign a corresponding public network URL as the corresponding first monitoring web page address for the first monitoring page; and publish the first monitoring page through the first monitoring web page address; and send the first monitoring web page address back to the first monitoring server; the first monitoring page includes a monitoring video playback area.

[0163] The monitoring page update module 603 is used to create a corresponding video stream buffer area for the first monitored vehicle identifier as the corresponding first monitored video stream buffer area; and send a first conference opening application carrying the first monitored vehicle identifier to the first conference control server; and receive the first conference video stream interface address sent back by the first conference control server; and continuously receive the conference video stream data pushed by the first conference control server according to the first conference video stream interface address; and store the received conference video stream data into the first monitored video stream buffer area each time; and continuously update the playback content of the monitoring video playback area of the first monitoring page according to the latest conference video stream data stored in the first monitored video stream buffer area.

[0164] A cloud platform data processing device for remote driving provided in Embodiment 7 of the present invention is used to execute the steps of the method provided in Embodiment 2 of the present invention. Its implementation principle and technical effects are similar and will not be elaborated here.

[0165] Embodiment 8

[0166] Figure 8 It is a module structure diagram of a cloud platform data processing device for remote driving provided in Embodiment 8 of the present invention. As Figure 8 shown, the device includes: a third receiving module 701, a multicast conference creation module 702, a conference invitation module 703, and a conference forwarding module 704.

[0167] The third receiving module 701 is used to receive a first conference opening application sent by the first web hosting server; and extract the corresponding first monitored vehicle identifier from the first conference opening application; and use the first in-vehicle terminal corresponding to the first monitored vehicle identifier as the corresponding current in-vehicle terminal; the first conference control server is respectively connected to multiple first in-vehicle terminals; the first conference control server is also connected to the first remote driving server.

[0168] The multicast conference creation module 702 is used to create a corresponding multicast conference for the first monitoring vehicle identifier as the corresponding first monitoring vehicle multicast conference; and use the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the conference members of the first monitoring vehicle multicast conference; and allocate a conference member video stream push interface address for the first web hosting server as the corresponding first conference video stream interface address; and allocate a conference member video stream receiving interface address for the current in-vehicle terminal as the corresponding second conference video stream interface address; and allocate a conference member signaling interface address for the current in-vehicle terminal as the corresponding first conference signaling interface address; and allocate a conference member signaling interface address for the first remote driving server as the corresponding second conference signaling interface address; and send back the first conference video stream interface address to the first web hosting server.

[0169] The conference invitation module 703 is used to send the first conference invitation notice carrying the second conference video stream interface address and the first conference signaling interface address to the current in-vehicle terminal; and set the corresponding first in-vehicle terminal status to the ready state when receiving the first conference join receipt sent back by the current in-vehicle terminal.

[0170] The conference invitation module 703 is also used to send the second conference invitation notice carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready state when receiving the second conference join receipt sent back by the first remote driving server.

[0171] The conference forwarding module 704 is used to, when the first in-vehicle terminal status is the ready state and the first remote driving status is the ready state, receive the first vehicle video data sent by the current in-vehicle terminal through the second conference video stream interface address; and receive the first vehicle status data sent by the current in-vehicle terminal through the first conference signaling interface address; and push the first vehicle video data to the first web hosting server through the first conference video stream interface address; and push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current in-vehicle terminal through the first conference signaling interface address.

[0172] A cloud platform data processing device for remote driving provided in the eighth embodiment of the present invention is used to execute the steps of the method provided in the third embodiment of the present invention, and its implementation principle and technical effects are similar and will not be described in detail here.

[0173] Embodiment Nine

[0174] Figure 9The module structure diagram of a cloud platform data processing device for remote driving provided in the ninth embodiment of the present invention is as follows Figure 9 As shown, the device includes: a fourth receiving module 801, a first conference invitation confirmation module 802, and a first conference data processing module 803.

