Remote control method, device, equipment and medium of vehicle

Abstract

The present disclosure provides a method, device, equipment and medium for remote control of a vehicle, relates to the field of artificial intelligence, in particular to the field of automatic driving, the field of vehicle-road cooperation and the field of computer vision. The specific implementation scheme of the method for starting remote control is as follows: sending remote control demand information to a remotely controlled device connected in communication; in response to receiving first update indication information for vehicle-mounted sensing data sent by the remotely controlled device, sending the vehicle-mounted sensing data to the remotely controlled device; and in response to receiving control information sent by the remotely controlled device, controlling the driving of the vehicle according to the control information.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence, specifically to the fields of autonomous driving, vehicle-road cooperation, and computer vision, and more specifically to a method, device, equipment, medium, vehicle, and roadside unit for remote control of a vehicle. Background Technology

[0002] With the development of computer technology, network technology, and communication technology, and the extension and application of technologies such as artificial intelligence in the automotive industry and transportation sector, autonomous driving technology and remote control technology have become important development directions in order to improve vehicle driving safety. Summary of the Invention

[0003] This disclosure aims to provide a method, apparatus, device, and medium for remotely controlling a vehicle to improve driving safety.

[0004] According to a first aspect of this disclosure, a method for remotely controlling a vehicle is provided, comprising: sending remote control request information to a remote control device connected in communication; in response to receiving a first update instruction information for vehicle-mounted sensing data sent by the remote control device, sending vehicle-mounted sensing data to the remote control device; and in response to receiving control information sent by the remote control device, controlling the driving of the vehicle according to the control information.

[0005] According to a second aspect of this disclosure, a method for remotely controlling a vehicle is provided, comprising: in response to receiving remote control request information sent by an onboard subsystem of a vehicle, sending first update instruction information for onboard perception data to the onboard subsystem of the vehicle based on the remote control request information; in response to receiving onboard perception data sent by the onboard subsystem of the vehicle, determining control information for the vehicle based on the onboard perception data; and sending the control information to the onboard subsystem of the vehicle.

[0006] According to a third aspect of this disclosure, a method for remotely controlling a vehicle is provided, comprising: acquiring roadside perception data in response to receiving a second update instruction information sent by a remote control device; and sending the roadside perception data to the remote control device.

[0007] According to a fourth aspect of this disclosure, a remote control device for a vehicle is provided, comprising: a demand information sending module for sending remote control demand information to a remote control device connected in communication; an on-board data sending module for sending on-board sensing data to the remote control device in response to receiving a first update instruction information for on-board sensing data sent by the remote control device; and a driving control module for controlling the driving of the vehicle according to the control information sent by the remote control device in response to receiving control information sent by the remote control device.

[0008] According to a fifth aspect of this disclosure, a remote control device for a vehicle is provided, comprising: an update instruction sending module, configured to, in response to receiving remote control request information sent by a vehicle's onboard subsystem, send first update instruction information for onboard sensing data to the vehicle's onboard subsystem based on the remote control request information; a control information determining module, configured to, in response to receiving onboard sensing data sent by the vehicle's onboard subsystem, determine control information for the vehicle based on the onboard sensing data; and a control information sending module, configured to send the control information to the vehicle's onboard subsystem.

[0009] According to a sixth aspect of this disclosure, a remote control device for a vehicle is provided, comprising: a roadside data acquisition module for acquiring roadside perception data in response to receiving a second update instruction information sent by a remote control device; and a roadside data transmission module for transmitting the roadside perception data to the remote control device.

[0010] According to a seventh aspect of this disclosure, an electronic device is provided, 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 remote control method for a vehicle provided in this disclosure.

[0011] According to an eighth aspect of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to perform the remote control method for a vehicle provided in this disclosure.

[0012] According to a ninth aspect of this disclosure, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the remote control method for a vehicle provided in this disclosure.

[0013] According to the tenth aspect of this disclosure, a vehicle is provided, which is configured to perform the remote control method for a vehicle provided in the first aspect of this disclosure.

[0014] According to the eleventh aspect of this disclosure, a central control device is provided, which is configured to execute the remote control method for a vehicle provided in the second aspect of this disclosure.

[0015] According to the twelfth aspect of this disclosure, a multi-access edge computing platform is provided, which is configured to execute the remote control method for a vehicle provided in the second aspect of this disclosure.

[0016] According to the thirteenth aspect of this disclosure, a roadside unit is provided, which is configured to perform the remote control method for a vehicle provided in the third aspect of this disclosure.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0018] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0019] Figure 1 This is a schematic diagram illustrating an application scenario of remote vehicle control according to an embodiment of the present disclosure;

[0020] Figure 2 This is a schematic diagram of the structure of a remote control system for a vehicle according to an embodiment of the present disclosure;

[0021] Figure 3 This is a business architecture diagram of a vehicle remote control system according to an embodiment of the present disclosure;

[0022] Figure 4 This is a business architecture diagram of a remote control system for a vehicle according to another embodiment of the present disclosure;

[0023] Figures 5A to 5D These are schematic diagrams illustrating application scenarios of remote valet driving, remote guidance, remote decision-making, and remote autonomous driving according to embodiments of this disclosure;

[0024] Figure 6A This is a flowchart illustrating a data synchronization method performed by a central control device according to an embodiment of the present disclosure;

[0025] Figure 6B This is a flowchart illustrating a data synchronization method executed on the vehicle side according to an embodiment of the present disclosure;

[0026] Figure 6C This is a flowchart illustrating a data synchronization method performed by a roadside unit according to an embodiment of the present disclosure;

[0027] Figure 7 This is a flowchart illustrating the information interaction process in the data synchronization method according to an embodiment of the present disclosure;

[0028] Figure 8A This is a flowchart illustrating a method for initiating remote control executed on a vehicle according to an embodiment of the present disclosure;

[0029] Figure 8B This is a flowchart illustrating a method for initiating remote control executed by a central control device according to an embodiment of the present disclosure;

[0030] Figure 8C This is a flowchart illustrating a method for initiating remote control executed by a multi-access edge computing platform according to an embodiment of the present disclosure.

[0031] Figure 9 This is an interactive flowchart illustrating the process of initiating remote control when the vehicle initiates remote control according to an embodiment of this disclosure.

[0032] Figure 10 This is a flowchart illustrating a method for initiating remote control executed by a central control device according to another embodiment of the present disclosure;

[0033] Figure 11 This is an interactive flowchart illustrating the process of initiating remote control when a central control device initiates remote control according to an embodiment of this disclosure.

[0034] Figure 12A This is a schematic flowchart of a remote vehicle control method executed on the vehicle side according to an embodiment of the present disclosure;

[0035] Figure 12B This is a schematic flowchart of a remote control method for a vehicle executed by a remote control device according to an embodiment of the present disclosure;

[0036] Figure 12C This is a schematic flowchart of a remote vehicle control method performed by a roadside unit according to an embodiment of the present disclosure;

[0037] Figure 13 This is an interactive flowchart of a remote control method for a vehicle according to an embodiment of the present disclosure;

[0038] Figure 14A This is a flowchart illustrating a method for terminating remote control executed on a vehicle according to an embodiment of the present disclosure.

[0039] Figure 14B This is a flowchart illustrating a method for terminating remote control performed by a remote control device according to an embodiment of the present disclosure.

[0040] Figure 14C This is a flowchart illustrating a method for terminating remote control executed by a central control device according to an embodiment of the present disclosure.

[0041] Figure 15 This is an interactive flowchart of the termination process when the vehicle initiates remote control according to an embodiment of this disclosure.

[0042] Figure 16A This is a flowchart illustrating a method for terminating remote control performed by a multi-access edge computing platform according to another embodiment of the present disclosure;

[0043] Figure 16BThis is a flowchart illustrating a method for terminating remote control executed on a vehicle according to another embodiment of this disclosure.

[0044] Figure 17 This is an interactive flowchart of the termination process of remote control initiated by a multi-access edge computing platform according to an embodiment of the present disclosure;

[0045] Figure 18A This is a flowchart illustrating a method for terminating remote control executed by a central control device according to another embodiment of the present disclosure;

[0046] Figure 18B This is a flowchart illustrating a method for terminating remote control executed by a central control device according to yet another embodiment of the present disclosure.

[0047] Figure 19 This is an interactive flowchart of the termination process when the central control device initiates remote control according to an embodiment of this disclosure.

[0048] Figure 20 This is a structural block diagram of a remote control device for a vehicle according to an embodiment of the present disclosure;

[0049] Figure 21 This is a structural block diagram of a remote control device for a vehicle according to another embodiment of the present disclosure;

[0050] Figure 22 This is a structural block diagram of a remote control device for a vehicle according to another embodiment of the present disclosure; and

[0051] Figure 23 This is a block diagram of an electronic device used to implement the methods of the embodiments of this disclosure. Detailed Implementation

[0052] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0053] The terms used in this disclosure are defined as follows:

[0054] Automated Driving Taxi refers to taxis equipped with conditional automated driving systems, highly automated driving systems, or fully automated driving systems.

[0055] The cloud-based control platform (hereinafter referred to as the cloud control platform) is a remote control platform responsible for the full lifecycle management of remote control operations. It can perform remote control tasks such as remote monitoring, trip planning and optimization, remote takeover decision-making, and remote control command issuance. This cloud control platform may include a remote control cockpit and a remote control console, and may also include a high-computing-power server cluster.

[0056] A cloud-based safety officer is responsible for carrying out remote control tasks. This can be a safety officer located in a remote control cockpit, or an intelligent machine that relies on a cloud control platform to operate.

[0057] The remote-controlled cockpit is a cloud-based intelligent cockpit that supports drivers in carrying out remote driving tasks. Drivers can send control commands to the vehicle chassis through the steering wheel and pedals located in the remote-controlled cockpit, thereby realizing remote-controlled driving.

[0058] A remote control console is a control platform that supports safety officers in performing tasks such as remote guidance, remote decision-making, and remote autonomous driving. It is equipped with at least a screen with a surround view display (e.g., a 360° surround view display) and a touchpad or mouse for inputting commands.

[0059] The abbreviations used in this disclosure are explained as follows:

[0060] 5G, the fifth generation of mobile communication technology th Generation Mobile Communication Technology).

[0061] MEC stands for Multiple-access Edge Computing.

[0062] RSU, Road Side Unit.

[0063] OBU, On Board Unit.

[0064] RSCU, Road Side Computing Unit, is a modified small server designed to meet the extreme conditions of roadside light poles, such as low voltage, high temperature, and high humidity.

[0065] V2X, Vehicle to Everything, refers to communication between an onboard unit and other devices.

[0066] LTE-V2X is a vehicle-to-everything (LTE) wireless communication technology based on LTE.

[0067] NR-V2X is a new radio-based vehicle-to-everything (V2X) wireless communication technology.

[0068] RSM, Road Side Message.

[0069] The following will combine Figure 1 The application scenarios for remote vehicle control provided in this disclosure are described in detail. Among them, Figure 1 This is a schematic diagram illustrating an application scenario of remote control of a vehicle according to an embodiment of the present disclosure.

[0070] like Figure 1 As shown, the application scenario 100 of this embodiment may include a vehicle 110, a roadside subsystem 120, and a central subsystem 130.

[0071] Vehicle 110 can be, for example, a vehicle equipped with an onboard subsystem. The onboard subsystem may include an OBU or other onboard intelligent terminal, or an onboard computing control module, onboard gateway, router, etc. This onboard subsystem may possess communication capabilities, local data storage and processing capabilities, and the ability to perceive driving environment information. It may also be capable of executing driving tasks based on control commands issued by the cloud control platform, remote control console, and remote-controlled cockpit. This onboard subsystem can transmit perceived driving environment information and vehicle status information, etc., to the roadside subsystem 120, the central subsystem 130, and the onboard subsystems of other vehicles connected in communication. It can also receive and process application layer messages from the roadside subsystem 120 and the central subsystem 130.

[0072] In one embodiment, the vehicle subsystem may further include at least one of hardware devices such as a camera, lidar, and GPS (Global Positioning System), through which vehicle perception data can be detected.

[0073] In one embodiment, vehicle 110 can be an autonomous vehicle, such as an autonomous taxi or other type of autonomous vehicle.

[0074] The roadside subsystem 120 may be installed on the roadside. The roadside subsystem 120 may include an RSCU (Roadside Control Unit), roadside communication facilities, roadside sensing facilities, and may also include traffic safety and management facilities or other ancillary facilities. The roadside communication facilities may include, for example, an RSU (Roadside Unit) and / or cellular mobile communication facilities. The roadside sensing facilities may include, for example, at least one of detection devices such as video detectors and radar detectors. The traffic safety and management facilities may include, for example, at least one of traffic monitoring facilities, traffic guidance and control facilities, variable signage, toll collection facilities, and condition monitoring facilities. Other ancillary facilities may include, for example, at least one of facilities such as assisted positioning facilities and meteorological monitoring facilities. In one embodiment, multiple roadside subsystems 120 may be installed on the roadside, arranged at equal intervals, so that the coverage of the roadside communication facilities such as the RSU in the multiple roadside subsystems 120 can cover the entire road.

[0075] The central subsystem 130 may include, for example, a control platform and a third-party platform related to autonomous driving. The control platform can communicate with the third-party platform via an API interface to obtain the data required for remote vehicle control. The central subsystem 130 may have the ability to communicate with onboard subsystems, vulnerable road users, roadside units (RSUs), and roadside subsystems, and may possess capabilities for global data reception, storage, processing, and distribution. In the remote control of vehicle 110, the central subsystem 130 may be responsible for tasks such as global information perception and global business strategy control. The third-party platform may include at least one of the following platforms: a vehicle management and service platform, a traffic safety and traffic management platform, a map service platform, a meteorological service platform, and a positioning service platform. The vehicle management and service platform may include, for example, a bus management service platform, and the traffic safety and traffic management platform may include a comprehensive traffic safety service platform and / or a highway traffic management service platform. The map service platform may include a navigation map platform and / or a high-precision map platform.

[0076] In one embodiment, the control platform in the central subsystem 130 may be configured as a three-level platform, namely a central control platform, a regional control platform, and an edge control platform. It should be noted that the central control device mentioned in the following description can be any one of these three levels of control platforms. The coverage area of ​​the regions covered by these three levels decreases sequentially.

[0077] In this application scenario 100, the RSCU in the roadside subsystem 120 can function as an MEC, or the RSCU can be combined with an edge control unit to form an MEC. The edge control unit can communicate with multiple RSCUs. The edge control unit can also be equipped with at least one of a cloud control platform, a remote control cockpit, and a remote control console to support various types of remote control.

[0078] In this application scenario 100, the MEC can communicate with the onboard subsystem in vehicle 110 to remotely control vehicle 110. The MEC can also communicate with a central subsystem to synchronize remote control information. The central subsystem can also communicate with the onboard subsystem in vehicle 110 to remotely control vehicle 110. A cloud-based safety operator can be configured at the central subsystem to perform remote control tasks on vehicle 110.

[0079] It is understandable that the equipment in the vehicle, the equipment in the roadside subsystem, and the equipment in the central subsystem involved in remotely controlling the vehicle can constitute a remote control system.

[0080] The following will combine Figures 2-4 The remote control system for the vehicle provided in this disclosure is described in detail.

[0081] Figure 2 This is a schematic diagram of the structure of a remote control system for a vehicle according to an embodiment of the present disclosure.

[0082] like Figure 2 As shown, the vehicle remote control system 200 of this embodiment includes at least an onboard subsystem 210 and a multi-access edge computing platform (MEC) 220.

[0083] As described above, the vehicle subsystem 210 can be installed in a vehicle to detect vehicle-mounted perception data. This vehicle-mounted perception data may include vehicle status information and environmental information sensed by sensors such as cameras within the vehicle subsystem 210.

[0084] MEC 220 can be the RSCU described above, or it can include both the RSCU and the edge management unit described above. Any form of MEC can be configured according to actual needs. The MEC 220 can communicate with the vehicle subsystem 210 within a first predetermined range to obtain vehicle perception data detected by the vehicle subsystem 210. The first predetermined range can be the communication range of the MEC 220, and this disclosure does not limit it.

[0085] According to embodiments of this disclosure, the MEC 220 can, for example, determine first control information for the vehicle where the vehicular subsystem 210 is located based on acquired vehicle perception data. It then sends the first control information to the vehicular subsystem 210, enabling the vehicular subsystem 210 to control the vehicle's movement based on the first control information. For instance, the MEC 220 can determine environmental information of the vehicle within a first predetermined range based on the vehicle perception data, determine a driving strategy based on the environmental information, encapsulate the instructions required to execute the driving strategy into first control information, and send it to the vehicular subsystem 210.

[0086] The remote control system of this disclosure can use MEC to remotely control the vehicle. Compared with the technical solution of remotely controlling the vehicle by a central control device, it can reduce the latency of remote control to a certain extent and improve the driving safety of the vehicle.

[0087] In one embodiment, the MEC 220 can also communicate with a roadside sensing device to acquire roadside sensing data detected by the roadside sensing device. Thus, when determining the first control information, the MEC 220 can comprehensively consider the acquired vehicle-mounted sensing data and roadside sensing data. For example, the MEC 220 can fuse the roadside sensing data and vehicle-mounted sensing data to determine the environmental information of the vehicle within a first predetermined range, determine a driving strategy based on this environmental information, encapsulate the instructions required to execute the driving strategy into first control information, and send it to the vehicle subsystem 210. For example, the MEC 220 can perform 3D reconstruction operations and video stream comparison operations on the environmental information in the vehicle-mounted sensing data and the roadside sensing data, thereby achieving the fusion of roadside sensing data and vehicle-mounted sensing data.

