Remote driving control method and system based on environmental detection

Abstract

The present invention provides a remote driving control method and system based on environmental detection, including: establishing cellular communication between a remote control center and a current vehicle, and determining whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard; if the first predetermined standard is not met, screening out vehicles to be transferred within a preset range centered on the current vehicle, the vehicles to be transferred and the remote control center have established cellular communication, and the cellular communication quality between the vehicles to be transferred and the remote control center meets the first predetermined standard; calculating the evaluation score of each vehicle to be transferred, and selecting a transfer vehicle from all vehicles to be transferred according to the evaluation score; and remotely controlling the current vehicle through the transfer vehicle. The technical solution of the present invention can avoid abnormalities in remote driving control caused by reduced communication quality, and ensure the safety of remote driving control.

Description

Technical Field

[0001] The present invention relates to the technical field of remote driving, and in particular to a remote driving control method and system based on environment detection. Background Art

[0002] At present, with the rise of intelligent driving, a remote driving method of automobiles has also appeared on the market. This remote driving method often establishes a special remote control center to remotely control the vehicle's driving. The remote control center and the vehicle are generally connected through 4G and 5G cellular network communications. Users can generally send the destination and the current location of the vehicle to the remote control center through a mobile phone APP or a car tablet. The control center also accesses some traffic route data to calculate the vehicle's driving route from its current location to the destination.

[0003] With more and more car owners buying cars with intelligent driving functions in recent years, according to statistics from authoritative statistical agencies, car owners' travel needs can often be divided into urban travel needs and long-distance travel needs. However, the situation in my country is more complicated. For urban travel, there are many emergencies, which require car owners to maintain a high degree of concentration and there is no way to use the remote driving function. Therefore, the remote driving function is currently often positioned to serve the long-distance travel needs of car owners. However, another more complicated situation in my country is that everyone's travel time is more concentrated on statutory holidays. When everyone is stuck in a certain place on the highway (such as a service area), or driving to a more remote place with poor signal, the communication quality between the vehicle and the base station will deteriorate, resulting in the failure of the remote driving function. This is also a difficulty in promoting the remote driving function in my country. Summary of the invention

[0004] The present invention provides a remote driving control method and system based on environment detection, which are used to solve the defect in the prior art that remote driving control cannot be performed when an abnormality occurs in the communication between a vehicle and a remote control center.

[0005] The present invention provides a remote driving control method based on environment detection, and the remote driving control method based on environment detection comprises:

[0006] Establishing cellular communication between a remote control center and a current vehicle, and determining whether quality of the cellular communication between the current vehicle and the remote control center meets a first predetermined standard;

[0007] If the first predetermined standard is not met, then screening out vehicles to be transferred within a preset range centered on the current vehicle, the vehicles to be transferred having established cellular communication with the remote control center, and the cellular communication quality between the transfer vehicles and the remote control center meeting the first predetermined standard;

[0008] Calculating an evaluation score of each of the vehicles to be transferred, and selecting a transfer vehicle from all the vehicles to be transferred according to the evaluation score;

[0009] The current vehicle is remotely driven and controlled via the transfer vehicle.

[0010] According to a remote driving control method based on environmental detection provided by the present invention, during the cellular communication between the current vehicle and the remote control center, there is a cyclically executed data packet sending and receiving link between the current vehicle and the remote control center; in the data packet sending and receiving link, the current vehicle sends a first data packet to the remote control center and receives a second data packet returned by the remote control center after receiving the first data packet;

[0011] Determining whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard includes:

[0012] The current vehicle calculates the change rate of the communication time of two adjacent data packet receiving and sending links through a first preset formula;

[0013] When the change rate is greater than a predetermined change rate threshold, determining that the cellular communication quality between the current vehicle and the remote control center does not meet a first predetermined standard;

[0014] When the change rate is less than or equal to the predetermined change rate threshold, it is determined that the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard.

[0015] According to a remote driving control method based on environment detection provided by the present invention, the first preset formula is specifically:

[0016] K = (Y2-Y1) / (X2-X1);

[0017] Among them, K is the rate of change of communication time between two adjacent data packet sending and receiving links, Y2 is the communication time of the next data packet sending and receiving link, Y1 is the communication time of the previous data packet sending and receiving link, X2 is the number of executions of the data packet sending and receiving link corresponding to Y2, and X1 is the number of executions of the data packet sending and receiving link corresponding to Y1.

[0018] According to a remote driving control method based on environmental detection provided by the present invention, the evaluation score of each of the vehicles to be transferred is calculated, including:

[0019] Calculate the change rate of the communication time of all two adjacent data packet receiving and sending links of each of the transfer vehicles from the preset historical moment to the current moment based on the first preset formula, and calculate the average value of the change rate of each of the transfer vehicles from the preset historical moment to the current moment;

[0020] Obtaining a driving route matching degree between each of the to-be-transferred vehicles and the current vehicle;

[0021] Calculating an evaluation score for each of the vehicles to be transferred based on the average value of the change rate, the driving route matching degree and a second preset formula;

[0022] The second preset formula is specifically:

[0023]

[0024] Wherein, A is the evaluation score, M is the average value of the change rate, and N is the driving route matching degree.