[0175] The fourth receiving module 801 is configured to receive a first conference invitation notice sent by a first conference control server; and extract the corresponding second conference video stream interface address and the first conference signaling interface address from the first conference invitation notice; the first vehicle-mounted terminal is pre-installed on the first vehicle.

[0176] The first conference invitation confirmation module 802 is configured to check the working status of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and vehicle-mounted camera of the first vehicle to generate a corresponding first inspection result; and when the first inspection result is that all modules are normal, send a first conference join receipt for confirming to join the conference back to the first conference control server; the first inspection result includes all modules being normal and some modules being abnormal.

[0177] The first conference data processing module 803 is configured to, after the receipt is successfully sent, call the vehicle-mounted camera to continuously capture the surrounding environment of the vehicle and regularly generate a video stream data as the corresponding first vehicle video data during the capture process; for each generated first vehicle video data, send the first vehicle video data generated this time to the first conference control server through the second conference video stream interface address.

[0178] The first conference data processing module 803 is further configured to, after the receipt is successfully sent, perform state data acquisition and processing on the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle state data; and send the first vehicle state data to the first conference control server through the first conference signaling interface address; and receive the first control state data sent back by the first conference control server through the first conference signaling interface address; and perform vehicle motion state control processing according to the first control state data; after the vehicle motion state control processing is completed, continue with the next round of state data acquisition, state data upload, control data reception, and vehicle motion state control operations.

[0179] A cloud platform data processing device for remote driving provided in the ninth embodiment of the present invention is used to execute the steps of the method provided in the fourth embodiment of the present invention. Its implementation principle and technical effects are similar and will not be elaborated here.

[0180] Embodiment Ten

[0181] Figure 10The module structure diagram of a cloud platform data processing device for remote driving provided in Embodiment 10 of the present invention is as follows: Figure 10 As shown, the device includes: a fifth receiving module 901, a second conference invitation confirmation module 902, and a second conference data processing module 903.

[0182] The fifth receiving module 901 is configured to receive a second conference invitation notice sent by a first conference control server; and extract the corresponding second conference signaling interface address from the second conference invitation notice.

[0183] The second conference invitation confirmation module 902 is configured to load a driving simulator as the corresponding first driving simulator for the second conference signaling interface address; and after the driving simulator is successfully loaded, send back a second conference join receipt for confirming joining the conference to the first conference control server.

[0184] The second conference data processing module 903 is configured to, after the receipt is successfully sent, receive first vehicle status data pushed by the first conference control server through the second conference signaling interface address; send the first vehicle status data into the first driving simulator for driving state simulation to obtain corresponding first control status data; and send back the first control status data to the first conference control server through the second conference signaling interface address; the first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

[0185] A cloud platform data processing device for remote driving provided in Embodiment 10 of the present invention is used to execute the steps of the method provided in Embodiment 5 of the present invention. Its implementation principle and technical effects are similar and will not be elaborated here.

[0186] It should be noted that it should be understood that the division of each module of the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the first receiving module can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device to perform the functions of the above acquisition module. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or can be independently implemented. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the method provided in the embodiments of the present invention or each module of the device provided in the embodiments of the present invention can be completed by the integrated logic circuit in the hardware of the processor element or the instructions in the form of software.

[0187] For example, the modules of the device provided in the embodiments of the present invention may be one or more integrated circuits configured to implement the methods provided in the embodiments of the present invention, such as: one or more Application Specific Integrated Circuits (ASICs), or, one or more Digital Signal Processors (DSPs), or, one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when a certain module of the device provided in the embodiments of the present invention is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processors that can call program code. For another example, these modules of the device provided in the embodiments of the present invention may be integrated together and implemented in the form of a System-on-a-chip (SOC).