[0088] In this embodiment, because the MEC 220 comprehensively considers both on-board perception data and roadside perception data when determining the first control information, it can more accurately determine the vehicle's environment, thus improving the accuracy of the determined control information. This enables the MEC 220 to remotely control the vehicle.

[0089] Understandably, multiple MEC 220s can be installed on the roadside, and the communication range of any two MEC 220s can cover non-overlapping sections of the road. During vehicle operation, the vehicle can be remotely controlled by an MEC whose communication range includes the vehicle's location. For example, multiple MEC 220s can be installed at intervals on the roadside (e.g., at equal intervals), and each MEC can have a unique identifier.

[0090] In one embodiment, the roadside sensing device may include at least one detector from the roadside sensing facilities described above. The roadside sensing device may include at least one facility from the traffic safety and management facilities described above, or at least one facility from the other ancillary facilities described above. In one embodiment, the roadside sensing device may include not only detectors from the roadside sensing facilities, but also facilities from the traffic safety and management facilities described above and / or facilities from other ancillary facilities. This is because environmental information in vehicle-mounted sensing data may be inaccurate due to factors such as weather and traffic control. This embodiment improves the accuracy of the determined vehicle's environmental information by simultaneously considering both roadside sensing data and vehicle-mounted sensing data.

[0091] For example, roadside perception data may include road condition information and / or traffic-related information. Road condition information may be represented by image data, specifically by at least one of the following: the location and / or density of traffic participants in the image, road layout, and the size and location of obstacles on the road. Traffic-related information may include at least one of the following: speed limit information, weather information, and traffic light location information.

[0092] In one embodiment, the vehicle's status information may include the vehicle's speed, driving mode, etc. Specifically, the vehicle's status information may include at least one of the parameters listed in Table 1 below.

[0093] Table 1 List of Vehicle Status Information

[0094]

[0095] In one embodiment, the vehicle's status information can be obtained through communication between the onboard subsystem and the vehicle bus, or it can be detected by sensors in the onboard subsystem. This vehicle status information can serve as feedback information for remote information (e.g., execution result information described below). This status information has high real-time requirements; the upload frequency of this status information should be no less than 50 Hz, and the end-to-end latency should be no greater than 20 ms.

[0096] In one embodiment, the environmental information in the vehicle-mounted sensing data may include at least one of the following: the distance between traffic participants and the vehicle within the detection range, the moving speed of traffic participants within the detection range, the type of traffic participants, etc. Specifically, the environmental information in the vehicle-mounted sensing data may include at least one of the data listed in Table 2 below.

[0097] Table 2 List of Environmental Information in Vehicle Sensing Data

[0098]

[0099] In one embodiment, the environmental information in the vehicle-mounted perception data is obtained by calculating data detected by sensors in the vehicle-mounted subsystem. The calculation of the sensor-detected data can be performed by the vehicle-mounted subsystem calling algorithms from an autonomous driving computing platform (such as the Apollo Computing Unit). This environmental data from the vehicle-mounted perception data can be uploaded to the MEC 220 in structured data format, with an upload frequency of at least 10Hz and an end-to-end latency of at least 100ms.

[0100] In one embodiment, the MEC 220 can communicate with the onboard subsystem via a cellular network, for example. The cellular network can be based on technologies such as 5G. The MEC 220 can also communicate with roadside sensing devices via a communication cable or a local area network.

[0101] In one embodiment, the first control information for the vehicle may include at least one of the following: throttle opening, braking parameters, etc. Specifically, the first control information may include at least one of the control parameters listed in Table 3 below.

[0102] Table 3 lists the control parameters included in the control information.

[0103] Control parameters Parameter type length Remark Throttle opening INT(0, 255) 8 Corner parameters INT(0, 255) 8 Braking parameters INT(0, 255) 8 Gear control INT 8 The control positions include: P, N, R, D, and others. Speaker control 1 0 - Horn off; 1 - Horn on

[0104] Figure 3 This is a business architecture diagram of a remote control system for a vehicle according to an embodiment of the present disclosure.

[0105] According to embodiments of this disclosure, in addition to the aforementioned onboard subsystem and MEC, the vehicle's remote control system may also include, for example, a central control device capable of storing global data. This global data includes control information and driving parameters for all remotely controlled vehicles.

[0106] like Figure 3 As shown, the vehicle remote control system 300 of this embodiment includes an on-board subsystem 310, an MEC 320, and a central control device 330.

[0107] Among them, the central control device 330 can be any one of the control platforms in the three-level platform described above. For example... Figure 3As shown, the central control device 330 can communicate with the MEC 320. For example, the central control device 330 and the MEC 320 can communicate via a wired connection such as a communication cable, or via a wireless connection such as a cellular network. The MEC 320 can synchronously upload at least one of the acquired vehicle-mounted perception data, roadside perception data, and first control information sent to the vehicle subsystem to the central control device 330. By synchronizing this data from the MEC 320 to the central control device 330, the central control device 330 can store and maintain global data, facilitating retrieval and querying. It is understood that all MECs installed within the area covered by the central control device 330 can communicate with it.

[0108] In one embodiment, the MEC 320 can upload environmental information obtained by fusing vehicle-mounted perception data and roadside perception data to the central control device 330. The MEC 320 can also upload its own operational status information to the central control device 330, so that the central control device 330 can assign remotely controlled MEC 320s to vehicles requiring remote control. The operational status information of the MEC 320 may include, for example, at least one of the following: MEC location information, MEC operational status (normal operation / fault status), MEC network status, remaining computing resources, etc.

[0109] In one embodiment, such as Figure 3 As shown, the central control device 330 can also communicate with the on-board subsystem 310. For example, the central control device 330 can communicate with the on-board subsystems 310 of all vehicles within its target area via wireless means such as cellular networks. Accordingly, the on-board subsystems 310 can upload on-board perception data not only to the MEC 320, but also to the central control device 330.

[0110] In one embodiment, the vehicle can also be remotely controlled by the central control device 330. This allows the central control device 330 to effectively remotely control the vehicle when the computing power of the MEC 320 is insufficient, or when the MEC 320 is unable to effectively control the vehicle. This further ensures vehicle safety and improves driving efficiency. The inability of the MEC 320 to effectively control the vehicle may be due to factors such as a complex environment or insufficient sensor data.

[0111] For example, the central control device 330 can determine the second control information for the vehicle based on the vehicle perception data uploaded by the vehicle subsystem 310. Alternatively, the central control device 330 can determine the second control information for the vehicle based on the vehicle perception data uploaded by the vehicle subsystem 310 and the roadside perception data uploaded by the MEC 320. The central control device 330 can also send the determined second control information to the vehicle subsystem 310. The method by which the central control device 330 determines the second control information is similar to the method by which the MEC determines the first control information, and the determined second control information is similar to the first control information, so it will not be described again here.

[0112] In one embodiment, the central control device 330 may also obtain at least one type of information, such as high-precision maps and traffic management information, from the third-party platform described above, and comprehensively consider the at least one type of information, vehicle-mounted perception data, and roadside perception data when determining the second control information. For example, the central control device 330 may first perform three-dimensional reconstruction and video stream comparison operations on the environmental information in the vehicle-mounted perception data and the roadside perception data, thereby realizing the fusion of roadside perception data and vehicle-mounted perception data. Subsequently, based on the fused environmental information, vehicle status information, and traffic management information, the vehicle's driving strategy is determined. The traffic management information may, for example, provide auxiliary information for determining the driving speed and driving direction in the driving strategy. For example, if the traffic management information includes a speed limit of 40 km / h in the lane where the vehicle is located, and the vehicle's current speed is 60 km / h according to the vehicle status information, then the throttle opening in the determined driving strategy can be 0, and the braking parameter can be a non-zero value. Thus, when the vehicle drives according to the driving strategy, the speed will gradually decrease so that the vehicle's driving meets the requirements of traffic regulations. For example, when determining the second control information, the central control device 330 may consider only information obtained from a third-party platform and vehicle-mounted perception data. This is because the third-party platform can provide some roadside perception data.

[0113] In one embodiment, the MEC 320 may include an RSCU and an edge control unit. For example, a single MEC 320 may include multiple RSCUs, which are evenly distributed along the roadside. The multiple RSCUs may be configured one-to-one with multiple sets of roadside sensing devices. For example, each RSCU and its corresponding set of roadside sensing devices may be mounted on the same streetlight pole or traffic sign pole along the roadside. The corresponding RSCUs and the roadside sensing devices can be connected via communication cables, for example, to obtain roadside sensing data detected by their corresponding roadside sensing devices. The RSCUs can also be connected wirelessly with the vehicle subsystems within a third predetermined range, for example, via a cellular network. Thus, the RSCUs can obtain vehicle sensing data detected by the vehicle subsystems within the third predetermined range. The aforementioned first control information can be determined by the RSCU based on the obtained roadside sensing data and the vehicle sensing data of the vehicles within the third predetermined range, and the RSCU can then send this first control information to the vehicles within the third predetermined range. By configuring this RSCU, the distance between the vehicle requiring remote control and the device controlling the vehicle can be shortened, reducing the latency of remote vehicle control and improving vehicle driving safety. When the roadside sensing device is a traffic safety and management facility or other ancillary facility, multiple RSCUs can all communicate with the roadside sensing device. The third predetermined range should be less than or equal to the communication range of the MEC, i.e., less than or equal to the aforementioned first predetermined range.

[0114] In one embodiment, the multiple RSCUs included in the MEC 320 can be communicatively connected to the edge control unit via communication cables or a local area network. For example, each RSCU can upload at least one of its determined first control information, acquired roadside perception data, and vehicle-mounted perception data to the edge control unit. For example, the edge control unit can be located close to the multiple RSCUs included in the MEC 320.

[0115] In one embodiment, among the multiple RSCUs installed on the roadside, adjacent RSCUs can be connected via communication cables or the like, and these adjacent RSCUs can synchronously acquire vehicle-mounted sensing data. Thus, when each RSCU determines the first control information, it can refer to the vehicle-mounted sensing data acquired by adjacent RSCUs, thereby improving the accuracy of the determined first control information. For example, multiple adjacent RSCUs can be connected to each other, allowing them to collaboratively process the acquired vehicle-mounted sensing data and roadside sensing data, and collaboratively determine the control information.

[0116] In one embodiment, the edge control unit may include a first cloud control platform. This first cloud control platform can be communicatively connected to each RSCU included in the MEC 320 via a communication cable or similar means. The first cloud control platform can also be used to display at least one of the vehicle-mounted perception data, roadside perception data, and first control information uploaded by the RSCUs. For example, the first cloud control platform can generate first control sub-information for the vehicle based on the acquired vehicle-mounted perception data and roadside perception data using an algorithm, and send the first control sub-information to the vehicle subsystem. The first cloud control platform can also be communicatively connected to the vehicle subsystem via a cellular network or similar means, and send the first control sub-information to the vehicle subsystem via the cellular network. Alternatively, the first cloud control platform can send the first control sub-information to the vehicle subsystem via an RSCU communicatively connected to the vehicle. The first control sub-information may include control commands required to execute autonomous driving tasks. The first control sub-information can be one implementation of the aforementioned first control information, and this disclosure does not limit its implementation.

[0117] In one embodiment, the edge control unit may include a first remote console, which can be communicatively connected to each RSCU included in the MEC320 via a communication cable or similar means. The first remote console can also be used to display at least one of the vehicle-mounted perception data and roadside perception data uploaded by the RSCU. The first remote console may, for example, provide an input device such as a touchpad or mouse. Thus, the first remote console may, for example, generate second control sub-information in response to first operation information for the vehicle, and send the second control sub-information to the vehicle's onboard subsystem via the RSCU communicatively connected to the vehicle. The second control sub-information may, for example, include path information planned based on roadside perception data and vehicle-mounted perception data, vehicle driving direction information, etc. The second control sub-information can be one implementation of the aforementioned first control information, and this disclosure does not limit it. The first operation information may be generated by a cloud-based safety operator assigned to the edge control unit through actual or simulated operation of the input device. For example, the cloud-based safety operator can view the data displayed by the edge control unit in real time and determine the vehicle requiring remote control and the remote control strategy based on the displayed data. Cloud security personnel can use actual or simulated operations on input devices to cause the edge control unit to generate second control sub-information corresponding to the remote control strategy in response to actual or simulated operations.

[0118] In one embodiment, the edge control unit may include a first remote control cockpit, which can be communicatively connected to each RSCU included in the MEC via a communication cable or the like. The first remote control cockpit can generate third control sub-information in response to second operational information for the vehicle, and transmit the third control sub-information to the vehicle's onboard subsystem via the RSCUs communicatively connected to the vehicle. The first remote control cockpit can also display onboard perception data and / or roadside perception data acquired by the RSCUs. A cloud-based safety operator can determine a remote control strategy based on the data displayed in the first remote control cockpit, and perform actual or simulated operations on the steering wheel and / or pedals in the first remote control cockpit according to the remote control strategy. The first remote control cockpit can generate third control sub-information corresponding to the determined remote control strategy in response to the actual or simulated operation. This third control sub-information can be one implementation of the aforementioned first control information, and this disclosure does not limit it in this way.

[0119] This disclosure embodiment can simultaneously configure a first cloud control platform, a first remote control console, and a first remote-controlled cockpit within the edge control unit, or any two of them, thereby enabling the MEC to perform various types of remote control over the vehicle. It is understood that even when the first cloud control platform includes a remote control console, a remote-controlled cockpit, and a high-computing-power server cluster, only the first cloud control platform can be configured to achieve various types of remote control over the vehicle. Compared to schemes where the vehicle is remotely controlled by a central control device, this disclosure embodiment can reduce control latency and improve vehicle driving safety to a certain extent. For example, it can enable remote driving assistance, remote guidance of vehicle movement, remote decision-making regarding vehicle movement, or remote autonomous driving. For example, by configuring the first cloud control platform, the MEC can at least control the vehicle for remote autonomous driving. Accordingly, the aforementioned first control sub-information includes control information in the remote autonomous driving scenario. For example, by configuring the first remote control console, the MEC can remotely guide and make remote decisions regarding vehicle movement. Accordingly, the aforementioned second control sub-information includes control information in remote guidance and / or remote decision-making scenarios. For example, by setting up a first remote control cockpit, the MEC can remotely drive the vehicle, that is, a cloud-based safety operator assigned to the first remote control cockpit can drive the vehicle. Accordingly, the aforementioned third control sub-information can include control information in the remote driving scenario.

[0120] Similarly, the central control device may include a second cloud control platform, which is connected to the vehicle subsystem via a cellular network. This second cloud control platform may also be connected to the MEC via a communication cable. The second cloud control platform can also be used to display vehicle perception data and roadside perception data uploaded by the RSCU. Alternatively, the second cloud control platform may only display vehicle perception data acquired from the vehicle subsystem. For example, the second cloud control platform may, based at least on the acquired vehicle perception data, generate fourth control sub-information for the vehicle using an algorithm, and send this fourth control sub-information to the vehicle subsystem. This fourth control sub-information may include control commands required to perform autonomous driving tasks, and may be one implementation of the aforementioned second control information, which is not limited in this disclosure. When generating the fourth control sub-information, roadside perception data uploaded by the MEC may also be considered, and / or data provided by a third-party platform may also be considered.

[0121] Similarly, the central control device may include a second remote console. This second remote console is connected to the onboard subsystem via a cellular network. It can also be connected to the MEC via a communication cable. For example, the second remote console can acquire onboard perception data from the onboard subsystem. The MEC can synchronize onboard perception data and roadside perception data to the second remote console. The second remote console can also display the received data. Similarly, the second remote console can generate fifth control sub-information in response to third operational information for the vehicle and send this fifth control sub-information to the onboard subsystem. For example, this fifth control sub-information can be sent to the onboard subsystem via a cellular network or distributed to the onboard subsystem via the MEC. It is understood that, similar to the first remote console, the fifth operational information is generated in response to actual or virtual operations performed on the input device by a cloud-based safety operator assigned to the central control device. The generation principle of the fifth control sub-information is similar to that of the second control sub-information, and the fifth control sub-information can be one implementation of the aforementioned second control information, which will not be elaborated further here.

[0122] Similarly, the central control device may include a second remote control cockpit. This second remote control cockpit can communicate with the onboard subsystem via a communication cable. For example, the second remote control cockpit can generate sixth control sub-information in response to fourth operational information for the vehicle and send this sixth control sub-information to the onboard subsystem. The sixth control sub-information can be sent to the onboard subsystem via a cellular network or via MEC. The sixth operational information may be generated in response to actual or virtual operation of the steering wheel and / or pedals in the second remote control cockpit by a cloud-based safety operator assigned to the central control device. The generation principle of this sixth control sub-information is similar to that of the aforementioned third control sub-information; the sixth control sub-information can be one implementation of the aforementioned second control information, and will not be elaborated further here.

[0123] This disclosure embodiment can include a second cloud control platform, a second remote control console, and a second remote-controlled cockpit in the central control device, or any two of them, thereby enabling the central control device to perform various types of remote control over the vehicle. For example, it can remotely drive the vehicle, remotely guide the vehicle's movement, remotely make decisions about the vehicle's movement, or control the vehicle for remote autonomous driving. For example, by setting up a second cloud control platform, the central control device can at least control the vehicle for remote autonomous driving. Accordingly, the aforementioned fourth control sub-information includes control information in the remote autonomous driving scenario. For example, by setting up a second remote control console, the central control device can remotely guide and make decisions about the vehicle's movement. Accordingly, the aforementioned fifth control sub-information includes control information in remote guidance and / or remote decision-making scenarios. For example, by setting up a second remote-controlled cockpit, the central control device can remotely drive the vehicle, i.e., a cloud-based safety operator assigned to the second remote-controlled cockpit drives the vehicle. Accordingly, the aforementioned sixth control sub-information can include control information in the remote driving scenario.

