Remote control driving control method, system, device and storage medium

Abstract

The application provides a remote control driving control method, system, device and storage medium, which are used for realizing remote control of an unmanned vehicle by a remote control end, and the remote control end remotely connects at least one unmanned vehicle; the method comprises the steps of: acquiring a downlink control frame sent by the remote control end; analyzing the downlink control frame to obtain a joint timestamp and a remote control instruction; judging whether the joint timestamp satisfies a first preset condition; if yes, sending the remote control instruction to the unmanned vehicle so that the unmanned vehicle drives according to the remote control instruction; or performing safety verification on the remote control instruction; if no, controlling the unmanned vehicle to stop or drive to a preset parking position; and the application is beneficial to improving the safety of remote control driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle remote control, in particular to a remote control driving control method, system, device and storage medium. BACKGROUND

[0002] In recent years, intelligent vehicles have developed rapidly, and more and more intelligent auxiliary driving systems have appeared. With the introduction of high-precision sensors, processors and AI technology, the vehicle automatic driving system can process various complex situations of the road in real time, combined with the development of real-time broadband communication and network technology, making the vehicle automatic driving more efficient.

[0003] Remote control driving belongs to an application scenario of intelligent vehicles, and remote control driving can drive safely under unmanned conditions according to remote control actions, and can be used in many fields such as transportation, logistics and express delivery, and driving training. The remote control end obtains the sensor data uploaded by the vehicle, such as the camera, the position and speed information of the surrounding vehicles perceived by the laser radar, and then transmits the artificial control information. However, how to ensure the safety of remote control driving is a problem currently faced.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] In view of the problems in the prior art, the purpose of the present application is to provide a remote control driving control method, system, device and storage medium, which solves the problem that the safety of the existing remote control driving cannot be guaranteed.

[0006] To achieve the above-mentioned purpose, the present application provides a remote control driving control method for realizing remote control of unmanned vehicles by a remote control end, wherein the remote control end is remotely connected to at least one unmanned vehicle; the method comprises the following steps:

[0007] S110, obtaining a downlink control frame sent by the remote control end;

[0008] S120, analyzing the downlink control frame to obtain a joint timestamp and a remote control instruction;

[0009] S130, judging whether the joint timestamp meets a first preset condition; if yes, executing step S140 or step S141; if no, executing step S150;

[0010] S140, sending the remote control instruction to the unmanned vehicle, so that the unmanned vehicle drives according to the remote control instruction;

[0011] S141, performing security verification on the remote control instruction;

[0012] S150, controlling the unmanned vehicle to park or drive to a preset parking position.

[0013] Optionally, step S141 comprises:

[0014] determining whether the remote control instruction passes the verification; if yes, performing step S140; otherwise, performing step S150.

[0015] Optionally, step S150 comprises:

[0016] obtaining map navigation data and position information of the unmanned vehicle;

[0017] determining a preset parking position according to the position information and the map navigation data; and

[0018] controlling the unmanned vehicle to drive to the preset parking position according to a preset driving strategy.

[0019] Optionally, before step S110, the method further comprises:

[0020] collecting sensor data about the unmanned vehicle, sending the sensor data to the remote control end, and recording a first time instant corresponding to sending the sensor data as an uplink data timestamp;

[0021] after the remote control end receives the sensor data, generating a downlink control data packet and sending it to the unmanned vehicle, recording a second time instant corresponding to sending the downlink control data packet as a downlink data timestamp; the joint timestamp comprises the uplink data timestamp and the downlink data timestamp.

[0022] Optionally, the first preset condition is that a difference between the downlink data timestamp and the uplink data timestamp is less than a preset time delay threshold, and a difference between a current time instant and the downlink data timestamp is less than the preset time delay threshold.

[0023] Optionally, step S141 comprises:

[0024] collecting current environment data about the unmanned vehicle;

[0025] performing security verification on the remote control instruction according to the current environment data and each preset security rule in a preset security rule set.

[0026] Optionally, step S150 comprises:

[0027] acquire historical driving trajectory and driving parameter information of the unmanned vehicle;

[0028] calculate a remote control intention corresponding to the remote control instruction according to the remote control instruction or the historical driving trajectory;

[0029] calculate a driving control instruction of the unmanned vehicle according to the remote control intention and the driving parameter information;

[0030] perform safety verification on the driving control instruction, and if the safety verification is passed, send the driving control instruction to the unmanned vehicle, and control the unmanned vehicle to stop or drive to a preset parking position after the remote control intention is completed; if the safety verification is not passed, control the unmanned vehicle to stop or drive to a preset parking position.

