A remote driving control system and control method based on 5G

Abstract

The present invention relates to the field of remote driving technology, and specifically to a 5G-based remote driving control system and control method, including a cockpit end, a vehicle end and a cloud end. The cockpit end includes a triple screen, a cabin end video host, a brake pedal, an accelerator pedal, a shift lever, a steering wheel, a driver end controller, a six-degree-of-freedom motion platform, a 5G router and a cabin end background server. The vehicle end includes two high-definition cameras, a servo gimbal, a posture sensor, a vehicle end controller, a body actuator, a vehicle end video host and a 5G vehicle-mounted terminal. The system transmits the vehicle surrounding scene information collected by the two-way high-definition cameras, the posture sensor and the like to the cockpit, and the driver makes judgments and operates accordingly, thereby realizing real-time transmission of front and rear two-way high-definition video information and motion posture feedback, giving the driver a real driving environment, greatly improving the driver's experience, and also having the characteristics of high bandwidth, low latency, safety, reliability and good compatibility.

Description

Technical Field

[0001] The present invention relates to the field of remote driving technology, and in particular to a 5G-based remote driving control system and control method. Background Art

[0002] Internet of Vehicles technology has great potential in improving road safety, traffic efficiency and reducing energy consumption, and remote driving vehicles based on Internet of Vehicles technology are typical applications of remote real-time control. Remote driving can be used for remote control of vehicles, especially in harsh environments and dangerous areas, and remote supervision when vehicles are in emergency situations, to improve work efficiency and reduce accidents. It has a wide range of application scenarios in the future.

[0003] Existing remote driving technologies mostly use software encoding and decoding for video encoding and decoding, that is, using the CPU for processing, which is inefficient. Especially in the case of multiple video streams, it is easy for the CPU to run at full load, resulting in freezes, screen distortion and other anomalies. In terms of motion posture feedback, there is a lack of a six-degree-of-freedom motion platform and vehicle-side tracking.

[0004] Most of the above technologies focus on the realization of remote functions, and the driver's sense of presence is poor. Summary of the invention

[0005] The purpose of the present invention is to provide a 5G-based remote driving control system and control method, aiming to solve the problem of poor driver's sense of presence in existing remote driving technology.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a 5G-based remote driving control system, comprising a cockpit end, a vehicle end and a cloud end, wherein the cloud end is connected to the cockpit end and the vehicle end respectively;

[0007] The cockpit end includes a triple screen, a cabin video host, a brake pedal, an accelerator pedal, a shift lever, a steering wheel, a driving end controller, a six-degree-of-freedom motion platform, a 5G router and a cabin backend server. The driving end controller is hard-wired to the triple screen, the brake pedal, the accelerator pedal, the shift lever and the steering wheel, respectively. The six-degree-of-freedom motion platform is connected to the driving end controller via an RS232 serial port. The driving end controller is connected to the cabin video host and the 5G router via an RJ45 network port, respectively. The cabin backend server is connected to the 5G router via an RJ45 network port.

[0008] The vehicle end includes two high-definition cameras, a steering gear pan / tilt, a posture sensor, a vehicle end controller, a body actuator, a vehicle end video host and a 5G vehicle-mounted terminal. The two high-definition cameras are fixedly connected to the steering gear pan / tilt, and are connected to the vehicle end video host through a UART interface line. The posture sensor is connected to the vehicle end controller through a UART interface line. The 5G vehicle-mounted terminal is respectively connected to the vehicle end controller, the 5G vehicle-mounted terminal and the vehicle end video host through an RJ45 network port, and the body actuator is connected to the vehicle end controller through a UART interface line.

[0009] In a second aspect, the present invention further provides a 5G-based remote driving control system control method, comprising the following steps:

[0010] The two high-definition cameras collect vehicle-side video information, and the vehicle-side video host encodes and compresses it and sends it to the cloud. The cloud then sends the compressed vehicle-side video information to the cabin-side video host, and the cabin-side video host restores and decodes it to obtain video information.

[0011] The triple screen displays the vehicle-side status information and the video information to obtain display information;

[0012] The driver shifts gears, steps on the accelerator, brakes, and turns the steering wheel based on the displayed information to obtain control instructions. The driver-side controller sends the control instructions to the vehicle-side controller through the cabin-side backend server to parse and control the vehicle movement;

[0013] The posture sensor collects the body motion posture data and sends it to the vehicle-side controller, and forwards it to the driving-side controller via the cloud. The driving-side controller parses the posture data and inputs it into the six-degree-of-freedom motion platform.