[0124] Figure 4 This is a business architecture diagram of a remote control system for a vehicle according to another embodiment of the present disclosure.

[0125] According to embodiments of this disclosure, a Roadside Utility Unit (RSU) can be installed on the roadside. This RSU can communicate with an onboard subsystem within a second predetermined range via a direct communication interface. The RSU can be configured correspondingly with a roadside sensing device, and the RSU and the corresponding roadside sensing device are connected via a communication cable or similar means. The RSU communicates with the Multi-access Edge Computing (MEC) via a communication cable or a local area network. In this way, onboard sensing data uploaded by the onboard subsystem can be forwarded to the MEC via the RSU. Compared to a technical solution where the onboard subsystem sends onboard sensing data to the MEC via a cellular network, this improves communication stability. The second predetermined range is the communication range of the RSU.

[0126] In one embodiment, the remote control system may include a Roadside Unit (RSU) in addition to the MEC and the vehicle-mounted subsystem. The RSU communicates with the vehicle-mounted subsystem within a second predetermined range via a direct communication interface. This direct communication interface can be, for example, a PC5 (direct link communication) interface. For instance, the vehicle-mounted subsystem in the vehicle may broadcast a signal via an included On-Board Unit (OBU). The RSU located within a fourth predetermined range of the vehicle can receive this broadcast signal and establish a communication connection with the vehicle-mounted subsystem based on the broadcast signal. After establishing the communication connection, the vehicle-mounted subsystem can send detected vehicle-mounted sensing data to the RSU via the OBU and PC5 interface, thereby enabling the RSU to acquire the vehicle-mounted sensing data. Upon receiving the vehicle-mounted sensing data, the RSU can forward the data to the MEC with the communication connection. Exemplarily, the RSU can also forward roadside sensing data sent by roadside sensing devices to the MEC. The fourth predetermined range may be, for example, the same as the second predetermined range.

[0127] For example, in the case where the remote control system includes a RSU, the first control information determined by the MEC can also be sent to the RSU first, and then sent to the vehicle subsystem via the RSU's direct communication interface. This allows the transmission of the first control information to be unaffected by the stability of the cellular network signal, improving the stability of the first control information transmission.

[0128] For example, in the case where the remote control system includes a Roadside Unit (RSU), the RSU can also forward the received roadside perception data to the onboard subsystem of the vehicle within a second predetermined range via a direct communication interface. This can provide auxiliary information for path planning and decision-making during autonomous driving, thereby improving the safety of autonomous driving.

[0129] For example, when the MEC includes multiple RSCUs, the number of RSUs included in the remote control system can be the same as the number of RSCUs, and each RSU is configured to correspond to a different RSCU. The RSU can forward the received roadside perception data and vehicle-mounted perception data to the corresponding RSCU, so that the RSCU can remotely control the vehicles within a second predetermined range of the RSU.

[0130] In one embodiment, such as Figure 4 As shown, the vehicle's remote control system 400 may include an onboard subsystem 410, an MEC 420, a central control device 430, and an RSU 440.

[0131] The RSU 440 and the roadside sensing device 401 can be connected via a local area network or communication cable. In this way, the RSU 440 can obtain roadside sensing data from the roadside sensing device 401, or the RSU 440 can receive roadside sensing data sent by the roadside sensing device 401.

[0132] The RSU 440 and MEC 420 can communicate via the A4 interface, allowing the RSU 440 to forward at least one of the acquired vehicle-mounted perception data and roadside perception data to the MEC 420. The RSU 440 can also receive first control information from the MEC 420 and transmit this first control information to the vehicle subsystem 410 via the direct communication interface A2 between the RSU 440 and the vehicle subsystem. Additionally, the vehicle subsystem 410 and MEC 420 can also communicate via the A3 interface.

[0133] This embodiment, by configuring the RSU 440 and A3 interfaces, allows for two communication methods between the MEC 420 and the vehicle subsystem 410, thereby ensuring the stability of remote control of the vehicle subsystem 410 by the MEC 420. For example, when the cellular network signal strength is weak in the environment where the vehicle subsystem is located, data uploaded from the vehicle subsystem 410 to the MEC 420 and control information sent from the MEC 420 to the vehicle subsystem 410 can be forwarded via the RSU 440. This ensures that the remote control of the vehicle subsystem 410 by the MEC 420 is not affected by the cellular network signal quality, thus improving the stability of remote control.

[0134] Similarly, the RSU 440 and the central control device 430 can communicate via a communication cable or a cellular network. Specifically, the RSU 440 and the central control device 430 can communicate via the A6 interface, allowing the RSU 440 to forward at least one of the acquired vehicle-mounted perception data and roadside perception data to the central control device 430. The RSU 440 can also receive second control information sent by the central control device 430 and send the second control information to the vehicle subsystem 410 via the direct communication interface A2 between the RSU 440 and the vehicle subsystem. Alternatively, the vehicle subsystem 410 and the central control device 430 can also communicate via the A5 interface. This embodiment, by setting up the RSU 440 and the A5 interface, allows for two communication methods between the central control device 430 and the vehicle subsystem 410, thereby ensuring the stability of the central control device 430's remote control of the vehicle subsystem 410. For example, when the cellular network signal strength is weak in the environment where the vehicle subsystem is located, the data uploaded by the vehicle subsystem 410 to the central control device 430 and the control information sent by the central control device 430 to the vehicle subsystem can be forwarded via the RSU 440. This allows the remote control of the vehicle subsystem 410 by the central control device 430 to be unaffected by the cellular network signal quality, which helps to improve the stability of remote control.

[0135] In the case of remote vehicle control by MEC 420, MEC 420 can also synchronize at least one of the first control information, roadside perception data and vehicle perception data to central control device 430 through communication interface A7 between MEC 420 and central control device 430.

[0136] In one embodiment, such as Figure 4 As shown, the vehicle subsystem 410 may also be equipped with an A1 interface to send its vehicle perception data to other traffic participants within its communication range. For example, the vehicle subsystem can communicate with a sensing subsystem 402 located within a fourth predetermined range of the vehicle subsystem via the A1 interface and send vehicle perception data to the sensing subsystem 402. The sensing subsystem 402 is located in a target object, which may be a mobile terminal carried by another vehicle or a pedestrian. For example, if the target object is a mobile terminal carried by a pedestrian, the sensing subsystem 402 may be a sensing device in a smart terminal. If the target object is another vehicle, the sensing subsystem 402 may be an vehicle subsystem installed in that other vehicle.

[0137] The following sections will describe the vehicle subsystem, RSU, MEC, and central control equipment separately, and describe the interfaces for communication connections between the various parts of the vehicle's remote control system, in order to provide a more comprehensive understanding of the vehicle's remote control system 400.

[0138] The vehicle-mounted subsystem possesses the following functions: communication (based on cellular networks or direct communication interfaces), local data storage and processing, environmental information sensing, and the ability to execute driving tasks based on control information issued by the central control device or MEC. This subsystem can transmit detected environmental and vehicle status information as vehicle-mounted sensing data to other vehicle-mounted subsystems within a predetermined range, mobile devices carried by other traffic participants besides the vehicle, the RSU, MEC, and the central control device. It can also receive and process application-layer messages issued by the RSU, MEC, and central control device.

[0139] The RSU (Roadside Unit) has communication capabilities (based on cellular networks or direct communication interfaces). The RSU can forward roadside sensing data detected by roadside sensing devices to the onboard subsystem, MEC (Multi-access Edge Computing), and central control equipment. The RSU can also forward onboard sensing data from the onboard subsystem to the MEC and central control equipment for remote vehicle monitoring. The RSU can receive application-layer information (such as control information) from the onboard subsystem, MEC, and central control equipment.

[0140] The MEC (Multi-access Edge Computing) possesses the ability to access data from multiple data sources and perform local business processing. The MEC can receive and process sensing data from multiple sources, and can output local business control policies (such as initial control information) according to business needs, and output these policies to the onboard subsystem, mobile devices carried by other traffic participants besides the vehicle, and the RSU (Roadside Unit). This MEC can collaboratively process sensing data and control policies with other MECs, and can also coordinate with central control equipment to support vehicle-to-everything (V2X) services. This MEC remotely controls vehicles by setting up a first cloud control platform, a first remote control console, and a first remote-controlled cockpit. The MEC can also provide remote control functionality for specific local areas.

[0141] The central control unit is capable of communicating with onboard subsystems, mobile devices carried by other traffic participants besides the vehicle, RSUs, and MECs, and has the ability to receive, store, process, and distribute global data. This central control unit is responsible for controlling global business strategies and can remotely control vehicles through a second cloud control platform, a second remote control console, and a second remote-controlled cockpit.

[0142] Interfaces A1 through A7 are the application layer data interaction interfaces between different parts. The following will describe each interface in detail.

[0143] The A1 interface serves as the communication interface between the vehicle-mounted subsystem and the sensing subsystem. The definition of the application layer messages transmitted through this interface can be consistent with the relevant definitions in the communication industry standard YD / T 3977-2021 "Requirements for Data Transmission of Enhanced V2X Service Application Layer". Data transmitted through this A1 interface can be transmitted via cellular networks.

[0144] The A2 interface is the communication interface between the vehicle subsystem and the RSU. This A2 interface can be a PC5 interface. The definition of the application layer messages transmitted by this interface can be consistent with the relevant definitions in the communication industry standard YD / T 3978-2021 "Adding Data Interaction Content for High-Level Automated Driving Based on Vehicle-Road Cooperative Learning".

[0145] The A3 interface is the communication interface between the vehicle subsystem and the MEC. This A3 interface is responsible for uploading vehicle perception data, uploading vehicle monitoring data, distributing fused perception results, and distributing remote control information (first control information and second control information). Each of the first and second control information may include at least one of the following: path optimization information, remote driving commands, remote guidance commands, etc.

[0146] The A4 interface is the communication interface between the RSU and MEC. This A4 interface is responsible for uploading roadside sensing data, uploading vehicle-mounted sensing data, and receiving control information.

[0147] The A5 interface is the communication interface between the onboard subsystem and the central control equipment. This A5 interface is responsible for uploading onboard perception data and vehicle operation data, implementing takeover strategies in remote-controlled driving operations, distributing route optimization information, and issuing remote-controlled driving commands.

[0148] The A6 interface is the communication interface between the RSU and the central control equipment. This A6 interface is responsible for uploading roadside sensing data, uploading vehicle-mounted sensing data, and receiving control information.

[0149] The A7 interface is the communication interface between the MEC and the central control equipment. This A7 interface provides the MEC with the ability to provide services to various vehicle-to-everything (V2X) service servers located in the central subsystem. The A7 interface is responsible for uploading suggested information on takeover strategies based on fused perception data (environmental information obtained by fusing roadside perception data and vehicle-mounted perception data), information exchange between the second remote control cockpit and the first remote control console, and uploading various monitoring data acquired during remote vehicle control.

[0150] In one embodiment, the business functions that each part of the vehicle's remote control system should support can be seen in Table 4 below.

[0151] For example, the tasks performed by the cloud control platform may include implementing remote monitoring, planning and optimization, remote takeover strategies, and issuing remote control commands. When the cloud control platform is deployed in a central control device, it will be responsible for global remote control functions. When the cloud control platform is deployed in a MEC (Multi-access Edge Computing), it will be responsible for remote control functions in certain areas.

[0152] For example, the remote-controlled cockpit supports the cloud-based safety operator in carrying out remote control tasks. The remote control console is responsible for displaying data and supporting the cloud-based safety operator in carrying out tasks such as remote guidance, remote decision-making, and remote autonomous driving.

[0153] For example, the perception data fusion business function can receive and fuse perception data from multiple sources. The emergency takeover recommendation business function can collect in-vehicle monitoring data and environmental data, and determine and provide recommendations on whether to remotely control the vehicle (e.g., remote takeover).

[0154] For example, the perception data acquisition / forwarding service function supports the collection / forwarding of raw perception data detected by various sensors in the vehicle subsystem. When the vehicle subsystem has computing capabilities, the perception data acquisition / forwarding service function integrated into the vehicle subsystem can also output structured perception results. The perception data acquisition / forwarding service function integrated in the RSU can also receive roadside perception data detected by roadside perception devices and forward that roadside perception data.

[0155] For example, the monitoring data collection / forwarding business function is responsible for collecting / forwarding the status of the driver or other objects inside the vehicle, and can also be responsible for collecting / forwarding information about the driving environment outside the vehicle.

[0156] Table 4 lists the control parameters included in the control information.

[0157] Business Functions Central control equipment MEC Vehicle Subsystem RSU Cloud control platform (including monitoring functions) √ √ Remote cockpit √ √ Remote console √ √ Fusion of sensory data √ √ Emergency takeover recommendations √ √ Data collection / forwarding √ √ Collection / forwarding of monitoring data √ √

[0158] According to the vehicle remote control system provided in this disclosure, the types of remote control applications that can be provided for the vehicle may include remote driving applications, remote guidance applications, remote decision-making applications, and remote autonomous driving applications.

[0159] The following will combine Figures 5A to 5D A detailed description of each application type is provided.

[0160] Figures 5A to 5D These are schematic diagrams illustrating application scenarios of remote valet driving, remote guidance, remote decision-making, and remote autonomous driving according to embodiments of this disclosure.

[0161] like Figure 5AAs shown, in the application scenario 500-1 of remote driving, the cloud-based safety operator can send control commands to the vehicle chassis through the steering wheel 501 and / or pedals in the remote control cockpit included in the MEC or central control device, thereby realizing remote driving.

[0162] like Figure 5B As shown, in the application scenario 500-2 of remote guidance, the cloud safety operator can plan a guide line 502 through the remote control console included in the MEC or central control device, and generate control information based on the guide line and send it to the vehicle's onboard subsystem to remotely control the vehicle to reach the target location along the route corresponding to the guide line.

[0163] like Figure 5C As shown in application scenario 500-3 for remote decision-making, the cloud-based safety operator can issue decision commands to the vehicle's onboard subsystem via a remote console included in the MEC or central control device, causing the vehicle to execute the specified driving actions according to the decision commands. For example, the cloud-based safety operator can select the "turn left" option 503 from the three driving direction options displayed on the remote console, thus issuing a decision command to turn left.

[0164] like Figure 5D As shown in the application scenario 500-4 of remote autonomous driving, without the intervention of a cloud-based safety operator, the vehicle's autonomous driving tasks can be performed by the cloud control platform included in the MEC or central control equipment in cooperation with the vehicle.

[0165] This embodiment describes in detail the operating conditions, vehicle configuration requirements, and cloud configuration requirements for application types such as remote driving, remote guidance, remote decision-making, and remote autonomous driving, using Table 5 below. Specifically, in the remote autonomous driving application type, the permissible speed range can be set according to the speed limits of open roads. For example, this speed range can be set to 0–80 km / h.

[0166] Table 5. List of Implementation Conditions for Each Application Type

[0167]

[0168]

[0169]

[0170] According to embodiments of this disclosure, when the vehicle is an autonomous vehicle, the central subsystem can monitor the vehicle's driving status and environmental information in real time during the vehicle's driving tasks. This facilitates timely remote control of the vehicle in case of driving abnormalities. Accordingly, based on the vehicle remote control system provided in this disclosure, this disclosure also provides a data synchronization method to achieve real-time vehicle monitoring. The synchronized data can reflect the vehicle's driving status and environmental information. The following will combine... Figures 6A-7 The data synchronization method provided in this disclosure is described in detail.

[0171] Figure 6A This is a flowchart illustrating a data synchronization method performed by a central control device according to an embodiment of the present disclosure.

[0172] like Figure 6A As shown, the data synchronization method 610 of this embodiment may include operations S611 to S612, and the data synchronization method 610 may be executed by, for example, the central control device described above.

[0173] In operation S611, in response to the first target operation, a first upload instruction message is sent to the vehicle's onboard subsystem, and a second upload instruction message is sent to the RSU of the vehicle.

[0174] During operation of S612, the vehicle receives onboard perception data sent by the vehicle's onboard subsystem and roadside perception data sent by the roadside unit.

[0175] According to embodiments of this disclosure, the first target operation can be an operation by a cloud-based safety operator on an input device assigned to a central control device. For example, a central subsystem can maintain registration information for all autonomous vehicles. The central control device can run an application for remote-controlled driving, which, by running the application, can obtain basic information about autonomous vehicles within the coverage area of ​​the central control device. This basic information may include identification information and location information of the autonomous vehicles. Through the first target operation, at least one vehicle can be selected from the autonomous vehicles within the coverage area of ​​the central control device. Based on the identification information of each of the at least one vehicle and the first target operation, a first upload instruction and a second upload instruction can be generated for each vehicle. Subsequently, the first upload instruction can be sent to the vehicle subsystem of each vehicle via a communication connection between the central control device and the onboard subsystem (e.g., via the A5 interface described above), and the second upload instruction can be sent to the RSU of each vehicle via a communication connection between the central control device and the RSU (e.g., via the A6 interface described above).

[0176] For example, in addition to selecting at least one vehicle, the first target operation may also include selecting or entering upload rules. Upload rules may include, for example, the data type and / or reporting mode of the data to be reported. The reporting mode may be a periodic reporting mode or an event-triggered mode. For a periodic reporting mode, the first and second upload indication information may include the reporting frequency. For an event-triggered mode, the first and second upload indication information may include triggered event information. For example, the triggered event information may include: the vehicle speed exceeds a speed threshold or there is a congested road section in the vehicle's environment.