[0025] According to a remote driving control method based on environment detection provided by the present invention, obtaining the driving route matching degree between each of the to-be-transferred vehicles and the current vehicle includes:

[0026] Using the current GPS position of each vehicle to be transferred as the starting point of each vehicle to be transferred;

[0027] Calculating a first driving route from the starting point of each of the vehicles to be transferred to a predetermined destination position of the current vehicle;

[0028] Calculating a second driving route from the starting point of each of the vehicles to be transferred to a predetermined destination location corresponding to the vehicle to be transferred;

[0029] The overlap rate between the second driving route and the first driving route is calculated, and the overlap rate is used as the driving route matching degree between each vehicle and the current vehicle.

[0030] According to a remote driving control method based on environment detection provided by the present invention, a transfer vehicle is selected from the vehicles to be transferred according to the evaluation score, comprising:

[0031] S340, sorting the vehicles to be transferred from high to low according to the evaluation scores to obtain a sequence of vehicles to be transferred;

[0032] S350, taking the first-ranked vehicle to be transferred in the sequence of vehicles to be transferred as the transfer vehicle;

[0033] S360, establishing near field communication between the transfer vehicle and the current vehicle;

[0034] S370, determining whether the communication quality of the near field communication meets a second predetermined standard;

[0035] S380, if the second predetermined standard is not met, taking the next vehicle to be transferred in the sequence of vehicles to be transferred as the transfer vehicle;

[0036] S390, repeating steps S360 to S380 until the communication quality of the near field communication between the selected transfer vehicle and the current vehicle meets a second predetermined standard.

[0037] According to a remote driving control method based on environment detection provided by the present invention, remote driving control of the current vehicle is performed through the transfer vehicle, including:

[0038] forwarding the driving data sent by the remote control center to the current vehicle through the transfer vehicle, and remotely controlling the current vehicle through the driving data;

[0039] The real-time sensing data transmitted back by the current vehicle is forwarded to the remote control center through the transfer vehicle.

[0040] According to a remote driving control method based on environment detection provided by the present invention, the method further includes:

[0041] When a first predetermined criterion is met, the cellular communication between the remote control center and the current vehicle is maintained, and the driving of the current vehicle is remotely controlled through the remote control center.

[0042] According to a remote driving control method based on environment detection provided by the present invention, the method further includes:

[0043] Acquire the distance information between the transfer vehicle and the current vehicle in real time, and compare the distance information with a predetermined distance;

[0044] When the distance information is greater than the predetermined distance, the next vehicle to be transferred in the sequence of vehicles to be transferred is used as the transfer vehicle, and steps S360 to S380 are repeated until the communication quality of the near-field communication between the selected transfer vehicle and the current vehicle meets the second predetermined standard.

[0045] The present invention also provides a remote driving control system based on environment detection, comprising:

[0046] a communication quality detection module, used to establish cellular communication between the remote control center and the current vehicle, and determine whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard;

[0047] a screening module, configured to screen out vehicles to be transferred within a preset range centered on the current vehicle if the first predetermined standard is not met, wherein the vehicles to be transferred have established cellular communication with the remote control center, and the quality of cellular communication between the transfer vehicles and the remote control center meets the first predetermined standard;

[0048] An evaluation module, used for calculating an evaluation score of each of the vehicles to be transferred, and selecting a transfer vehicle from all the vehicles to be transferred according to the evaluation score;

[0049] A remote driving control module is used to remotely control the current vehicle through the transfer vehicle.

[0050] The present invention provides a remote driving control method based on environmental detection, including: establishing cellular communication between a remote control center and a current vehicle, and determining whether the quality of cellular communication between the current vehicle and the remote control center meets a first predetermined standard; if the first predetermined standard is not met, screening out vehicles to be transferred within a preset range centered on the current vehicle, and the vehicles to be transferred have established cellular communication with the remote control center; calculating an evaluation score for each of the vehicles to be transferred, and selecting a transfer vehicle from the vehicles to be transferred according to the evaluation score; and remotely driving and controlling the current vehicle through the transfer vehicle. The technical solution of the present invention selects a transfer vehicle as a transfer station between the current vehicle and the remote control center, ensuring that after the vehicle travels to a remote area or a communication-intensive area, the remote control center can continue to remotely drive the current vehicle through the transfer vehicle, thereby avoiding abnormalities in remote driving control caused by reduced communication quality and ensuring the safety of remote driving control. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0052] Figure 1 is a flow chart of a remote driving control method based on environment detection provided by an embodiment of the present invention;

[0053] Figure 2 is a curve diagram of the communication time of the data packet receiving and sending link provided by the embodiment of the present invention;

[0054] Figure 3 is a flow chart of a remote driving control method based on environment detection provided by another embodiment of the present invention;

[0055] Figure 4 It is a schematic diagram of the structure of a remote driving control system based on environment detection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The current remote driving control method is that since the remote control center and the vehicle are generally connected through 4G or 5G cellular network communications, users can generally send the destination and the current location of the vehicle to the remote control center through a mobile phone APP or a car tablet. The control center also accesses some traffic route data to calculate the vehicle's route from its current location to the destination. Therefore, it is more dependent on the communication quality of the network. Once the communication quality is abnormal or unstable, the remote driving control may fail, which in turn affects driving safety.

[0059] In view of the above problems, the present invention proposes a remote driving control method based on environmental detection, which is used to detect the cellular communication quality between the remote driving center and the current vehicle, and when the cellular communication quality does not meet the predetermined standard, the data between the remote driving center and the current vehicle is transferred by selecting a transfer vehicle, thereby ensuring that when the cellular communication quality is unstable or abnormal, the remote driving control function of the vehicle can work normally and the driver's safety can be guaranteed.

