A vehicle remote takeover system and method

Abstract

The application discloses a kind of vehicle remote takeover systems and methods.The vehicle remote takeover system includes remote cockpit end and car end;Remote cockpit end includes cabin end diagnostic module;Car end includes car end diagnostic module, communication gateway, controller area network CANBUS module;Cabin end diagnostic module, for remote driver to initiate remote takeover instruction in response, obtain the takeover level contained in remote takeover instruction, in the case where takeover level is vehicle accident level, by communication gateway, remote takeover instruction is transmitted to car end diagnostic module;Car end diagnostic module, for receiving remote takeover instruction, obtain the takeover level contained in remote takeover instruction, in the case where takeover level is vehicle accident level, remote takeover instruction is transmitted to CANBUS module;CANBUS module, for receiving remote takeover instruction in response, modify remote takeover identification.The technical scheme of the embodiment of the application can improve the efficiency of remote takeover.

Description

Technical Field

[0001] This invention relates to the field of remote driving technology, and more particularly to a vehicle remote takeover system and method. Background Technology

[0002] With the rapid development of autonomous driving technology, driverless ride-hailing vehicles, Robotaxis, have begun to emerge. Robotaxis are intelligent electric vehicles customized for driverless shared mobility scenarios.

[0003] During autonomous driving, a remote driver obtains the vehicle's driving status through a remote cockpit. In scenarios requiring takeover, the driver will remotely take over the vehicle and drive it remotely from within the cockpit to ensure safe driving.

[0004] Establishing a remote vehicle takeover system takes time. In the event of a traffic accident, rapid remote takeover is necessary to assist occupants in quickly escaping the dangerous environment. Therefore, improving the speed of remote takeover has become a focus for technical personnel. Summary of the Invention

[0005] This invention provides a vehicle remote takeover system and method to improve the efficiency of establishing remote monitoring.

[0006] According to one aspect of the present invention, a vehicle remote takeover system is provided, comprising: a remote cockpit end and a vehicle end; the remote cockpit end includes a cockpit end diagnostic module; the vehicle end includes a vehicle end diagnostic module, a communication gateway, and a controller area network (CANBUS) module;

[0007] The cabin-side diagnostic module is used to respond to a remote takeover command initiated by a remote driver, obtain the takeover level contained in the remote takeover command, and, if the takeover level is a vehicle accident level, transmit the remote takeover command to the vehicle-side diagnostic module through a communication gateway.

[0008] The vehicle-side diagnostic module is used to receive the remote takeover command, obtain the takeover level contained in the remote takeover command, and, if the takeover level is a vehicle accident level, transmit the remote takeover command to the CANBUS module.

[0009] The CANBUS module is used to modify the remote takeover identifier in response to receiving the remote takeover command; the remote takeover identifier is used to indicate whether the vehicle has been remotely taken over.

[0010] According to another aspect of the present invention, a method for remotely taking over a vehicle is provided, comprising:

[0011] The cabin-side diagnostic module responds to a remote takeover command initiated by a remote driver, obtains the takeover level contained in the remote takeover command, and if the takeover level is a vehicle accident level, transmits the remote takeover command to the vehicle-side diagnostic module through the communication gateway.

[0012] The vehicle diagnostic module receives the remote takeover command, obtains the takeover level contained in the remote takeover command, and if the takeover level is the vehicle accident level, transmits the remote takeover command to the CANBUS module.

[0013] In response to receiving the remote takeover command, the CANBUS module modifies the remote takeover identifier; the remote takeover identifier is used to indicate whether the vehicle has been remotely taken over.

[0014] The technical solution of this invention involves a remote cockpit diagnostic module responding to a remote driver's remote takeover command. The module obtains the takeover level from the command. If the takeover level is a vehicle accident level, the remote takeover command is transmitted to the vehicle diagnostic module via a communication gateway. Upon receiving the command, the vehicle diagnostic module obtains the takeover level and, if the level is a vehicle accident level, directly transmits the command to the CANBUS module. The CANBUS module, upon receiving the command, modifies the remote takeover identifier, putting the vehicle into remote takeover mode. Since both the vehicle diagnostic module and the cockpit diagnostic module, upon detecting a vehicle accident level, do not need to determine if remote takeover conditions are met, the remote takeover command is transmitted directly, improving remote takeover efficiency and enhancing the rescue efficiency of occupants in vehicle accident scenarios.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1a This is a schematic diagram of a vehicle remote takeover system according to Embodiment 1 of the present invention;

[0018] Figure 1bThis is a flowchart of establishing remote takeover between the remote cockpit and the vehicle according to Embodiment 1 of the present invention;

[0019] Figure 2a This is a schematic diagram of a vehicle remote takeover system according to Embodiment 2 of the present invention;

[0020] Figure 2b This is a flowchart of remote control door unlocking provided according to Embodiment 2 of the present invention;

[0021] Figure 2c This is a flowchart of remote instruction execution provided according to Embodiment 2 of the present invention;

[0022] Figure 3 This is a flowchart of a vehicle remote takeover method provided according to Embodiment 3 of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] Figure 1a This is a schematic diagram of a vehicle remote takeover system provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where remote takeover can be quickly established when a vehicle accident occurs. The vehicle remote takeover system includes a remote cockpit 110 and a vehicle 120. The remote cockpit 110 includes a cockpit diagnostic module 111. The vehicle 120 includes a vehicle diagnostic module 121, a communication gateway 122, and a controller area network (CANBUS) module 123.