[0177] For example, the RSU for a vehicle can be an RSU whose communication range includes the vehicle's location. The RSU for a vehicle can be determined by the central control equipment based on the vehicle's location and the RSU's communication range. Accordingly, the central subsystem can also maintain the location information and attribute information of each RSU among all RSUs. The RSU's attribute information may include the RSU's identification information, the RSU's coverage area, and / or the RSU's installation time information, etc.

[0178] After receiving the first upload instruction, the onboard subsystem can send the onboard sensing data to the central control device according to the first upload instruction. Similarly, after receiving the second upload instruction, the RSU can send the roadside sensing data detected by the roadside sensing device connected to the RSU to the central control device according to the second upload instruction.

[0179] The data synchronization method in this embodiment can obtain not only vehicle-mounted sensing data but also roadside sensing data, which makes it easier for the central control equipment to have a more comprehensive understanding of the vehicle's real-time status and to make correct decisions on remote vehicle control based on the real-time status.

[0180] In one embodiment, the central control device can also display the received vehicle-mounted sensing data and roadside sensing data, so that the cloud-based safety operator assigned to the central control device can understand the real-time status of the vehicle and determine whether to remotely control the vehicle based on the real-time status.

[0181] According to embodiments of this disclosure, the vehicle's onboard subsystem, for example, can be... Figure 6B The process shown is for uploading vehicle sensing data to synchronize it with the central control equipment. The following will combine... Figure 6B The process is described in detail.

[0182] Figure 6B This is a flowchart illustrating a data synchronization method executed on the vehicle side according to an embodiment of the present disclosure.

[0183] According to embodiments of this disclosure, such as Figure 6B As shown, the data synchronization method 620 of this embodiment may include operations S621 to S622, and the data synchronization method 620 may be executed by, for example, the vehicle subsystem described above.

[0184] In operation S621, in response to receiving the first upload instruction information sent by the central control device, the detected vehicle perception data is determined.

[0185] According to the disclosed embodiments, the vehicle subsystem can periodically detect the vehicle's onboard perception data. Upon receiving the first upload instruction, the latest detected onboard perception data can be used as the onboard perception data determined in operation S621. Alternatively, the vehicle subsystem can detect the vehicle's onboard perception data in real time after receiving the first upload instruction. It is understood that the onboard perception data may include the aforementioned vehicle status information and the environmental information detected by the vehicle subsystem. The status information and the environmental information detected by the vehicle subsystem are as described above and will not be repeated here.

[0186] During operation of S622, vehicle sensing data is sent to the central control device according to the first upload instruction information.

[0187] According to embodiments of this disclosure, the vehicle-mounted subsystem can filter the detected vehicle-mounted sensing data based on the data type to be reported in the first upload instruction information. The filtered data is then sent to the central control device. The vehicle-mounted subsystem can also send the vehicle-mounted sensing data to the central control device when a reporting time is determined based on the reporting mode in the first upload instruction information.

[0188] Understandably, in one embodiment, when the vehicle subsystem transmits vehicle sensing data, it can first broadcast the vehicle sensing data to the RSU (Roadside Unit) for the vehicle via the A2 interface described above, and the RSU can then forward it to the central control device via the A6 interface described above. This can avoid transmission delays caused by unstable cellular network signal strength. Alternatively, the vehicle subsystem can directly transmit the vehicle sensing data to the central control device via the aforementioned A5 interface.

[0189] According to embodiments of this disclosure, the RSU for a vehicle can, for example, be accessed via... Figure 6C The process shown is for uploading roadside sensing data to synchronize it with the central control equipment. The following will combine... Figure 6C The process is described in detail.

[0190] Figure 6C This is a flowchart illustrating a data synchronization method performed by a roadside unit according to an embodiment of the present disclosure.

[0191] like Figure 6C As shown, the data synchronization method 630 of this embodiment may include operations S631 to S632, and the data synchronization method 630 may be performed, for example, by the RSU for the vehicle described above.

[0192] In operation S631, in response to receiving the second upload instruction information sent by the central control device, the roadside sensing data detected by the roadside sensing device is acquired.

[0193] During operation S632, roadside sensing data is sent to the central control equipment according to the second upload instruction information.

[0194] According to embodiments of this disclosure, as described above, the roadside sensing device can communicate with the RSU via a communication cable or local area network. The RSU can acquire roadside sensing data from the roadside sensing device and, in response to a second upload instruction, forward the acquired roadside sensing data to the central control device via the communication connection between the RSU and the central control device.

[0195] As described above, roadside sensing equipment may include one or more facilities such as traffic monitoring facilities, traffic guidance and control facilities, auxiliary positioning facilities, and meteorological monitoring facilities. Correspondingly, roadside sensing data may include one or more types of data such as image data, positioning data, and meteorological data. This roadside sensing data corresponds to the facilities included in the roadside sensing equipment.

[0196] In one embodiment, the RSU can, for example, determine the reporting time based on the reporting mode in the second upload instruction information and then send the acquired roadside sensing data to the central control device. It is understood that the RSU can, for example, send the roadside sensing data to the central control device via the A6 interface described above.

[0197] According to embodiments of this disclosure, during data synchronization, the onboard subsystem and RSU can, for example, synchronize sensing data to the MEC (Multi-access Edge Computing) for the vehicle, so that the MEC can determine whether to intervene in remote vehicle control based on the sensing data. Thus, compared to a central control device for remote vehicle control, this approach reduces remote control latency and improves vehicle driving safety.

[0198] Figure 7 This is a flowchart illustrating the information interaction process in the data synchronization method according to an embodiment of the present disclosure.

[0199] like Figure 7As shown, in this embodiment 700, the first upload instruction information and the second upload instruction information sent by the central control device 730 through operations S731 to S732 can both include the identification information of the MEC 720 for the vehicle. Correspondingly, while sending vehicle perception data to the central control device 730 through operation S711, the vehicle subsystem 710 can also send the vehicle perception data to the MEC 720 for it through operation S712. Similarly, while sending roadside perception data to the central control device 730 through operation S741, the RSU 740 can also send the roadside perception data to the MEC 720 for the vehicle through operation S742.

[0200] When operating S731, the central control device 730 sends the first upload instruction information to the vehicle subsystem 710 through the A5 interface.

[0201] During operation of S732, the central control device 730 sends a second upload instruction message to the RSU 740 for the vehicle via the A6 interface.

[0202] It is understood that the first upload instruction information and the second upload instruction information are similar to those described above, the difference being that in this embodiment, both the first upload instruction information and the second upload instruction information include identification information for the vehicle's MEC 720. The vehicle's location is within the communication range of its corresponding MEC 720. Operations S731 and S732 can be executed simultaneously or sequentially in any order; this disclosure does not limit this. It is understood that the central control device 730 can also allocate MECs with communication ranges including the vehicle's location and computing power sufficient to support remote control of the vehicle, based on the locations and computing power of all MECs maintained by the central subsystem. Thus, in this embodiment, the MEC for the vehicle can be the MEC allocated specifically for that vehicle.

[0203] When operating S711, the vehicle subsystem 710 sends vehicle perception data to the central control equipment via the A5 interface. This vehicle perception data includes vehicle status information and environmental information detected by the vehicle subsystem.

[0204] During operation of S712, the vehicle subsystem 710 sends vehicle perception data to the MEC 720 based on the identification information and the first upload instruction information. This vehicle perception data can be sent to the MEC 720 via the A3 interface described above.

[0205] It is understood that operations S711 and S712 can be executed simultaneously or in any order, and this disclosure does not limit this.

[0206] When operating the S741, the RSU 740 sends roadside sensing data to the central control equipment via the A6 interface.

[0207] During operation S742, RSU 740 sends roadside sensing data to MEC 720 based on the identification information and second upload instruction information of MEC 720. This roadside sensing data can be sent to MEC 720 via the A4 interface described above.

[0208] It is understood that operations S741 and S742 can be executed simultaneously or sequentially in any order, and this disclosure does not impose any restrictions on this. Operations S741 to S742 can be executed synchronously with operations S711 to S712 or sequentially in any order, and this disclosure does not impose any restrictions on this.

[0209] In one embodiment, while the vehicle subsystem is sending vehicle sensing data, it can also send communication status information to the central control device, for example. For instance, after receiving the first upload instruction information, the vehicle subsystem 710 can first determine the communication status information of the communication link between the vehicle subsystem 710 and the central control device 730. For example, the vehicle subsystem 710 can send a handshake signal to the central control device 730, and the duration between the time the handshake signal is sent and the time the vehicle subsystem 710 receives the response signal from the central control device in response to the handshake signal is used as the communication duration between the two. This communication duration is then used to represent the communication status information. Alternatively, the vehicle subsystem can use the signal strength of the cellular network to which the vehicle subsystem is connected to to represent the communication status information.

[0210] like Figure 7 As shown, after determining the communication status information, the vehicle subsystem 710 can send the communication status information to the central control device 730 through operation S713. For example, the first upload instruction information may also include an upload instruction for the communication status information. The vehicle subsystem 710 can send the communication status information to the central control device 730 according to the upload instruction for the communication status information. It is understood that the upload instruction may include indicator information such as the uploaded communication status. The indicator information may include signal strength and / or communication duration, etc. The vehicle subsystem 710 can send the communication status information through the A5 interface. Operation S713 can be executed synchronously with operations S711 to S712, or it can be executed sequentially in any order; this disclosure does not limit this.

[0211] Accordingly, the central control device 730 can receive communication status information sent by the vehicle's onboard subsystem. This communication status information is the communication status information of the communication link between the onboard subsystem and the central control device.

[0212] In one embodiment, the vehicle-side device can, for example, request a real-time monitoring stop request from the central control device when an anomaly occurs, to reduce the use of communication resources. For example, when the vehicle subsystem 710 determines that the vehicle is in a target abnormal state based on the detected vehicle perception data, it can send a stop request message to the central control device 730 via operation S714. The stop request message is sent via the A5 interface. The target abnormal state may include, for example, a state where the communication delay is greater than a predetermined delay, a state where the vehicle is under on-site control, and / or a state where the power system, such as the engine, cannot operate normally. For example, the vehicle perception data may include steering wheel touch information; if the vehicle subsystem detects that the steering wheel has been touched, it can determine that the vehicle is in a target abnormal state. It is understood that the above-described target abnormal states are merely examples to facilitate understanding of this disclosure, and this disclosure does not limit them.

[0213] After receiving the abort request information sent by the vehicle subsystem 710, the central control device 730 can respond to the abort request information by sending an abort response information to the vehicle subsystem 710 through operation S733. The abort response information is sent via the A5 interface. In one embodiment, after receiving the abort request information, the central control device 730 can also make a decision based on, for example, the latest acquired vehicle sensing data, to determine whether to suspend monitoring. If the decision determines to suspend monitoring, an abort response information can be sent to the vehicle subsystem 710.

[0214] After receiving the abort response information, the vehicle subsystem 710 can stop sending vehicle sensing data, thereby stopping the central control equipment 730 from monitoring the vehicle in real time.

[0215] In one embodiment, while the central control device 730 sends a stop response information to the on-board subsystem 710, it may also send a stop instruction information to the RSU 740 to notify the RSU 740 that it no longer needs to upload roadside sensing data. Accordingly, after receiving the stop instruction information sent by the central control device 730, the RSU 740 may stop transmitting roadside sensing data in response to the stop instruction information, and simultaneously or subsequently, may send a stop response information to the central control device 730.

[0216] In one embodiment, a cloud-based safety operator assigned to the central control device can suspend remote monitoring of the vehicle according to actual work needs. This improves the flexibility of remote monitoring. For example, the central control device 730 can respond to a second target operation by sending a suspension instruction to the vehicle subsystem 710 via operation S734. The suspension instruction is sent via the A5 interface. The second target operation could be a selection operation by the cloud-based safety operator on a "suspend" button in an application for remote-controlled driving, or an operation to close the application for remote-controlled driving, etc., which are not limited in this disclosure.

[0217] After receiving the abort instruction information sent by the central control device 730, the vehicle subsystem 710 can respond to the abort instruction information and stop sending vehicle sensing data. Then, it sends an abort response information to the central control device 730 via operation S715. The abort response information is sent via the A5 interface.

[0218] In one embodiment, while the central control device 730 sends a stop instruction information to the vehicle subsystem 710, it may also send a stop instruction information to the RSU 740 to notify the RSU 740 that it no longer needs to upload roadside sensing data. Accordingly, after receiving the stop instruction information sent by the central control device 730, the RSU 740 may respond to the stop instruction information by stopping the transmission of roadside sensing data, and simultaneously or subsequently send a stop response information to the central control device 730.

[0219] This embodiment of the disclosure enables a central control device to remotely monitor a vehicle through the implementation of a data uploading method. Thus, the central control device can proactively initiate a remote control process when the vehicle's environment requires remote control, thereby improving vehicle driving safety.

[0220] Based on the vehicle remote control system and data synchronization method provided in this disclosure, when a vehicle encounters an unmanageable situation while driving, it can, for example, initiate a remote control request to a central control device to initiate remote control of the vehicle. Based on this, embodiments of this disclosure provide a method for initiating remote control, which will be described below in conjunction with... Figures 8A-9 The method is described in detail.

[0221] Figure 8A This is a flowchart illustrating a method for initiating remote control executed on a vehicle according to an embodiment of the present disclosure.

[0222] like Figure 8A As shown, the method 810 for initiating remote control in this embodiment may include operations S811 to S812. This method 810 for initiating remote control can be executed by the vehicle itself, specifically by the onboard subsystem described above.

[0223] When operating S811, in response to the vehicle being in the target state, a remote control request message is sent to the central control device.

[0224] According to embodiments of this disclosure, the vehicle subsystem can determine that the vehicle is in a target state if it determines, based on detected vehicle sensing data, that the vehicle is under any of the operating conditions listed in Table 5 above. Alternatively, the vehicle subsystem can determine that the vehicle is in a target state if it determines that the vehicle has traveled less than a predetermined distance within a predetermined time period (e.g., a time period of 10 minutes). It is understood that this disclosure does not limit the specific method for determining whether the vehicle is under any operating condition, nor does it limit the magnitude of the predetermined distance.

[0225] According to embodiments of this disclosure, the vehicle subsystem can send remote control request information to the central control device via the A5 interface. Alternatively, it can send the remote control request information to the central control device via the RSCU included in the MEC; this disclosure does not limit this method. The remote control information may include vehicle identification information to allow the central control device to uniquely identify the vehicle requiring remote control. The remote control request information may also include, for example, the vehicle's real-time location information.

[0226] In operation S812, in response to receiving remote control confirmation information sent by the central control device, a first remote access success message is sent to the central control device based on the remote control confirmation information.

[0227] According to embodiments of this disclosure, after the central control device receives a remote control request, it can, for example, assess the resources required for remote control of the vehicle. If it determines that the remaining resources meet the remote control requirements, it can send a remote control confirmation message to the vehicle subsystem. In response, the vehicle subsystem can send a first remote access success message to the central control device in response to the remote confirmation message.

[0228] According to embodiments of this disclosure, the central control device can, for example, be controlled by... Figure 8B The process shown below is for responding to remote control requests sent by the vehicle subsystem. The following will combine... Figure 8B The process is described in detail.

[0229] Figure 8B This is a flowchart illustrating a method for initiating remote control executed by a central control device according to an embodiment of the present disclosure.

[0230] like Figure 8B As shown, when a remote control request is initiated at the vehicle end, the method 820 for starting remote control executed by the central control device may include operations S821 to S823.

[0231] In operation S821, in response to receiving a remote control request from the vehicle's onboard subsystem, resource configuration information is determined.

[0232] When operating S822, in response to the resource configuration information meeting the requirements for remote vehicle control, a remote control confirmation message is sent to the vehicle's onboard subsystem.

[0233] In operation S823, in response to receiving the first remote access success message sent by the vehicle's onboard subsystem, it is determined that remote control has been initiated.

[0234] According to embodiments of this disclosure, after receiving a remote control request, the central control device can first determine its local resource configuration information. For example, the resource configuration information may include at least one of the following: whether a remote control cockpit is configured, whether a cloud control platform is configured, whether a remote control console is configured, the communication status of the communication link between the central control device and the vehicle, and the computing power that the central control device can provide. Simultaneously, the central control device can also determine the vehicle requiring remote control based on the remote control request information, and determine the resources required for remote vehicle control based on the vehicle's location and real-time monitored vehicle-mounted perception data and roadside perception data.

[0235] If the resource configuration information meets the requirements for remote vehicle control, then a remote control confirmation message is sent to the onboard subsystem. This confirmation message can be sent, for example, via the A5 interface.

[0236] If the central control device receives the first successful remote access message from the vehicle subsystem after sending the remote control confirmation message, it can be determined that remote control has been initiated, and the vehicle can be remotely controlled through interaction with the vehicle.

[0237] The remote control initiation method disclosed herein can establish remote control communication between the central control device and the vehicle subsystem when the resource configuration information meets the requirements, thus providing conditions for the implementation of remote control.

[0238] In one embodiment, when determining whether the resource configuration information meets the requirements for remotely controlling a vehicle, the type of remote control can be determined first based on the vehicle's environmental information, and then the resources required for remotely controlling the vehicle can be determined based on the type of remote control. The type of remote control can include any of the various application types listed in Table 5 above. The resource requirements for each type of remote control can be seen in Table 6 below.

[0239] Table 6. List of Equipment Performance Requirements for Various Types of Remote Control

[0240]

[0241] In determining the type of remote control, this embodiment of the disclosure can take into account the environmental information of the vehicle. When determining the resource requirements for each type of remote control, the message transmission frequency during control information transmission can also be considered. Specifically, the application scenario requirements for various types of remote control can be found in Table 7 below.

