A method, apparatus, system, and means for handling special cases of a vehicle when supplementing energy

Abstract

This invention relates to a method, apparatus, system, and components for handling special situations during vehicle refueling. The method includes: when a vehicle is refueling, refueling, or charging, a field-end controller at the field station receives a communication request message from the vehicle; the communication request message includes a vehicle ID; communication is established with the vehicle controller based on the vehicle ID; environmental perception information collected by sensors within the field station is acquired, and the vehicle is controlled based on the environmental perception information; when an anomaly occurs, a remote takeover request message is sent to a cloud server; the remote takeover request message includes the field station ID, the vehicle ID, and the vehicle's current location, enabling the cloud server to remotely control the vehicle based on the remote takeover request message; a remote takeover response message is received from the cloud server; the remote takeover response message indicates that the cloud server agrees to acquire control permissions from the vehicle controller; and the communication connection with the vehicle controller is disconnected based on the remote takeover response message.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, and in particular to a method, apparatus, system and components for handling special situations when a vehicle is refueling. Background Technology

[0002] In existing technologies, when a vehicle's energy falls below a threshold and requires recharging while driving, the vehicle typically issues a low-energy warning. Then, a human operator uses the vehicle's navigation system to determine the recharging station and drives to that station to replenish energy. While the vehicle is at the station, the station controller controls the vehicle. However, if the station controller malfunctions in its control of the vehicle controller, the vehicle loses control and becomes unsure how to proceed. Therefore, there is an urgent need for a method to handle this special situation and control the vehicle. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing methods, devices, systems, and components for handling special situations during vehicle refueling, thereby solving the problem of how to control vehicles in special circumstances in existing technologies.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for handling special situations during vehicle refueling, the method comprising:

[0005] When a vehicle travels to the field terminal based on the field terminal location sent by the cloud server, the field terminal controller set up at the field terminal receives a communication request message from the vehicle; the communication request message includes the vehicle ID.

[0006] Establish communication with the vehicle controller based on the vehicle ID;

[0007] The system acquires environmental perception information collected by sensors within the field terminal and controls the vehicle based on the environmental perception information.

[0008] When an anomaly occurs, a remote takeover request message is sent to the cloud server. The remote takeover request message includes the site ID, vehicle ID, and the vehicle's current location, so that the cloud server can remotely control the vehicle based on the remote takeover request message.

[0009] Receive a remote takeover response message from the cloud server; the remote takeover response message is used to instruct the cloud server to agree to obtain control authority over the vehicle controller;

[0010] Based on the remote takeover response message, the communication connection with the vehicle controller is disconnected.

[0011] In one possible implementation, the existence of an anomaly specifically includes:

[0012] The field controller may fail to receive messages from the vehicle controller, receive messages from the vehicle controller for a time exceeding a preset threshold, or determine that the vehicle's appearance is abnormal based on the environmental perception information. The abnormal appearance may include at least one of the following: tire abnormality, charging interface abnormality, or refueling interface abnormality.

[0013] In one possible implementation, the method further includes:

[0014] The field controller receives a query request message from the cloud server; the query request message is used to obtain environmental perception information around the vehicle.

[0015] The field controller sends the environmental perception information around the vehicle to the cloud server, so that the cloud server can remotely control the vehicle based on the environmental perception information around the vehicle.

[0016] In one possible implementation, the method further includes:

[0017] When a vehicle needs to stop at the site to wait for rescue, the site controller receives a waiting area location request message sent by the cloud server; the waiting area location request message is used to obtain the location of the waiting area at the site.

[0018] The field controller sends the location of the waiting area and the environmental perception information to the cloud server according to the waiting area location request message, so that the cloud server controls the vehicle to drive to the waiting area based on the environmental perception information and the location of the waiting area.

[0019] A second aspect of the present invention provides a special situation handling device for vehicle refueling, the device comprising:

[0020] The cloud server sends the field location to the vehicle controller, so that the vehicle controller can drive to the field according to the field location and establish communication with the vehicle controller.

[0021] The system acquires environmental perception information collected by sensors within the field terminal and controls the vehicle based on the environmental perception information.

[0022] When an anomaly is detected, a remote takeover request message is received from the field controller; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location.

[0023] A remote takeover response message is generated based on the remote takeover request message; the remote takeover response message is used to instruct the cloud server to agree to obtain control authority over the vehicle controller;

[0024] The remote takeover response message is sent to the field controller, so that the field controller disconnects the communication connection with the vehicle controller based on the remote takeover response message.