[0014] The posture sensor collects body motion posture data including pitch angle, yaw angle and roll angle, and after packaging into 8 bytes according to the angle output serial communication protocol, expands the vehicle posture information data packet into a 12-byte UDP data packet.

[0015] Among them, the 5G vehicle terminal uploads the UDP data packet to the cloud through the UDP protocol.

[0016] Among them, the vehicle-side controller expands the UDP data packet into a 40-byte data packet according to the custom data frame of the six-degree-of-freedom motion platform, including a frame header, pitch angle, roll angle, yaw angle and frame tail.

[0017] The present invention discloses a 5G-based remote driving control system and control method, wherein the cloud is formed by a 5G base station network, and after the two high-definition cameras collect video information, the two high-definition cameras are encoded and compressed by the NVENC chip built into the vehicle-side video host and then sent to the subscribed cloud using the RTMP protocol, and then forwarded to the cabin-side video host, and the NVDEC chip built into the cabin-side video host completes the decoding work, so that the video information is displayed on the triple screen, and the triple screen interface displays the video screen, the vehicle-side status information and the video information, wherein the left, middle and right display screens respectively display the front of the vehicle, the rear of the vehicle and the vehicle status information screen, and the cockpit-side operator displays the two high-definition camera return screens according to the triple screen display, and respectively performs gear shifting, accelerator pedal, shift lever and steering wheel operations, and obtains control instructions, and the control instructions are converted into Ethernet signals by the driving-side controller, and forwarded to the vehicle-side controller connected to UDP through the subscribed background server. The end controller parses the data packet to realize the motion control of the vehicle. The vehicle-end posture sensor collects the body motion posture data to the vehicle-end controller, and after sending it to the 5G communication network, it is forwarded to the driving-end controller connected via UDP. The driving-end controller parses the data and inputs the six-degree-of-freedom motion platform control signal port through the RS232 serial port in the data format of the motion platform with frame header + data part + frame tail, so as to realize the real-time feedback of the cockpit and vehicle-end posture. The system transmits the scene information around the vehicle collected by two high-definition cameras, posture sensors, etc. to the cockpit, and the driver makes judgments and operates accordingly to realize the real-time transmission of the front and rear high-definition video information and motion posture feedback, so as to realize the safe, reliable, low-latency and high-definition video transmission purpose of driving the vehicle and controlling the motion platform, giving the driver a real driving environment, greatly improving the driver's experience, and also having the characteristics of high bandwidth, low latency, safety, reliability and good compatibility, solving the problem of poor sense of presence of the driver in the existing remote driving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of a 5G-based remote driving control system provided by the present invention.

[0020] Figure 2It is a schematic diagram of the structure of the remote driving control system.

[0021] Figure 3 It is a data communication flow chart of the remote driving control system.

[0022] Figure 4 It is a flow chart of a 5G-based remote driving control system control method provided by the present invention.

[0023] In the figure: 1-cockpit end, 2-vehicle end, 3-cloud, 10-triple screen, 11-cabin end video host, 12-brake pedal, 13-accelerator pedal, 14-gear lever, 15-steering wheel, 16-driving end controller, 17-six-degree-of-freedom motion platform, 18-5G router, 19-cabin end backend server, 20-two-way high-definition camera, 21-servo gimbal, 22-vehicle end video host, 23-attitude sensor, 24-vehicle end controller, 25-5G vehicle terminal, 26-body actuator. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0025] See also Figures 1 to 3 In a first aspect, the present invention provides a 5G-based remote driving control system, comprising a cockpit terminal 1, a vehicle terminal 2 and a cloud terminal 3, wherein the cloud terminal 3 is connected to the cockpit terminal 1 and the vehicle terminal 2 respectively;

[0026] The cockpit end 1 includes a triple screen 10, a cabin video host 11, a brake pedal 12, an accelerator pedal 13, a shift lever 14, a steering wheel 15, a driving end controller 16, six-degree-of-freedom motion platforms 17, 18 and a cabin backend server 19. The driving end controller 16 is hard-wired to the triple screen 10, the brake pedal 12, the accelerator pedal 13, the shift lever and the steering wheel 15, the six-degree-of-freedom motion platform 17 is connected to the driving end controller 16 via an RS232 serial port, the driving end controller 16 is connected to the cabin video host 11 and 18 via an RJ45 network port, and the cabin backend server 19 is connected to 18 via an RJ45 network port;