[0242] It is understood that the various requirements in Tables 6 and 7 are merely examples to aid in understanding this disclosure, and this disclosure does not limit them.

[0243] Table 7. List of application scenario requirements for various types of remote control.

[0244]

[0245] According to embodiments of this disclosure, upon receiving a remote control request, the central control device can prioritize allocating MEC computing resources to the vehicle for remote control. This reduces the latency of remote control. Accordingly, the aforementioned resource configuration information can be the resource configuration information of the MEC whose communication range covers the vehicle's location.

[0246] For example, the aforementioned operation S821 can be implemented as follows: determining the resource configuration information of the target platform for the vehicle in the MEC with the communication connection. The target platform for the vehicle can be an MEC whose communication range includes the vehicle's location. The resource configuration information of the target platform is similar to that of the aforementioned central control device and will not be repeated here. Accordingly, when the resource configuration information of the target platform meets the requirements for remotely controlling the vehicle, a remote control confirmation message can be sent to the vehicle's onboard subsystem. For example, this remote control confirmation message may include the target platform's identification information to facilitate the vehicle's access to the target platform and remote control of the vehicle by the target platform. Each MEC can periodically upload its own resource configuration information to the central control device to facilitate the central control device's management and scheduling of the MECs.

[0247] After receiving remote control confirmation information including the target platform's identification information, the vehicle subsystem can send an access request to the target platform based on this identification information. Upon receiving an access confirmation from the target platform in response to the access request, the vehicle subsystem can then send a first remote access success message to the central control equipment. This improves the accuracy of the vehicle remote control status maintained by the central control equipment.

[0248] In one embodiment, after identifying the target device, the central control device can first assign a remote task to the target platform. After the remote task assignment is successful, it then sends remote control confirmation information to the vehicle subsystem. This improves the accuracy of sending the remote control confirmation information. For example, the central control device can send remote task assignment information to the target platform based on identification information. This remote task assignment information may include the vehicle's identification information. Accordingly, after receiving the remote task assignment information, the target platform can... Figure 8C The process shown is to establish remote control communication with the vehicle.

[0249] Figure 8C This is a flowchart illustrating a method for initiating remote control executed by a multi-access edge computing platform according to an embodiment of the present disclosure.

[0250] like Figure 8C As shown, the method 830 for initiating remote control executed by the MEC may include operations S831 to S832.

[0251] In operation S831, in response to receiving remote task assignment information sent by the central control device, a task confirmation message is sent to the central control device.

[0252] In operation S832, in response to receiving an access request message from the vehicle's onboard subsystem, an access confirmation message is sent to the vehicle's onboard subsystem.

[0253] It is understandable that operation S832 can be executed after the MEC receives the remote task assignment information. After receiving the remote task assignment information, the MEC can, for example, detect its communication environment. If the communication environment meets the corresponding requirements in Tables 6 and 7 above, it can send task confirmation information to the central control device. This task confirmation information may include, for example, vehicle identification information. Similarly, the access request information may also include vehicle identification information. The task confirmation information may be sent, for example, via the A7 interface, and the access confirmation information may be sent, for example, via the A3 interface.

[0254] The following will combine Figure 9 The specific process for initiating remote control when the vehicle initiates remote control is described in detail.

[0255] Figure 9 This is an interactive flowchart illustrating the process of initiating remote control when the vehicle initiates remote control according to an embodiment of this disclosure.

[0256] like Figure 9 As shown, in this embodiment 900, after the vehicle subsystem 910 in the vehicle determines that the vehicle is in the target state based on the vehicle perception data, it can, for example, perform operation S911 to send remote control request information to the central control device 930 via the A5 interface.

[0257] Upon receiving the remote control request information, the central control device 930 can determine the resource configuration information. This resource configuration information can be the local resource configuration information of the central control device 930, or it can be the resource configuration information of the aforementioned target platform. Subsequently, the central control device can execute operation S931 to determine whether the resource configuration information meets the requirements for remotely controlling the vehicle. If it does, it executes operation S9321 to send remote task assignment information to the MEC 920 (i.e., the target platform) for the vehicle via the A7 interface.

[0258] After receiving the remote task assignment information, MEC 920 can execute operation S921, sending task confirmation information to central control device 930 via interface A7. Subsequently, in response to receiving the task confirmation information, central control device 930 can execute operation S9322, sending remote control confirmation information to vehicle subsystem 910 via interface A5. This remote control confirmation information includes the identification information of MEC 920.

[0259] After receiving the remote control confirmation information including the identification information of MEC 920, the vehicle subsystem 910 can execute operation S913 to send an access request message to MEC 920 via the A3 interface. Upon receiving the access request message, MEC 920 can execute operation S922 to send an access confirmation message to the vehicle subsystem 910 via the A3 interface. Subsequently, MEC 920 can also execute operation S923 to send a second remote access success message to the central control device 930 via the A7 interface. This second remote access success message may include, for example, the identification information of MEC 920 and the vehicle's identification information.

[0260] After receiving the access confirmation information, the vehicle subsystem 910 can determine that remote control has been successfully started, and simultaneously executes operation S912 to send the first remote access success information to the central control device 930 via the A5 interface. At this point, the remote control initiation process is complete. The central control device 930 can determine that remote control has been started upon receiving both the first and second remote access success information.

[0261] In one embodiment, such as Figure 9 As shown, when the central control device 930 determines that the resource configuration information does not meet the requirements for remotely controlling the vehicle, it can, for example, execute operation S933 to send a remote control rejection message to the vehicle subsystem. Upon receiving this remote control rejection message, the vehicle subsystem 910 can determine that the remote control startup has failed.

[0262] Based on the vehicle remote control system and data synchronization method provided in this disclosure, the central control device can, during vehicle monitoring, determine when the vehicle's environment is complex and instruct the vehicle to perform remote control. Based on this, embodiments of this disclosure provide a method for initiating remote control, which will be described below in conjunction with... Figures 10-11 The method is described in detail.

[0263] Figure 10 This is a flowchart illustrating a method for initiating remote control executed by a central control device according to another embodiment of the present disclosure.

[0264] like Figure 10 As shown, the method 1010 for initiating remote control executed by the central control device in this embodiment may include operations S1011 to S1013.

[0265] In operation S1011, in response to the third target operation, resource configuration information is determined.

[0266] According to embodiments of this disclosure, the third target operation may be, for example, an operation performed by a cloud-based safety officer assigned to the central control device on an input device. This third target operation is similar to the aforementioned first and second target operations, except that it can be an operation similar to a "remote control" button in an application for remote-controlled driving, or any operation set according to actual needs. Alternatively, the central control device may generate a virtual third target operation when it determines that the vehicle is under any of the operating conditions listed in Table 5 based on remotely monitored vehicle onboard perception data.

[0267] According to the embodiments of this disclosure, the method for determining resource configuration information in operation S1011 is similar to the method for determining resource configuration information described above, and will not be repeated here.

[0268] In operation S1012, in response to the resource configuration information meeting the requirements for remote vehicle control, remote control instruction information is sent to the vehicle's onboard subsystem.

[0269] In operation S1013, in response to receiving the first remote access success message sent by the vehicle's onboard subsystem, it is determined that remote control has been initiated.

[0270] According to embodiments of this disclosure, when the resource configuration information is resource configuration information for a target platform of the vehicle, the remote control instruction information sent to the vehicle's onboard subsystem may include at least the identification information of the target platform and a remote control establishment command. When the resource configuration information is local resource configuration information of the central control device, the remote control instruction information may, for example, include a remote control establishment command. Upon receiving remote control instruction information that does not include the target platform identification information, the onboard subsystem may send a first remote access success message to the central control device.

[0271] After receiving remote control instruction information including target platform identification information, the vehicle subsystem may, for example, first send access request information to the target platform based on the identification information, and only after receiving access confirmation information from the target platform will it send the first remote access success information to the central control device.

[0272] Figure 11 This is an interactive flowchart illustrating the process of initiating remote control when the central control device initiates remote control according to an embodiment of this disclosure.

[0273] like Figure 11 As shown, in this embodiment 1100, after the central control device 1130 detects the third target operation, it can first determine the resource configuration information. This resource configuration information can be local resource configuration information or resource configuration information specific to the target platform of the vehicle. Subsequently, the central control device 1130 can execute operation S1131 to determine whether the resource configuration information meets the requirements for remotely controlling the vehicle. If it does, and the resource configuration is local, the central control device can execute operation S1133. If it does, and the resource configuration information is the resource configuration information of the target platform, the central control device can execute operation S1132.

[0274] In operation S1132, based on the target platform's identification information, a remote task assignment message is sent to the MEC 1120, which is the target platform, via the A7 interface. Upon receiving the remote task assignment message, the MEC 1120 can execute operation S1121, sending a task confirmation message to the central control device 1130 via the A7 interface. Upon receiving the task confirmation message, the central control device 1130 can execute operation S1133.

[0275] In operation S1133, remote control instruction information is sent to the vehicle's onboard subsystem 1110 via the A5 interface. When the central control device 1130 executes operation S1133 after receiving the task confirmation information, the remote control instruction information sent includes the identification information of MEC 1120.

[0276] Upon receiving a remote control instruction without identification information, the vehicle subsystem 1110 can execute operation S1113. Upon receiving a remote control instruction with identification information, it can execute operation S1111, sending an access request to the MEC 1120 via the A3 interface based on the identification information. Upon receiving the access request, the MEC 1120 can execute operation S1122, sending an access confirmation to the vehicle subsystem 1110 via the A3 interface. The vehicle subsystem 1110 can then execute operation S1113 in response to receiving the access confirmation. Alternatively, the MEC 1120 can also execute operation S1123 after executing operation S1122.

[0277] During operation S1123, MEC 1120 sends a second remote access success message to central control device 1130 via the A7 interface.

[0278] During operation of S1113, the vehicle subsystem sends the first remote access success message to the central control equipment via the A5 interface.

[0279] It is understood that the central control device 1130 can determine that the remote control has been successfully started after receiving the first and second remote access success messages. The implementation method of the similar operations described in this embodiment 1100 is the same as that in embodiment 900, and will not be repeated here.

[0280] When the central control device 1130 determines through operation S1131 that the resource configuration information does not meet the requirements for remotely controlling the vehicle, the central control device 1130 may, for example, stop performing subsequent operations and continue to remotely monitor the vehicle.

[0281] Based on the remote control initiation method provided in this disclosure, embodiments of this disclosure can perform remote control of a vehicle after remote control is initiated. Therefore, embodiments of this disclosure provide a remote control method for a vehicle, which will be described below in conjunction with… Figures 12A-13 The method is described in detail.

[0282] Figure 12A This is a schematic flowchart of a remote vehicle control method executed on the vehicle side according to an embodiment of the present disclosure.

[0283] like Figure 12A As shown, the remote control method 1210 for a vehicle in this embodiment may include operations S1211 to S1213. This method 1210 can be executed by the vehicle itself, specifically by an onboard subsystem installed in the vehicle.

[0284] In operation S1211, remote control request information is sent to the remote control device with the communication connection.

[0285] In operation S1212, in response to receiving a first update instruction message for vehicle perception data sent by a remote control device, the vehicle perception data is sent to the remote control device.

[0286] In operation S1213, in response to receiving control information sent by the remote control device, the vehicle's movement is controlled according to the control information.

[0287] According to embodiments of this disclosure, the remote control device can be a device that has established remote control communication with the vehicle subsystem through the aforementioned method for initiating remote control. For example, when the remote control instruction information or remote control confirmation information sent by the central control device to the vehicle subsystem includes identification information of the target platform for the vehicle, the remote control device is a MEC (Multi-access Edge Computing) for that vehicle. If the remote control instruction information or remote control confirmation information sent by the central control device to the vehicle subsystem does not include identification information of the target platform for the vehicle, the remote control device is a central control device.

[0288] According to embodiments of this disclosure, the remote control requirement information can be set according to actual needs. For example, the remote control requirement information may include at least one of the following: remote control target information, remote control duration information, remote control location information, remote control level information, and remote control reason information. The target information may include, for example, the name of the vehicle's destination and / or the location information of the destination. The remote control location information may include the vehicle's current location information, or it may include the location information of multiple points on the road segment where the vehicle needs to be remotely controlled. The remote control level information may be the level at which the vehicle is allowed to be remotely controlled, and the reason information may include, for example, any of the operating conditions listed in Table 5 above, or any reason information set according to actual needs.

[0289] For example, in the case of an autonomous taxi, the remote control requirement information may include at least one of the parameters listed in Table 8 below, and may also include remote control level information and remote control reason information, etc.

[0290] Table 8 lists the parameters included in the remote control requirements information.

[0291]

[0292] According to embodiments of this disclosure, after the remote control device receives the remote control request information, it may, for example, send a first update instruction to the vehicle subsystem. The vehicle subsystem can acquire real-time vehicle perception data and send this real-time vehicle perception data to the remote control device. Thus, the remote control device can determine a driving strategy based on the acquired vehicle perception data and encapsulate the instructions required to execute the driving strategy into control information, which is then sent to the vehicle subsystem. It is understood that the method for generating this control information is similar to that used to generate the first or second control information described above.

[0293] According to embodiments of this disclosure, after the on-board subsystem receives control information, it can control the vehicle's movement based on the control information, thereby realizing remote control of the vehicle by the remote control device. It is understood that when the remote control device controls the vehicle for remote driving or remote automatic driving, the control information may include at least one control parameter listed in Table 3 above. When the remote control device remotely guides the vehicle, the control information may include path planning information and speed limits, etc. When the remote control device makes remote decisions about the vehicle, the control information may include driving direction and turn signal status, etc. It is understood that the above control information is merely an example to facilitate understanding of this disclosure, and this disclosure does not limit it.

[0294] In one embodiment, the first update indication information may include, for example, update information of the vehicle sensing data, which may indicate an update mode. When the vehicle subsystem sends the vehicle sensing data to the remote control device in response to the first update indication information, it may first acquire the vehicle sensing data based on the update information, and then send the acquired vehicle sensing data to the remote control device. Specifically, the vehicle sensing data may be detected when an update timing is determined based on the update mode.

[0295] The update mode can include periodic update mode and event-triggered update mode. Correspondingly, the update information can include the update cycle and / or event information that triggers the update. Events triggering the update can include events determined based on the vehicle's state, such as vehicle malfunction, vehicle collision, or the need for vehicle extrication. Events triggering the update can also include events determined based on the communication state, such as communication interruption, communication latency exceeding a latency threshold, or communication reliability falling below a reliability threshold. The event triggering the update can also be determined based on traffic conditions, the number of traffic participants, and traffic events, etc., but this disclosure does not limit this.

[0296] In one embodiment, the update information may further include, for example, the type of parameter that needs to be updated and / or the format information of the uploaded vehicle sensing data. Thus, the vehicle subsystem can filter the detected vehicle sensing data according to the type of parameter that needs to be updated, and can also adjust the format of the detected vehicle sensing data according to the format information of the vehicle sensing data, thereby obtaining the vehicle sensing data to be sent to the remote control device.

[0297] After receiving the remote control request information sent by the vehicle subsystem, the remote control device can, for example, use... Figure 12B The process shown demonstrates how to remotely control a vehicle. The following will combine... Figure 12B The process is described in detail.

[0298] Figure 12B This is a schematic flowchart of a remote control method for a vehicle executed by a remote control device according to an embodiment of the present disclosure.

[0299] like Figure 12B As shown, the vehicle remote control method 1220 of this embodiment may include operations S1221 to S1223. This remote control method can be executed by a remote control device, which may be a central control device or a MEC (Multi-access Edge Computing).

[0300] In operation S1221, in response to receiving remote control request information sent by the vehicle's onboard subsystem, a first update instruction information for the onboard perception data is sent to the vehicle's onboard subsystem based on the remote control request information.

[0301] In operation S1222, in response to receiving vehicle perception data sent by the vehicle's onboard subsystem, control information for the vehicle is determined based on the vehicle perception data.

[0302] In operation S1223, control information is sent to the vehicle's onboard subsystem.

[0303] According to embodiments of this disclosure, a remote control device can determine update information based on remote control requirement information, and then package the update information and update instructions to obtain first update instruction information.

[0304] For example, a remote control device can determine the vehicle perception data required for remote control based on remote control demand information, and use the type of the required vehicle perception data as update information.

[0305] For example, the remote control device can determine the update mode of the vehicle sensing data based on the remote control demand information, and use this update mode as the update information. For example, if the remote control demand information determines that the accuracy of remote control of the vehicle is high, the determined update mode may include a periodic update mode with a high update frequency; if the remote control demand information determines that the accuracy of remote control of the vehicle is low, the determined update mode may include a periodic update mode with a low update frequency. For example, the higher the level of remote control in the remote control demand information, the higher the accuracy of remote control of the vehicle can be. It is understood that, in addition to periodic update modes, the update mode may also be the aforementioned event-triggered update mode, etc., and this disclosure does not limit this. In one embodiment, a predetermined update mode may also be used as the update information.

[0306] According to embodiments of this disclosure, after obtaining vehicle-mounted perception data, the remote control device can, for example, use the vehicle-mounted perception data as input to an autonomous driving model, which then outputs control information. The autonomous driving model may include a path planning model and / or a path decision model for an autonomous driving scenario, etc., and this disclosure does not limit its scope. Alternatively, after obtaining the vehicle-mounted perception data, the remote control device can display the vehicle-mounted perception data and generate control information in response to the operations of a safety operator in the cloud. The method for generating this control information is similar to the method for generating the first or second control information described above, and will not be repeated here.