[0025] In one possible implementation, the method further includes:

[0026] The cloud server sends a query request message to the field controller; the query request message is used to obtain environmental perception information around the vehicle.

[0027] Receive environmental perception information and vehicle location around the vehicle sent by the field controller;

[0028] The vehicle is remotely controlled based on environmental perception information surrounding the vehicle and the vehicle's location.

[0029] In one possible implementation, the method further includes:

[0030] When the cloud server determines that a vehicle needs to stop and wait for rescue at the site, it sends a waiting area location request message to the site controller; the waiting area location request message is used to obtain the location of the waiting area at the site.

[0031] The cloud server receives the location of the waiting area, the vehicle location, and the environmental perception information sent by the field controller;

[0032] The cloud server controls the vehicle to drive to the waiting area based on the environmental perception information, the vehicle's location, and the location of the waiting area.

[0033] A third aspect of the present invention provides a special situation handling device for implementing the vehicle refueling described in the first aspect of the present invention, the device comprising:

[0034] The first receiving module is used to receive a communication request message from the vehicle's controller at the field terminal when the vehicle travels to the field terminal based on the field terminal location sent by the cloud server; the communication request message includes the vehicle ID.

[0035] A module for establishing communication with the vehicle controller based on the vehicle ID;

[0036] The first acquisition module is used to acquire environmental perception information collected by sensors in the field terminal, and control the vehicle based on the environmental perception information.

[0037] The first sending module is used to send a remote takeover request message to the cloud server when an anomaly occurs. The remote takeover request message includes the field ID, vehicle ID, and the current location of the vehicle, so that the cloud server can remotely control the vehicle according to the remote takeover request message.

[0038] The second receiving module is used to receive the remote takeover response message from the cloud server; the remote takeover response message is used to indicate to the cloud server that it agrees to obtain control authority over the vehicle controller.

[0039] A disconnect module is used to disconnect the communication connection with the vehicle controller according to the remote takeover response message.

[0040] A fourth aspect of the present invention provides a special situation handling device for implementing the vehicle refueling described in the second aspect of the present invention, the device comprising:

[0041] The second sending module is used by the cloud server to send the field location to the vehicle controller, so that the vehicle controller can drive to the field according to the field location and establish communication with the vehicle controller.

[0042] The second acquisition module is used to acquire environmental perception information collected by sensors in the field terminal, and control the vehicle based on the environmental perception information.

[0043] The third receiving module is used to receive a remote takeover request message sent by the field controller when an anomaly occurs; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location;

[0044] A generation module is configured to generate a remote takeover response message based on the remote takeover request message; the remote takeover response message is configured to instruct the cloud server to agree to obtain control authority over the vehicle controller.

[0045] The third sending module is used to send the remote takeover response message to the field controller, so that the field controller disconnects the communication connection with the vehicle controller according to the remote takeover response message.

[0046] The fifth aspect of the present invention provides a special situation handling system for vehicle refueling, the system including a special situation handling device for vehicle refueling according to the first aspect and a special situation handling device for vehicle refueling according to the first aspect.

[0047] A sixth aspect of the present invention provides a special situation handling component for vehicle refueling, the component comprising: 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, the instructions being executed by the at least one processor to enable the at least one processor to perform the special situation handling method for vehicle refueling as described in any one of the first and second aspects of the present invention.

[0048] The special circumstances handling method, device, system, and components provided in this invention allow the field controller to transfer control of the vehicle to a cloud server under special circumstances, thereby enabling remote control of the vehicle through the cloud server and ensuring normal vehicle operation. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of a special situation handling method for vehicle refueling provided in Embodiment 1 of the present invention;

[0050] Figure 2 This is a schematic diagram of a special situation handling method for vehicle refueling provided in Embodiment 2 of the present invention;

[0051] Figure 3 This is one of the structural schematic diagrams of a special situation handling device for vehicle refueling provided in Embodiment 3 of the present invention;

[0052] Figure 4 This is a second schematic diagram of a special situation handling device for vehicle refueling provided in Embodiment 3 of the present invention;

[0053] Figure 5 This is the third schematic diagram of a special situation handling device for vehicle refueling provided in Embodiment 3 of the present invention;

[0054] Figure 6 This is one of the structural schematic diagrams of a special situation handling device for vehicle refueling provided in Embodiment 4 of the present invention;