[0027] The vehicle end 2 includes two high-definition cameras, a steering gear pan / tilt 21, a posture sensor 23, a vehicle end controller 24, a body actuator 26, a vehicle end video host 22 and a 5G vehicle-mounted terminal 25. The two high-definition cameras are fixedly connected to the steering gear pan / tilt 21, and are connected to the vehicle end video host 22 through a UART interface line. The posture sensor 23 is connected to the vehicle end controller 24 through a UART interface line. The 5G vehicle-mounted terminal 25 is respectively connected to the vehicle end controller 24, the 5G vehicle-mounted terminal 25 and the vehicle end video host 22 through an RJ45 network port. The body actuator 26 is connected to the vehicle end controller 24 through a UART interface line.

[0028] In this embodiment, the cloud 3 is formed by a 5G base station network. After the two high-definition cameras collect video information, the video information is encoded and compressed by the NVENC chip built in the vehicle-side video host 22 and then sent to the subscribed cloud 3 via the RTMP protocol. The cloud 3 is then forwarded to the cabin-side video host 11, and the NVDEC chip built in the cabin-side video host 11 completes the decoding work, so that the video information is displayed on the triple screen 10. The triple screen 10 interface displays the video screen, the vehicle-side 2 status information and the video information, wherein the left, middle and right three display screens respectively display the front of the vehicle, the rear of the vehicle, and the vehicle status information screen. The operator of the cockpit end 1 displays the two high-definition camera return images according to the triple screen 10, and respectively uses the brake pedal 12, the accelerator pedal 13, the shift lever 14 and the steering wheel 15 to engage in gear, step on the accelerator, brake and turn the steering wheel 15 to obtain control instructions. The control instructions are converted into Ethernet signals by the driving end controller 16 and forwarded to the vehicle-side controller connected to UDP through the subscribed background server. The controller 24 parses the data packet to realize the motion control of the vehicle. The vehicle-side 2 posture sensor 23 collects the body motion posture data to the vehicle-side controller 24, and after sending it to the 5G communication network, it is forwarded to the driving-side controller 16 connected via UDP. The driving-side controller 16 parses the data and inputs the six-degree-of-freedom motion platform 17 control signal port through the RS232 serial port in the data format of the motion platform with a frame header + data part + frame tail, so as to realize the real-time feedback of the cockpit end 1 and the vehicle end 2. The system transmits the vehicle surrounding scene information collected by two high-definition cameras, posture sensors 23, etc. to the cockpit, and the driver makes judgments and operates accordingly, realizing the real-time transmission of the front and rear high-definition video information and motion posture feedback, realizing the safe, reliable, low-latency and high-definition transmission of the driving vehicle and the control motion platform, giving the driver a real driving environment, greatly improving the driver's experience, and also having the characteristics of high bandwidth, low latency, safety, reliability and good compatibility, solving the problem of poor sense of presence of the driver in the existing remote driving technology.

[0029] See also Figure 4 In a second aspect, the present invention further provides a 5G-based remote driving control system control method, comprising the following steps:

[0030] S1 The two high-definition cameras collect the video information of the vehicle side 2, and the vehicle side video host 22 encodes and compresses it and sends it to the cloud 3. The cloud 3 then sends the compressed video information of the vehicle side 2 to the cabin side video host 11, and the cabin side video host 11 restores and decodes it to obtain the video information;

[0031] Specifically, after the two high-definition cameras collect video information, it is encoded and compressed by the NVENC chip built into the vehicle-side video host 22 and then sent to the subscribed cloud 3 via the RTMP protocol. The cloud 3 then forwards it to the cabin-side video host 11, and the NVDEC chip built into the cabin-side video host 11 completes the decoding work, thereby displaying the video information on the triple screen 10.