[0031] Optionally, the at least one unmanned vehicle includes a first unmanned vehicle and a target unmanned vehicle; the method is used to realize remote control of the target unmanned vehicle by the remote control end based on a first wireless communication mode, and the method further includes the following steps before step S110:

[0032] receive communication failure information sent by the target unmanned vehicle; the communication failure information is used to indicate a failure of the target unmanned vehicle in the first wireless communication mode;

[0033] the remote control end determines, according to the communication failure information, that the first unmanned vehicle and the target unmanned vehicle communicate based on a second wireless communication mode, and the first unmanned vehicle and the remote control end communicate based on the first wireless communication mode; the effective communication distance of the second wireless communication mode is smaller than that of the first wireless communication mode;

[0034] step S110 includes:

[0035] the first unmanned vehicle receives a downlink control frame sent by the remote control end based on the first wireless communication mode, and sends the downlink control frame to the target unmanned vehicle based on the second wireless communication mode;

[0036] step S140 includes:

[0037] send the remote control instruction to the target unmanned vehicle, so that the target unmanned vehicle drives according to the remote control instruction.

[0038] Optionally, the remote control end determines, according to the communication failure information, that the first unmanned vehicle and the target unmanned vehicle communicate based on a second wireless communication mode, including:

[0039] The remote control end determines the unmanned vehicle running the same vehicle system and adopting the same preset safety rule set as the target unmanned vehicle as the first unmanned vehicle.

[0040] Optionally, the method comprises:

[0041] controlling the first unmanned vehicle to parse the downlink control frame to obtain a joint timestamp and a remote control instruction;

[0042] controlling the first unmanned vehicle to send the joint timestamp and the remote control instruction to the target unmanned vehicle by using a second wireless communication mode.

[0043] Optionally, the remote control end determines, according to the communication failure information, that the first unmanned vehicle communicates with the target unmanned vehicle based on the second wireless communication mode, comprising:

[0044] respectively acquiring a first communication quality of the first unmanned vehicle and the remote control end on a first wireless communication mode, and a second communication quality of the first unmanned vehicle and the target unmanned vehicle on the second wireless communication mode;

[0045] The remote control end determines the unmanned vehicle running the same vehicle system and adopting the same preset safety rule set as the target unmanned vehicle as the first unmanned vehicle.

[0046] The remote control end determines the unmanned vehicle running the same vehicle system and adopting the same preset safety rule set as the target unmanned vehicle as the first unmanned vehicle.

[0047] The application also provides a remote control driving control system for realizing the remote control driving control method, and the system comprises:

[0048] a downlink control frame acquisition module that acquires a downlink control frame sent by a remote control end;

[0049] a downlink control frame parsing module that parses the downlink control frame to obtain a joint timestamp and a remote control instruction;

[0050] a joint timestamp judgment module that judges whether the joint timestamp meets a first preset condition; if yes, a remote control instruction sending module or a remote control instruction safety verification module is executed; if no, a risk-avoiding driving control module is executed;

[0051] a remote control instruction sending module that sends the remote control instruction to the unmanned vehicle to make the unmanned vehicle travel according to the remote control instruction;

[0052] a remote control instruction safety verification module that performs safety verification on the remote control instruction;

[0053] An emergency driving control module controls the unmanned vehicle to stop or drive to a preset parking position.

[0054] The application further provides a remote control driving control device, comprising:

[0055] a processor;

[0056] a memory in which an executable program of the processor is stored;

[0057] The processor is configured to execute the steps of any one of the remote control driving control methods above by executing the executable program.

[0058] The application further provides a computer readable storage medium for storing a program, which, when executed by a processor, implements the steps of any one of the remote control driving control methods above.

[0059] Compared with the prior art, the application has the following advantages and prominent effects:

[0060] The remote control driving control method, system, device and storage medium provided by the application analyze the received downlink control frame, judge whether the joint timestamp obtained by the analysis satisfies the first preset condition, that is, whether the delay is too large, and send a remote control instruction or perform safety verification when the condition is satisfied, or execute an emergency driving mode when the condition is not satisfied, thereby ensuring the safety of remote control driving. BRIEF DESCRIPTION OF DRAWINGS

[0061] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings.

[0062] Figure 1 A remote control driving control method according to an embodiment of the application;

[0063] Figure 2 A vehicle end, that is, the composition structure of an unmanned vehicle according to an embodiment of the application;

[0064] Figure 3 A remote control end according to an embodiment of the application;

[0065] Figure 4 A vehicle end uplink data flow diagram according to an embodiment of the application;

[0066] Figure 5 A vehicle end downlink data flow diagram according to an embodiment of the application;

[0067] Figure 6A data flow diagram of a remote control terminal disclosed in one embodiment of the present invention;

[0068] Figure 7 A schematic diagram of a remote control driving control method disclosed in another embodiment of the present invention;

[0069] Figure 8 A schematic diagram of a remote control driving control method disclosed in another embodiment of the present invention;

[0070] Figure 9 A schematic diagram of a remote control driving control method disclosed in another embodiment of the present invention;

[0071] Figure 10 Schematic diagram of the flow of step S102 in a remote control driving control method disclosed in another embodiment of the present invention;

[0072] Figure 11 This is a schematic structural diagram of a remote control driving control system disclosed in one embodiment of the present invention;

[0073] Figure 12 A schematic structural diagram of a remote control driving control device disclosed in one embodiment of the present invention;

[0074] Figure 13 A schematic diagram of the structure of a computer-readable storage medium disclosed in one embodiment of the present invention. DETAILED DESCRIPTION

[0075] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Identical reference numerals in the figures represent identical or similar structures, and thus a repeated description thereof will be omitted.