[0055] Figure 7 This is a second schematic diagram of a special situation handling device for vehicle refueling provided in Embodiment 4 of the present invention;

[0056] Figure 8 This is the third schematic diagram of a special situation handling device for vehicle refueling provided in Embodiment 4 of the present invention;

[0057] Figure 9This is a module structure diagram of a special situation handling system for vehicle refueling provided in Embodiment 5 of the present invention;

[0058] Figure 10 This is a module structure diagram of a special situation handling component for vehicle refueling provided in Embodiment Six of the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0060] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0061] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may have other meanings besides indicating orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0062] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0064] Embodiment 1 of the present invention provides a method for handling special situations when a vehicle is refueling. The executing entity of this application is a field terminal controller, which can control the vehicle after it enters the field terminal. Figure 1 The diagram illustrates a special situation handling method for vehicle refueling provided in Embodiment 1 of the present invention. This method mainly includes the following steps:

[0065] Step 110: When the vehicle travels to the field terminal according to the field terminal location sent by the cloud server, the field terminal controller set up at the field terminal receives the vehicle's request to establish communication message; the request to establish communication message includes the vehicle ID;

[0066] In this context, "site" refers to a location that can provide energy replenishment for vehicles. This can be a gas station, a CNG station, or a charging station. The gas station provides refueling services, and the charging station provides charging services. Site information can include site ID and site location. The cloud can bind the site ID and site location and store them in advance, thus ensuring that when the cloud receives a vehicle's energy replenishment request, it can quickly determine a suitable site for the vehicle.

[0067] Specifically, the vehicle can have a vehicle controller that automatically monitors the remaining fuel, gas, or electrical energy levels. When the fuel level falls below a certain threshold, the vehicle needs to be refueled; similarly, when the electrical energy falls below a certain threshold, the vehicle needs to be charged. At this time, the vehicle controller can send an energy replenishment request message to the cloud server. This request message can be an identifier code agreed upon by the cloud server and the vehicle controller. After receiving this identifier code, the cloud server needs to allocate a power supply to the vehicle controller, and the allocated power supply can then replenish the vehicle's energy.

[0068] Before performing step 110 of this application, multiple vehicles and the cloud server have already established a connection. For example, multiple vehicle IDs can be added to the cloud server in advance, and the cloud server and the vehicle can communicate wirelessly. Thus, the cloud server can receive the charging requests of multiple vehicles and determine the appropriate charging station for each vehicle, thereby achieving the purpose of the cloud server allocating the charging station to the vehicle.

[0069] Since the cloud server has sent the location of the field to the vehicle controller, the vehicle controller can control the vehicle's steering and speed to drive the vehicle to the field location. Subsequently, the vehicle controller needs to establish wireless communication with the field controller. The vehicle controller can send a wireless communication request message to the field controller to establish a wireless connection.

[0070] Step 120: Establish communication with the vehicle controller based on the vehicle ID;

[0071] Specifically, when a vehicle arrives at the depot, the depot controller can establish a wireless connection with the vehicle controller, such as through 4G or 5G communication, thereby controlling the vehicle from the depot. Specifically, after the vehicle arrives at the designated depot, it searches for and connects to the depot's Wi-Fi network. The vehicle controller simultaneously sends an arrival message to both the cloud server and the depot controller, and automatically sends vehicle status information to the depot controller, including the vehicle's IP address and CAN signal. The depot controller initiates Wi-Fi communication with the vehicle controller to determine if the vehicle has arrived. The vehicle controller responds to the depot controller's communication request. Upon successful Wi-Fi communication, the depot controller sends a vehicle arrival confirmation message to the cloud server. The depot controller then sends a vehicle control request to the vehicle controller, which responds to the depot controller's control request. Thus, the depot controller gains control over the vehicle, enabling real-time control of its entry into the depot and guiding it to its designated location.

[0072] The reserved location can be a reserved refueling location or a reserved charging station location, which is assigned to the vehicle by the cloud server, or it can be assigned to the vehicle by the site controller and reported to the cloud server.

[0073] Among them, the vehicles can be driverless vehicles, so that the field controller can be used to uniformly schedule various vehicles, saving the computing resources of driverless vehicles.

[0074] Step 130: Obtain environmental perception information collected by sensors in the field terminal, and control the vehicle based on the environmental perception information;

[0075] Specifically, various types of sensors are installed at the field site, such as image sensors, lidar, and millimeter-wave radar. These sensors communicate with the field site server in real time to acquire environmental perception information. For example, image sensors collect image information, lidar collects lidar point cloud information, and millimeter-wave radar collects millimeter-wave data. Image information, lidar point cloud information, and millimeter-wave data can be fused to obtain environmental perception information.

