Vehicle remote control method, device, system and vehicle

Abstract

The present application relates to the technical field of vehicle control, and provides a vehicle remote control method, device, system and vehicle, wherein a control instruction is acquired, a waypoint planning instruction or an automatic parking instruction is analyzed to obtain waypoint trajectory or parking information, and the data transmission module is used to send the information to the vehicle controller, so that the vehicle controller controls the vehicle according to the waypoint trajectory or the parking information; according to the port information in the multi-connection instruction and the automatic control switch instruction, the automatic control switch instruction is sent to the vehicle controller through the corresponding data transmission module, the automatic control function of the vehicle is turned on or off, and the control of multiple vehicles is realized; the method combines the remote control instruction with the unmanned driving technology controlled by the vehicle controller, realizes the remote control of the vehicle and the unmanned driving of the vehicle itself, avoids the high cost and high real-time network requirement of manual remote real-time control of the vehicle, and reduces the labor cost and network communication cost.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device, system and vehicle for remote vehicle control. Background Technology

[0002] Currently, remote control systems for engineering vehicles can remotely control these vehicles. This remote control includes remote control of driving actions, separating the steering wheel, brakes, and clutch from the vehicle and remotely controlling the vehicle via a terminal. For example, with the assistance of a monitoring system, the terminal can control the vehicle's forward, reverse, and turning movements.

[0003] However, this kind of remote control of driving actions still requires human control of the vehicle, which does not involve the application of autonomous driving technology. The labor cost is high, and the real-time requirements of the network are also relatively high. Summary of the Invention

[0004] This invention provides a vehicle remote control method, device, system, and vehicle to address the shortcomings of existing engineering vehicle remote control systems that require real-time manual control. By combining remote control commands with unmanned driving technology under the control of the vehicle controller, remote control of the vehicle and unmanned driving of the vehicle itself are achieved, avoiding the high cost and high real-time network requirements of manual remote real-time vehicle control.

[0005] This invention provides a method for remote vehicle control, comprising: acquiring control commands;

[0006] When the control command is a waypoint planning command, the waypoint planning command is parsed to obtain a waypoint trajectory. The waypoint planning command includes multiple pre-set waypoints. The waypoint trajectory is sent to the vehicle controller through a data transmission module so that the vehicle controller can perform tracking control on the vehicle based on the waypoint trajectory.

[0007] According to a vehicle remote control method provided by the present invention, parsing the waypoint planning command to obtain the waypoint trajectory includes:

[0008] Calculate the distance between the two waypoints;

[0009] The number of tracking points is calculated based on the preset tracking demand cycle, the distance between two waypoints, and the vehicle speed; the coordinates of the tracking points are assigned based on the distance between two waypoints and the number of tracking points; and the relative time of each tracking point is set based on the preset tracking demand cycle and the number of tracking points.

[0010] A waypoint trajectory is generated based on the number of tracking points, their coordinates, relative time, and the coordinates of the waypoints.

[0011] According to a vehicle remote control method provided by the present invention, calculating the distance between two waypoints includes:

[0012] Transform the WGS84 coordinate system to which the waypoint belongs into the UTM coordinate system;

[0013] The distance is calculated based on the coordinates of the two waypoints in the UTM coordinate system; the waypoints include attribute information of longitude, latitude, altitude and vehicle speed in the WGS84 coordinate system; the tracking point includes attribute information of coordinates, velocity, acceleration, curvature, rate of change of curvature, timestamp and relative time in the UTM coordinate system.

[0014] According to the present invention, a vehicle remote control method further includes, after obtaining the control command:

[0015] When the control command is an automatic parking command, the automatic parking command is parsed to obtain parking information;

[0016] The parking information is sent to the vehicle controller via the data transmission module, so that the vehicle controller can control the vehicle parking based on the parking information.

[0017] According to the vehicle remote control method provided by the present invention, after acquiring the control command and before parsing the control command, the method further includes:

[0018] The status of the vehicle's automatic control function is obtained. If the automatic control function is active, the control command is rejected, and the process ends.