[0032] The specific steps of the encoding process are as follows:

[0033] Step 1: Initialize the encoder, start the H.265 encoding thread, and pass the queue buffer pointer to the thread;

[0034] Step 2: Select the preset configuration of the encoder, set the required encoding parameters, and the encoding thread starts the encoding main function according to the preset configuration parameters;

[0035] Step 3: Create the resources required to save input and output data, that is, allocate input / output buffers;

[0036] Step 4: Start streaming input data, pass the handle of the valid input buffer and the valid bit stream buffer to the video encoder interface, and obtain the valid input data pointed to by the CPU pointer of the input buffer before processing the input buffer data;

[0037] Step 5: After encoding is completed, clean up all allocated input / output buffers to release resources and close the encoding session;

[0038] Step 6: After the video encoding is completed, the H.265 bit stream is output and pushed to the cloud 3 server via RTMP protocol;

[0039] The specific steps of the decoding process are as follows:

[0040] Step 1: Create a CUDA context and fill in the decoding type, maximum width and height, and number of decoding surfaces according to the decoding capability of the hardware decoder;

[0041] Step 2: Create a decoder instance and use the parser provided by NVDECODE to extract the video stream;

[0042] Step 3: Complete decapsulation and parsing, and pass frame-by-frame data to the hardware decoder for decoding;

[0043] Step 4: Get the CUDA device pointer and pitch size of the output surface. The output surface saves the decoded and post-processed frames. Check the decoding status to see if the decoding is complete.

[0044] Step 5: The decoded YUV data is further processed, converted to RGB as required and displayed on the triple screen 10 and the decoder instance is destroyed after the decoding process is completed.

[0045] S2 The triple screen 10 displays the vehicle end 2 status information and the video information to obtain display information;

[0046] Specifically, the triple screen 10 interface displays the video screen, the vehicle end 2 status information and the video information, wherein the left, middle and right display screens respectively display the front of the vehicle, the rear of the vehicle and the vehicle status information screen.

[0047] S3 The driver shifts gears, steps on the accelerator, brakes and turns the steering wheel 15 based on the displayed information to obtain control instructions. The driver-side controller 16 sends the control instructions to the vehicle-side controller 24 through the cabin-side backend server 19 to parse and control the vehicle movement;

[0048] Specifically, the operator in the cockpit 1 displays the images sent back by the two high-definition cameras according to the triple screen 10, and respectively shifts gears, steps on the accelerator, brakes, and turns the steering wheel 15 through the brake pedal 12, the accelerator pedal 13, the shift lever 14, and the steering wheel 15 to obtain control instructions. The control instructions are converted into Ethernet signals through the driver-side controller 16, and forwarded to the vehicle-side controller 24 connected to the UDP through the subscribed background server to parse the data packets, thereby realizing the motion control of the vehicle.

[0049] The specific steps include:

[0050] Step 1: The cockpit terminal 1 sends a request to establish a remote connection to the cloud 3, and sends the request to establish a remote connection such as IP address information and socket port number;

[0051] Step 2: The cloud 3 receives the request to establish a remote connection and forwards it to the vehicle 2;

[0052] Step 3: After receiving the request to establish a remote connection, the 5G vehicle-side 2 terminal of the vehicle-side 2 sends a message “Successful connection” indicating that the remote connection is successfully established to the cloud 3;

[0053] Step 4: After receiving the information of determining to establish a remote connection, the cloud 3 establishes a connection between the cockpit terminal 1 and the 5G vehicle terminal 25, and the cockpit terminal 1 encapsulates the throttle, brake, steering wheel 15, and shift lever 14 control information into a 17-byte UDP data packet according to the predetermined bytes;

[0054] Step 5: The cockpit terminal 1 sends UDP data packet information to the 5G vehicle terminal 25;

[0055] Step 6: Establish a real-time data transmission connection between the 5G vehicle terminal 25 and the cockpit terminal 1;

[0056] Step 7: The 5G vehicle terminal 25 obtains a vehicle control UDP data packet containing the vehicle control information;

[0057] Step 8: The 5G vehicle terminal 25 transmits the UDP data packet to the vehicle-side controller 24, and the vehicle-side controller 24 parses the UDP data packet into frame ID data including a frame header, a steering frame, an acceleration frame, a braking frame, and a commutation frame;

[0058] Step 9: The vehicle-side controller 24 controls the vehicle body actuator 26 corresponding to the parsed frame ID data packet to achieve control of the vehicle.

[0059] S4 The posture sensor 23 collects the body motion posture data and sends it to the vehicle-side controller 24, and forwards it to the driving-side controller 16 via the cloud 3. The driving-side controller 16 parses the posture data and inputs it into the six-degree-of-freedom motion platform 17.

[0060] Specifically, the vehicle-side 2 posture sensor 23 collects the vehicle body motion posture data to the vehicle-side controller 24, and after sending it to the 5G communication network, it is forwarded to the driving-side controller 16 connected via UDP. The driving-side controller 16 parses the data and inputs it into the six-degree-of-freedom motion platform 17 control signal port through the RS232 serial port in the data format of the motion platform with a frame header + data part + frame tail, thereby realizing real-time feedback of the posture of the cockpit end 1 and the vehicle end 2.