[0076] The site map can also be pre-collected, including the location of each sensor and pile in the site. After obtaining the vehicle location, pile location, environmental perception information, and site map, the site controller can perform path planning to generate a driving path. Based on the planned path, it generates driving instructions for each waypoint and sends these instructions to the vehicle controller to control the vehicle's speed, direction, etc. The driving path includes multiple waypoints, each with a planned speed, direction, and timestamp. The vehicle controller can drive according to the planned speed, direction, and timestamp of each waypoint on the driving path to reach the pile location.

[0077] Specifically, since the planned driving path is relatively long, the field controller can divide the driving path into multiple sub-paths in order to improve the processing speed. This division can be based on the length of the driving path or on the number of waypoints. This application does not limit this to either method.

[0078] Understandably, to improve computational speed, the field controller can employ a distributed controller cluster, with each controller responsible for computation in a specific field area, thus significantly increasing computational speed. Here, the field area can be divided into multiple regions, each with a region ID. Each controller in the distributed cluster corresponds to one or more region IDs, further enhancing processing speed.

[0079] Step 140: When an anomaly occurs, a remote takeover request message is sent to the cloud server. The remote takeover request message includes the site ID, vehicle ID, and the vehicle's current location, so that the cloud server can remotely control the vehicle based on the remote takeover request message.

[0080] The anomaly here can be any one of the following: the field controller fails to receive messages from the vehicle controller, the time it takes to receive messages from the vehicle controller exceeds a preset threshold, or the vehicle's appearance is determined to be abnormal based on environmental perception information. The appearance anomaly includes at least one of the following: tire anomaly, charging port anomaly, or refueling port anomaly.

[0081] Specifically, if the field controller fails to receive messages from the vehicle controller for a preset duration, it indicates a problem with the communication link between the two. The preset duration can be one minute.

[0082] When the time it takes to receive a message from the vehicle controller exceeds a preset threshold, it could be receiving a message every millisecond, but instead it becomes receiving a message every second. This could indicate that there is a problem with the communication link between the two.

[0083] It could also be that the field controller sends a heartbeat packet to the vehicle controller, but fails to receive a response message in a timely manner, which could also be considered a problem with the communication link.

[0084] Furthermore, when the vehicle is already at a charging station or refueling station, if the charging port or refueling port is open, and the field controller receives signals from various sensors indicating that the shape of the charging port or refueling port is abnormal, such as being stuck by a foreign object or undergoing abnormal deformation, this can also be considered an anomaly.

[0085] Furthermore, when the field controller receives environmental perception information from various sensors, if the analysis determines that the vehicle has a tire leak or the vehicle's tires are deformed, and the deformation is not normal, it can be considered that the vehicle is abnormal.

[0086] This is an example, not a limitation; the field server can detect the above-mentioned deformation anomalies using a pre-trained neural network.

[0087] To address the aforementioned anomalies, a cloud server is needed to remotely control the vehicle.

[0088] The following explains how the yard controller obtains the vehicle's location after the vehicle enters the yard. This will be explained in three scenarios.

[0089] First, the field terminal is equipped with base stations and the vehicles are equipped with tags. When the signal is poor, such as when the vehicle is underground, when the vehicle enters the field terminal, it obtains the first signal, the second signal and the third signal when the tag on the vehicle communicates with at least three base stations of the field terminal.

[0090] Specifically, the field terminal can be equipped with multiple base stations. These base stations can be understood as devices capable of communicating with the tags on the vehicle. When a vehicle enters the field terminal, the base stations establish wireless communication with the vehicle's tags. This communication can be achieved through Ultra Wide Band (UWB). UWB technology offers advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense, multipath-rich environments such as indoor spaces.

[0091] The vehicle-mounted tag in this application can be pre-installed on the vehicle and can communicate with multiple base stations in the field. In order to facilitate positioning using the triangulation principle, this application can select the signals of three base stations so as to obtain the vehicle's position by using the positions of the three base stations.

[0092] Secondly, when the signal is good, such as when the vehicle is outdoors and is equipped with GPS, the field controller and the vehicle controller have established a connection. Therefore, the field controller will obtain the vehicle's GPS positioning signal in real time and thus determine the vehicle's current location.