[0019] According to the present invention, a vehicle remote control method further includes, after obtaining the control command:

[0020] When the control command is a multi-connection command, all port information in the multi-connection command and the automatic control switch command corresponding to the port information are obtained. The automatic control switch command is sent to the vehicle controller through the data transmission module corresponding to the port information according to the port information, so that the vehicle controller can turn on or off the automatic control function of the vehicle according to the automatic control switch command.

[0021] According to the present invention, a vehicle remote control method further includes, after acquiring all port information and the automatic control switch command corresponding to the port information in the multi-connection command, and before sending the automatic control switch command to the vehicle controller through the data transmission module corresponding to the port information, the method further includes:

[0022] If the multi-connection instruction contains at least two of the port information and at least two automatic control switch instructions for indicating the activation of the vehicle's automatic control function, the multi-connection instruction is rejected and the process ends.

[0023] The present invention also provides a vehicle remote control device, comprising: an instruction acquisition module for acquiring control instructions;

[0024] The instruction parsing module is used to parse the waypoint planning instruction to obtain the waypoint trajectory when the control instruction is a waypoint planning instruction, wherein the waypoint planning instruction includes multiple pre-set waypoints;

[0025] The instruction sending module is used to send the waypoint trajectory to the vehicle controller via the data transmission module, so that the vehicle controller can perform tracking control on the vehicle based on the waypoint trajectory.

[0026] The present invention also provides a vehicle remote control system, including a host computer, a data transmission module and a vehicle controller;

[0027] The host computer is used to acquire control commands. When the control command is a waypoint planning command, it parses the waypoint planning command to obtain a waypoint trajectory. The waypoint planning command includes multiple pre-set waypoints. The waypoint trajectory is then sent to the data transmission module.

[0028] The data transmission module is used to acquire the waypoint trajectory sent by the host computer and to send the waypoint trajectory to the vehicle controller;

[0029] The vehicle controller is used to acquire the waypoint trajectory and perform tracking control on the vehicle based on the waypoint trajectory.

[0030] The present invention also provides a vehicle, including any of the above-described data transmission modules and vehicle controllers.

[0031] This invention provides a vehicle remote control method, device, system, and vehicle. By acquiring control commands, and when the control commands are waypoint planning commands, the waypoint planning commands are parsed to obtain waypoint trajectories. The waypoint planning commands include multiple pre-set waypoints. The waypoint trajectory is sent to the vehicle's controller via a data transmission module, enabling the vehicle controller to perform tracking control of the vehicle based on the waypoint trajectory, achieving unmanned driving. Through the combination of remote control commands and unmanned driving technology under the control of the vehicle controller, remote control of the vehicle and the vehicle's own unmanned driving are realized. The vehicle controller can perform autonomous driving control of the vehicle based on the acquired control commands, avoiding the high cost and high real-time network requirements of manual remote real-time vehicle control, thus reducing labor costs and network communication costs. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating the vehicle remote control method provided by the present invention;

[0034] Figure 2 This is a schematic diagram of the remote dispatching operation of unmanned engineering vehicles in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of the vehicle remote control device provided by the present invention;

[0036] Figure 4 This is a schematic diagram of the vehicle remote control system provided by the present invention.

[0037] Figure label:

[0038] 21: Loading area; 22: Unloading area; 210: Parking area; 211: Loading point; 212: Battery swapping station; 213: Vehicle washing area; 214: Weighing area; 221: Operation area; 222: Pump truck location; 31: Instruction acquisition module; 32: Instruction parsing module; 33: Instruction sending module; 41: Host computer; 42: Data transmission module; 43: Vehicle controller; 411: Remote control system; 412: Middleware; 421: Remote end of data transmission module; 422: Vehicle end of data transmission module. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] The following is combined with Figure 1 and Figure 2 The present invention describes a vehicle remote control method.

[0041] like Figure 1 As shown, the present invention provides a vehicle remote control method, comprising the following steps:

[0042] S1. Obtain control commands;

[0043] When the control command is a waypoint planning command, the method further includes step S2: parsing the waypoint planning command to obtain the waypoint trajectory, wherein the waypoint planning command includes multiple pre-set waypoints; and sending the waypoint trajectory to the vehicle controller through the data transmission module so that the vehicle controller can perform tracking control on the vehicle according to the waypoint trajectory.