[0188] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with the methods provided in the embodiments of the present invention are generated in whole or in part. The above computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.). The above computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The above available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a Digital Video Disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0189] Figure 11 This is a module structure diagram of a cloud platform data processing system for remote driving provided in the eleventh embodiment of the present invention. As Figure 11 shown, the system may specifically include: a first monitoring terminal 1001, a cloud platform 1002, and a first vehicle-mounted terminal 1003; the cloud platform 1002 includes a first monitoring server 10021, a first web hosting server 10022, a first conference control server 10023, and a first remote driving server 10024. Among them, the first monitoring terminal 1001 is the first monitoring terminal in the method provided in the first embodiment of the present invention, the first monitoring server 10021 is the first monitoring server in the method provided in the first embodiment of the present invention, the first web hosting server 10022 is the first web hosting server in the method provided in the second embodiment of the present invention, the first conference control server 10023 is the first conference control server in the method provided in the third embodiment of the present invention, the first remote driving server 10024 is the first remote driving server in the method provided in the fifth embodiment of the present invention, and the first vehicle-mounted terminal 1003 is the first vehicle-mounted terminal in the method provided in the fourth embodiment of the present invention.

[0190] Figure 12 This is a module structure diagram of a cloud platform data processing component for remote driving provided in the twelfth embodiment of the present invention. The component is an electronic component, electronic device, or server for implementing the method provided in the first embodiment of the present invention, or implementing the method provided in the second embodiment of the present invention, or implementing the method provided in the third embodiment of the present invention, or implementing the method provided in the fourth embodiment of the present invention, or implementing the method provided in the fifth embodiment of the present invention. As Figure 12 shown, the component may include: a processor 1101 (such as a CPU) and a memory 1102; the memory 1102 stores instructions executable by at least one processor 1101, and the instructions are executed by at least one processor 1101 so that at least one processor 1101 can execute the method provided in the first embodiment of the present invention, or execute the method provided in the second embodiment of the present invention, or execute the method provided in the third embodiment of the present invention, or execute the method provided in the fourth embodiment of the present invention, or execute the method provided in the fifth embodiment of the present invention. Preferably, the component related to the twelfth embodiment of the present invention may further include: a transceiver 1103, a power supply 1104, a system bus 1105, and a communication port 1106. The transceiver 1103 is coupled to the processor 1101, the system bus 1105 is used to realize the communication connection between components, and the above communication port 1106 is used for the component to connect and communicate with other peripherals.

[0191] In Figure 12The system bus mentioned above can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to implement communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include a Random Access Memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0192] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0193] A method, device, system, and component for cloud platform data processing for remote driving provided by an embodiment of the present invention set up four servers on the cloud platform side: a first monitoring server, a first web hosting server, a first conference control server, and a first remote driving server. The first monitoring server is connected to the first web hosting server, and the first conference control server is respectively connected to the first web hosting server and the first remote driving server. In addition, the first monitoring server is connected to each first monitoring terminal, and the first conference control server is connected to each first vehicle-mounted terminal; based on the real-time multicast conference processing mechanism, a monitoring video transmission channel for remote driving is established between the first monitoring terminal and the first vehicle-mounted terminal through the first monitoring server, the first conference control server, and the first web hosting server, and a vehicle state and control signaling transmission channel for remote driving is established between the first vehicle-mounted terminal and the driving simulator loaded on the first remote driving server through the first conference control server and the first remote driving server. Through the data processing network based on the real-time data transmission mechanism given by the present invention, on the one hand, the load pressure of each server at the back end of the cloud platform can be balanced, and the risk of communication blockage or server downtime of the cloud platform is reduced; on the other hand, the real-time performance of data transmission can be improved, the real-time response ability of remote driving is improved, and the energy consumption of faulty vehicles is reduced.