[0076] like Figure 1 As shown, one embodiment of the present invention discloses a remote control driving control method for realizing remote control of an unmanned vehicle (i.e., a vehicle end) by a remote control end. The remote control end is remotely connected to at least one unmanned vehicle. In this embodiment, the remote control end only includes a main control station. In other embodiments, the remote control end may also include a main control station and an auxiliary control station. Among them, the main control station can realize the control of the equipment corresponding to the main driver's position, and the auxiliary control station can realize the control of the equipment corresponding to the co-driver's position.

[0077] refer to Figure 2In this embodiment, the vehicle end 11 can include a camera, a laser radar, a speed, direction and oil level sensor, a processor unit, a driving control unit, a high-precision positioning module, a wideband communication unit and a real-time clock unit. Referring to Figure 3 The remote control end 12 can include a data communication unit, a display screen, a processor unit, a real-time clock unit and a driver console.

[0078] Referring to Figure 1 The remote control driving control method provided in this embodiment includes the following steps:

[0079] S110, obtaining a downlink control frame sent by the remote control end.

[0080] S120, analyzing the downlink control frame to obtain a joint timestamp and a remote control instruction.

[0081] S130, determining whether the joint timestamp meets a first preset condition. If yes, step S141 is performed. If no, step S150 is performed.

[0082] S141, performing security verification on the remote control instruction.

[0083] S150, controlling the unmanned vehicle to stop or drive to a preset parking position.

[0084] Specifically, the joint timestamp includes an uplink data timestamp and a downlink data timestamp. Exemplarily, the first preset condition can be that a difference between the downlink data timestamp and the uplink data timestamp is less than a preset time delay threshold, and a difference between a current time and the downlink data timestamp is less than the preset time delay threshold. The uplink data is a data packet sent by the vehicle end to the remote control end. The downlink data is a data packet sent by the remote control end to the vehicle end. The uplink data timestamp can be a time when the uplink data is sent. The downlink data timestamp can be a time when the downlink data, i.e., the downlink control frame, is sent. The downlink control frame can be used to control the driving direction, the accelerator, the brake, the light and the horn of the vehicle. The downlink control frame contains the joint timestamp and the remote control instruction. Exemplarily, the preset time delay threshold can be 0.5 seconds, and the present application is not limited in this regard.

[0085] Exemplarily, referring to Figure 4In the vehicle end data stream forming process, the GPS position is obtained according to the GPS, the track point is recorded and written into the track record. The current environment data is obtained according to the camera, the sensor data is obtained by the vehicle radar, and the current timestamp is obtained by the real-time clock unit. The image data obtained by the camera can be subjected to edge recognition and image compression to form an image compression frame. The voice data obtained by the camera is subjected to voice compression to form a voice compression frame. The above-mentioned GPS data, image compression frame, voice compression frame and current timestamp and the like are subjected to uplink data mixing processing to form an uplink data frame. The current environment data and the uplink data send the corresponding current timestamp, which can be used in the subsequent safety verification link.

[0086] Exemplarily, referring to Figure 5 In the vehicle end downlink data stream analysis process, after receiving the downlink control frame, the downlink control frame is analyzed to obtain the joint timestamp and remote control instruction. The joint timestamp and environment data are used in the safety verification link. After the remote control instruction is subjected to multi-path control switching, the remote control instruction is obtained, and the remote control instruction is sent to the driving control system. After reading the track record, the remote control instruction obtained by analysis is combined to perform intention-based automatic driving control to obtain driving control instruction. After obtaining the driving control instruction, the surrounding environment data and the preset safety rule set are combined to perform multi-path selection, i.e., multi-path control switching, to obtain automatic driving control instruction, which is used for again multi-path control switching.

[0087] Referring to Figure 6 After the uplink data frame sent by the vehicle end is analyzed, the video data frame, audio, radar data frame and instrument data are obtained. After decompression, the video data frame can be displayed on the VR screen of the remote control end, the audio data frame can be played in the loudspeaker of the remote control end, the radar data frame can be displayed on the radar display screen of the remote control end, and the instrument data can be displayed on the driving data display screen of the remote control end. The data collected by the steering wheel, accelerator, brake and control handle of the remote control end is driving remote control frame. The downlink timestamp is obtained by the real-time clock unit, and the uplink data frame is analyzed to obtain the uplink timestamp. The above-mentioned uplink timestamp, downlink timestamp and remote control frame are subjected to downlink data mixing to obtain the downlink control frame and send it to the vehicle end.