[0027] The cabin-side diagnostic module 111 is used to respond to a remote takeover command initiated by a remote driver, obtain the takeover level contained in the remote takeover command, and transmit the remote takeover command to the vehicle-side diagnostic module 121 through the communication gateway 122 when the takeover level is the vehicle accident level.

[0028] The remote driver sends remote takeover requests, remote driving commands, exits remote takeover, and opens doors to the vehicle terminal 120 by operating the steering wheel, pedals, or buttons set in the remote cockpit. The remote cockpit terminal 110 is a software concept that receives real-time vehicle status data and video stream data transmitted back from the vehicle terminal 120.

[0029] Under normal circumstances, the cabin-side diagnostic module 111 is used to determine whether the cabin-side network and the necessary remote driving components in the cockpit, such as the steering wheel and pedals, are available when a remote takeover command is received from a remote driver. Only if the cabin-side network and the necessary remote driving components are both determined to be available will the remote takeover request be sent to the vehicle-side module 120.

[0030] Among them, the remote takeover command is a command initiated by the driver in the cockpit by pressing a preset takeover button, which is used to remotely control the unmanned vehicle.

[0031] The takeover level indicates the urgency of a remote driver taking over the vehicle. For example, takeover levels include vehicle accident level, difficult environment driving level, and normal remote driving level, with the urgency decreasing in that order. A takeover level field can be added to the remote takeover command. After receiving the remote takeover command, the cabin diagnostic module 111 can determine whether an emergency takeover is necessary by reading the takeover level contained in the command.

[0032] For example, a remote driver can initiate a remote takeover command by pressing the takeover button corresponding to different takeover levels in the cockpit, or by selecting a target takeover level from the preset takeover levels through the visual screen in the cockpit and initiating a remote takeover command that includes the target takeover level.

[0033] Considering that in the event of a traffic accident involving an autonomous vehicle, a remote driver may need to take over in an emergency to improve the efficiency of rescue efforts for the vehicle and its occupants, in this embodiment of the invention, such as... Figure 1b As shown, after receiving a remote takeover command initiated by the remote driver, the cabin-side diagnostic module 111 first reads the takeover level contained in the remote takeover command. If the takeover level is a vehicle accident level, it indicates that emergency takeover is required. In this case, the cabin-side diagnostic module 111 will directly transmit the remote takeover command to the vehicle-side diagnostic module 121 through the communication gateway 122.

[0034] If the takeover command includes a takeover level other than the vehicle accident level, such as a difficult driving environment level, it indicates that emergency takeover is not currently required. The cabin-side diagnostic module 111 can then determine whether the cabin-side network and the necessary components for remote driving are available. If available, the remote takeover command is then transmitted to the vehicle-side diagnostic module 121 via the communication gateway 122.

[0035] The vehicle-side diagnostic module 121 is used to receive remote takeover commands, obtain the takeover level contained in the remote takeover commands, and transmit the remote takeover commands to the CANBUS module 123 when the takeover level is the vehicle accident level.

[0036] Under normal circumstances, the vehicle-side diagnostic module 121 is used to determine whether the vehicle-side network, the vehicle's video stream transmission conditions, etc., are normal when it receives a remote takeover command sent by the cabin-side diagnostic module 111. Only when the conditions are normal will a remote takeover request be sent to the CANBUS module 123 of the vehicle-side 120.

[0037] To quickly establish remote takeover in the event of a traffic accident involving an autonomous vehicle, in this embodiment of the invention, after receiving a remote takeover command sent by the cabin-side diagnostic module 111 through the communication gateway 122, the vehicle-side diagnostic module 121 first reads the takeover level contained in the remote takeover command. If the takeover level is a vehicle accident level, it indicates that emergency takeover is required. In this case, the vehicle-side diagnostic module 121 will directly transmit the remote takeover command to the CANBUS module 123.

[0038] If the takeover level included in the remote takeover command is any level other than the vehicle accident level, such as the difficult driving environment level, it indicates that emergency takeover is not currently required. The vehicle diagnostic module 121 can continue to determine whether the vehicle network and the vehicle's video stream transmission conditions are normal. Under normal circumstances, the remote takeover command will be transparently transmitted to the CANBUS module 123.

[0039] CANBUS module 123 is used to modify the remote takeover identifier in response to receiving a remote takeover command; the remote takeover identifier is used to indicate whether the vehicle has been remotely taken over.

[0040] The remote takeover identifier is used to indicate whether the vehicle is under remote takeover. For example, the remote takeover identifier can be 1 or 0. When the remote takeover identifier is 1, it indicates that the vehicle is under remote takeover. When the remote takeover identifier is 0, it indicates that the vehicle is in autonomous driving mode.

[0041] In this embodiment of the invention, after receiving a remote takeover command, the CANBUS module 123 modifies the remote takeover identifier to put the vehicle into a remote takeover state.