[0093] Third, when the signal is good, the results of UWB positioning and GPS positioning can be combined and fused to obtain the vehicle's current location, thus ensuring the accuracy of the vehicle's current location.

[0094] Step 150: Receive a remote takeover response message from the cloud server; the remote takeover response message is used to indicate to the cloud server that it agrees to obtain control rights over the vehicle controller.

[0095] Specifically, when the cloud server receives a remote takeover request message from the field controller, it can agree to or refuse remote takeover. When the cloud server confirms that it agrees to remote takeover, the field server receives a remote takeover response message, and the cloud server obtains control over the vehicle controller.

[0096] Step 160: Disconnect the communication connection with the vehicle controller based on the remote takeover response message.

[0097] Specifically, the vehicle controller disconnects from the vehicle controller, allowing the cloud server to begin remote control of the vehicle.

[0098] Furthermore, this application may also include:

[0099] The field controller receives query request messages from the cloud server; the query request messages are used to obtain environmental perception information about the vehicle's surroundings.

[0100] The field controller sends environmental perception information about the vehicle's surroundings to the cloud server, enabling the cloud server to remotely control the vehicle based on this information.

[0101] Specifically, the field controller can continue to communicate with the cloud server and send real-time environmental perception information to the cloud server according to the cloud server's request messages, thereby facilitating remote control by the cloud server.

[0102] Furthermore, when the anomaly is the aforementioned tire malfunction or charging port malfunction, the vehicle may need to drive to the waiting area at the depot to await assistance. At this time, the cloud server needs to obtain the location of the waiting area at the depot. Therefore, this application may also include:

[0103] When a vehicle needs to stop at the depot to wait for rescue, the depot controller receives a waiting area location request message from the cloud server; the waiting area location request message is used to obtain the location of the waiting area at the depot.

[0104] The field controller sends the location of the waiting area and environmental perception information to the cloud server based on the waiting area location request message, so that the cloud server can control the vehicle to drive to the waiting area according to the environmental perception information and the location of the waiting area.

[0105] The special circumstances handling method, device, system, and components provided in this invention allow the field controller to transfer control of the vehicle to a cloud server under special circumstances, thereby enabling remote control of the vehicle through the cloud server and ensuring normal vehicle operation.

[0106] Example 2

[0107] Figure 2 This is a special case handling method for vehicle refueling provided in Embodiment 2 of the present invention. The execution subject of this method is a cloud server. The following is in conjunction with... Figure 2 Provide a detailed explanation. For example... Figure 2 As shown, the method includes the following steps:

[0108] Step 210: The cloud server sends the field location to the vehicle controller so that the vehicle controller can drive to the field according to the field location and establish communication with the vehicle controller.

[0109] Step 220: Obtain environmental perception information collected by sensors in the field terminal, and control the vehicle based on the environmental perception information;

[0110] Step 230: When an anomaly occurs, receive a remote takeover request message sent by the field controller; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location;

[0111] Step 240: Generate a remote takeover response message based on the remote takeover request message; the remote takeover response message is used to instruct the cloud server to agree to obtain control rights of the vehicle controller.

[0112] Step 250: Send a remote takeover response message to the field controller so that the field controller disconnects the communication connection with the vehicle controller based on the remote takeover response message.

[0113] Furthermore, the method also includes:

[0114] The cloud server sends a query request message to the field controller; the query request message is used to obtain environmental perception information about the vehicle's surroundings.

[0115] Receive environmental perception information and vehicle position information around the vehicle sent by the field controller;

[0116] The vehicle can be remotely controlled based on environmental perception information and the vehicle's location.

[0117] Furthermore, the method also includes:

[0118] When the cloud server determines that a vehicle needs to stop and wait for rescue at the site, it sends a waiting area location request message to the site controller; the waiting area location request message is used to obtain the location of the waiting area at the site.

[0119] The cloud server receives information from the field controller regarding the location of the waiting area, vehicle location, and environmental perception.

[0120] The cloud server controls the vehicle to drive to the waiting area based on environmental perception information, vehicle location, and the location of the waiting area.

[0121] The special circumstances handling method, device, system and components provided in the embodiments of the present invention enable the cloud server to remotely control the vehicle under special circumstances, thereby ensuring the normal operation of the vehicle.