[0060] Combine the following Figures 1 to 4 A remote driving control method based on environment detection of the present invention is described.

[0061] Figure 1 It is a flow chart of a remote driving control method based on environment detection provided by an embodiment of the present invention.

[0062] like Figure 1 As shown, the remote driving control method based on environment detection provided in this embodiment mainly includes the following steps:

[0063] Step S100: establishing cellular communication between a remote control center and a current vehicle, and determining whether the quality of the cellular communication between the current vehicle and the remote control center meets a first predetermined standard.

[0064] Step S200, if the first predetermined standard is not met, then select the vehicles to be transferred within a preset range centered on the current vehicle, the vehicles to be transferred have established cellular communication with the remote control center, and the cellular communication quality between the transfer vehicles and the remote control center meets the first predetermined standard.

[0065] Step S300, calculating the evaluation score of each of the vehicles to be transferred, and selecting a transfer vehicle from all the vehicles to be transferred according to the evaluation score.

[0066] Step S400: remotely driving and controlling the current vehicle through the transfer vehicle.

[0067] In step S100, the remote control center exchanges data with the current vehicle through cellular communication, and realizes remote driving control of the current vehicle by the remote control center. Therefore, whether the quality of cellular communication reaches the predetermined standard is a prerequisite for realizing remote driving control. The first predetermined standard in the technical solution of the present invention is set by technicians according to specific application scenarios, and the first predetermined standard is used to compare with the cellular communication quality between the current vehicle and the remote control center to determine the status of the cellular communication quality. Accordingly, cellular communication includes but is not limited to 4G, 5G and other communication types.

[0068] In step S200, when the cellular communication quality does not meet the first predetermined standard, it means that the remote control center and the current vehicle cannot transmit data normally and stably, and thus the remote driving control cannot be performed safely. At this time, a transfer vehicle needs to be selected. Since the remote control center can obtain the position of the current vehicle in real time when performing remote driving control on the current vehicle, once it is determined that the cellular communication quality does not meet the first predetermined standard, all other vehicles that have established cellular communication with the remote control center within the preset range of the current vehicle's position can be screened out according to the current vehicle's position at this time. And the remote control center can further determine whether the cellular communication quality of all other screened vehicles with itself also meets the first predetermined standard, and then determine each vehicle whose cellular communication quality meets the first predetermined standard among other vehicles as the vehicle to be transferred. In other words, the vehicle to be transferred is a vehicle that is close to the current vehicle and has a relatively stable cellular communication quality with the remote control center. The similarity between the vehicle to be transferred and the current vehicle is that both are remotely driven under the control of the remote control center, but the difference between the two is that the cellular communication quality of the vehicle to be transferred and the remote control center still meets the first predetermined standard, while the cellular communication quality of the current vehicle does not meet the first predetermined standard. It is understandable that the number of vehicles to be transferred is at least one. Optionally, in order to ensure normal and stable communication between the current vehicle and the final selected transfer vehicle, the preset range is selected to be a circular range with a radius of 50m. It is understandable that the value of the above preset range is only used as a specific example of this application, and is not a limitation on the value of the preset range. Those skilled in the art can flexibly set and adjust it according to specific application scenarios and needs.

[0069] Step S300, calculating the evaluation scores of each to-be-transferred vehicle and the current vehicle in turn, the evaluation scores can represent the stability and safety of the vehicle as a transfer vehicle, and determining the transfer vehicle according to the evaluation scores.

[0070] Step S400, receiving and forwarding data sent by the current vehicle and the remote control center through the transfer vehicle to achieve remote driving control of the current vehicle.

[0071] The technical solution of the present invention selects a transfer vehicle as a transfer station between the current vehicle and the remote control center, ensuring that after the vehicle travels to a remote area or a communication-intensive area, the remote control center can continue to provide remote driving notifications to the current vehicle through the transfer vehicle, thereby avoiding abnormalities in remote driving control caused by reduced communication quality and ensuring the safety of remote driving control.

[0072] It should be noted that there is no communication quality judgment method suitable for remote driving scenarios in the prior art, and not all communication quality detection schemes are suitable for such remote driving scenarios, because the target vehicle is in a high-speed driving process at this time, and the time from good communication quality to poor communication quality is often less than 1S. If the mobile phone's communication quality scheme is adopted (the mobile phone uploads a specific data packet, and then receives the server to measure the delay of the return data packet), the remote control center (equivalent to the mobile phone) may not receive the return data packet from the vehicle (equivalent to the server), and the vehicle has already entered an area where communication is impossible, and it is impossible to receive the return data packet for delay judgment.

[0073] In response to the above problems, this solution proposes a communication quality detection solution suitable for remote driving scenarios, that is, the vehicle is used as the judgment subject of communication quality. During the remote driving process, the vehicle continuously sends a specific data packet (i.e., the first data packet described below) to the remote control center. When the remote control center receives this data packet, it returns another specific data packet (i.e., the second data packet described below) to complete a data packet transceiver link. The vehicle and the remote control center continuously execute such data packet transceiver links in a cycle, and then continuously obtain the communication time in each data packet transceiver link, and then calculate the change rate of two adjacent communication times to determine the communication quality between the vehicle and the remote control center.