[0194] Those skilled in the art should further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0195] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0196] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for cloud platform data processing for remote driving, characterized in that, The method includes: The first monitoring server receives a first monitoring task application sent by the first monitoring terminal; and extracts the corresponding first monitoring vehicle identifier and the first monitoring terminal identifier from the first monitoring task application; Performs legal monitoring terminal identification processing based on the first monitoring terminal identifier to generate a corresponding first identification result; the first identification result includes legal and illegal; When the first identification result is legal, queries the monitoring web page address based on the first monitoring vehicle identifier to obtain the corresponding current monitoring web page address; Identifies whether the current monitoring web page address is empty; if the current monitoring web page address is not empty, sends the current monitoring web page address back to the first monitoring terminal; if the current monitoring web page address is empty, sends a first web page hosting application carrying the first monitoring vehicle identifier to the first web page hosting server; The first web page hosting server executes: (a) Receives the first web page hosting application and extracts the first monitoring vehicle identifier; (b) Creates a first monitoring page for the first monitoring vehicle identifier according to the monitoring page template, assigns a public network address as the first monitoring web page address and publishes the web page; (c) Creates a first monitoring video stream buffer area for the first monitoring vehicle identifier, and sends a first meeting opening application carrying the first monitoring vehicle identifier to the first conference control server; (d) Receives the first conference video stream interface address sent back by the first conference control server, and continuously receives conference video stream data through this interface and stores it in the first monitoring video stream buffer area; (e) Updates the monitoring video playback area of the first monitoring page according to the latest data in the first monitoring video stream buffer area; And receives the first monitoring web page address sent back by the first web page hosting server as the corresponding current monitoring web page address, forms a corresponding first correspondence record with the first monitoring vehicle identifier and the first monitoring web page address and saves it, and sends the current monitoring web page address back to the first monitoring terminal.

2. The cloud platform data processing method for remote driving according to claim 1, characterized in that The first monitoring terminal includes a large screen client or browser, a mobile terminal client or browser, a computer client or browser, and a server client or browser.

3. The method for processing cloud platform data for remote driving according to claim 1, characterized in that The method further includes: Before the first monitoring server receives the first monitoring task application sent by the first monitoring terminal, the first monitoring terminal uses the license plate number of the monitored vehicle input by the user as the corresponding first monitoring vehicle identifier, and uses the locally preset monitoring terminal number as the corresponding first monitoring terminal identifier, and sends the first monitoring task application carrying the first monitoring vehicle identifier and the first monitoring terminal identifier to the first monitoring server; After the first monitoring server sends the current monitoring web page address back to the first monitoring terminal, the first monitoring terminal receives the current monitoring web page address sent back by the first monitoring server; and performs web page browsing processing on the current monitoring web page address.

4. The method for processing cloud platform data for remote driving according to claim 1, characterized in that, Performing legal monitoring terminal identification processing based on the first monitoring terminal identifier to generate a corresponding first identification result specifically includes: The first monitoring server queries a preset registered monitoring terminal list according to the first monitoring terminal identifier, extracts the first monitoring terminal registration validity period field of the first registered monitoring terminal record whose first monitoring terminal identifier field in the registered monitoring terminal list matches the first monitoring terminal identifier as the corresponding first validity period; and identifies whether the first validity period is empty; if the first validity period is empty, set the corresponding first identification result as illegal; if the first validity period is not empty, identify whether the current system time meets the first validity period, if not, set the corresponding first identification result as illegal, if so, set the corresponding first identification result as legal; the registered monitoring terminal list includes a plurality of the first registered monitoring terminal records; the first registered monitoring terminal record includes the first monitoring terminal identifier field and the first monitoring terminal registration validity period field.

5. The method for processing cloud platform data for remote driving according to claim 1, wherein Querying a monitoring web address according to the first monitoring vehicle identifier to obtain a corresponding current monitoring web address specifically includes: The first monitoring server queries all the first corresponding relationship records stored locally according to the first monitoring vehicle identifier, extracts the first corresponding relationship record corresponding to the first monitoring vehicle identifier as the corresponding current corresponding relationship record; and identifies whether the current corresponding relationship record is empty; if so, set the corresponding current monitoring web address as empty; if not, extract the first monitoring web address from the current corresponding relationship record as the corresponding current monitoring web address.