[0088] In specific implementation, in step S141, safety verification can be performed according to the preset safety rule set, and it is judged whether the remote control instruction is verified. The preset safety rule set can include a plurality of preset safety rules, such as whether the control is timed out, the limitation of the vehicle distance, etc. If the verification is passed, the above-mentioned remote control instruction is sent to the unmanned vehicle controlled by the remote control end, so that the unmanned vehicle drives according to the above-mentioned remote control instruction. If the verification is not passed, the above-mentioned step S150 is executed.

[0089] Step S150 switches the vehicle to emergency avoidance autonomous driving mode, executing the emergency avoidance autonomous driving method. In this mode, the vehicle is controlled to stop on the spot or to drive to a safe, pre-set parking location. Controlling the vehicle to a safe, pre-set parking location specifically includes the steps of: obtaining map navigation data and the location information of the unmanned vehicle; determining a safe, pre-set parking location based on the location information and the map navigation data; and controlling the unmanned vehicle to drive to the pre-set parking location using a pre-set driving strategy.

[0090] Among them, the preset driving strategy can be, for example, a driving mode of following the vehicle in front, or a driving mode of adopting a minimum driving speed such as 10 km / h. In other embodiments, while parking in place, the vehicle can be controlled to turn on the taillights double flash warning.

[0091] In other embodiments, step S141 may include: collecting current environmental data about the unmanned vehicle, and performing security verification on the remote control command based on the current environmental data and each preset safety rule in the preset safety rule set.

[0092] For example, the current environmental data may include the distance to road obstacles, speed, traffic light indications, and the distance to the preceding and following vehicles. For example, a preset safety rule may require that the vehicle distance be greater than 10 meters. For example, when the vehicle distance in the current environmental data is greater than 10 meters, the corresponding preset safety rule is satisfied. It should be noted that in this step, all preset safety rules in the preset safety rule set must be satisfied for the safety verification to be determined to have passed. Otherwise, the safety verification is determined to have failed.

[0093] In another embodiment of the present application, another remote control driving control method is disclosed. Figure 7 As shown, this method is Figure 1 The difference between the corresponding embodiments is that when the combined timestamp satisfies the first preset condition, step S140 is executed instead of step S141. Step S140 is: sending the remote control instruction to the unmanned vehicle so that the unmanned vehicle drives according to the remote control instruction.

[0094] In an optional embodiment, before step S110, the above method further includes:

[0095] Collect sensor data about the unmanned vehicle, send the sensor data to the remote control terminal, and record the first moment corresponding to sending the sensor data as the uplink data timestamp.

[0096] After the remote end receives the sensor data, a downlink control data packet is generated and sent to the unmanned vehicle, and a second time corresponding to the sending of the downlink control data packet is recorded as a downlink data timestamp.

[0097] In another embodiment of the present application, another remote control driving control method is disclosed. As shown in the figure, the method comprises the following steps: Figure 8 Figure 1 Based on the corresponding embodiment, when the joint timestamp does not satisfy the first preset condition, step S150 can specifically include the following sub-steps:

[0098] S151, obtaining the historical driving trajectory and driving parameter information of the unmanned vehicle.

[0099] S152, calculating the remote control intention corresponding to the remote control instruction according to the remote control instruction or the historical driving trajectory.

[0100] S153, calculating the driving control instruction of the unmanned vehicle according to the remote control intention and the driving parameter information.

[0101] S154, performing safety verification on the driving control instruction to determine whether the verification is passed. If the verification is passed, step S155 is executed; if the verification is not passed, step S156 is executed.

[0102] S155, sending the driving control instruction to the unmanned vehicle controlled by the remote end, so that the unmanned vehicle drives according to the driving control instruction; and switching to an emergency automatic driving mode after the remote control intention is completed.

[0103] S156, switching the vehicle to an emergency automatic driving mode. That is, the automatic driving method for emergency avoidance is executed. The emergency automatic driving mode is to control the unmanned vehicle to stop or drive to a preset parking position.

[0104] Specifically, steps S151 to S156 are the process corresponding to the intention-based automatic driving mode. The driving parameter information can include vehicle position, speed, direction of travel, whether there is an obstacle in the direction of travel, distance from the obstacle, and current lane information. The remote control intention can be straight, left turn or right turn, etc. The historical driving trajectory can be the driving trajectory of the unmanned vehicle in the past a preset time period, such as the past 10 seconds.

[0105] ​In the step S152, it can be determined whether the data parsed from the downlink control frame can be identified. If yes, the remote control intention is calculated according to the remote control instruction. For example, if the remote control instruction is to go straight, the corresponding remote control intention is to drive in the current lane. Or for example, if the remote control instruction is to turn left, the corresponding remote control intention is to switch to the left lane (in a non-intersection area) or to turn left to the left road (in an intersection area).