[0122] Example 3

[0123] Figure 3 This is a module structure diagram of a special situation handling device for vehicle refueling provided in Embodiment 3 of the present invention. This device is capable of implementing the special situation handling method for vehicle refueling provided in Embodiment 1 of the present invention. Figure 3 As shown, the device includes: a first receiving module 310, an establishment module 320, a first acquisition module 330, a first sending module 340, a second receiving module 350, and a disconnection module 360.

[0124] The first receiving module 310 is used to receive a communication request message from the vehicle when the vehicle travels to the field terminal according to the field terminal location sent by the cloud server; the communication request message includes the vehicle ID.

[0125] The module 320 is used to establish communication with the vehicle controller based on the vehicle ID;

[0126] The first acquisition module 330 is used to acquire environmental perception information collected by sensors in the field terminal, and to control the vehicle based on the environmental perception information.

[0127] The first sending module 340 is used to send a remote takeover request message to the cloud server when an anomaly occurs; the remote takeover request message includes the field ID, vehicle ID and the current location of the vehicle, so that the cloud server can remotely control the vehicle according to the remote takeover request message;

[0128] The second receiving module 350 is used to receive the remote takeover response message from the cloud server; the remote takeover response message is used to instruct the cloud server to agree to obtain control rights of the vehicle controller.

[0129] The disconnect module 360 ​​is used to disconnect the communication connection with the vehicle controller based on the remote takeover response message.

[0130] Furthermore, the existence of anomalies specifically includes:

[0131] The following conditions must be met: failure to receive messages from the vehicle controller, receiving messages from the vehicle controller for a time exceeding a preset threshold, or determining that the vehicle's appearance is abnormal based on environmental perception information. The abnormal appearance includes at least one of the following: tire abnormality, charging port abnormality, or refueling port abnormality.

[0132] Furthermore, in combination Figure 3 In one optional implementation, such as Figure 4 As shown, the device also includes a fourth receiving module 410.

[0133] The fourth receiving module 410 receives a query request message from the cloud server; the query request message is used to obtain environmental perception information around the vehicle.

[0134] The fourth receiving module 410 sends environmental perception information about the vehicle's surroundings to the cloud server, enabling the cloud server to remotely control the vehicle based on this information.

[0135] Furthermore, in combination Figure 3 or Figure 4 In one optional implementation, such as Figure 5 As shown, the device also includes a fifth receiving module 510.

[0136] When a vehicle needs to stop at the site to wait for rescue, the fifth receiving module 510 receives a waiting area location request message sent by the cloud server; the waiting area location request message is used to obtain the location of the waiting area at the site.

[0137] The fifth receiving module 510 sends the location of the waiting area and environmental perception information to the cloud server according to the waiting area location request message, so that the cloud server can control the vehicle to drive to the waiting area based on the environmental perception information and the location of the waiting area.

[0138] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, the acquisition module can be a separate processing element, or it can be integrated into a chip in the above device. Alternatively, it can be stored as program code in the memory of the above device, and its function can be called and executed by a processing element of the above device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, the steps of the method provided in the embodiments of the present invention or the various modules of the device provided in the embodiments of the present invention can be completed by integrated logic circuits in the hardware of the processor element or by instructions in software form.

[0139] For example, the modules of the apparatus provided in the embodiments of the present invention may be one or more integrated circuits configured as 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. As another example, when a module of the apparatus provided in the embodiments of the present invention is implemented in the form of processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules of the apparatus provided in the embodiments of the present invention may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0140] Example 4

[0141] Figure 6This is a module structure diagram of a special situation handling device for vehicle refueling provided in Embodiment 4 of the present invention. This device is capable of implementing the special situation handling method for vehicle refueling provided in Embodiment 2 of the present invention. Figure 6 As shown, the device includes: a second transmitting module 610, a second acquiring module 620, a third receiving module 630, a generating module 640, and a third transmitting module 650.

[0142] The second sending module 610 is used by the cloud server to send the field location to the vehicle controller, so that the vehicle controller can drive to the field according to the field location and establish communication with the vehicle controller.

[0143] The second acquisition module 620 is used to acquire environmental perception information collected by sensors in the field terminal, and to control the vehicle based on the environmental perception information.

[0144] The third receiving module 630 is used to receive a remote takeover request message sent by the field controller when an anomaly occurs; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location;

[0145] The generation module 640 is used to generate a remote takeover response message based on the remote takeover request message; the remote takeover response message is used to instruct the cloud server to agree to obtain control rights of the vehicle controller;

[0146] The third sending module 650 is used to send a remote takeover response message to the field controller, so that the field controller disconnects the communication connection with the vehicle controller based on the remote takeover response message.