6. The cloud platform data processing method for remote driving according to claim 1, wherein: The first web hosting server defaults to a WEB server that supports the HTTP / HTTPS protocol.

7. A cloud platform data processing method for remote driving, characterized in that, The method includes: The first conference control server receives a first conference opening application sent by the first web hosting server; extracts the corresponding first monitoring vehicle identifier from the first conference opening application; and takes the first in-vehicle terminal corresponding to the first monitoring vehicle identifier as the corresponding current in-vehicle terminal; the first conference control server is respectively connected to a plurality of the first in-vehicle terminals; the first conference control server is also connected to the first remote driving server; Create a corresponding multicast conference for the first monitored vehicle identifier as the corresponding first monitored vehicle multicast conference; and use the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the conference members of the first monitored vehicle multicast conference; and assign a conference member video stream push interface address to the first web hosting server as the corresponding first conference video stream interface address; and assign a conference member video stream receiving interface address to the current in-vehicle terminal as the corresponding second conference video stream interface address; and assign a conference member signaling interface address to the current in-vehicle terminal as the corresponding first conference signaling interface address; and assign a conference member signaling interface address to the first remote driving server as the corresponding second conference signaling interface address; Send the first conference video stream interface address back to the first web hosting server; Send a first conference invitation notice carrying the second conference video stream interface address and the first conference signaling interface address to the current in-vehicle terminal; and set the corresponding first in-vehicle terminal status to the ready status when receiving the first conference join receipt sent back by the current in-vehicle terminal; Send a second conference invitation notice carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready status when receiving the second conference join receipt sent back by the first remote driving server; When the first in-vehicle terminal status is the ready status and the first remote driving status is the ready status, receive the first vehicle video data sent up by the current in-vehicle terminal through the second conference video stream interface address; and receive the first vehicle status data sent up by the current in-vehicle terminal through the first conference signaling interface address; and push the first vehicle video data to the first web hosting server through the first conference video stream interface address; and push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current in-vehicle terminal through the first conference signaling interface address.

8. The cloud platform data processing method for remote driving according to claim 7, wherein, The first conference control server defaults to a conference control server that supports SIP services and WebRTC services.

9. A method for processing cloud platform data for remote driving, characterized in that, The method includes: The first in-vehicle terminal receives a first conference invitation notice sent by the first conference control server; and extracts the corresponding second conference video stream interface address and the first conference signaling interface address from the first conference invitation notice; the first in-vehicle terminal is pre-installed on the first vehicle; Check the working status of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and on-vehicle camera of the first vehicle to generate corresponding first inspection results; the first inspection results include all modules being normal and some modules being abnormal; When the first inspection result is that all modules are normal, send back a first meeting join receipt for confirming joining the meeting to the first conference control server; After the receipt is successfully sent, call the on-vehicle camera to continuously capture the surrounding environment of the vehicle and regularly generate a video stream data as the corresponding first vehicle video data during the capture process; for each generated first vehicle video data, send the generated first vehicle video data of the current time to the first conference control server through the second conference video stream interface address; After the receipt is successfully sent, collect and process the status data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle status data; and send the first vehicle status data to the first conference control server through the first conference signaling interface address; and receive the first control status data sent back by the first conference control server through the first conference signaling interface address; and perform vehicle motion state control processing according to the first control status data; after the vehicle motion state control processing is completed, continue with the next round of status data collection, status data upload, control data reception, and vehicle motion state control operations.