[0074] Specifically, refer to Figure 1 and Figure 2 In one embodiment, during the cellular communication between the current vehicle and the remote control center, there is a cyclic data packet transmission and reception link between the current vehicle and the remote control center; in the data packet transmission and reception link, the current vehicle sends a first data packet to the remote control center and receives a second data packet returned by the remote control center after receiving the first data packet;

[0075] The step S100 of determining whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard includes:

[0076] Step S110, the current vehicle calculates the change rate of the communication time of two adjacent data packet transceiving links through the first preset formula. In this embodiment, the remote control center and the current vehicle send predetermined data packets to each other, and the current vehicle sends the first data packet to the remote control center at a predetermined frequency during driving, and the remote control center returns the corresponding second data packet to the current vehicle. The current vehicle will record the sending time of the first data packet and the return time of the second data packet in each data packet transceiving link, and can use the time difference between the sending time of the first data packet and the return time of the second data packet as the communication time of this data packet transceiving link. The current vehicle will also calculate the change rate based on the communication time of two adjacent data packet transceiving links, for example: the communication time of the first data packet transceiving link is T1, the communication time of the first data packet transceiving link is T2, and the communication time of the third data packet transceiving link is T3. At this time, the change rate of the communication time of the first and second data packet transceiving links can be calculated based on T1 and T2, and the change rate of the communication time of the third and second data packet transceiving links can be calculated based on T3 and T2.

[0077] Step S120, when the change rate is greater than the predetermined change rate threshold, it is determined that the cellular communication quality between the current vehicle and the remote control center does not meet the first predetermined standard. In this embodiment, the first predetermined standard is the predetermined change rate threshold. When the change rate is greater than the predetermined change rate threshold, it means that the cellular communication at this time fluctuates greatly. Therefore, it is determined that the cellular communication quality between the current vehicle and the remote control center does not meet the first predetermined standard. At this time, the current vehicle can send an alarm message indicating that the communication quality does not meet the standard to the remote control center, indicating that the vehicle has begun to enter an area where the communication quality has deteriorated. The remote control center can start to execute step S200 after receiving the alarm message.

[0078] Step S130, when the change rate is less than or equal to the predetermined change rate threshold, it is determined that the cellular communication quality between the current vehicle and the remote control center meets the first predetermined standard. In this embodiment, when the change rate is less than or equal to the predetermined change rate threshold, it means that the cellular communication fluctuation at this time is within a normal controllable range. Therefore, it is determined that the cellular communication quality between the current vehicle and the remote control center meets the first predetermined standard, and the remote control center can continue to remotely control the current vehicle.

[0079] It should be noted that since the change in the cellular communication quality between the remote control center and the current vehicle takes a certain amount of time, and when the cellular communication quality changes, the change rate will change immediately, using the change rate to determine the cellular communication quality can timely and effectively detect changes in the cellular communication quality in advance.

[0080] Reference Figure 1In one embodiment, the first preset formula is specifically:

[0081] K = (Y2-Y1) / (X2-X1);

[0082] Among them, K is the rate of change of communication time between two adjacent data packet sending and receiving links, Y2 is the communication time of the next data packet sending and receiving link, Y1 is the communication time of the previous data packet sending and receiving link, X2 is the number of executions of the data packet sending and receiving link corresponding to Y2, and X1 is the number of executions of the data packet sending and receiving link corresponding to Y1.

[0083] Reference Figure 2 , Figure 2 The communication time of the six data packet receiving and sending links is recorded as 4ms, 6ms, 5ms, 5ms, 4ms, and 5ms. According to the first preset formula, the change rate of the communication time between the first and second data packet receiving and sending links is 2, and the change rate of the communication time between the second and third data packet receiving and sending links is -1.

[0084] It should be noted that even in the normal cellular communication process, the communication quality is in a fluctuating state, but the fluctuation is small. If the traditional threshold judgment method is adopted (for example: the communication time of the data packet receiving and sending link reaches a higher time standard before sending an alarm signal to let the remote control center execute step S200), in order to reduce the probability of false alarms, the threshold needs to be set very high. Once the threshold is reached, the vehicle is often not far from completely disconnecting the communication. At this time, not only may the alarm signal used to trigger the remote control center fail to be sent to the remote control center, but even if it is sent, the remote control center will not have time to quickly find a transfer vehicle. Once the remote control center does not match the target vehicle quickly, the current vehicle is equivalent to being in an uncontrolled state at this time, and the owner thinks that the vehicle is in a normal remote driving state. Once in danger, it is often too late to take over the driving, so it is necessary to avoid this situation.

[0085] The advantage of adopting the communication quality detection method proposed in the present application is that the deterioration of cellular communication quality is a process. Normally, the rate of change of the communication time between two adjacent data packet receiving and sending links is in a small fluctuation range. Once the vehicle starts to drive to a place where the communication quality begins to deteriorate, the rate of change of the communication time between two adjacent data packet receiving and sending links will change immediately. However, at this time, the communication time of the data packet receiving and sending link may have just begun to increase, and is far from reaching the triggering threshold.

[0086] Therefore, the present application proposes a method for judging the communication quality, which can immediately send out an alarm signal to trigger the remote control center to execute step S200 to find a transfer vehicle when the vehicle just enters an area with poor communication quality. At this time, the communication quality between the current vehicle and the remote control center has just begun to decline, and it is far from being unable to communicate with the remote control center. The remote control center can successfully receive the alarm signal to perform subsequent steps, thereby avoiding the problem that the alarm signal is triggered too late and cannot be sent due to poor communication quality, and can also avoid the problem that the alarm signal is sent too late, resulting in the remote control center not having enough time to select the forwarding vehicle, which greatly improves the safety of remote driving.