[0061] The attitude sensor 23 collects vehicle body motion attitude data including pitch angle, yaw angle and roll angle, and after packaging into 8 bytes according to the angle output serial communication protocol, expands the vehicle attitude information data packet into a 12-byte UDP data packet.

[0062] The 5G vehicle terminal uploads the UDP data packet to the cloud 3 via the UDP protocol.

[0063] The cabin-side backend server 19 transmits the UDP data packet to the driving-side controller 16, and the vehicle-side controller 24 expands the UDP data packet into a 40-byte data packet according to the custom data frame of the six-degree-of-freedom motion platform 17, including a frame header, pitch angle, roll angle, yaw angle, and frame tail;

[0064] The driving end controller 16 inputs the customized 40-byte data packet into the access port of the six-degree-of-freedom motion platform 17 through the RS232 line to realize the feedback of the motion posture.

[0065] What is disclosed above is only a preferred embodiment of a 5G-based remote driving control system and control method of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A remote driving control system control method based on 5G, characterized in that: The system includes a cockpit end, a vehicle end and a cloud end, wherein the cloud end is connected to the cockpit end and the vehicle end respectively; The cockpit end includes a triple screen, a cabin video host, a brake pedal, an accelerator pedal, a shift lever, a steering wheel, a driving end controller, a six-degree-of-freedom motion platform, a 5G router and a cabin backend server. The driving end controller is hard-wired to the triple screen, the brake pedal, the accelerator pedal, the shift lever and the steering wheel, respectively. The six-degree-of-freedom motion platform is connected to the driving end controller via an RS232 serial port. The driving end controller is connected to the cabin video host and the 5G router via an RJ45 network port, respectively. The cabin backend server is connected to the 5G router via an RJ45 network port. The vehicle end includes two high-definition cameras, a steering gear pan / tilt, a posture sensor, a vehicle end controller, a body actuator, a vehicle end video host and a 5G vehicle-mounted terminal. The two high-definition cameras are fixedly connected to the steering gear pan / tilt, and are connected to the vehicle end video host through a UART interface line. The posture sensor is connected to the vehicle end controller through a UART interface line. The 5G vehicle-mounted terminal is respectively connected to the vehicle end controller, the 5G vehicle-mounted terminal and the vehicle end video host through an RJ45 network port. The body actuator is connected to the vehicle end controller through a UART interface line. The control method of the 5G-based remote driving control system includes the following steps: The two high-definition cameras collect vehicle-side video information, and the vehicle-side video host encodes and compresses it and sends it to the cloud. The cloud then sends the compressed vehicle-side video information to the cabin-side video host, and the cabin-side video host restores and decodes it to obtain video information. The triple screen displays the vehicle-side status information and the video information to obtain display information; The driver shifts gears, steps on the accelerator, brakes, and turns the steering wheel based on the displayed information to obtain control instructions. The driver-side controller sends the control instructions to the vehicle-side controller through the cabin-side backend server to parse and control the vehicle movement; The posture sensor collects the body motion posture data and sends it to the vehicle-side controller, and forwards it to the driving-side controller via the cloud. The driving-side controller analyzes the posture data and inputs it into the six-degree-of-freedom motion platform; The two high-definition cameras collect vehicle-side video information, and the vehicle-side video host encodes and compresses it and sends it to the cloud. The cloud then sends the compressed vehicle-side video information to the cabin-side video host, and the cabin-side video host restores and decodes it to obtain video information, specifically: After the two high-definition cameras collect video information, the video information is encoded and compressed by the NVENC chip built into the vehicle-side video host and sent to the subscribed cloud via the RTMP protocol. The cloud then forwards it to the cabin-side video host, and the NVDEC chip built into the cabin-side video host completes the decoding work, thereby displaying the video information on the triple screen; The specific steps of the encoding process are as follows: Step 1: Initialize the encoder, start the H.265 encoding thread, and pass the queue buffer pointer to the thread; Step 2: Select the preset configuration of the encoder, set the required encoding parameters, and the encoding thread starts the encoding main function according to the preset configuration parameters; Step 3: Create the resources required to save input and output data, that is, allocate input / output buffers; Step 4: Start streaming input data, pass the handle of the valid input buffer and the valid bit stream buffer to the video encoder interface, and obtain the valid input data pointed to by the CPU pointer of the input buffer before