[0307] In one embodiment, the remote control device can also determine the vehicle's environmental information based on onboard sensing data, and determine whether the vehicle is under any of the operating conditions listed in Table 5 above. If so, it can be determined that remote control of the vehicle is required, and control information can be generated using the application type corresponding to any condition as reference information.

[0308] In one embodiment, when generating control information, in addition to considering vehicle-mounted perception data, roadside perception data can also be considered to more accurately determine the environment in which the vehicle is located, thereby improving the accuracy of the determined control information.

[0309] For example, upon receiving a remote control request, the remote control device can also send a second update instruction to the RSU (Roadside Unit) for the vehicle. This second update instruction is similar to the first update instruction, and the methods for generating both are also similar. The difference lies in that the first update instruction includes updates to onboard perception data, while the second update instruction includes updates to roadside perception data, although the data included in the updates of both types of perception data is similar. Accordingly, upon receiving the onboard perception data and the roadside perception data, the remote control device can determine the control information for the vehicle based on these data. The method for determining this control information is similar to the aforementioned methods for determining the first or second control information, and will not be elaborated further here.

[0310] Accordingly, the RSU can provide roadside perception data to the remote control device based on the second update instruction information. For example, the RSU can... Figure 12C The process shown is used to provide roadside perception data. The following will combine... Figure 12C The process is described in detail.

[0311] Figure 12C This is a schematic flowchart of a remote vehicle control method performed by a roadside unit according to an embodiment of the present disclosure.

[0312] like Figure 12C As shown, the remote control method 1230 for a vehicle in this embodiment may include operations S1231 to S1232. This remote control method 1230 is performed by the RSU (Remote Unit) for the vehicle.

[0313] In operation S1231, in response to receiving the second update instruction information sent by the remote control device, roadside sensing data is acquired.

[0314] In operation S1232, roadside sensing data is sent to the remote control device.

[0315] According to embodiments of this disclosure, the RSU can acquire roadside sensing data from the roadside sensing device after receiving the second update instruction information. Alternatively, it can use the most recently received roadside sensing data sent by the roadside sensing device as the acquired roadside sensing data. The acquired roadside sensing data is then sent to the remote control device. The roadside sensing data is similar to the roadside sensing data described above and will not be repeated here.

[0316] According to embodiments of this disclosure, as described above, the remote control device can be a MEC or a central control device.

[0317] In one embodiment, the second update instruction information may include update information for roadside sensing data, which may, for example, indicate an update mode. The RSU can, for example, acquire roadside sensing data based on this update information and then send the acquired vehicle-mounted sensing data to a remote control device. Specifically, roadside sensing data can be acquired from the roadside sensing device when an update timing is determined based on the update mode, or the most recently received roadside sensing data can be used as the data sent to the remote control device when the update timing is reached.

[0318] The update mode can include periodic update mode and event-triggered update mode. Correspondingly, the update information can include the update cycle and / or event information that triggers the update. The event triggering the update can include events such as receiving meteorological data. Events triggering the update can also include events determined based on the communication status, such as communication interruption, communication latency exceeding a latency threshold, or communication reliability falling below a reliability threshold; this disclosure does not limit these events. According to embodiments of this disclosure, when the RSU does not have data processing capabilities, the update information for roadside sensing data may not include the parameter types that need updating and the format information of the uploaded roadside sensing data.

[0319] In one embodiment, the first update instruction information may include, for example, the type of remote control determined by the remote control device. This allows the vehicle subsystem to understand the type of remote control to be performed and to determine the algorithm for controlling vehicle movement based on the control information, thereby improving the efficiency of vehicle control. Accordingly, when sending the first update instruction information to the vehicle subsystem, the remote control device can first determine the type of remote control based on the remote control request information. Then, it sends the first update instruction information based on the type of remote control. The following will combine... Figure 13 When the first update instruction information includes the type of remote control, the interaction flow of the vehicle's remote control method is described in detail.

[0320] Figure 13 This is an interactive flowchart of a remote control method for a vehicle according to an embodiment of the present disclosure.

[0321] According to embodiments of this disclosure, the interaction flow of the vehicle remote control method when the remote control device is an MEC is similar to that when the remote control device is a central control device, the main difference being the interface used for information exchange and the recipient of the information sent by the vehicle. The interaction flow in both cases is described in detail below.

[0322] like Figure 13As shown, in embodiment 1300, when the remote control device is the central control device 1330, the interaction process may include, for example, the process enclosed by box a. When the remote control device is MEC 1320, the interaction process may include, for example, the process enclosed by box b.

[0323] like Figure 13 In the process enclosed by box a, when the remote control device is the central control device 1330, the remote control request information sent by the vehicle subsystem 1310 through operation S1311 can be sent via the A5 interface described above, and the remote control request information is sent to the central control device.

[0324] After receiving the remote control request information, the central control device 1330 can first execute operation S1331 to determine the type of remote control based on the remote control request information. For example, the remote control request information may include at least one parameter listed in Table 8 above. The remote control request information may also include the reason information and the level information of remote control. The central control device can determine whether the environment in which the vehicle is located meets any of the operating conditions listed in Table 5 above based on the reason information of remote control. If so, the type of remote control can be determined to be the application type corresponding to that operating condition. For example, the central control device can also combine local hardware configuration information and remote control level information to comprehensively determine the type of remote control as one of the application types listed in Table 5.

[0325] After determining the type of remote control, the central control device 1330 can perform operation S1332 to send a first update indication message, including the type of remote control, to the vehicle subsystem 1310 via the A5 interface. Furthermore, the central control device 1330 can also perform operation S1333 to send a second update indication message to the RSU 1340 for the vehicle via the A6 interface described above. It is understood that operations S1332 and S1333 can be performed simultaneously or sequentially in any order; this disclosure does not limit this.

[0326] After receiving the first update instruction information, the vehicle subsystem 1310 can execute operation S1312 to send vehicle perception data. This vehicle perception data can be sent to the central control device 1330 via the A5 interface. For example, after receiving the first update instruction information, the vehicle subsystem 1310 can also send the type of remote control included in the first update instruction information to the vehicle terminal, which will then display that type. This facilitates the vehicle providing passengers with rich driving information. Furthermore, the vehicle subsystem 1310 can also store the type of remote control to provide reference information for subsequent debugging and optimization of autonomous driving algorithms.

[0327] After receiving the second update instruction information, RSU 1340 can perform operation S1341 to send roadside sensing data. This roadside sensing data can be sent to the central control device 1330 via the A6 interface.

[0328] After receiving roadside sensing data and vehicle-mounted sensing data, the central control device 1330 can execute operation S1334 to determine control information for the vehicle based on the roadside sensing data and vehicle-mounted sensing data. Subsequently, the central control device 1330 can execute operation S1335 to send the control information to the vehicle subsystem 1310 via the A5 interface. After receiving the control information, the vehicle subsystem 1310 can execute operation S1313 to control the vehicle's movement based on the control information.

[0329] In one embodiment, the vehicle subsystem 1310 can further execute operation S1314 and send execution result information after controlling the vehicle's movement according to the control information. This execution result information can be sent to the central control device via the A5 interface. The execution result information may include, for example, vehicle status information, vehicle speed, vehicle position, and the position of the accelerator and / or pedal in the vehicle. Thus, the central control device 1330 can understand the vehicle's driving result according to the control information and can perform subsequent control of the vehicle based on this result.

[0330] like Figure 13 In the process enclosed by box b, when the remote control device is MEC 1320, the remote control request information sent by the vehicle subsystem 1310 through operation S1311 can be sent via the A3 interface described above, and the remote control request information is sent to MEC 1320.

[0331] After receiving the remote control request information, MEC 1320 can first execute operation S1321 to determine the type of remote control based on the request information. The implementation of operation S1321 is similar to that of operation S1331, and will not be described in detail here.

[0332] After determining the type of remote control, MEC 1320 can perform operation S1322 to send a first update indication message, including the type of remote control, to vehicle subsystem 1310 via interface A3. Furthermore, MEC 1320 can also perform operation S1323 to send a second update indication message to RSU 1340 for the vehicle via interface A4 as described above. It is understood that operations S1322 and S1323 can be performed simultaneously or sequentially in any order; this disclosure does not limit this.

[0333] After receiving the first update instruction, the onboard subsystem 1310 can execute operation S1312 to send onboard perception data. This onboard perception data can be sent to the MEC 1320 via the A3 interface. After receiving the second update instruction, the RSU 1340 can execute operation S1341 to send roadside perception data. This roadside perception data can be sent to the MEC 1320 via the A4 interface.

[0334] After receiving roadside perception data and vehicle-mounted perception data, MEC 1320 can execute operation S1324 to determine control information for the vehicle based on the roadside perception data and vehicle-mounted perception data. Subsequently, MEC 1320 can execute operation S1325 to send the control information to vehicle subsystem 1310 via the A3 interface. After receiving the control information, vehicle subsystem 1310 can execute operation S1313 to control the vehicle's movement based on the control information.

[0335] In one embodiment, the vehicle subsystem 1310 can also execute operation S1314 and send execution result information after controlling the vehicle to drive according to the control information. This execution result information can be sent to the central control device via the A3 interface. This execution result information is similar to that described above and will not be repeated here.

[0336] In one embodiment, after the MEC 1320 determines the control information for the vehicle, it can also execute operation S1326 to send remote control status update information to the central control device 1330 via the A7 interface. This remote control status update information may include control information, and may also include at least one of the following: vehicle perception data received by the MEC, MEC operation and maintenance information, MEC status information, MEC location, basic information of the remotely controlled vehicle, MEC load rate, and computing power utilization. This allows for the synchronization of MEC operating information and MEC remote control information for the vehicle with the central control device 1330, facilitating global business strategy control by the central control device 1330.

[0337] According to embodiments of this disclosure, during the process of remotely controlling a vehicle, the onboard subsystem can, for example, initiate a remote control termination procedure based on actual needs. The following will be combined with... Figures 14A-15 The method for terminating remote control when the vehicle's onboard subsystem initiates a termination process is described in detail.

[0338] Figure 14A This is a flowchart illustrating a method for terminating remote control executed on a vehicle according to an embodiment of the present disclosure.

[0339] like Figure 14AAs shown, the method 1410 for terminating remote control in this embodiment may include operations S1411 to S1412. This method 1410 for terminating remote control may be executed by the vehicle itself, specifically by an onboard subsystem installed in the vehicle.

[0340] In operation S1411, a remote termination instruction message is sent to the remote control device.

[0341] In operation S1412, in response to receiving a remote termination confirmation message sent by the remote control device, it is determined that the remote control has been terminated.

[0342] According to embodiments of this disclosure, the vehicle subsystem can send a remote termination instruction message in response to the completion of a remote control task. For example, when the vehicle subsystem determines, based on detected vehicle perception data, that the vehicle has reached its destination, it can determine that the remote control task has been completed. Alternatively, the vehicle subsystem can determine that remote control is no longer needed when an autonomous driving route has been planned based on detected vehicle perception data and the vehicle is in a normal state, and thus determine that the remote control task has been completed. Alternatively, the vehicle subsystem can also determine that the remote control task has been completed in response to a termination operation. This termination operation could be, for example, an operation performed by a passenger. It is understood that the above methods for determining the completion of a remote control task are merely examples to facilitate understanding of this disclosure, and this disclosure does not limit the scope of the disclosure.

[0343] According to embodiments of this disclosure, the vehicle subsystem can send a remote termination instruction message when it determines that the vehicle cannot be remotely controlled due to an anomaly; that is, it sends a remote termination instruction message in response to the vehicle being in an abnormal state. For example, the vehicle subsystem can determine that the vehicle cannot be remotely controlled due to an anomaly when communication quality deteriorates, vehicle components malfunction, or the vehicle's environment is abnormal. For example, the vehicle subsystem can determine that communication quality has deteriorated when communication between it and the remote control device is interrupted, communication latency exceeds a latency threshold, or communication reliability falls below a reliability threshold. The vehicle subsystem can determine that vehicle components are malfunctioning when the vehicle's powertrain fails, a tire blows out, or the autonomous driving system malfunctions. The vehicle subsystem can determine that the vehicle's environment is abnormal when the vehicle's operation is obstructed by traffic participants or when passengers in the vehicle perform an emergency stop operation for remote control.

[0344] According to embodiments of this disclosure, the remote termination instruction information may include, for example, information indicating the termination reason. The termination reason can be any of the reasons described above. The remote termination instruction information may also include, for example, vehicle identification information, so that when a remote control device remotely controls multiple vehicles, the remote control device can identify which vehicle initiated the termination of remote control process, facilitating precise control of multiple vehicles.

[0345] After receiving a remote termination instruction from the vehicle subsystem, the remote control device can send a remote termination confirmation message to the vehicle subsystem. As mentioned above, the remote control device can be either a MEC (Multi-access Edge Computing) or a central control device. When the remote control device is an MEC, the vehicle subsystem can also send a service termination message to the central control device after receiving the remote termination confirmation message from the MEC. This synchronizes the real-time status of the remote control with the central control device, facilitating global business policy control by the central control device.

[0346] The following will combine Figure 14B The method for terminating remote control after the remote control device receives a remote termination instruction is described in detail.

[0347] Figure 14B This is a flowchart illustrating a method for terminating remote control performed by a remote control device according to an embodiment of the present disclosure.

[0348] like Figure 14B As shown, the method 1420 for terminating remote control in this embodiment may include operations S1421 to S1423. This method 1420 for terminating remote control can be executed by a remote control device. The remote control device can be an MEC (Multi-access Edge Computing) or a central control device.

[0349] In operation S1421, in response to receiving a remote termination instruction message sent by the vehicle's onboard subsystem, a remote termination confirmation message is sent to the vehicle's onboard subsystem.

[0350] According to embodiments of this disclosure, upon receiving a remote termination instruction, the remote control device can directly send a remote termination confirmation message to the vehicle's onboard subsystem. Alternatively, the remote control device can first combine the onboard sensing data and the termination reason in the remote termination instruction to determine whether to terminate remote control. If it is determined that remote control should be terminated, then the remote termination confirmation message is sent.

[0351] For example, if the termination reason is that the remote control task has been completed, but the central control equipment determines that the remote control task has not yet been completed based on real-time vehicle perception data sent by the vehicle subsystem, it can wait until the remote control task is confirmed to be completed before sending the remote termination confirmation message. This method avoids situations where the vehicle subsystem makes a mistake in judgment or responds to erroneous operations, thus improving the accuracy of remote control and enhancing vehicle driving safety to some extent.

[0352] In operation S1422, an update termination instruction message is sent to the roadside unit for the vehicle.

[0353] In operation S1423, in response to receiving the update termination confirmation information sent by the roadside unit, it is determined that the remote control has been terminated.

[0354] According to embodiments of this disclosure, as described above, during the remote control process of the remote control device, in addition to considering onboard perception data, roadside perception data sent by the RSU can also be considered. Therefore, after determining to send remote termination confirmation information to the onboard subsystem, the remote control device can also send update termination instruction information to the RSU for the vehicle to notify the RSU that it no longer needs to send roadside perception data. This can reduce communication overhead to some extent. After receiving the update termination instruction information sent by the remote control device, the RSU can, for example, send update termination confirmation information back to the remote control device. The remote control device can determine that remote control has been terminated only after sending remote termination confirmation information to the onboard subsystem and receiving update termination confirmation information.

[0355] According to embodiments of this disclosure, the various messages sent by each device during the remote control termination process may include the identification information of the device initiating the termination process. This helps each device better understand the information indicating the termination of remote control.

[0356] According to embodiments of this disclosure, after determining that remote control has been terminated, the remote control device can also release the computing resources occupied during remote control. Thus, the released computing resources can be used to perform other tasks, thereby improving the utilization rate of computing resources.

[0357] According to embodiments of this disclosure, when the remote control device is a MEC (Multi-access Edge Computing), after receiving the update termination confirmation information sent by the RSU (Remote Subsystem), the MEC can, for example, send task completion information to the central control device. This allows the real-time status of the remote control to be synchronized with the central control device, facilitating global business policy control. Upon receiving the task completion information, the central control device can, for example, send task completion confirmation information back to the MEC. The MEC can then determine that the remote control has been terminated only after receiving this confirmation information.

[0358] According to embodiments of this disclosure, when the termination process of remote control is initiated at the vehicle end, and the remote control device is an MEC, the operations performed by the central control device may include, for example, the following: Figure 14C The process is shown below. The following will combine... Figure 14C The process is described in detail.

[0359] Figure 14C This is a flowchart illustrating a method for terminating remote control executed by a central control device according to an embodiment of the present disclosure.

[0360] like Figure 14CAs shown, the method 1430 for terminating remote control in this embodiment may include operations S1431 to S1432.

[0361] In operation S1431, in response to receiving the task completion information sent by the multi-access edge computing platform and the service completion information sent by the vehicle's onboard subsystem, a service completion confirmation information is sent to the vehicle's onboard subsystem.

[0362] In operation S1432, a task completion confirmation message is sent to the multi-access edge computing platform.

[0363] It is understood that, after receiving task completion information and service completion information, the central control device may first send service completion confirmation information to the on-board subsystem and then send task completion confirmation information to the MEC. Alternatively, the central control device may send task completion confirmation information first, then service completion confirmation information, or send both simultaneously; this disclosure does not limit this approach.

[0364] According to embodiments of this disclosure, the various messages sent by each device during the remote control termination process may include the identification information of the device initiating the termination process. This helps each device better understand the information indicating the termination of remote control.

[0365] The following will combine Figure 15 This disclosure provides an overall description of the termination process for remote control initiated by the vehicle, in order to facilitate a better understanding of this disclosure.

[0366] Figure 15 This is an interactive flowchart of the termination process when the vehicle initiates remote control according to an embodiment of this disclosure.