[0106] If no, the remote control intention is calculated according to the historical driving trajectory. Specifically, the relationship between the trajectory and the lane direction is obtained from the historical driving trajectory, and then the remote control intention is determined according to the relationship. For example, if the relationship between the trajectory and the lane direction is that the trajectory line intersects the current lane direction on the left, the corresponding remote control intention is to switch to the left lane (in a non-intersection area) or to turn left to the left road (in an intersection area). For example, if the relationship between the trajectory and the lane direction is overlap, the corresponding remote control intention is to drive in the current lane.

[0107] In the step S153, the driving control instruction is determined according to the current lane of the vehicle in the driving parameter information and the remote control intention. For example, if the remote control intention is to drive in the current lane and the current lane of the vehicle is the current lane, the corresponding driving control instruction is to drive in the current lane. For example, if the remote control intention is to switch to the left lane, the corresponding driving control instruction includes two steps: to turn left to the left lane and to drive in the current lane. Specifically, when it is detected that the current lane of the vehicle is the current lane, the corresponding driving control instruction is to turn left to the left lane. Then, when it is detected that the current lane of the vehicle is the left lane, the corresponding driving control instruction is to drive in the current lane.

[0108] In the step S154, the safety verification of the driving control instruction can refer to the implementation method of the step S141, that is, the safety verification can be performed by using the current environment data and the preset safety rule set. When the verification is passed, the driving control instruction is sent to the unmanned vehicle controlled by the remote control end and the remote control intention is completed, and then the emergency avoidance automatic driving mode is switched to. When the verification is not passed, the emergency avoidance automatic driving mode is directly switched to, that is, the automatic driving vehicle is controlled to drive to the preset parking position according to the preset driving strategy or directly park in place and turn on the tail light double flash warning.

[0109] In another embodiment of the present application, another remote control driving control method is disclosed. The method is based on the above Figure 1 In the corresponding embodiment, the at least one unmanned vehicle includes a first unmanned vehicle and a target unmanned vehicle. The method is used to realize remote control of the target unmanned vehicle by the remote control end based on the first wireless communication mode. As shown in the figure, the method further includes the following steps before the step S110: Figure 9 ​

[0110] S101, receiving communication failure information sent by the target unmanned vehicle. The communication failure information is used to indicate that the target unmanned vehicle fails in the first wireless communication mode.

[0111] S102, determining, by the remote control terminal, that the first unmanned vehicle and the target unmanned vehicle communicate based on a second wireless communication mode, and that the first unmanned vehicle and the remote control terminal communicate based on the first wireless communication mode, according to the communication failure information. The effective communication distance of the second wireless communication mode is less than that of the first wireless communication mode.

[0112] Step S110 is replaced by step S111:

[0113] The first unmanned vehicle receives the downlink control frame sent by the remote control terminal based on the first wireless communication mode, and sends the downlink control frame to the target unmanned vehicle based on the second wireless communication mode.

[0114] Step S141 includes: performing security verification on the remote control instruction, and determining whether the remote control instruction is verified. If the verification is passed, the remote control instruction is sent to the target unmanned vehicle, so that the target unmanned vehicle drives according to the remote control instruction. If the verification is not passed, step S150 is executed.

[0115] Specifically, for example, the first wireless communication mode can be 5G communication, and the second wireless communication mode can be Bluetooth communication. For example, the first unmanned vehicle can be a vehicle located at the entrance of the tunnel, and the target unmanned vehicle can be a vehicle located in the tunnel. Due to the signal interference of the tunnel, the 5G communication quality of the target unmanned vehicle in the tunnel is poor, and the remote control instruction sent by the remote control terminal cannot be successfully received. The 5G communication signal of the first unmanned vehicle is better. In this kind of scene, the first unmanned vehicle and the target unmanned vehicle can communicate through Bluetooth, and the first unmanned vehicle forwards the remote control instruction to the target unmanned vehicle. Thus, the remote control instruction is successfully delivered, which is beneficial to ensure the safety and reliability of remote control driving control.

[0116] As an optional embodiment, in step S102, the remote control terminal determines the unmanned vehicle running the same vehicle system and using the same preset safety rule set as the target unmanned vehicle as the first unmanned vehicle.

[0117] In this embodiment, step S120 includes:

[0118] The first unmanned vehicle analyzes the downlink control frame to obtain the joint timestamp and the remote control instruction. And

[0119] The first unmanned vehicle sends the joint timestamp and the remote control instruction to the target unmanned vehicle by using a second wireless communication mode.

[0120] In this way, the first unmanned vehicle can analyze the downlink control frame, so that the target unmanned vehicle can analyze the control frame in a poor communication quality condition, and the problem of analysis failure is avoided, which is beneficial to further guarantee the safety and reliability of remote control driving control.

[0121] Optionally, as shown in Figure 10 Step S102 includes:

[0122] S1021, respectively acquiring a first communication quality of the first unmanned vehicle and the remote control end in a first wireless communication mode, and a second communication quality of the first unmanned vehicle and the target unmanned vehicle in a second wireless communication mode.