[0087] Reference Figure 1 In one embodiment, the step S300 of calculating the evaluation score of each of the vehicles to be transferred includes:

[0088] S310, based on the first preset formula, calculate the change rate of the communication time of all two adjacent data packet transceiving links of each of the vehicles to be transferred from the preset historical moment to the current moment, and calculate the average value of the change rate of each of the vehicles to be transferred from the preset historical moment to the current moment. In this embodiment, since each vehicle to be transferred is also remotely driven and controlled by the remote control center, each vehicle to be transferred is also cyclically executing the data packet transceiving link with the remote control center. Therefore, by allowing each vehicle to be transferred to send the change rate of the communication time of all two adjacent data packet transceiving links of itself, the change rate of all communication time of each vehicle to be transferred can be calculated in combination with the above first formula, and finally, by calculating the average value of all change rates, the average value of the change rate of each vehicle to be transferred from the preset historical moment to the current moment can be obtained. It can be understood that the average value of the change rate represents the communication quality of each vehicle to be transferred and the remote control center. The larger the average value, the worse the communication quality of the vehicle and the remote control center, and the more unstable the cellular communication; the smaller the average value, the better the communication quality of the vehicle and the remote control center, and the more stable the cellular communication.

[0089] S320, obtaining the degree of matching of the driving routes between each of the vehicles to be transferred and the current vehicle. In this embodiment, the remote control center can determine the degree of overlap between the driving routes of each vehicle to be transferred and the driving route of the current vehicle based on the driving routes of each vehicle to be transferred and the driving route of the current vehicle, and can use the determination result as the driving route matching degree. It can be understood that the higher the driving route matching degree, the more the subsequent driving routes of the current vehicle and the vehicle to be transferred will overlap, and the vehicle to be transferred will be more suitable as a transfer vehicle for the current vehicle.

[0090] S330, calculating an evaluation score between each of the to-be-transferred vehicles and the current vehicle based on the average value of the change rate, the driving route matching degree and a second preset formula;

[0091] The second preset formula is specifically:

[0092]

[0093] Wherein, A is the evaluation score, M is the average value of the change rate, and N is the driving route matching degree.

[0094] In one embodiment, the step S320 of obtaining the degree of matching of the driving routes between each of the to-be-transferred vehicles and the current vehicle includes:

[0095] Step S321, taking the current GPS position of each vehicle to be transferred as the starting point of each vehicle to be transferred.

[0096] Step S322, calculating a first driving route from the starting point of each of the vehicles to be transferred to the predetermined destination position of the current vehicle.

[0097] Step S323, calculating a second driving route from the starting point of each of the vehicles to be transferred to the predetermined destination position corresponding to the vehicle to be transferred;

[0098] Step S324, calculating the overlap rate between the second driving route and the first driving route, and using the overlap rate as the driving route matching degree between each vehicle and the current vehicle.

[0099] In this embodiment, the first driving route represents the driving route of the vehicle to be transferred from the starting point to the destination of the current vehicle, and the second driving route represents the driving route of the vehicle to be transferred from the starting point to its own destination. Since the starting point is the current GPS position of the vehicle to be transferred during calculation, only the location of the destination may be different. Therefore, by comparing the overlap rate of the two routes, the matching degree of the driving routes of the vehicle to be transferred and the current vehicle can be determined. The specific calculation method is to calculate the driving distance of the overlapping part of the second driving route and the first driving route, and then calculate the ratio of the driving distance of the overlapping part of the route to the total driving distance of the first driving route to obtain the proportion of the driving distance of the overlapping part of the route to the total driving distance of the first driving route. It can be understood that the proportion is the overlap rate of the two routes, that is, the driving route matching degree of the two driving routes. For example, if the end point of the first driving route is the same as the end point of the second driving route, the first driving route and the second driving route will also be exactly the same, and the calculated proportion at this time is 100%, based on which it can be determined that the overlap rate and matching degree of the two routes are both 100%; if the end point of the second driving route is at the half position of the first driving route, only the second driving route overlaps with the first half of the first driving route, and the calculated proportion at this time is 50%, based on which it can be determined that the overlap rate and matching degree of the two routes are 50%. It should be noted that in this embodiment, the starting point of the vehicle to be transferred is directly used as the starting point of the current vehicle, because the maximum difference between the vehicle to be transferred and the current vehicle is only 50m, so it can be approximated as the same starting point, and this is also one of the reasons why the radius of the preset range is selected as 50m. In another optional embodiment, in order to save calculation time, the GPS position of the first vehicle to be transferred can also be directly used as the GPS position of all vehicles to be transferred, because the maximum error of selecting the starting point is 100m, and the error of 100m is completely acceptable for the calculation of driving routes of hundreds of kilometers.

[0100] In one embodiment, the step S300 of selecting a transfer vehicle from the vehicles to be transferred according to the evaluation score includes:

[0101] S340, sorting the vehicles to be transferred from high to low according to the evaluation scores to obtain a sequence of vehicles to be transferred.

[0102] S350: The first vehicle to be transferred in the sequence of vehicles to be transferred is used as the transfer vehicle.