10. The cloud platform data processing method for remote driving according to claim 9, wherein, The controller area network of the first vehicle includes a CAN bus, the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, the on-vehicle camera, and the first on-vehicle terminal; the driving control module includes a lateral control module and a longitudinal control module; the positioning module includes a GPS positioning unit and a Beidou positioning unit; the first on-vehicle terminal is connected to the driving mode control module, the transmission control module, the vehicle chassis module, the inertial measurement unit, the driving control module, the positioning module, and the on-vehicle camera respectively through the CAN bus; The driving mode control module is used to control and feedback the real-time driving mode of the first vehicle; the transmission control module is used to control and feedback the real-time gear position of the first vehicle; the vehicle chassis module is used to feedback the real-time vehicle speed of the first vehicle; the inertial measurement unit is used to feedback the real-time orientation angle of the first vehicle; The lateral control module is used to control and feedback the real-time steering wheel angle of the first vehicle; the longitudinal control module is used to control and feedback the real-time throttle percentage and real-time brake percentage of the first vehicle; the positioning module is used to feedback the real-time positioning coordinates of the first vehicle.

11. The method for processing cloud platform data for remote driving according to claim 10, wherein, Checking the working states of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and in-vehicle camera of the first vehicle to generate corresponding first inspection results, specifically including: The first in-vehicle terminal sends corresponding module control commands to the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and in-vehicle camera respectively through the CAN bus. If the command receipt returned by each module, unit, or camera can be received, the corresponding first inspection result is set to all modules normal; if the command receipt returned by each module, unit, or camera cannot be received, the corresponding first inspection result is set to partial module abnormal.

12. The method for processing cloud platform data for remote driving according to claim 10, wherein, Collecting and processing the status data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle status data, specifically including: The first in-vehicle terminal obtains the corresponding real-time driving mode, real-time gear position, real-time vehicle speed, real-time orientation angle, real-time steering wheel angle, real-time throttle percentage, real-time brake percentage, and real-time positioning coordinates from the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module respectively through the CAN bus as the corresponding first driving mode, first gear position, first vehicle speed, first orientation angle, first steering wheel angle, first throttle percentage, first brake percentage, and first positioning coordinates to form the corresponding first vehicle status data.

13. The method for cloud platform data processing for remote driving according to claim 10, wherein The first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

14. The method for processing cloud platform data for remote driving according to claim 13, wherein, Performing vehicle motion state control processing according to the first control status data, specifically including: The first in-vehicle terminal sends the second gear position into the transmission control module through the CAN bus for vehicle gear position control processing; and sends the second steering wheel angle into the lateral control module for steering wheel angle control processing; and sends the second throttle percentage and the second brake percentage into the longitudinal control module for throttle pedal opening degree and brake pedal opening degree control processing.

15. A method for processing cloud platform data for remote driving, characterized in that, The method includes: The first remote driving server receives the second conference invitation notice sent by the first conference control server; and extracts the corresponding second conference signaling interface address from the second conference invitation notice; Loading a driving simulator for the second conference signaling interface address as the corresponding first driving simulator; After the driving simulator is successfully loaded, sending back a second conference joining receipt for confirming joining the conference to the first conference control server; After the receipt is successfully sent, the first vehicle status data pushed by the first conference control server is received through the second conference signaling interface address; and the first vehicle status data is sent into the first driving simulator for driving state simulation to obtain corresponding first control status data; and the first control status data is sent back to the first conference control server through the second conference signaling interface address; the first control status data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

16. An apparatus for implementing the method for processing cloud platform data for remote driving according to any one of claims 1-5, characterized in that, The device includes: a first receiving module, a legal monitoring terminal identification and processing module, and a monitoring web page address processing module; The first receiving module is configured to receive a first monitoring task application sent by a first monitoring terminal; and extract a corresponding first monitoring vehicle identifier and a first monitoring terminal identifier from the first monitoring task application; The legal monitoring terminal identification and processing module is configured to perform legal monitoring terminal identification and processing based on the first monitoring terminal identifier to generate a corresponding first identification result; the first identification result includes legal and illegal; The monitoring web page address processing module is configured to, when the first identification result is legal, query a monitoring web page address according to the first monitoring vehicle identifier to obtain a corresponding current monitoring web page address; and identify whether the current monitoring web page address is empty; if the current monitoring web page address is not empty, the current monitoring web page address is sent back to the first monitoring terminal; if the current monitoring web page address is empty, a first web page hosting application carrying the first monitoring vehicle identifier is sent to a first web page hosting server, and a first monitoring web page address sent back by the first web page hosting server is received as the corresponding current monitoring web page address, and a corresponding first correspondence record is formed and saved by the first monitoring vehicle identifier and the first monitoring web page address, and the current monitoring web page address is sent back to the first monitoring terminal.