[0044] Specifically, control commands are instructions input by the operator to the host computer for corresponding functional control of the vehicle. In an optional embodiment of the present invention, control commands include, but are not limited to, waypoint planning commands, automatic parking commands, multi-connection commands, and automatic control switch commands, wherein the automatic control switch command may exist independently or may be included within the multi-connection commands.

[0045] When the control command is a waypoint planning command, the waypoint information in the waypoint planning command needs to be parsed. The waypoint planning command includes multiple pre-set waypoints, which are selected by the operator based on operational requirements. Since the number and information of waypoints set by the operator are far from sufficient for the line-following function—for example, having only a starting waypoint and a final waypoint is insufficient—it is necessary to parse the waypoint information in the waypoint planning command to obtain multiple tracking points to meet the vehicle's tracking needs. For example, suppose the operator only sets two waypoints, the start and end, but the actual line-following requires 12 points. This necessitates adding 10 tracking points. Since only the start and end waypoints have coordinate information, the coordinates of the 10 newly added tracking points need to be calculated using the known coordinates of the start and end waypoints.

[0046] Specifically, waypoints in waypoint planning instructions include attribute information such as longitude, latitude, altitude, and vehicle speed in the World Geodetic System-1984 (WGS84) coordinate system. Parsing waypoint planning instructions involves analyzing the waypoint information within them, and the specific steps are as follows:

[0047] (1) Coordinate system transformation

[0048] In this step, the WGS84 coordinate system to which the waypoint belongs is converted to the Universal Transverse Mercator Grid System (UTM) coordinate system.

[0049] (2) Add tracking points

[0050] In this step, the number of tracking points needs to be calculated based on the preset tracking requirement period, the distance between waypoints, and the vehicle speed. The distance between waypoints can be calculated based on the coordinates of the two waypoints in the UTM coordinate system. In an optional embodiment of the present invention, the number of tracking points between two adjacent waypoints = (distance between the two waypoints divided by the vehicle speed) multiplied by the tracking requirement period. For example, if the tracking requirement period is 0.01s, the distance between two adjacent tracking points is 2000m, and the vehicle speed is 4m / s, then the number of tracking points between the two waypoints = 2000 / 4*0.01 = 5, that is, five tracking points are required.

[0051] (3) Plan the coordinates of the tracking point

[0052] In this step, the distance between adjacent waypoints is required, as well as the number of tracking points calculated in step 2. The tracking points are distributed between the two waypoints at the same interval. Preferably, the tracking points can be evenly distributed according to the distance between adjacent waypoints to obtain the coordinates of each tracking point.

[0053] (4) Set relative time

[0054] In this step, the relative time for each tracking point needs to be set according to the tracking requirement cycle mentioned above. Assuming the tracking requirement cycle is 0.01s, the relative time for each tracking point is set in increments of 0.01s based on the calculated number of tracking points.

[0055] After the above steps, the tracking point includes attribute information such as coordinates, velocity, acceleration, curvature, rate of change of curvature, timestamp, and relative time in the UTM coordinate system.

[0056] In an optional embodiment of the present invention, the above-mentioned parsing of waypoint information in waypoint planning instructions further includes step (5) setting the heading angle of the tracking point. Based on the coordinates of two adjacent tracking points, the heading angle corresponding to the tracking point is set as one of the information required for navigation during vehicle tracking. The heading angle is related to the vehicle's navigation function and is not related to the remote control system.

[0057] In an optional embodiment of the present invention, after step (4) above, a step of smoothing the trajectory is further included. A curve smoothing algorithm is used to smooth the velocity and curvature of each tracking point so that the trajectory formed by waypoints and all tracking points conforms to the kinematic laws of the vehicle.