[0367] According to embodiments of this disclosure, the interaction process after the vehicle initiates the termination process of remote control when the remote control device is an MEC is similar to the interaction process after the vehicle initiates the termination process of remote control when the remote control device is a central control device. The main difference lies in the interface used for information exchange and the recipient of the information sent by the vehicle. The interaction processes in the two cases are described in detail below.

[0368] like Figure 15 As shown, in embodiment 1500, when the remote control device is the central control device 1530, the interaction process may include, for example, the process enclosed by box c. When the remote control device is MEC 1520, the interaction process may include, for example, the process enclosed by box d.

[0369] like Figure 15In the process enclosed by box c, when the remote control device is the central control device 1530, the remote termination instruction information sent by the vehicle subsystem 1510 through operation S1511 can be sent via the A5 interface described above, and the remote termination instruction information is sent to the central control device.

[0370] After receiving the remote termination instruction information, the central control device 1530 can execute operation S1531 to send remote termination confirmation information to the vehicle subsystem 1510 via the A5 interface. Furthermore, the central control device 1530 can also execute operation S1532 to send updated termination instruction information to the RSU 1540 for the vehicle via the A6 interface described above. It is understood that operations S1531 and S1532 can be executed simultaneously or sequentially in any order; this disclosure does not limit this.

[0371] After receiving the remote termination confirmation information at the RSU 1540 for the vehicle, operation S1541 can be executed to send an updated termination confirmation information. In this example, the updated termination confirmation information can be sent to the central control device 1530 via the A6 interface, for example. After receiving the updated termination confirmation information, the central control device 1530 can execute operation S1533 to release the computing resources occupied by the remotely controlled vehicle.

[0372] like Figure 15 In the process enclosed by the middle d box, when the remote control device is MEC 1520, the remote termination instruction information sent by the vehicle subsystem 1510 through operation S1511 can be sent via the A3 interface described above, and the remote termination instruction information is sent to MEC.

[0373] After receiving the remote termination instruction information, MEC 1520 can perform operation S1521 to send remote termination confirmation information to vehicle subsystem 1510 via interface A3. Furthermore, MEC 1520 can also perform operation S1522 to send updated termination instruction information to RSU 1540 for the vehicle via interface A4 as described above. It is understood that operations S1521 and S1522 can be performed simultaneously or sequentially in any order; this disclosure does not limit this.

[0374] After receiving the remote termination confirmation information from the RSU 1540 for the vehicle, the aforementioned operation S1541 can be performed to send an updated termination confirmation information. In this example, the updated termination confirmation information can be sent to the MEC 1520 via the A4 interface, for example. After the MEC 1520 receives the updated termination confirmation information, operation S1523 can be performed to send task completion information to the central control device 1530 via the A7 interface. It is understood that after the onboard subsystem 1510 receives the remote termination confirmation information sent by the MEC 1520, operation S1512 can also be performed to send service completion information to the central control device 1530 via the A5 interface.

[0375] After receiving service completion information and task completion information, the central control device 1530 can execute operations S1534 and S1535 to send service completion confirmation information to the vehicle subsystem 1510 via the A5 interface and task completion confirmation information to the MEC 1520 via the A7 interface. It is understood that operations S1534 and S1535 can be executed simultaneously or sequentially in any order; this disclosure does not limit this.

[0376] After receiving the task completion confirmation message, the MEC 1520 can execute operation S1524 to release the computing resources occupied by the remotely controlled vehicle.

[0377] According to embodiments of this disclosure, during the process of a vehicle being remotely controlled by an MEC, the MEC can, for example, initiate a termination procedure for remote control based on actual needs. The following will be combined with... Figures 16A-17 The method for terminating remote control when the vehicle's onboard subsystem initiates a termination process is described in detail.

[0378] Figure 16A This is a flowchart illustrating a method for terminating remote control performed by a multi-access edge computing platform according to another embodiment of the present disclosure.

[0379] like Figure 16A As shown, the method 1610 for terminating remote control in this embodiment may include operations S1611 to S1614. This method 1600 may, for example, be executed by an MEC (Multi-access Edge Computing) for remote vehicle control.

[0380] In operation S1611, a remote termination instruction message is sent to the onboard subsystem of the remotely controlled vehicle.

[0381] In operation S1612, in response to receiving remote termination confirmation information sent by the vehicle's onboard subsystem, an update termination instruction information is sent to the roadside unit for the vehicle.

[0382] In operation S1613, in response to receiving the update termination confirmation information sent by the roadside unit, it is determined that the remote control has been terminated.

[0383] According to embodiments of this disclosure, the MEC can send a remote termination instruction message in response to the completion of a remote control task. For example, the MEC can determine that the remote control task has been completed when it determines that the vehicle has reached the end of the journey based on onboard perception data. Alternatively, the MEC can send a remote termination instruction message in response to being in an abnormal state. For example, if the MEC's ​​computing power is insufficient to support the remote control of vehicles with higher control levels, it can determine that it is in an abnormal state and send a remote termination instruction message to the onboard subsystem of vehicles with lower control levels. Alternatively, the MEC can determine that it is in an abnormal state when it is in a frozen state or has not received execution result information from the onboard subsystem for an extended period of time.

[0384] According to embodiments of this disclosure, after the vehicle's onboard subsystem receives the remote termination instruction information sent by the MEC, it can send remote termination confirmation information to the MEC.

[0385] In one embodiment, the remote termination indication information sent by the MEC can be similar to that sent by the aforementioned onboard subsystem, and may include a termination reason and the MEC's ​​identification information. After receiving the remote termination confirmation information, the onboard subsystem can first determine whether to terminate remote control based on the onboard perception data and the termination reason. If it determines to terminate remote control, it then sends the remote termination confirmation information.

[0386] According to embodiments of this disclosure, after receiving the update termination confirmation information, the MEC can, for example, first send task completion information to the central control device. Correspondingly, as described above, the central control device can send task completion confirmation information to the MEC after receiving the task completion information. The MEC can then determine that the remote control has been terminated after receiving the task completion confirmation information. This synchronizes the real-time status of the remote control to the central control device, facilitating the central control device's global business policy control, etc.

[0387] According to embodiments of this disclosure, the MEC can release the computing resources occupied by the remotely controlled vehicle after determining that remote control has been terminated. In this way, the released computing resources can be used to perform other tasks, thereby improving the utilization rate of computing resources.

[0388] According to embodiments of this disclosure, in an embodiment where the MEC sends task completion information to the central control device, the method for terminating remote control after the vehicle receives the remote termination instruction information can be, for example, by... Figure 16B The described process is used to achieve this.

[0389] Figure 16BThis is a flowchart illustrating a method for terminating remote control executed on a vehicle according to another embodiment of the present disclosure.

[0390] like Figure 16B As shown, the method 1620 for terminating remote control in this embodiment may include operations S1621 to S1623. This method 1620 is executed by the vehicle, specifically by an onboard subsystem installed in the vehicle.

[0391] In operation S1621, in response to receiving the remote termination instruction information sent by the remote control device, a remote termination confirmation information is sent to the remote control device.

[0392] In operation S1622, a service termination message is sent to the central control device connected to the communication link.

[0393] In operation S1623, in response to receiving a service termination confirmation message from the central control device, it is determined that the remote control has been terminated.

[0394] Accordingly, after receiving the task completion information and service completion information, the central control equipment can send service completion confirmation information to the vehicle subsystem and task completion confirmation information to the MEC.

[0395] The following will combine Figure 17 This disclosure provides an overall description of the termination process for remote control initiated by MEC in order to facilitate a better understanding of the disclosure.

[0396] Figure 17 This is an interactive flowchart of the termination process of remote control initiated by the multi-access edge computing platform according to an embodiment of the present disclosure.

[0397] like Figure 17 As shown, in embodiment 1700, when the MEC 1720 of the remotely controlled vehicle initiates an instruction to terminate remote control, operation S1721 can be executed first to send remote termination instruction information to the vehicle subsystem 1710 of the remotely controlled vehicle via the A3 interface.

[0398] After receiving the remote termination instruction information, the vehicle subsystem 1710 can execute operation S1711 to send remote termination confirmation information to the MEC 1720 via the A3 interface. After receiving the remote termination confirmation information, the MEC 1720 can execute operation S1722 to send an update termination instruction information to the RSU 1740 for the vehicle via the A4 interface. After receiving the update termination instruction information, the RSU 1740 can execute operation S1741 to send an update termination confirmation information to the MEC 1720 via the A4 interface. After receiving the update termination confirmation information, the MEC 1720 can execute operation S1723 to send task completion information to the central control device 1730 via the A7 interface. It is understood that after sending the remote termination confirmation information to the MEC 1720, the vehicle subsystem 1710 can also execute operation S1712 to send service completion information to the central control device 1730 via the A5 interface.

[0399] After receiving service completion information and task completion information, the central control device 1730 can execute operations S1731 and S1732 to send service completion confirmation information to the vehicle subsystem 1710 via the A5 interface and to the MEC 1720 via the A7 interface. It is understood that operations S1731 and S1732 can be executed simultaneously or sequentially in any order; this disclosure does not limit this.

[0400] After receiving the task completion confirmation message, the MEC 1720 can execute operation S1724 to release the computing resources occupied by the remotely controlled vehicle.

[0401] According to embodiments of this disclosure, during the process of a vehicle being remotely controlled by an MEC or a central control device, the central control device can, for example, initiate a remote control termination procedure based on actual needs. The following will be combined with... Figures 18A-19 The method for terminating remote control when the vehicle's onboard subsystem initiates a termination process is described in detail.

[0402] Figure 18A This is a flowchart illustrating a method for terminating remote control executed by a central control device according to another embodiment of the present disclosure.

[0403] According to embodiments of this disclosure, when remotely controlling a vehicle using MEC, such as Figure 18A As shown, the method 1810 for terminating remote control in this embodiment may include operations S1811 to S1813. This method 1810 may be executed by a central control device.

[0404] In operation S1811, a service termination message is sent to the vehicle's onboard subsystem.

[0405] According to embodiments of this disclosure, the central control device can send service termination information in response to the completion of a remote control task. For example, the central control device can determine that the remote control task has been completed when the vehicle reaches its destination based on the control information and execution result information uploaded by the MEC. Alternatively, the central control device can send service termination information in response to being in an abnormal state. For example, the central control device can determine that the remote control task has changed in response to the operation of a cloud-based safety officer, or that the decision information for remote control cannot be determined based on the acquired perception data, thus determining that the central control device is in an abnormal state. Alternatively, the central control device can also determine that it is in an abnormal state if it does not receive execution result information within a predetermined time period.

[0406] According to embodiments of this disclosure, when the vehicle subsystem receives service termination information, it may, for example, send service termination confirmation information to the central control device. Simultaneously, the vehicle subsystem may also send remote termination instruction information to the MEC remotely controlling it. This remote termination instruction information is similar to the remote termination instruction information in operation S1411 described above. For example, when the vehicle subsystem receives service termination information from the central control device, the vehicle subsystem may, for example, use the remote control termination method 1410 described above to interact with the MEC of the remotely controlled vehicle, and upon receiving the remote termination confirmation information sent by the MEC, determine that the remote control has been terminated.

[0407] According to embodiments of this disclosure, after receiving a remote termination instruction from the vehicle, the MEC may, for example, use the termination remote control method 1420 described above to interact with the vehicle subsystem and send a remote termination confirmation message to the vehicle subsystem.

[0408] In operation S1812, in response to receiving the service end confirmation information sent by the vehicle's onboard subsystem, a task end information is sent to the multi-access edge computing platform that remotely controls the vehicle.

[0409] In operation S1813, in response to receiving a task completion confirmation message from the multi-access edge computing platform, it is determined that the remote control has been terminated.

[0410] According to embodiments of this disclosure, when the central control device receives a service completion confirmation message, it can also send a task completion message to the MEC of the remotely controlled vehicle, for example. In this way, the MEC can confirm that the remote control task has ended.

[0411] For example, after receiving the updated termination confirmation information sent by the RSU and the task completion information sent by the central control device using the termination remote control method 1420 described above, the MEC can send back the task completion confirmation information to the central control device and confirm that the remote control has been terminated. Furthermore, after confirming that the remote control has been terminated, the MEC can also release the computing resources occupied by the remotely controlled vehicle. In this way, the released computing resources can be used to perform other tasks, thereby improving the utilization rate of computing resources.

[0412] The method described in this embodiment allows the central control device to terminate the MEC's ​​remote control of the onboard subsystem. This facilitates the central control device's control over overall business policies, etc.

[0413] Figure 18B This is a schematic flowchart of a method for terminating remote control executed by a central control device according to yet another embodiment of the present disclosure.

[0414] According to embodiments of this disclosure, when a vehicle is remotely controlled by a central control device, such as Figure 18B As shown, the method 1820 for terminating remote control in this embodiment may include operations S1821 to S1823. This method 1820 may be executed by a central control device.

[0415] In operation S1821, a service termination message is sent to the vehicle's onboard subsystem. It is understood that operation S1821 is similar to operation S1811, except that the control information referenced by operation S1821 when determining whether the remote control task has been completed or whether the central control device is in an abnormal state is sent from the central control device to the onboard subsystem, and the execution result information referenced is sent from the onboard subsystem to the central control device.

[0416] In operation S1822, in response to receiving the service termination confirmation information sent by the vehicle's onboard subsystem, an update termination instruction information is sent to the roadside unit for the vehicle.

[0417] In operation S1823, in response to receiving the update termination confirmation information sent by the roadside unit, it is determined that the remote control has been terminated.

[0418] It is understandable that the central control device executes operations S1822 to S1823 in a manner similar to the implementation of operations S1611 to S1612 described above, and will not be repeated here.

[0419] Understandably, after the central control device determines that remote control has been terminated, it can release, for example, the computing resources occupied by the remotely controlled vehicle. In this way, the released computing resources can be used to perform other tasks, thus improving the utilization rate of computing resources.

[0420] The following will combine Figure 19 This disclosure provides an overall description of the termination process for remote control initiated by the central control device in order to facilitate a better understanding of the disclosure.

[0421] Figure 19 This is an interactive flowchart of the termination process when the central control device initiates remote control according to an embodiment of this disclosure.

[0422] like Figure 19 As shown, in embodiment 1900, when the MEC remotely controls the vehicle, the interaction process between the devices when the central control device 1930 initiates the remote control termination process may, for example, include the process enclosed by box e. When the central control device remotely controls the vehicle, the interaction process between the devices when the central control device 1930 initiates the remote control termination process may, for example, include the process enclosed by box f.

[0423] like Figure 19 In the process enclosed by the middle frame, when the central control device 1930 initiates the remote control termination process, the central control device 1930 can first execute operation S1931 to send service termination information to the vehicle subsystem 1910 via the A5 interface.

[0424] After receiving the service termination information, the vehicle subsystem 1910 can execute operation S1911 to send service termination confirmation information to the central control device via the A5 interface. The vehicle subsystem 1910 can also execute operation S1912 after receiving the service termination information to send remote termination instruction information to the MEC via the A3 interface. It is understood that operations S1911 and S1912 can be executed simultaneously or sequentially in any order; this disclosure does not limit this.

[0425] After receiving the remote termination instruction information, MEC 1920 can execute operation S1921 to send remote termination confirmation information to vehicle subsystem 1910 via the A3 interface. It is understood that, for example, vehicle subsystem 1910 can also send service termination confirmation information to central control equipment 1930 after receiving the remote termination confirmation information. MEC 1920 can also execute operation S1922 after receiving the remote termination instruction information to send updated termination instruction information to RSU 1940 for the vehicle via the A4 interface. It is understood that operations S1921 and S1922 can be executed simultaneously or sequentially in any order; this disclosure does not limit this.

[0426] After receiving the update termination instruction information, RSU 1940 can perform operation S1941 to send update termination confirmation information. It is understood that in this embodiment, the update termination confirmation information is sent via the A4 interface to MEC 1920. Upon receiving the update termination confirmation information, MEC 1920 can determine that remote control has been terminated.

[0427] In one embodiment, after receiving the service completion confirmation information, the central control device 1930 may, for example, perform operation S1932 to send task completion information to the MEC 1920 via the A7 interface. Correspondingly, the MEC 1920 may, in response to receiving the task completion information, perform operation S1923 to send task completion confirmation information to the central control device 1930 via the A7 interface. In this embodiment, the MEC 1920 may determine that remote control has been terminated after receiving both the update termination confirmation information and the task completion confirmation information.

[0428] After determining that remote control has been terminated, the MEC 1920 can also perform operation S1924 to release the computing resources occupied by the remotely controlled vehicle.

[0429] like Figure 19 The process enclosed in the middle frame (f) involves the central control device 1930 initiating a remote control termination process. In this case, the central control device 1930 can first execute operation S1931 to send service termination information to the vehicle subsystem 1910 via the A5 interface.

[0430] After receiving the service termination information, the onboard subsystem 1910 can execute operation S1911 to send a service termination confirmation message to the central control device via the A5 interface. Since the central control device 1930 also acquires roadside perception data from the vehicle's RSU 1940 when remotely controlling the vehicle, after receiving the service termination confirmation message, the central control device 1930 can execute operation S1933 to send an update termination instruction message to the vehicle's RSU 1940 via the A6 interface.

[0431] After receiving the update termination instruction information, RSU 1940 can perform operation S1941 to send update termination confirmation information. It is understood that in this embodiment, the update termination confirmation information is sent via the A6 interface to the central control device 1930. Upon receiving the update termination confirmation information, the central control device 1930 can determine that remote control has been terminated.