17. An apparatus for implementing the method for processing cloud platform data for remote driving according to any one of claims 1 and 7, characterized in that, The device includes: a second receiving module, a monitoring page creation module, and a monitoring page update module; The second receiving module is configured to receive a first web page hosting application sent by a first monitoring server; and extract a corresponding first monitoring vehicle identifier from the first web page hosting application; The monitoring page creation module is configured to create a corresponding monitoring page for the first monitoring vehicle identifier according to a preset monitoring page template as a corresponding first monitoring page; and assign a corresponding public network address to the first monitoring page as a corresponding first monitoring web page address; and perform web publishing on the first monitoring page through the first monitoring web page address; and send the first monitoring web page address back to the first monitoring server; the first monitoring page includes a monitoring video playback area; The monitoring page update module is used to create a corresponding video stream buffer for the first monitored vehicle identifier as the corresponding first monitored video stream buffer; send the first conference opening application carrying the first monitored vehicle identifier to the first conference control server; receive the first conference video stream interface address sent back by the first conference control server; continuously receive the conference video stream data pushed by the first conference control server according to the first conference video stream interface address; store the received conference video stream data into the first monitored video stream buffer each time; and continuously update the playing content of the monitored video playing area of the first monitoring page according to the latest conference video stream data stored in the first monitored video stream buffer.

18. An apparatus for implementing the cloud platform data processing method for remote driving according to any one of claims 7-8, characterized in that, The device includes: a third receiving module, a multicast conference creation module, a conference invitation module, and a conference forwarding module; The third receiving module is used to receive the first conference opening application sent by the first web hosting server; extract the corresponding first monitored vehicle identifier from the first conference opening application; and use the first in-vehicle terminal corresponding to the first monitored vehicle identifier as the corresponding current in-vehicle terminal; the first conference control server is respectively connected to multiple first in-vehicle terminals; the first conference control server is also connected to the first remote driving server; The multicast conference creation module is used to create a corresponding multicast conference for the first monitored vehicle identifier as the corresponding first monitored vehicle multicast conference; use the first web hosting server, the current in-vehicle terminal, and the first remote driving server as the conference members of the first monitored vehicle multicast conference; allocate a conference member video stream push interface address for the first web hosting server as the corresponding first conference video stream interface address; allocate a conference member video stream receiving interface address for the current in-vehicle terminal as the corresponding second conference video stream interface address; allocate a conference member signaling interface address for the current in-vehicle terminal as the corresponding first conference signaling interface address; allocate a conference member signaling interface address for the first remote driving server as the corresponding second conference signaling interface address; and send back the first conference video stream interface address to the first web hosting server; The conference invitation module is used to send the first conference invitation notice carrying the second conference video stream interface address and the first conference signaling interface address to the current in-vehicle terminal; and set the corresponding first in-vehicle terminal status to the ready state when receiving the first conference join receipt sent back by the current in-vehicle terminal; The conference invitation module is also used to send the second conference invitation notice carrying the second conference signaling interface address to the first remote driving server; and set the corresponding first remote driving status to the ready state when receiving the second conference join receipt sent back by the first remote driving server; The conference forwarding module is used to receive the first vehicle video data sent by the current vehicle terminal through the second conference video stream interface address when the state of the first vehicle terminal is the ready state and the state of the first remote driving is the ready state; receive the first vehicle status data sent by the current vehicle terminal through the first conference signaling interface address; push the first vehicle video data to the first web hosting server through the first conference video stream interface address; push the first vehicle status data to the first remote driving server through the second conference signaling interface address, and receive the first vehicle control data sent back by the first remote driving server through the second conference signaling interface address; and push the first vehicle control data to the current vehicle terminal through the first conference signaling interface address.