[0058] After the above steps, the waypoint planning instructions are parsed and the waypoint trajectory is obtained. The host computer then sends the waypoint trajectory to the vehicle's controller via a data transmission module. The vehicle controller includes the implementation of the vehicle's tracking and parking functions, enabling autonomous driving for tracking and automatic parking. It should be understood that each data transmission module uniquely corresponds to one vehicle's controller; the host computer can send waypoint trajectories to different vehicles through different data transmission modules. Upon receiving the waypoint trajectory, the vehicle controller controls the vehicle to drive autonomously based on the trajectory. This achieves remote vehicle scheduling by setting waypoints on the host computer, allowing the vehicle to reach the designated waypoint location autonomously. This process eliminates the need for manual real-time remote control, reducing labor costs. Furthermore, it has lower real-time network requirements, making it more cost-effective than the low-latency network requirements of manual real-time remote control. For example, regarding the remote control of engineering vehicles... Figure 2 As shown, the host computer can sequentially set waypoints to loading area 21 (including but not limited to parking area 210, loading point 211, battery swapping station 212, car wash area 213, weighing area 214, etc.) and unloading area 22 (including but not limited to work area 221 or pump truck position 222), enabling engineering vehicles to travel between loading area 21 and unloading area 22 via autonomous driving. Combined with existing remote control functions for lifting and tilting cargo boxes of engineering vehicles, the loading, transportation and unloading of engineering vehicles can be remotely controlled, realizing remote scheduling operations in different scenarios.

[0059] In an optional embodiment of the present invention, after the host computer obtains the control command, if the control command is an automatic parking command, the method further includes step S3: parsing the automatic parking command to obtain parking information, and sending the parking information to the vehicle controller through the data transmission module, so that the vehicle controller can perform parking control on the vehicle according to the parking information.

[0060] The parking information includes the specific type of automatic parking, including but not limited to at least one of fixed-point positioning, parking alignment, parking battery swapping, parking washing, and parking weighing. Specifically, the type of automatic parking to be performed by the vehicle can be indicated by defining the data structure of the waypoint planning command. Preferably, a number can be specified in the waypoint planning command to represent the specific type of automatic parking, for example, 0 for fixed-point positioning, 1 for parking alignment, 2 for parking battery swapping, 3 for parking washing, and 4 for parking weighing.

[0061] After receiving parking information, the host computer sends the parking information to the vehicle controller via the data transmission module. Upon receiving the parking information, the vehicle controller performs corresponding parking control based on the specific type of automatic parking specified in the parking information. For example... Figure 2 As shown, when the parking information is fixed-point alignment, the vehicle is controlled to park in a specified position (e.g., parking area 210); when the parking information is parking alignment, the vehicle is controlled to park in a specified position in a specified work area (e.g., below loading point 212, unloading area 22, etc.); when the parking information is parking for battery swapping, the vehicle is controlled to park in a specified position in the battery swapping station 212 for battery swapping; when the parking information is parking for washing, the vehicle is controlled to park in a specified position in the car wash area 213 for washing; when the parking information is parking for weighing, the vehicle is controlled to park in a specified position in the weighing area 214 for weighing.

[0062] In an optional embodiment of the present invention, after receiving the control command, the host computer also needs to obtain the status of the vehicle's automatic control function. The status of the vehicle's automatic control function is sent to the host computer by the vehicle's controller through the data transmission module. When the vehicle's automatic control is active, it indicates that the vehicle is in an autonomous driving state. To avoid mutual interference caused by the vehicle simultaneously executing multiple autonomous driving tasks, the host computer must reject the received control commands and not send information to the vehicle's controller in this state. When the vehicle's automatic control is deactivated, it indicates that the vehicle is not executing an autonomous driving task and can accept new autonomous driving control commands. For example, when the host computer receives a waypoint planning command or an automatic parking command, if the current vehicle automatic control status is active, it will not send waypoint trajectories or parking information.

[0063] In an optional embodiment of the present invention, when the vehicle's automatic control is off, after the vehicle controller receives a waypoint planning command or an automatic parking command, the host computer needs to send an automatic control switch command to the vehicle controller via a data transmission module to control the activation or deactivation of the vehicle's automatic control function. Only when the vehicle controller receives the automatic control switch command and the command indicates that automatic control is enabled can the waypoint planning command or automatic parking command be executed, thus preventing the vehicle from executing incorrect commands due to operator error.

[0064] In existing remote control systems for engineering vehicles, because workers need to remotely control the vehicles in real time, each worker can only control one vehicle at a time. When multiple vehicles need to be controlled, a corresponding number of workers are required, resulting in high labor costs. To reduce the cost of remote vehicle control, in an optional embodiment of the present invention, a vehicle remote control method capable of simultaneously controlling multiple vehicles is provided, as follows:

[0065] After the host computer obtains the control command, if the control command is a multi-connection command, the process also includes step S4: obtaining the port information in the multi-connection command and the activation control information corresponding to the port information, and sending the activation control information to the vehicle controller through the data transmission module according to the port information, so that the vehicle controller can turn on or off the automatic control function of the vehicle according to the activation control information.