[0123] S1022, the remote control end determines an unmanned vehicle running the same vehicle system and using the same preset safety rule set as the target unmanned vehicle as a candidate unmanned vehicle.

[0124] S1023, the candidate unmanned vehicle with the second communication quality greater than a preset communication quality threshold and the highest first communication quality is determined as the first unmanned vehicle.

[0125] That is, in the case that the second communication quality meets the basic requirement, the vehicle with the best first communication quality is selected as the first unmanned vehicle, which can guarantee the reliability of communication between the remote control end and the first unmanned vehicle, and is beneficial to further guarantee the safety and reliability of remote control driving control.

[0126] In another embodiment of the present application, another remote control driving control method is disclosed. The method comprises the steps of Figure 1 corresponding to the embodiment, further comprising the steps of:

[0127] Receiving fault information sent by the unmanned vehicle, the fault information at least including lane and position information of the unmanned vehicle where the fault occurs. Then, an electronic fault fence is formed according to the fault information, and the vehicle behind the fault vehicle is controlled to change lane based on the electronic fault fence. In this way, the driving safety of all remote control unmanned vehicles can be guaranteed, that is, the safety of remote control driving control is guaranteed.

[0128] It should be noted that all the embodiments disclosed in the present application can be freely combined, and the technical solutions obtained after combination are also within the protection scope of the present application.

[0129] As Figure 11As shown, an embodiment of the present application further discloses a remote remote control driving control system 10, which comprises:

[0130] A downlink control frame acquisition module 13 acquires a downlink control frame sent by a remote control end.

[0131] A downlink control frame analysis module 14 analyzes the above-mentioned downlink control frame to obtain a joint timestamp and a remote control instruction.

[0132] A joint timestamp judgment module 15 judges whether the above-mentioned joint timestamp satisfies a first preset condition. If yes, a remote control instruction sending module 16 or a remote control instruction safety verification module 17 is executed. If no, a risk-avoiding driving control module is executed.

[0133] The remote control instruction sending module 16 sends the above-mentioned remote control instruction to the above-mentioned unmanned vehicle, so that the above-mentioned unmanned vehicle drives according to the above-mentioned remote control instruction.

[0134] The remote control instruction safety verification module 17 performs safety verification on the above-mentioned remote control instruction.

[0135] The risk-avoiding driving control module 18 controls the above-mentioned unmanned vehicle to stop or drive to a preset parking position.

[0136] It can be understood that the remote remote control driving control system of the present application further comprises other existing functional modules supporting the operation of the remote remote control driving control system. Figure 11 The remote remote control driving control system shown is only an example and should not limit the function and use range of the embodiments of the present application.

[0137] The remote remote control driving control system in the embodiment is used to realize the remote remote control driving control method described above, so for the specific implementation steps of the remote remote control driving control system, please refer to the description of the remote remote control driving control method above, which will not be repeated here.

[0138] An embodiment of the present application further discloses a remote remote control driving control device, comprising a processor and a memory, wherein the memory stores an executable program of the processor; the processor is configured to execute the steps in the above-mentioned remote remote control driving control method by executing the executable program. Figure 12 is a structural schematic diagram of the remote remote control driving control device disclosed by the present application. The electronic device 600 according to this embodiment of the present application will be described below with reference to Figure 12 . Figure 12 The electronic device 600 shown is only an example and should not limit the function and use range of the embodiments of the present application.

[0139] As Figure 12As shown, the electronic device 600 is in the form of a general computing device. Components of the electronic device 600 can include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 that connects the various platform components including the storage unit 620 and the processing unit 610, a display unit 640, etc.

[0140] The storage unit stores program code that can be executed by the processing unit 610 to cause the processing unit 610 to perform the steps described above in the remote tele-operated driving control method section of the specification in accordance with various example embodiments of the present application. For example, the processing unit 610 can perform the steps shown in FIG. 6. Figure 1

[0141] The storage unit 620 can include a readable medium in the form of volatile storage such as a random access memory (RAM) 6201 and / or cache memory 6202, and can further include a read-only memory (ROM) 6203.

[0142] The storage unit 620 can also include a program / utility 6204 having a set of program modules 6205 such as an operating system, one or more application programs, other program modules, and program data, each of which can give rise to an implementation of a network environment in each of these examples or some combination thereof.

[0143] The bus 630 can represent one or more of several types of bus structures, including a storage bus or bus controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of a variety of bus architectures.