[0432] After determining that remote control has been terminated, the central control device 1930 can also perform operation S1934 to release the computing resources occupied by the remotely controlled vehicle.

[0433] It should be noted that when a termination process is initiated by any of the devices in the vehicle subsystem, MEC, and central control equipment, the various information involved in the interaction process may include, for example, the identification information of the device initiating the termination process and / or the reason for termination. This allows each device to have a more complete understanding of the remote control information and can also improve the accuracy of remote control to a certain extent. For example, when the vehicle subsystem receives multiple pieces of information in the remote control process (including the remote termination instruction information or service end information described above), and the control strategies indicated by these multiple pieces of information are different, the vehicle subsystem can determine the priority of the device initiating the termination process based on its identification information. Only when the priority of the device initiating the termination process is higher than the priority of the device sending other information will the vehicle subsystem send back confirmation information to the device that initiated the termination process.

[0434] It is understood that the vehicle described above could be, for example, an autonomous taxi. During the remote control of the autonomous taxi, the processing latency of the MEC should be no more than 50ms, the processing latency of the central control device should be no more than 10ms, the initial latency of the autonomous taxi should be no more than 10ms, and the overall latency of the remote control process of the autonomous taxi should be no more than 50ms.

[0435] It is understood that this disclosure may, for example, configure certain security policies for the vehicle subsystems, RSUs, RSCUs, and central control equipment described above to ensure that the operation of the vehicles, RSUs, RSCUs, and central control equipment meets certain security requirements. These security requirements include, but are not limited to, at least one of the following: system security, application security, account security, access control security, hardware security, network security, upgrade security, and data security.

[0436] For example, secure transmission protocols can be used to ensure the security of data transmission between the vehicle subsystem, RSU, RSCU, and central control equipment. Cryptographic techniques can be used to protect the confidentiality and integrity of the interaction processes between the vehicle subsystem, RSU, RSCU, and central control equipment. The cryptographic techniques used should, for example, comply with relevant standards.

[0437] For example, sensitive information can be protected using software encryption, while data involving enterprise security can be protected using hardware encryption for a higher level of security. Hardware encryption methods can include, for example, secure chips and physical security units. It is understood that the technologies used in both software and hardware encryption methods should comply with the regulations corresponding to the relevant cryptographic product certificates and reach the corresponding standard security level.

[0438] Based on the vehicle remote control method provided in this disclosure, this disclosure also provides a vehicle remote control device. The following will be combined with... Figures 20-22 The remote control device for vehicles provided in this disclosure is described in detail.

[0439] Figure 20 This is a structural block diagram of a remote control device for a vehicle according to an embodiment of the present disclosure.

[0440] like Figure 20 As shown, the vehicle remote control device 2000 of this embodiment may include a demand information sending module 2010, an onboard data sending module 2020, and a driving control module 2030. This vehicle remote control device 2000 can be used to configure... Figure 13 The vehicle-mounted subsystem shown is illustrated. Accordingly, this disclosure also provides a vehicle that can be used to perform... Figure 13 The operations performed by the CRRC onboard subsystem.

[0441] The demand information sending module 2010 is used to send remote control demand information to the remote control device connected in communication. In one embodiment, the demand information sending module 2010 can be used to perform the operation S1211 described above, which will not be repeated here.

[0442] The vehicle data transmission module 2020 is used to send vehicle sensing data to the remote control device in response to receiving a first update instruction information for vehicle sensing data sent by the remote control device. In one embodiment, the vehicle data transmission module 2020 can be used to perform the operation S1212 described above, which will not be repeated here.

[0443] The driving control module 2030 is used to control the driving of the vehicle in response to receiving control information sent by the remote control device. In one embodiment, the driving control module 2030 can be used to perform the operation S1213 described above, which will not be repeated here.

[0444] According to embodiments of this disclosure, the remote control device includes at least one of the following: a target platform communicatively connected to the vehicle's onboard subsystem; and a central control device communicatively connected to the vehicle's onboard subsystem. The target platform is one of a plurality of multi-access edge computing platforms spaced along the roadside, whose communication range includes the vehicle's location. At least one of the multiple multi-access edge computing platforms is communicatively connected to the vehicle within the communication range of the at least one platform via a direct communication interface of the roadside unit.

[0445] According to embodiments of this disclosure, the remote control device 2000 for the vehicle may further include a result sending module, which is used to send execution result information for the control information to the remote control device after the driving control module 2030 controls the vehicle to drive.

[0446] According to embodiments of this disclosure, the first update indication information includes the type of remote control and update information of the vehicle perception data. The aforementioned vehicle data transmission module 2020 may include a vehicle data acquisition submodule and a vehicle data transmission submodule. The vehicle data acquisition submodule is used to acquire vehicle perception data based on the update information. The vehicle data transmission submodule is used to transmit the vehicle perception data to the remote control device.

[0447] According to embodiments of this disclosure, the update information includes at least one of the following: update cycle; event information that triggers the update.

[0448] Figure 21 This is a structural block diagram of a remote control device for a vehicle according to another embodiment of the present disclosure.

[0449] like Figure 21 As shown, the vehicle remote control device 2100 of this embodiment may include an update instruction sending module 2110, a control information determining module 2120, and a control information sending module 2130. Some structures in this device 2100 may be, for example, disposed in... Figure 13 In the central control device shown, or, the device 2100 may also be installed in Figure 13 In the MEC shown. Accordingly, this disclosure also provides a central control device for performing Figure 13 The operation performed by the central control device shown. This disclosure also provides a multi-access edge computing platform for performing... Figure 13 The operations performed by the MEC are shown.

[0450] The update instruction sending module 2110 is used to respond to receiving remote control request information sent by the vehicle's onboard subsystem, and to send a first update instruction information for the onboard perception data to the vehicle's onboard subsystem according to the remote control request information. In one embodiment, the update instruction sending module 2110 can be used to perform the operation S1221 described above, which will not be repeated here.

[0451] The control information determination module 2120 is used to determine control information for the vehicle based on the vehicle perception data received from the vehicle's onboard subsystem. In one embodiment, the control information determination module 2120 can be used to perform the operation S1222 described above, which will not be repeated here.

[0452] The control information sending module 2130 is used to send control information to the vehicle's onboard subsystem. In one embodiment, the control information sending module 2130 can be used to perform the operation S1223 described above, which will not be repeated here.

[0453] According to embodiments of this disclosure, the update instruction sending module 2110 is further configured to, in response to receiving remote control request information, send a second update instruction for roadside perception data to the roadside unit for the vehicle based on the remote control request information. The control information determining module 2120 is further configured to, in response to receiving vehicle-mounted perception data sent by the vehicle's onboard subsystem and roadside perception data sent by the roadside unit, determine control information for the vehicle based on the vehicle-mounted perception data and the roadside perception data. The second update instruction includes update information for the roadside perception data.

[0454] According to embodiments of this disclosure, the remote control requirement information includes at least one of the following: remote control target information, remote control duration information, remote control location information, remote control level information, and remote control reason information. The aforementioned update instruction sending module 2110 may include a control type determination submodule and an instruction information sending submodule. The control type determination submodule is used to determine the type of remote control based on the remote control requirement information. The instruction information sending submodule is used to send first update instruction information to the vehicle's onboard subsystem based on the type of remote control. The first update instruction information includes the type of remote control and update information of the onboard perception data.

[0455] According to embodiments of this disclosure, the remote control device 2100 for the vehicle may further include an update information sending module for sending remote control status update information to a central control device with which it is communicated. It is understood that the remote control device 2100 for the vehicle in this embodiment may be located solely within the MEC. The control information is determined by a target platform for the vehicle. The target platform is one of multiple multi-access edge computing platforms spaced along the roadside that has a communication range including the vehicle's location. At least one of the multiple multi-access edge computing platforms is communicatively connected to the vehicle within the communication range of at least one platform via a direct communication interface of the roadside unit.

[0456] Figure 22 This is a structural block diagram of a remote control device for a vehicle according to another embodiment of the present disclosure.

[0457] like Figure 22 As shown, the vehicle remote control device 2200 of this embodiment may include a roadside data acquisition module 2210 and a roadside data transmission module 2220. This device 2200 may, for example, be installed in... Figure 13 In the RSU shown. Accordingly, this disclosure also provides a roadside unit that can be used to perform Figure 13 The operations performed by the RSU.

[0458] The roadside data acquisition module 2210 is used to acquire roadside sensing data in response to receiving a second update instruction information sent by a remote control device. In one embodiment, the roadside data acquisition module 2210 can be used to perform the operation S1231 described above, which will not be repeated here.

[0459] The roadside data transmission module 2220 is used to transmit roadside sensing data to the remote control device. In one embodiment, the roadside data transmission module 2220 can be used to perform the operation S1232 described above, which will not be repeated here.

[0460] According to embodiments of this disclosure, the remote control device includes at least one of the following: a target platform with communication connectivity; and a central control device with communication connectivity. The target platform is one of a plurality of multi-access edge computing platforms spaced along the roadside, whose communication range includes the location of the vehicle. At least one of the multiple multi-access edge computing platforms is communicatively connected to the vehicle within the communication range of the at least one platform via a direct communication interface of the roadside unit.

[0461] According to embodiments of this disclosure, the second update indication information includes update information for roadside sensing data. The roadside data acquisition module 2210 may include a roadside data acquisition submodule and a roadside data transmission submodule. The roadside data acquisition submodule is used to acquire roadside sensing data based on the update information. The roadside data transmission submodule is used to transmit the roadside sensing data to a remote control device.

[0462] It should be noted that the collection, storage, use, processing, transmission, provision, disclosure, and application of user personal information in this disclosed technical solution comply with relevant laws and regulations, necessary confidentiality measures have been taken, and it does not violate public order and good morals. In this disclosed technical solution, user authorization or consent has been obtained before acquiring or collecting user personal information.

[0463] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0464] Figure 23 A schematic block diagram of an example electronic device 2300 that can be used to implement the methods of embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0465] like Figure 23 As shown, device 2300 includes a computing unit 2301, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 2302 or a computer program loaded from storage unit 2308 into random access memory (RAM) 2303. The RAM 2303 may also store various programs and data required for the operation of device 2300. The computing unit 2301, ROM 2302, and RAM 2303 are interconnected via bus 2304. Input / output (I / O) interface 2305 is also connected to bus 2304.

[0466] Multiple components in device 2300 are connected to I / O interface 2305, including: input unit 2306, such as keyboard, mouse, etc.; output unit 2307, such as various types of monitors, speakers, etc.; storage unit 2308, such as disk, optical disk, etc.; and communication unit 2309, such as network card, modem, wireless transceiver, etc. Communication unit 2309 allows device 2300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0467] The computing unit 2301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 2301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 2301 performs the various methods and processes described above. For example, in some embodiments, any of the methods described above can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 2308. In some embodiments, part or all of the computer program can be loaded and / or installed on device 2300 via ROM 2302 and / or communication unit 2309. When the computer program is loaded into RAM 2303 and executed by the computing unit 2301, one or more steps of any of the methods described above can be performed. Alternatively, in other embodiments, the computing unit 2301 can be configured to perform any of the methods described above by any other suitable means (e.g., by means of firmware).

[0468] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0469] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0470] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0471] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0472] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0473] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0474] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0475] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for remotely controlling a vehicle, comprising: Send remote control request information to the remote control device connected to the communication link; In response to receiving a first update instruction message for vehicle perception data sent by the remote control device, the vehicle perception data is acquired according to the first update instruction message and sent to the remote control device; as well as In response to receiving control information sent by the remote control device, the vehicle's movement is controlled according to the control information; The first update indication information includes the type of remote control determined according to the control requirement information and update information of vehicle perception data, wherein the update information includes at least one of update cycle and trigger event; The step of obtaining vehicle perception data according to the first update instruction information includes: The vehicle perception data is obtained based on at least one of the update cycle and the triggering event.

2. The method according to claim 1, wherein, The remote control device includes at least one of the following: The target platform that communicates with the vehicle's onboard subsystem; A central control device that is communicatively connected to the vehicle's onboard subsystems. The target platform is a platform whose communication range includes the location of the vehicle among multiple multi-access edge computing platforms set at intervals on the roadside. At least one of the multiple multi-access edge computing platforms is connected to the vehicle within the communication range of the at least one platform via a direct communication interface of the roadside unit.

3. The method according to claim 1 or 2, further comprising, after controlling the driving of the vehicle according to the control information: Send the execution result information of the control information to the remote control device.

4. A method for remotely controlling a vehicle, comprising: In response to receiving a remote control request information sent by the vehicle's onboard subsystem, the system determines the type of remote control and update information of the onboard perception data based on the remote control request information, and sends a first update instruction information for the onboard perception data to the vehicle's onboard subsystem based on the type of remote control and the update information of the onboard perception data, wherein the update information includes at least one of an update cycle and a triggering event. In response to receiving vehicle perception data sent by the vehicle's onboard subsystem, control information for the vehicle is determined based on the vehicle perception data, wherein the vehicle perception data is acquired and sent by the onboard subsystem according to at least one of the update cycle and the triggering event; and The control information is sent to the vehicle's onboard subsystem.

5. The method according to claim 4, further comprising: In response to receiving the remote control request information, a second update instruction information for roadside perception data is sent to the roadside unit for the vehicle according to the remote control request information; as well as In response to receiving vehicle-mounted perception data sent by the vehicle's onboard subsystem and roadside perception data sent by the roadside unit, control information for the vehicle is determined based on the vehicle-mounted perception data and the roadside perception data. The second update indication information includes update information for the roadside sensing data.

6. The method according to claim 4, wherein: The remote control requirement information includes at least one of the following: remote control target information, remote control duration information, remote control location information, remote control level information, and remote control reason information.

7. The method of claim 4, further comprising, after determining control information for the vehicle based on the onboard perception data: Send remote control status update information to the central control device connected to the communication link. in, The control information is determined by a target platform for the vehicle. The target platform is a platform whose communication range includes the location of the vehicle among multiple multi-access edge computing platforms set at roadside intervals. At least one of the multiple multi-access edge computing platforms is communicatively connected to the vehicle within the communication range of the at least one platform via a direct communication interface of the roadside unit.

8. A method for remotely controlling a vehicle, comprising: In response to receiving a second update instruction from a remote control device, roadside perception data is acquired, wherein the second update instruction is determined by the remote control device based on a remote control request sent by the vehicle subsystem, and the second update instruction includes update information of the roadside perception data, the update information including at least one of an update cycle and a triggering event; and Send the roadside sensing data to the remote control device; The acquisition of roadside perception data includes: The roadside sensing data is obtained based on at least one of the update cycle and the triggering event.

9. The method according to claim 8, wherein, The remote control device includes at least one of the following: The target platform for communication connections; The central control device for communication connection, The target platform is a platform whose communication range includes the location of the vehicle among multiple multi-access edge computing platforms set at intervals on the roadside. At least one of the multiple multi-access edge computing platforms is connected to the vehicle within the communication range of the at least one platform via a direct communication interface of the roadside unit.

10. A remote control device for a vehicle, comprising: The demand information sending module is used to send remote control demand information to the remote control device connected to the communication connection; The vehicle data transmission module is used to respond to receiving a first update instruction information for vehicle perception data sent by the remote control device, acquire vehicle perception data according to the first update instruction information, and send the vehicle perception data to the remote control device. as well as A driving control module is used to respond to receiving control information sent by the remote control device and control the driving of the vehicle according to the control information; The first update indication information includes the type of remote control determined according to the control requirement information and update information of vehicle perception data, wherein the update information includes at least one of update cycle and trigger event; The vehicle data transmission module is further configured to acquire the vehicle perception data based on at least one of the update cycle and the triggering event.

11. A remote control device for a vehicle, comprising: An update instruction sending module is configured to respond to receiving remote control request information sent by the vehicle's onboard subsystem, determine the type of remote control and update information of the onboard perception data based on the remote control request information, and send a first update instruction information for the onboard perception data to the vehicle's onboard subsystem based on the type of remote control and the update information of the onboard perception data, wherein the update information includes at least one of an update cycle and a triggering event. A control information determination module is configured to, in response to receiving vehicle perception data sent by the vehicle's onboard subsystem, determine control information for the vehicle based on the vehicle perception data, wherein the vehicle perception data is acquired and sent by the onboard subsystem according to at least one of an update cycle and a triggering event; and The control information sending module is used to send the control information to the vehicle's onboard subsystem.

12. A remote control device for a vehicle, comprising: A roadside data acquisition module is configured to acquire roadside sensing data in response to receiving a second update instruction information sent by a remote control device. The second update instruction information is determined by the remote control device based on a remote control request sent by the vehicle subsystem. The second update instruction information includes update information of the roadside sensing data, and the update information includes at least one of an update cycle and a triggering event. The roadside data transmission module is used to send the roadside sensing data to the remote control device; The roadside data acquisition module is further configured to acquire the roadside sensing data based on at least one of the update cycle and the triggering event.

13. An electronic device, comprising: At least one processor; as well as A memory that is communicatively connected to at least one processor; wherein, The memory stores instructions that can be executed by at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 9.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, Computer instructions are used to cause a computer to perform the method according to any one of claims 1 to 9.

15. A computer program product comprising a computer program / instructions that, when executed by a processor, implement the steps of any one of claims 1 to 9.

16. A vehicle, including an onboard subsystem configured to perform a remote control method for the vehicle according to any one of claims 1 to 3.

17. A central control device configured to perform a remote control method for a vehicle according to any one of claims 4 to 6.

18. A multi-access edge computing platform, the multi-access edge computing platform being configured to: execute a remote control method for a vehicle according to any one of claims 4 to 7.

19. A roadside unit configured to perform a remote control method for a vehicle according to any one of claims 8 to 9.

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