[0066] Specifically, the host computer acquires all port information and corresponding automatic control switch commands from the multi-connection command. Each multi-connection command contains at least one port information and its corresponding automatic control switch command. Each port uniquely corresponds to a data transmission module. Both the port information and the corresponding automatic control switch command are set by the operator on the host computer; for example, port number 001 can be set, and the corresponding automatic control switch command can be set to ON (indicating activation). Based on the port information, the host computer sends the automatic control switch command to the corresponding vehicle controller through the corresponding data transmission module. Upon receiving the automatic control switch command, the vehicle controller controls the vehicle's automatic control status according to its content. For example, if port number 001 corresponds to an ON automatic control switch command, the host computer sends the command to the corresponding vehicle controller through the data transmission module corresponding to port 001. Upon receiving the command, the vehicle controller activates the vehicle's automatic control function, and the vehicle's automatic control status is active.

[0067] In an optional embodiment of the present invention, since the vehicle controller can only receive waypoint planning instructions or automatic parking instructions when the vehicle's automatic control is off, but will not execute the received instructions before automatic control is turned on, multiple vehicle controllers may receive the same instruction and be in the state of automatic control off. In order to avoid vehicle position conflicts caused by multiple vehicles simultaneously executing the same waypoint planning instruction or automatic parking instruction after automatic control is turned on (e.g., the parking spot is occupied by one of the vehicles), if the host computer receives a multi-connection instruction containing at least two port information, and the automatic control switch instructions corresponding to the at least two port information are automatic control switch instructions used to indicate the activation of the vehicle's automatic control function, the host computer rejects the multi-connection instruction and does not send information to the data transmission module. For example, suppose that the vehicle controllers of vehicles A and B both receive an automatic parking instruction to park at point N when the automatic control is off. If a multi-connection instruction is sent simultaneously to the data transmission modules of vehicles A and B to enable the automatic control function, vehicles A and B will attempt to park at point N at the same time. Inevitably, one vehicle will fail to park at the designated point N. Therefore, if the multi-connection instruction contains two port information entries, and at least two of the port information entries correspond to automatic control switch instructions used to instruct the activation of the automatic control function for vehicles A and B, the host computer will reject the multi-connection instruction. Only when the vehicle controller of vehicle A receives the automatic control switch instruction to activate the automatic control function will the vehicle controller of vehicle A normally execute the previously received automatic parking instruction to park at point N.

[0068] In summary, the present invention provides a vehicle remote control method that, by acquiring control commands, and when the control command is a waypoint planning command, parses the waypoint planning command to obtain a waypoint trajectory, the waypoint planning command including multiple pre-set waypoints; the waypoint trajectory is sent to the vehicle's controller via a data transmission module, so that the vehicle controller can perform tracking control of the vehicle based on the waypoint trajectory; when the control command is an automatic parking command, the automatic parking command is parsed to obtain parking information, and the parking information is sent to the vehicle's controller via a data transmission module, so that the vehicle controller can perform automatic parking control of the vehicle based on the parking information; when the control command is a multi-way... Upon receiving an instruction, based on the port information and automatic control switch instruction in the multi-connection instruction, the automatic control switch instruction is sent to the corresponding vehicle controller through the data transmission module corresponding to the port information. This enables or disables the automatic control function of the corresponding vehicle, thereby achieving control of multiple vehicles. This method combines remote control instructions with autonomous driving technology under the control of the vehicle controller, realizing remote control of vehicles and autonomous driving of the vehicles themselves. The vehicle controller can perform autonomous driving of the vehicle based on the received control instructions, avoiding the high cost and high real-time network requirements of manual remote real-time control of vehicles, and reducing labor costs and network communication costs.

[0069] Based on the same inventive concept, the present invention also provides a vehicle remote control device. The vehicle remote control device provided by the present invention is described below, and the vehicle remote control device described below can be referred to in correspondence with the vehicle remote control method described above.