[0144] The electronic device 600 can also communicate with one or more external devices 700 such as a keyboard or pointing device, a Bluetooth device, etc.; other devices that enable a user to interact with the electronic device 600; and / or one or more devices that enable the electronic device 600 to communicate with one or more other computing devices. Such communication can be facilitated by an input / output (I / O) interface 650. Still yet, the electronic device 600 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through a network adapter 660. The network adapter 660 can be communicatively coupled to the other components of the electronic device 600 through the bus 630. It should be appreciated that the electronic device 600 can be a part of one or more devices, such as a distributed system, a grid computing system, or any other configuration that provides components to the electronic device 600 in which each component performs one or more operations.​

[0145] The present application also discloses a computer readable storage medium for storing a program, which, when executed, implements the steps of the remote control driving method described above. In some possible implementation manners, various aspects of the present application can also be implemented in the form of a program product, which includes program codes for causing a terminal device to perform the steps described above according to various exemplary embodiments of the present application when the program product is run on the terminal device.

[0146] As shown above, the program of the computer readable storage medium of this embodiment, when executed, parses the downlink control frame after receiving it, judges whether the joint timestamp obtained by parsing satisfies the first preset condition, that is, judges whether the delay is too large, and sends the remote control instruction or performs safety verification when the condition is satisfied, and executes the emergency avoidance driving mode when the condition is not satisfied, which is beneficial to guarantee the safety of remote control driving.

[0147] Figure 13 is a structural schematic diagram of the computer readable storage medium of the present application. Referring to Figure 13 As shown in the figure, the program product 800 for implementing the method described above according to the embodiment of the present application can be in the form of a portable compact disc read-only memory (CD-ROM) and includes program codes, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited to this, and in this document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or apparatus.

[0148] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0149] The computer readable storage medium can include a data signal transported via a carrier wave and can be embodied in baseband or propagated as an electromagnetic signal, an optical signal, and the like, or any suitable combination thereof. The computer readable storage medium can also be any computer readable medium other than a transmission or propagation medium, examples of which include RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage, or other magnetic storage devices, or any suitable combination thereof. The computer readable medium can be a distributed network, so that the program code segments can be stored in the local and remote computer system storage media. The program code segments can be downloaded through a network from the remote computer system.

[0150] The program code can be implemented in any of various ways, including procedure-based, object-based, or component-based technologies, and the program code can be implemented all or in part in hardware, software, or any suitable combination thereof. The program code can be executed by one or more processors, such as one or more processors of a user device, a server, or any suitable combination thereof. The program code can be written in any of various programming languages, including object-oriented programming languages, such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language, or the like. The program code can execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider (ISP).

[0151] The remote control driving control method, system, device and storage medium provided by the embodiments of the present application can analyze the received downlink control frame, judge whether the joint timestamp obtained by the analysis satisfies the first preset condition, that is, whether the delay is too large, and send a remote control instruction or perform safety verification when the condition is satisfied, and execute an emergency avoidance driving mode when the condition is not satisfied, thereby facilitating the safety of remote control driving.

[0152] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application should not be limited to these descriptions. For those of ordinary skill in the art to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as falling within the scope of protection of the present application.

Claims

1. A remote control driving control method, characterized in that: The method is used to realize remote control of an unmanned vehicle by a remote control terminal, wherein the remote control terminal is remotely connected to at least one unmanned vehicle; the method comprises the following steps: S110, obtaining a downlink control frame sent by the remote control terminal; S120, parsing the downlink control frame to obtain a joint timestamp and a remote control instruction; S130, determining whether the joint timestamp satisfies a first preset condition; if so, executing step S140 or step S141; if not, executing step S150; S140, sending the remote control command to the unmanned vehicle, so that the unmanned vehicle drives according to the remote control command; S141, performing security verification on the remote control command; S150, obtaining the historical driving trajectory and driving parameter information of the unmanned vehicle; calculating the remote control intention corresponding to the remote control instruction based on the remote control instruction or the historical driving trajectory; calculating the driving control instruction for the unmanned vehicle based on the remote control intention and the driving parameter information; performing security verification on the driving control instruction to determine whether the verification is passed; if the verification is passed, sending the driving control instruction to the unmanned vehicle, and after the remote control intention is completed, controlling the unmanned vehicle to stop or drive to a preset parking position; if the verification fails, controlling the unmanned vehicle to stop or drive to a preset parking position; wherein, controlling the unmanned vehicle to drive to the preset parking position includes: obtaining map navigation data and the position information of the unmanned vehicle; determining the preset parking position based on the position information and the map navigation data; and controlling the unmanned vehicle to drive to the preset parking position with a preset driving strategy.

2. The remote control driving control method according to claim 1, wherein: Step S141 includes: Determine whether the remote control command has been verified; if the verification has been passed, execute step S140; otherwise, execute step S150.

3. The remote control driving control method according to claim 1, wherein: Before step S110, the method further includes: Collecting sensor data about the unmanned vehicle, sending the sensor data to the remote control terminal, and recording the first time corresponding to sending the sensor data as an uplink data timestamp; After receiving the sensor data, the remote control end generates a downlink control data packet and sends it to the unmanned vehicle, and records the second moment corresponding to the sending of the downlink control data packet as the downlink data timestamp; the joint timestamp includes the uplink data timestamp and the downlink data timestamp.