[0103] S360, establishing near field communication between the transfer vehicle and the current vehicle. In this embodiment, near field communication refers to the communication handshake process between the transfer vehicle and the current vehicle, and near field communication methods include but are not limited to WiFi 6.0, carrier communication, Bluetooth, etc.

[0104] S370: Determine whether the communication quality of the near field communication meets a second predetermined standard.

[0105] S380: If the second predetermined standard is not met, the next vehicle to be transferred in the sequence of vehicles to be transferred is used as the transfer vehicle.

[0106] S390, repeating steps S360 to S380 until the communication quality of the near field communication between the selected transfer vehicle and the current vehicle meets the second predetermined standard. In this embodiment, due to the complexity of the communication environment and the different quality control of antennas by various vehicle manufacturers, even near field communication cannot be guaranteed to be stable. Therefore, for safety reasons, it is necessary to perform a communication quality judgment on the near field communication between the current vehicle and the transfer vehicle.

[0107] When the near-field communication quality of the selected transfer vehicle does not meet the second predetermined standard, the next transfer vehicle in the sequence of transfer vehicles is used as a new transfer vehicle, and the communication quality is judged again until the near-field communication quality of the selected transfer vehicle meets the second predetermined standard. When the near-field communication quality of the selected transfer vehicle meets the second predetermined standard, the near-field communication between the currently selected transfer vehicle and the current vehicle is maintained.

[0108] Such a setting can ensure, on the one hand, that the selected transfer vehicle can have a relatively stable cellular communication quality with the remote control center, and on the other hand, can also ensure that the transfer vehicle can also have a relatively stable near-field communication quality with the current vehicle.

[0109] Reference Figure 1 In one embodiment, step S400 of remotely controlling the current vehicle by the transfer vehicle includes:

[0110] Step S410, forwarding the driving data sent by the remote control center to the current vehicle through the transfer vehicle, and remotely controlling the current vehicle through the driving data. In this embodiment, the driving data is used to control the remote driving of the current vehicle, and the remote control center sends the driving data to the current vehicle so that the current vehicle can make corresponding driving actions according to the driving data.

[0111] Step S420, forwarding the real-time perception data sent back by the current vehicle to the remote control center through the transfer vehicle. In this embodiment, the current vehicle forwards the real-time perception data during driving to the remote control center through the transfer vehicle, so that the remote control center analyzes the driving status of the current vehicle and issues new driving data.

[0112] Reference Figure 3 In one embodiment, the method further comprises:

[0113] Step S500, when the first predetermined standard is met, the cellular communication between the remote control center and the current vehicle is maintained, and the driving of the current vehicle is remotely controlled through the remote control center. In this embodiment, if it is detected that the cellular communication quality between the remote control center and the current vehicle meets the first predetermined standard, it means that the cellular communication quality can meet the needs of the remote control center for remote driving control of the current vehicle, and data transfer of the transfer vehicle is not required.

[0114] In one embodiment, the method further comprises:

[0115] Step S700, obtaining the distance information between the transfer vehicle and the current vehicle in real time, and comparing the distance information with a predetermined distance;

[0116] Step S800, when the distance information is greater than the predetermined distance, the next vehicle to be transferred in the sequence of vehicles to be transferred is used as the transfer vehicle, and steps S360 to S380 are repeated until the communication quality of the near-field communication between the selected transfer vehicle and the current vehicle meets the second predetermined standard.

[0117] In this embodiment, during the driving process, due to the different driving routes or the influence of driving road conditions (for example: the transfer vehicle leaves first, but the current vehicle is blocked and cannot follow; or the transfer vehicle suddenly changes its destination before leaving the area with poor communication), the distance between the transfer vehicle and the current vehicle is too far, and the quality of near-field communication between the two vehicles also decreases. At this time, the transfer vehicle is not suitable as a transfer station between the current vehicle and the remote control center, so steps S360 to S380 can be repeated to select a new transfer vehicle from the sequence of vehicles to be transferred. Such a setting can make the remote driving control method of the present invention better adapt to various emergencies of transfer vehicles in practice, which is conducive to improving the practicality and flexibility of the remote driving solution.

[0118] The present invention provides a remote driving control method based on environmental detection, which includes: establishing cellular communication between a remote control center and a current vehicle, and determining whether the quality of cellular communication between the current vehicle and the remote control center meets a first predetermined standard; if the first predetermined standard is not met, screening out vehicles to be transferred within a preset range centered on the current vehicle, wherein the vehicles to be transferred have established cellular communication with the remote control center; calculating an evaluation score for each of the vehicles to be transferred, and selecting a transfer vehicle from the vehicles to be transferred according to the evaluation score; performing remote driving control on the current vehicle through the transfer vehicle, and by selecting the transfer vehicle as a transfer station between the current vehicle and the remote control center, ensuring that after the vehicle travels to a remote area or a communication-intensive area, remote driving control abnormalities caused by reduced communication quality are avoided, thereby ensuring the safety of remote driving control.