[0070] like Figure 3 As shown, the present invention provides a vehicle remote control device, including an instruction acquisition module 31, an instruction parsing module 32, and an instruction sending module 33.

[0071] Instruction acquisition module 31 is used to acquire control instructions;

[0072] The instruction parsing module 32 is used to parse the waypoint planning instruction to obtain the waypoint trajectory when the control instruction is a waypoint planning instruction. The waypoint planning instruction includes multiple pre-set waypoints.

[0073] The instruction sending module 33 is used to send the waypoint trajectory to the vehicle controller through the data transmission module, so that the vehicle controller can perform tracking control on the vehicle according to the waypoint trajectory.

[0074] In an optional embodiment of the present invention, the instruction parsing module 32 is further configured to parse the automatic parking instruction to obtain parking information when the control instruction is an automatic parking instruction, and to obtain the port information and the corresponding automatic control switch instruction in the multi-connection instruction when the control instruction is a multi-connection instruction. The instruction sending module 33 is further configured to send the parking information to the vehicle controller through the data transmission module, so that the vehicle controller can perform automatic parking control on the vehicle according to the parking information; the instruction sending module 33 is further configured to send the automatic control switch instruction to the vehicle controller corresponding to the port information through the data transmission module, so that the vehicle controller can turn the automatic control function on or off according to the automatic control switch instruction.

[0075] Based on the same inventive concept, the present invention also provides a vehicle remote control system. The vehicle remote control system provided by the present invention is described below, and the vehicle remote control system described below can be referred to in correspondence with the vehicle remote control method described above.

[0076] like Figure 4 As shown, the present invention provides a vehicle remote control system, including a host computer 41, a data transmission module 42, and a vehicle controller 43.

[0077] The host computer 41 is used to acquire control commands. When the control command is a waypoint planning command, it parses the waypoint planning command to obtain the waypoint trajectory and sends the waypoint trajectory to the data transmission module.

[0078] Specifically, the host computer 41 in this invention includes a remote control system 411 and middleware 412. The remote control system 411 is the source of control commands, capable of acquiring user-inputted control commands and sending them to the middleware 412 according to a preset format. Preferably, the remote control system 411 can transmit data with the middleware 412 via the MAVLink protocol. Operators can select or set waypoints in the remote control system 411 according to operational needs. After the remote control system 411 sends the waypoint planning command to the middleware 412, the middleware 412 parses the waypoint planning command to obtain the waypoint trajectory. The process of parsing the waypoint planning command to obtain the waypoint trajectory is consistent with the process of parsing the waypoint planning command to obtain the waypoint trajectory in the aforementioned vehicle remote control method, and will not be repeated here. After obtaining the waypoint trajectory, the middleware 412 sends the waypoint trajectory to the data transmission module via serial communication or wireless network communication.

[0079] The data transmission module 42 is used to acquire the waypoint trajectory sent by the host computer 41 and to send the waypoint trajectory to the vehicle controller 43. For example... Figure 4As shown, in one optional embodiment of the present invention, the data transmission module 42 includes a remote data transmission module 421 and a vehicle-side data transmission module 422. The remote data transmission module 421 is connected to the middleware via a serial port. The remote data transmission module 421 and the vehicle-side data transmission module 422 are wirelessly connected for data transmission. The vehicle-side data transmission module 422 is connected to the vehicle controller 43 via a serial port. In this embodiment, after receiving a multi-connection command, the host computer 41 needs to send an automatic control switch command to the remote data transmission module 421 according to the port information in the multi-connection command. The remote data transmission module 421 can be configured as a single unit or multiple units. The remote data transmission module 421 sends the automatic control switch command to the vehicle-side data transmission module 422 corresponding to the port information, and then the vehicle-side data transmission module 422 sends it to the vehicle controller 43. In another optional embodiment of the present invention, the data transmission module 42 is installed on the vehicle side and transmits data with the middleware via wireless network communication.

[0080] The vehicle controller 43 is used to acquire waypoint trajectories and perform tracking control on the vehicle based on the waypoint trajectories.

[0081] In an optional embodiment of the present invention, when the control command is an automatic parking command, the host computer 41 parses the automatic parking command to obtain parking information and sends the parking information to the data transmission module.