19. An apparatus for implementing the method for processing cloud platform data for remote driving according to any one of claims 9-14, characterized in that, The device includes: a fourth receiving module, a first conference invitation confirmation module, and a first conference data processing module; The fourth receiving module is used to receive the first conference invitation notice sent by the first conference control server; extract the corresponding second conference video stream interface address and the first conference signaling interface address from the first conference invitation notice; the first vehicle terminal is pre-installed on the first vehicle. The first conference invitation confirmation module is used to check the working states of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, positioning module, and vehicle-mounted camera of the first vehicle to generate a corresponding first inspection result; and when the first inspection result is that all modules are normal, send back a first conference joining receipt for confirming to join the conference to the first conference control server; the first inspection result includes all modules being normal and some modules being abnormal. The first conference data processing module is used to, after the receipt is successfully sent, call the vehicle-mounted camera to continuously capture the surrounding environment of the vehicle and regularly generate a video stream data as the corresponding first vehicle video data during the capture process; for each generated first vehicle video data, send the first vehicle video data generated this time to the first conference control server through the second conference video stream interface address. The first conference data processing module is further used to, after the receipt is successfully sent, collect and process the status data of the driving mode control module, transmission control module, vehicle chassis module, inertial measurement unit, driving control module, and positioning module of the first vehicle to generate corresponding first vehicle status data; send the first vehicle status data to the first conference control server through the first conference signaling interface address; receive the first control status data sent back by the first conference control server through the first conference signaling interface address; and perform vehicle motion state control processing according to the first control status data; after the vehicle motion state control processing ends, continue to perform the next round of status data collection, status data upload, control data reception, and vehicle motion state control operations.

20. An apparatus for implementing the cloud platform data processing method for remote driving according to claim 15, characterized in that, The device includes: a fifth receiving module, a second conference invitation confirmation module, and a second conference data processing module; The fifth receiving module is configured to receive a second conference invitation notice sent by the first conference control server; and extract the corresponding second conference signaling interface address from the second conference invitation notice; The second conference invitation confirmation module is configured to load a driving simulator as the corresponding first driving simulator for the second conference signaling interface address; and after the driving simulator is successfully loaded, send back a second conference join receipt for confirming joining the conference to the first conference control server; The second conference data processing module is configured to, after the receipt is successfully sent, receive the first vehicle state data pushed by the first conference control server through the second conference signaling interface address; send the first vehicle state data into the first driving simulator for driving state simulation to obtain the corresponding first control state data; and send back the first control state data to the first conference control server through the second conference signaling interface address; the first control state data includes a second gear position, a second steering wheel angle, a second throttle percentage, and a second brake percentage.

21. A cloud platform data processing system for remote driving, characterized in that, The system includes: a first monitoring terminal and a first monitoring server for the method according to any one of claims 1-5, a first web hosting server for the method according to any one of claims 1 and 7, a first conference control server for the method according to any one of claims 7-8, a first vehicle-mounted terminal for the method according to any one of claims 9-14, and a first remote driving server for the method according to claim 15.

22. A cloud platform data processing component for remote driving, characterized in that, The component includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the cloud platform data processing method for remote driving according to any one of claims 1-5, or execute the cloud platform data processing method for remote driving according to any one of claims 1 and 6, or execute the cloud platform data processing method for remote driving according to any one of claims 7-8, or execute the cloud platform data processing method for remote driving according to any one of claims 9-14, or execute the cloud platform data processing method for remote driving according to claim 15.

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