[0119] In another optional embodiment, after step S350 and before step S360, the remote driving control method based on environmental detection of the present invention also includes: after selecting the first-ranked vehicle to be transferred in the sequence of vehicles to be transferred, it is also necessary to send a transfer request to the transfer vehicle to request the transfer vehicle to serve as a signal forwarding vehicle between the current vehicle and the remote control center; if the transfer vehicle returns a transfer approval message after receiving the transfer request, it means that the transfer vehicle agrees to the transfer request, and the transfer vehicle can execute step S360 to establish near-field communication with the current vehicle; if the transfer vehicle returns a transfer rejection message after receiving the transfer request, it means that the transfer vehicle does not agree to the transfer request, and the next-ranked vehicle to be transferred in the sequence of vehicles to be transferred is also used as the transfer vehicle, and the transfer request is sent to the transfer vehicle again; the above process is repeated until the selected transfer vehicle returns a transfer approval message. In other words, in this embodiment, only vehicles whose communication quality meets the second predetermined standard and which return information indicating that they agree to transfer after receiving the transfer request can be selected as the final transfer vehicle.

[0120] The initiator of the transfer request may be the current vehicle or the remote control center. Of course, it is preferably initiated by the remote control center.

[0121] Figure 4 : is a schematic diagram of the structure of a remote driving control system based on environment detection provided by an embodiment of the present invention, and the remote driving control system includes:

[0122] The communication quality detection module 10 is used to establish cellular communication between the remote control center and the current vehicle, and determine whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard;

[0123] A screening module 20 is used to screen out vehicles to be transferred within a preset range centered on the current vehicle if the first predetermined standard is not met, wherein the vehicles to be transferred have established cellular communication with the remote control center, and the cellular communication quality between the transfer vehicles and the remote control center meets the first predetermined standard;

[0124] An evaluation module 30, configured to calculate an evaluation score of each of the vehicles to be transferred, and select a transfer vehicle from all the vehicles to be transferred according to the evaluation score;

[0125] The remote driving control module 40 is used to perform remote driving control on the current vehicle through the transfer vehicle.

[0126] It should be noted that there is also a solution in the prior art that selects the target vehicle with the closest driving route and then lets the vehicle with poor communication quality follow it. However, in fact, during the following process of the vehicle with poor communication quality, there is no remote driving control between the remote control center and the vehicle. It only seems to achieve the "pseudo remote driving" effect of reaching the destination without human driving, which is not the real "real remote driving". And this following solution cannot cope with many emergencies, for example: ① If the leading vehicle temporarily changes its destination, it will also take the following vehicle away from the original route; ② It is easy to lose the leading vehicle by using an external camera to capture external images; ② If there is a problem with the communication quality of the leading vehicle, it will also find a leading vehicle to follow. In most cases, the driving routes of the two vehicles are impossible to be exactly the same. In this way, during the reciprocating following process of the leading vehicle, the deviation of the driving route will become more and more serious, and it is easy to cause the earliest vehicle to completely deviate from its original driving route.

[0127] Compared with the above-mentioned prior art solutions, this application detects the cellular communication quality between the remote driving center and the current vehicle, and when the cellular communication quality does not meet the predetermined standard, the data between the remote driving center and the current vehicle is transferred by selecting a transfer vehicle, so as to ensure that when the cellular communication quality is unstable or abnormal, the remote driving control function of the vehicle can work normally and the driver's safety can be guaranteed, thereby achieving the effect of "true remote driving control" instead of the "pseudo remote driving" effect achieved by following in the prior art. In addition, during the driving process of the vehicle, since the present application solution will not follow the vehicle in front, there will be no related problems such as deviation from the original route and easy loss caused by the vehicle in front, which greatly improves the practicality of the remote driving function.

[0128] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A remote driving control method based on environmental detection, characterized in that: The remote driving control method comprises: Establishing cellular communication between a remote control center and a current vehicle, and determining whether quality of the cellular communication between the current vehicle and the remote control center meets a first predetermined standard; If the first predetermined standard is not met, then screening out vehicles to be transferred within a preset range centered on the current vehicle, the vehicles to be transferred having established cellular communication with the remote control center, and the quality of cellular communication between the vehicles to be transferred and the remote control center meets the first predetermined standard; Calculating an evaluation score of each of the vehicles to be transferred, and selecting a transfer vehicle from all the vehicles to be transferred according to the evaluation score; Remotely controlling the current vehicle through the transfer vehicle; Wherein, during the cellular communication between the current vehicle and the remote control center, there is a cyclic data packet transmission and reception link between the current vehicle and the remote control center; in the data packet transmission and reception link, the current vehicle sends a first data packet to the remote control center and receives a second data packet returned by the remote control center after receiving the first data packet; Determining whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard includes: The current vehicle calculates the change rate of the communication time of two adjacent data packet receiving and sending links through a first preset formula; When the change rate is greater than a predetermined change rate threshold, determining that the cellular communication quality between the current vehicle and the remote control center does not meet a first predetermined standard; When the change rate is less than or equal to the predetermined change rate threshold, determining that the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard; The first preset formula is specifically: ; Among them, K is the change rate of the communication time of two adjacent data packet sending and receiving links, Y2 is the communication time of the next data packet sending and receiving link, Y1 is the communication time of the previous data packet sending and receiving link, X2 is the execution number of the data packet sending and receiving link corresponding to Y2, and X1 is the execution number of the data packet sending and receiving link corresponding to Y1; The step of calculating the evaluation score of each of the vehicles to be transferred includes: Calculate the change rate of the communication time of all two adjacent data packet receiving and sending links of each of the transfer vehicles from the preset historical moment to the current moment based on the first preset formula, and calculate the average value of the change rate of each of the transfer vehicles from the preset historical moment to the current moment; Obtaining a driving route matching degree between each of the to-be-transferred vehicles and the current vehicle; Calculating an evaluation score for each of the vehicles to be transferred based on the average value of the change rate, the driving route matching degree and a second preset formula; The second preset formula is specifically: ； Wherein, A is the evaluation score, M is the average value of the change rate, and N is the driving route matching degree.