[0082] Specifically, in an optional embodiment of the present invention, the remote control system includes drop-down menus for point positioning, parking positioning, parking battery swapping, parking washing, and parking weighing. Operators can select the corresponding automatic parking command in the remote control system 411 according to operational needs. After the remote control system 411 sends the automatic parking command to the middleware 412, the middleware 412 parses the automatic parking command to obtain parking information. The middleware 412 sends the waypoint trajectory to the data transmission module via serial communication or wireless network communication.

[0083] The data transmission module 42 is used to acquire parking information sent by the host computer 41 and to send the parking information to the vehicle controller 43.

[0084] The vehicle controller 43 is used to acquire waypoint trajectories and perform tracking control on the vehicle based on the waypoint trajectories.

[0085] In an optional embodiment of the present invention, when the control command is a multi-connection command, the host computer 41 obtains the port information and the corresponding automatic control switch command from the multi-connection information, and sends the port information and the corresponding automatic control switch command to the data transmission module 42. Preferably, the remote control system includes multiple rows of function options, each row of function options including port settings and activation options, for controlling different vehicles, wherein the port information corresponds to the data transmission module, and the activation option is used to determine whether to activate the automatic control function of this vehicle.

[0086] The data transmission module 42 corresponding to the port information is used to obtain the automatic control switch command sent by the host computer 41 and send the automatic control switch command to the corresponding vehicle controller 43.

[0087] The vehicle controller 43 is used to acquire automatic control switch commands and control the automatic control functions of the vehicle according to the automatic control switch commands.

[0088] The present invention also provides a vehicle comprising the aforementioned vehicle controller and data transmission module. It should be understood that the present invention does not limit the specific type of vehicle; for example, the vehicle may be construction machinery such as cranes, excavators, and pile drivers, or engineering vehicles such as aerial work platforms, fire trucks, and concrete mixer trucks. Because the vehicle is equipped with a vehicle controller and a data transmission module, it can execute the control commands sent by the aforementioned host computer, and therefore also possesses the corresponding technical effects.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for remote vehicle control, characterized in that, include: Obtain control commands; When the control command is a waypoint planning command, the waypoint planning command is parsed to obtain the waypoint trajectory, and the waypoint planning command includes multiple pre-set waypoints; Parsing the waypoint planning command to obtain a waypoint trajectory includes: calculating the distance between two waypoints; calculating the number of tracking points based on a preset tracking demand cycle, the distance between the two waypoints, and the vehicle speed; assigning coordinates to the tracking points based on the distance between the two waypoints and the number of tracking points; setting the relative time for each tracking point based on the preset tracking demand cycle and the number of tracking points; and generating a waypoint trajectory based on the number of tracking points, their coordinates, the relative time, and the coordinates of the waypoints. Calculating the distance between two waypoints includes: converting the WGS84 coordinate system to which the waypoints belong to the UTM coordinate system; calculating the distance based on the coordinates of the two waypoints in the UTM coordinate system; the waypoints include attribute information of longitude, latitude, altitude, and vehicle speed in the WGS84 coordinate system; the tracking points include attribute information of coordinates, velocity, acceleration, curvature, rate of change of curvature, timestamp, and relative time in the UTM coordinate system. Based on the coordinates of two adjacent tracking points, the heading angle corresponding to the tracking point is set; Using a curve smoothing algorithm, the velocity and curvature of each tracking point are smoothed so that the trajectory formed by the waypoint and all tracking points conforms to the kinematic laws of the vehicle. The waypoint trajectory is sent to the vehicle controller via a data transmission module, so that the vehicle controller can perform tracking control on the vehicle based on the waypoint trajectory.

2. The vehicle remote control method according to claim 1, characterized in that, After obtaining the control command, it also includes: When the control command is an automatic parking command, the automatic parking command is parsed to obtain parking information; The parking information is sent to the vehicle controller via the data transmission module, so that the vehicle controller can control the vehicle parking based on the parking information.

3. The vehicle remote control method according to claim 1 or 2, characterized in that, After acquiring the control command but before parsing it, the process also includes: The status of the vehicle's automatic control function is obtained. If the automatic control function is active, the control command is rejected, and the process ends.