processing the input buffer data; Step 5: After encoding is completed, clean up all allocated input / output buffers to release resources and close the encoding session; Step 6: After the video is encoded, the H.265 bitstream is output and pushed to the cloud server via RTMP protocol; The specific steps of the decoding process are as follows: Step 1: Create a CUDA context and fill in the decoding type, maximum width and height, and number of decoding surfaces according to the decoding capability of the hardware decoder; Step 2: Create a decoder instance and use the parser provided by NVDECODE to extract the video stream; Step 3: After decapsulation and parsing, pass frame-by-frame data to the hardware decoder for decoding; Step 4: Get the CUDA device pointer and pitch size of the output surface. The output surface saves the decoded and post-processed frames. Check the decoding status to see if the decoding is complete. Step 5: The decoded YUV data is further processed, converted to RGB as needed and displayed on the triple screen and the decoder instance is destroyed after the decoding process is completed; The driver shifts gears, steps on the accelerator, brakes, and turns the steering wheel based on the displayed information to obtain control instructions. The driver-side controller sends the control instructions to the vehicle-side controller through the cabin-side backend server to parse and control the vehicle movement, specifically: The operator at the cockpit end displays the images sent back by the two high-definition cameras on the triple screen, and respectively engages in gear shifting, steps on the accelerator, brakes, and turns the steering wheel through the brake pedal, the accelerator pedal, the shift lever, and the steering wheel to obtain control instructions. The control instructions are converted into Ethernet signals by the driver-side controller, and forwarded to the vehicle-side controller connected to UDP through the subscribed background server to parse the data packets, thereby realizing the motion control of the vehicle; The specific steps include: Step 1: The cockpit sends a request to establish a remote connection to the cloud; Step 2: The cloud receives the request to establish a remote connection and forwards it to the vehicle end; Step 3: After receiving the request to establish a remote connection, the 5G vehicle-mounted terminal on the vehicle side sends a message "Successful connection" confirming that the remote connection is successfully established to the cloud; Step 4: After the cloud receives the information to confirm the establishment of the remote connection, the connection between the cockpit end and the 5G vehicle-mounted terminal is established, and the cockpit end encapsulates the throttle, brake, steering wheel, and shift lever control information into a 17-byte UDP data packet according to the predetermined bytes; Step 5: The cockpit sends UDP data packet information to the 5G vehicle terminal; Step 6: Establish a real-time data transmission connection between the 5G vehicle terminal and the cockpit terminal; Step 7: The 5G vehicle terminal obtains a vehicle control UDP data packet containing the vehicle control information; Step 8: The 5G vehicle-mounted terminal transmits the UDP data packet to the vehicle-side controller, and the vehicle-side controller parses the UDP data packet into frame ID data including a frame header, a steering frame, an acceleration frame, a braking frame, and a commutation frame; Step 9: The vehicle-side controller controls the vehicle body actuator corresponding to the parsed frame ID data packet to achieve control of the vehicle; The posture sensor collects the body motion posture data and sends it to the vehicle-side controller, and forwards it to the driving-side controller via the cloud. The driving-side controller analyzes the posture data and inputs it into the six-degree-of-freedom motion platform. The specific implementation method is as follows: The vehicle-side posture sensor collects the body motion posture data to the vehicle-side controller, and after sending it to the 5G communication network, it is forwarded to the driving-side controller connected via UDP. The driving-side controller parses the data and inputs it into the six-degree-of-freedom motion platform control signal port through the RS232 serial port in the data format of the motion platform with a frame header, data part and frame tail, thereby realizing real-time posture feedback of the cockpit and vehicle ends.

2. A 5G-based remote driving control system control method as claimed in claim 1, characterized in that: The posture sensor collects vehicle body motion posture data including pitch angle, yaw angle and roll angle, and after packaging into 8 bytes according to the angle output serial communication protocol, the vehicle posture information data packet is expanded into a 12-byte UDP data packet.

3. A 5G-based remote driving control system control method as claimed in claim 2, characterized in that: The 5G vehicle-mounted terminal uploads the UDP data packet to the cloud via the UDP protocol.

4. A 5G-based remote driving control system control method as claimed in claim 2, characterized in that: The vehicle-side controller expands the UDP data packet into a 40-byte data packet according to the custom data frame of the six-degree-of-freedom motion platform, including a frame header, pitch angle, roll angle, yaw angle and frame tail.

Images