2. The remote driving control method based on environment detection according to claim 1 is characterized in that: Obtaining the degree of matching between the driving routes of each of the to-be-transferred vehicles and the current vehicle, including: Using the current GPS position of each vehicle to be transferred as the starting point of each vehicle to be transferred; Calculating a first driving route from a starting point of each of the vehicles to be transferred to a predetermined destination position of the current vehicle; Calculating a second driving route from the starting point of each of the vehicles to be transferred to a predetermined destination location corresponding to the vehicle to be transferred; The overlap rate between the second driving route and the first driving route is calculated, and the overlap rate is used as the driving route matching degree between each vehicle and the current vehicle.

3. The remote driving control method based on environment detection according to claim 1 is characterized in that: Selecting a transfer vehicle from the vehicles to be transferred according to the evaluation score includes: S340, sorting the vehicles to be transferred from high to low according to the evaluation scores to obtain a sequence of vehicles to be transferred; S350, taking the first-ranked vehicle to be transferred in the sequence of vehicles to be transferred as the transfer vehicle; S360, establishing near field communication between the transfer vehicle and the current vehicle; S370, determining whether the communication quality of the near field communication meets a second predetermined standard; S380, if the second predetermined standard is not met, taking the next vehicle to be transferred in the sequence of vehicles to be transferred as the transfer vehicle; S390, repeating steps S360 to S380 until the communication quality of the near field communication between the selected transfer vehicle and the current vehicle meets a second predetermined standard.

4. The remote driving control method based on environment detection according to claim 1, characterized in that: The remote driving control of the current vehicle by the transfer vehicle includes: forwarding the driving data sent by the remote control center to the current vehicle through the transfer vehicle, and remotely controlling the current vehicle through the driving data; The real-time sensing data transmitted back by the current vehicle is forwarded to the remote control center through the transfer vehicle.

5. The remote driving control method based on environment detection according to claim 1 is characterized in that: The method further comprises: When a first predetermined criterion is met, the cellular communication between the remote control center and the current vehicle is maintained, and the driving of the current vehicle is remotely controlled through the remote control center.

6. The remote driving control method based on environment detection according to claim 3 is characterized in that: The method further comprises: Acquire the distance information between the transfer vehicle and the current vehicle in real time, and compare the distance information with a predetermined distance; When the distance information is greater than the predetermined distance, the next vehicle to be transferred in the sequence of vehicles to be transferred is used as the transfer vehicle, and steps S360 to S380 are repeated until the communication quality of the near-field communication between the selected transfer vehicle and the current vehicle meets the second predetermined standard.

7. A remote driving control system based on environmental detection, characterized in that: include: a communication quality detection module, used to establish cellular communication between the remote control center and the current vehicle, and determine whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard; a screening module, configured to screen out vehicles to be transferred within a preset range centered on the current vehicle if the first predetermined standard is not met, wherein the vehicles to be transferred have established cellular communication with the remote control center, and the quality of cellular communication between the transfer vehicles and the remote control center meets the first predetermined standard; An evaluation module, used for calculating an evaluation score of each of the vehicles to be transferred, and selecting a transfer vehicle from all the vehicles to be transferred according to the evaluation score; A remote driving control module, used for remotely controlling the current vehicle through the transfer vehicle; Wherein, during the cellular communication between the current vehicle and the remote control center, there is a cyclic data packet transmission and reception link between the current vehicle and the remote control center; in the data packet transmission and reception link, the current vehicle sends a first data packet to the remote control center and receives a second data packet returned by the remote control center after receiving the first data packet; Determining whether the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard includes: The current vehicle calculates the change rate of the communication time of two adjacent data packet receiving and sending links through a first preset formula; When the change rate is greater than a predetermined change rate threshold, determining that the cellular communication quality between the current vehicle and the remote control center does not meet a first predetermined standard; When the change rate is less than or equal to the predetermined change rate threshold, determining that the cellular communication quality between the current vehicle and the remote control center meets a first predetermined standard; The first preset formula is specifically: ； Among them, K is the change rate of the communication time of two adjacent data packet sending and receiving links, Y2 is the communication time of the next data packet sending and receiving link, Y1 is the communication time of the previous data packet sending and receiving link, X2 is the execution number of the data packet sending and receiving link corresponding to Y2, and X1 is the execution number of the data packet sending and receiving link corresponding to Y1; The step of calculating the evaluation score of each of the vehicles to be transferred includes: Calculate the change rate of the communication time of all two adjacent data packet receiving and sending links of each of the transfer vehicles from the preset historical moment to the current moment based on the first preset formula, and calculate the average value of the change rate of each of the transfer vehicles from the preset historical moment to the current moment; Obtaining a driving route matching degree between each of the to-be-transferred vehicles and the current vehicle; Calculating an evaluation score for each of the vehicles to be transferred based on the average value of the change rate, the driving route matching degree and a second preset formula; The second preset formula is specifically: ； Wherein, A is the evaluation score, M is the average value of the change rate, and N is the driving route matching degree.

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