4. The vehicle remote control method according to claim 1 or 2, characterized in that, After obtaining the control command, it also includes: When the control command is a multi-connection command, all port information in the multi-connection command and the automatic control switch command corresponding to the port information are obtained. The automatic control switch command is sent to the vehicle controller through the data transmission module corresponding to the port information according to the port information, so that the vehicle controller can turn on or off the automatic control function of the vehicle according to the automatic control switch command.

5. The vehicle remote control method according to claim 4, characterized in that, After acquiring all port information and the corresponding automatic control switch command in the multi-connection instruction, and before sending the automatic control switch command to the vehicle controller through the data transmission module corresponding to the port information, the method further includes: If the multi-connection instruction contains at least two of the port information and at least two automatic control switch instructions for indicating the activation of the vehicle's automatic control function, the multi-connection instruction is rejected and the process ends.

6. A vehicle remote control device, characterized in that, include: The instruction acquisition module is used to acquire control instructions; The instruction parsing module is used to parse the waypoint planning instruction to obtain the waypoint trajectory when the control instruction is a waypoint planning instruction, wherein the waypoint planning instruction includes multiple pre-set waypoints; Parsing the waypoint planning command to obtain a waypoint trajectory includes: calculating the distance between two waypoints; calculating the number of tracking points based on a preset tracking demand cycle, the distance between the two waypoints, and vehicle speed; assigning coordinates to the tracking points based on the distance between the two waypoints and the number of tracking points; setting the relative time for each tracking point based on the preset tracking demand cycle and the number of tracking points; generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints; calculating the distance between two waypoints includes: assigning the waypoint to the WGS84... The coordinate system is transformed into the UTM coordinate system; the distance is calculated based on the coordinates of the two waypoints in the UTM coordinate system; the waypoints include attribute information of longitude, latitude, altitude, and vehicle speed in the WGS84 coordinate system; the tracking points include attribute information of coordinates, velocity, acceleration, curvature, rate of change of curvature, timestamp, and relative time in the UTM coordinate system; the heading angle corresponding to the tracking point is set according to the coordinates of two adjacent tracking points; the velocity and curvature of each tracking point are smoothed using a curve smoothing algorithm so that the trajectory formed by the waypoints and all tracking points conforms to the kinematic laws of the vehicle; The instruction sending module is used to send the waypoint trajectory to the vehicle controller via the data transmission module, so that the vehicle controller can perform tracking control on the vehicle based on the waypoint trajectory.

7. A vehicle remote control system, characterized in that, Includes a host computer, a data transmission module, and a vehicle controller; The host computer is used to acquire control commands. When the control command is a waypoint planning command, the waypoint planning command is parsed to obtain the waypoint trajectory. The waypoint planning command includes multiple pre-set waypoints. Send the waypoint trajectory to the data transmission module; Parsing the waypoint planning command to obtain a waypoint trajectory includes: calculating the distance between two waypoints; calculating the number of tracking points based on a preset tracking demand cycle, the distance between the two waypoints, and vehicle speed; assigning coordinates to the tracking points based on the distance between the two waypoints and the number of tracking points; setting the relative time for each tracking point based on the preset tracking demand cycle and the number of tracking points; generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints; calculating the distance between two waypoints includes: assigning the waypoint to the WGS84... The coordinate system is transformed into the UTM coordinate system; the distance is calculated based on the coordinates of the two waypoints in the UTM coordinate system; the waypoints include attribute information of longitude, latitude, altitude, and vehicle speed in the WGS84 coordinate system; the tracking points include attribute information of coordinates, velocity, acceleration, curvature, rate of change of curvature, timestamp, and relative time in the UTM coordinate system; the heading angle corresponding to the tracking point is set according to the coordinates of two adjacent tracking points; the velocity and curvature of each tracking point are smoothed using a curve smoothing algorithm so that the trajectory formed by the waypoints and all tracking points conforms to the kinematic laws of the vehicle; The data transmission module is used to acquire the waypoint trajectory sent by the host computer and to send the waypoint trajectory to the vehicle controller; The vehicle controller is used to acquire the waypoint trajectory and perform tracking control on the vehicle based on the waypoint trajectory.

8. A vehicle, characterized in that, The vehicle includes the vehicle controller and data transmission module as described in claim 7.

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