[0147] Furthermore, in combination Figure 6 In one optional implementation, such as Figure 7 As shown, the device also includes a first query processing module 710.

[0148] The first query processing module 710 sends a query request message to the field controller; the query request message is used to obtain environmental perception information around the vehicle.

[0149] Receive environmental perception information and vehicle position information around the vehicle sent by the field controller;

[0150] The vehicle can be remotely controlled based on environmental perception information and the vehicle's location.

[0151] Furthermore, in combination Figure 6 or Figure 7 In one optional implementation, such as Figure 8 As shown, the device also includes a second query processing module 810.

[0152] When the second query processing module 810 determines that a vehicle needs to stop at the site to wait for rescue, it sends a waiting area location request message to the site controller; the waiting area location request message is used to obtain the location of the waiting area at the site.

[0153] Receive information on the location of the waiting area, the vehicle's location, and the environment from the field controller;

[0154] Based on environmental perception information, vehicle location, and the location of the waiting area, the vehicle is controlled to move to the waiting area.

[0155] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, the acquisition module can be a separate processing element, or it can be integrated into a chip in the above device. Alternatively, it can be stored as program code in the memory of the above device, and its function can be called and executed by a processing element of the above device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, the steps of the method provided in the embodiments of the present invention or the various modules of the device provided in the embodiments of the present invention can be completed by integrated logic circuits in the hardware of the processor element or by instructions in software form.

[0156] For example, the modules of the apparatus provided in the embodiments of the present invention may be one or more integrated circuits configured as 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. As another example, when a module of the apparatus provided in the embodiments of the present invention is implemented in the form of processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules of the apparatus provided in the embodiments of the present invention may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0157] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the methods provided according to the embodiments of the present invention are generated. The computer described above can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The aforementioned computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the aforementioned computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, Bluetooth, microwave, etc.) means. The aforementioned computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The aforementioned available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0158] Example 5

[0159] Figure 9 This is a module structure diagram of a special situation handling system for vehicle refueling provided in Embodiment 5 of the present invention, as shown below. Figure 9 As shown, the system in Embodiment 5 of the present invention may specifically include: Figure 3-5 The special handling device shown for vehicle refueling and Figure 6-8 The device shown is for handling special situations when the vehicle is refueled.

[0160] Example 6

[0161] Figure 10 This is a module structure diagram of a special situation handling component for vehicle refueling provided in Embodiment Six of the present invention. This component is an electronic component, electronic device, or server that implements the method provided in Embodiment One or Embodiment Two of the present invention. Figure 10As shown, the component 1000 may include: a processor 1010 (e.g., a CPU) and a memory 1020; the memory 1020 stores instructions executable by at least one processor 1010, which, when executed by at least one processor 1010, enable at least one processor 1010 to perform the method provided in Embodiment 1 or Embodiment 2 of the present invention. Preferably, the component involved in Embodiment 6 of the present invention may further include: a transceiver 1030, a power supply 1040, a system bus 1050, and a communication port 1060. The transceiver 1030 is coupled to the processor 1010, the system bus 1050 is used to realize communication connections between components, and the communication port 1060 is used for connection and communication between the component and other peripherals.

[0162] exist Figure 10 The system bus mentioned can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). Memory may include Random Access Memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0163] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0164] The special circumstances handling method, device, system, and components provided in this invention allow the field controller to transfer control of the vehicle to a cloud server under special circumstances, thereby enabling remote control of the vehicle through the cloud server and ensuring normal vehicle operation.

[0165] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 implementations should not be considered beyond the scope of this invention.

[0166] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main 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.

[0167] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for handling special cases during vehicle energy replenishment, characterized in that, The method includes: When a vehicle arrives at the field terminal based on the field terminal location sent by the cloud server, the field terminal controller receives a communication request message from the vehicle; the communication request message includes the vehicle ID; Based on the vehicle ID, establish communication with the vehicle controller; The system acquires environmental perception information collected by sensors within the field terminal and controls the vehicle based on this information. When an anomaly occurs, a remote takeover request message is sent to the cloud server; the remote takeover request message includes the site ID, vehicle ID, and the vehicle's current location, so that the cloud server can remotely control the vehicle according to the remote takeover request message; wherein, the cloud server obtains the environmental perception information from the site controller to support the remote control; Receive a remote takeover response message from the cloud server; the remote takeover response message is used to instruct the cloud server to agree to obtain control authority over the vehicle controller; Based on the remote takeover response message, the communication connection with the vehicle controller is disconnected.