4. The remote control driving control method according to claim 3, wherein: The first preset condition is that the difference between the downlink data timestamp and the uplink data timestamp is less than a preset delay threshold, and the difference between the current moment and the downlink data timestamp is less than the preset delay threshold.

5. The remote control driving control method according to claim 1, wherein: Step S141 includes: Collecting current environment data about the unmanned vehicle; The remote control instruction is security verified according to the current environment data and each preset security rule in the preset security rule set.

6. The remote control driving control method according to claim 1, wherein: The at least one unmanned vehicle includes a first unmanned vehicle and a target unmanned vehicle; the method is used to implement remote control of the target unmanned vehicle by the remote control end based on the first wireless communication method, and the method further includes the steps of: receiving communication failure information sent by the target unmanned vehicle, wherein the communication failure information is used to indicate a failure of the target unmanned vehicle in the first wireless communication mode; The remote control terminal determines, based on the communication failure information, that the first unmanned vehicle and the target unmanned vehicle are communicating based on the second wireless communication method, and that the first unmanned vehicle and the remote control terminal are communicating based on the first wireless communication method; The effective communication distance of the second wireless communication method is shorter than the effective communication distance of the first wireless communication method; Step S110 includes: The first unmanned vehicle receives a downlink control frame sent by a remote control terminal based on a first wireless communication method, and sends the downlink control frame to the target unmanned vehicle based on a second wireless communication method; Step S140 includes: The remote control command is sent to the target unmanned vehicle, so that the target unmanned vehicle drives according to the remote control command.

7. The remote control driving control method according to claim 6, wherein: The remote control terminal determines, based on the communication fault information, that the first unmanned vehicle communicates with the target unmanned vehicle based on a second wireless communication method, including: The remote control terminal determines an unmanned vehicle that runs the same vehicle-mounted system as the target unmanned vehicle and adopts the same preset safety rule set as the first unmanned vehicle.

8. The remote control driving control method according to claim 7, wherein: The method comprises: Controlling the first unmanned vehicle to parse the downlink control frame to obtain a joint timestamp and a remote control command; The first unmanned vehicle is controlled to send the combined timestamp and remote control instruction to the target unmanned vehicle by using a second wireless communication method.

9. The remote control driving control method according to claim 7, wherein: The remote control terminal determines, based on the communication fault information, that the first unmanned vehicle communicates with the target unmanned vehicle based on a second wireless communication method, including: respectively obtaining a first communication quality between the first unmanned vehicle and the remote control terminal in a first wireless communication mode; and a second communication quality between the first unmanned vehicle and the target unmanned vehicle in a second wireless communication mode; The remote control terminal determines an unmanned vehicle that runs the same vehicle-mounted system and uses the same preset safety rule set as the target unmanned vehicle as a candidate unmanned vehicle; The candidate unmanned vehicle whose second communication quality is greater than a preset communication quality threshold and whose first communication quality is the highest is determined as the first unmanned vehicle.

10. A remote control driving control system for implementing the remote control driving control method according to claim 1, characterized in that: The system comprises: Downlink control frame acquisition module, which acquires the downlink control frame sent by the remote control end; A downlink control frame parsing module, which parses the downlink control frame to obtain a joint timestamp and a remote control instruction; a joint timestamp determination module, for determining whether the joint timestamp satisfies a first preset condition; if so, executing the remote control instruction sending module or the remote control instruction safety verification module; if not, executing the risk avoidance driving control module; a remote control instruction sending module, which sends the remote control instruction to the unmanned vehicle so that the unmanned vehicle drives according to the remote control instruction; A remote control command security verification module, performing security verification on the remote control command; The risk avoidance driving control module obtains the historical driving trajectory and driving parameter information of the unmanned vehicle; calculates the remote control intention corresponding to the remote control instruction based on the remote control instruction or the historical driving trajectory; calculates the driving control instruction for the unmanned vehicle based on the remote control intention and the driving parameter information; performs safety verification on the driving control instruction to determine whether the verification is passed; if the verification is passed, the driving control instruction is sent to the unmanned vehicle, and after the remote control intention is completed, the unmanned vehicle is controlled to stop or drive to a preset parking position; if the verification fails, the unmanned vehicle is controlled to stop or drive to a preset parking position; wherein, controlling the unmanned vehicle to drive to the preset parking position includes: obtaining map navigation data and the position information of the unmanned vehicle; determining the preset parking position based on the position information and the map navigation data; and controlling the unmanned vehicle to drive to the preset parking position with a preset driving strategy.

11. A remote control driving control device, characterized in that: include: processor; a memory storing an executable program of the processor; The processor is configured to execute the steps of the remote control driving control method according to any one of claims 1 to 9 by executing the executable program.

12. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by a processor, the steps of the remote control driving control method according to any one of claims 1 to 9 are implemented.

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