2. The method of claim 1, wherein, The existence of anomalies specifically includes: The field controller may fail to receive messages from the vehicle controller, receive messages from the vehicle controller for a time exceeding a preset threshold, or determine that the vehicle's appearance is abnormal based on the environmental perception information. The abnormal appearance may include at least one of the following: tire abnormality, charging interface abnormality, or refueling interface abnormality.

3. The method of claim 1, wherein, The method further includes: When a vehicle needs to stop at the site to wait for rescue, the site controller receives a waiting area location request message sent by the cloud server; the waiting area location request message is used to obtain the location of the waiting area at the site. The field controller sends the location of the waiting area and the environmental perception information to the cloud server according to the waiting area location request message, so that the cloud server controls the vehicle to drive to the waiting area based on the environmental perception information and the location of the waiting area.

4. A method for handling special cases of a vehicle when supplementing energy, characterized by, The method includes: The cloud server sends the field location to the vehicle controller, so that the vehicle controller can drive to the field based on the field location and establish communication with the vehicle controller; The system acquires environmental perception information collected by sensors within the field terminal and controls the vehicle based on this information. When an anomaly is detected, a remote takeover request message is received from the field controller; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location. Based on the remote takeover request message, a remote takeover response message is generated; the remote takeover response message is used to instruct the cloud server to agree to obtain control authority over the vehicle controller; The remote takeover response message is sent to the field controller, so that the field controller disconnects the communication connection with the vehicle controller based on the remote takeover response message.

5. The method of claim 4, wherein, The method further includes: The cloud server sends a query request message to the field controller; the query request message is used to obtain environmental perception information around the vehicle. Receive environmental perception information and vehicle location around the vehicle sent by the field controller; The vehicle is remotely controlled based on environmental perception information surrounding the vehicle and the vehicle's location.

6. The method of claim 5, wherein, The method further includes: When the cloud server determines that a vehicle needs to stop and wait for rescue at the site, it sends a waiting area location request message to the site controller; the waiting area location request message is used to obtain the location of the waiting area at the site. The cloud server receives the location of the waiting area, the vehicle location, and the environmental perception information sent by the field controller; The cloud server controls the vehicle to drive to the waiting area based on the environmental perception information, the vehicle's location, and the location of the waiting area.

7. A device for handling special cases in a vehicle energy replenishment, characterized in that The device includes: The first receiving module is used to receive a communication request message from the vehicle's controller at the site when the vehicle arrives at the site based on the site location sent by the cloud server; the communication request message includes the vehicle ID. A communication establishment module is provided, which is used to establish communication with the vehicle controller based on the vehicle ID. The first acquisition module is used to acquire environmental perception information collected by sensors in the field terminal, and control the vehicle based on the environmental perception information. A first sending module is configured to send a remote takeover request message to a cloud server when an anomaly occurs. The remote takeover request message includes a field controller ID, a vehicle ID, and the vehicle's current location, so that the cloud server can remotely control the vehicle based on the remote takeover request message. The cloud server obtains the environmental perception information from the field controller to support the remote control. The second receiving module is used to receive the remote takeover response message from the cloud server; the remote takeover response message is used to indicate to the cloud server that it agrees to obtain control authority over the vehicle controller. A disconnect module is used to disconnect the communication connection with the vehicle controller according to the remote takeover response message.

8. A device for handling special cases in a vehicle energy replenishment, characterized in that The device includes: The second sending module is used by the cloud server to send the field location to the vehicle controller, so that the vehicle controller can drive to the field according to the field location and establish communication with the vehicle controller; The second acquisition module is used to acquire environmental perception information collected by sensors within the field terminal, and to control the vehicle based on the environmental perception information. The third receiving module is used to receive a remote takeover request message sent by the field controller when an anomaly occurs; the remote takeover request message includes the field controller ID, vehicle ID, and the vehicle's current location. A generation module is configured to generate a remote takeover response message based on the remote takeover request message; the remote takeover response message is configured to instruct the cloud server to agree to obtain control authority over the vehicle controller. The second sending module is used to send the remote takeover response message to the field controller, so that the field controller disconnects the communication connection with the vehicle controller according to the remote takeover response message.

9. A system for handling special cases when a vehicle is being replenished, characterized by The system comprises the apparatus of claim 7 and the apparatus of claim 8.

Images