[0042] It is worth noting that the communication connections between the remote diagnostic module 111 and the communication gateway 122, between the communication gateway 122 and the vehicle-side diagnostic module 121, and between the vehicle-side diagnostic module 121 and the CANBUS module 123 are all bidirectional. In addition to the remote takeover command sent from the remote cockpit 110 to the vehicle 120 as provided in this embodiment, the vehicle 120 can also send vehicle status information, such as vehicle speed or whether a door is open, to the remote cockpit 110.

[0043] In the technical solution of this invention, when the cabin-side diagnostic module and the vehicle-side diagnostic module receive a remote takeover command, they first obtain the takeover level contained in the command. If the takeover level is the vehicle accident level, the operation of judging whether the vehicle and cabin meet the remote takeover conditions is omitted, and the remote takeover command is directly transmitted. This can improve the efficiency of establishing remote takeover in the event of a vehicle accident and assist the occupants of the vehicle to quickly escape danger.

[0044] Example 2

[0045] Figure 2a This is a schematic diagram of a vehicle material remote takeover system provided in Embodiment 2 of the present invention. This embodiment further provides the specific structure of the vehicle end. Figure 2a As shown, the vehicle remote takeover system in this embodiment includes a remote cockpit 110 and a vehicle 120; the remote cockpit 110 includes a cockpit diagnostic module 111; the vehicle 120 includes a vehicle diagnostic module 121, a communication gateway 122, and a controller local area network (CANBUS) module 123.

[0046] Among them, the cabin-side diagnostic module 111 is used to respond to the remote driver's remote takeover command, obtain the takeover level contained in the remote takeover command, and transmit the remote takeover command to the vehicle-side diagnostic module 121 through the communication gateway 122 when the takeover level is the vehicle accident level.

[0047] The vehicle-side diagnostic module 121 is used to receive remote takeover commands, obtain the takeover level contained in the remote takeover commands, and transmit the remote takeover commands to the CANBUS module 123 when the takeover level is the vehicle accident level.

[0048] CANBUS module 123 is used to modify the remote takeover identifier in response to receiving a remote takeover command; the remote takeover identifier is used to indicate whether the vehicle has been remotely taken over.

[0049] Optionally, the vehicle-side 120 may also include a body control module 124 and a door lock controller module 125;

[0050] When the vehicle is remotely controlled, the remote cockpit terminal 110 responds to the remote driver's door unlocking command by sending the door unlocking command to the CANBUS module 123 through the communication gateway 122, which is used to instruct the CANBUS module 123 to send the door unlocking command to the body control module 124.

[0051] The body control module 124 is used to control the door lock controller module 125 to perform the door unlocking operation in response to the door unlocking command sent by the CANBUS module 123.

[0052] The body control module 124 is an electronic control unit located inside the vehicle, typically behind the dashboard or under the seats. The body control module 124 drives, monitors, and controls the vehicle's body-related electronic control units, such as managing automotive functions like lighting, windows, door locks, and seat controls. The body control module 124 communicates with other electronic control units in the vehicle via bus, local area network, and protocols such as FlexRay.

[0053] In this optional embodiment, such as Figure 2b As shown, the vehicle-side 120 also includes a body control module 124 and a door lock controller module 125. The remote cockpit 110 can subscribe to the remote takeover flag defined by the CANBUS module 123. When the remote takeover flag is 1, indicating that the vehicle is under remote takeover, in response to the remote driver initiating a door unlock command, the CANBUS module 123 sends the door unlock command through the communication gateway 122. Upon receiving the door unlock command, the CANBUS module 123 directly sends the door unlock command to the body control module 124. In response to the door unlock command sent by the CANBUS module 123, the body control module 124 controls the door lock controller module 125 to open the door lock via an electrical signal. Through the emergency takeover strategy in this embodiment, rapid remote takeover of the vehicle can be achieved, and after remote takeover of the vehicle, the doors can be controlled to open, avoiding the low-probability problem of door locks not opening after an accident, and improving the escape rate of occupants.

[0054] Optionally, the vehicle-side 120 may also include an audio domain controller 126;

[0055] When the vehicle is remotely controlled, the remote cockpit terminal 110 responds to the remote driver initiating an in-vehicle voice call, encodes the content of the in-vehicle voice call, and forwards it to the audio domain controller 126 through the communication gateway 122.

[0056] The audio domain controller 126 is used to receive the encoded call content, decode the call content, and play the decoded call content through the in-vehicle tablet computer.

[0057] Since passengers in autonomous vehicles may not possess the ability to drive and control the car, external operational instructions are needed in emergency situations such as accidents to improve the escape rate. In this optional embodiment, to enable the remote driver to provide timely operational instructions to passengers in the vehicle and assist them in escaping, the remote cockpit 110, in the state where the vehicle is remotely taken over, responds to the remote driver initiating an in-vehicle voice call, encodes the content of the in-vehicle voice call, and forwards it to the audio domain controller 126 through the communication gateway 122. Upon receiving the encoded call content, the audio domain controller 126 decodes the call content and plays the decoded call content through the in-vehicle tablet computer, enabling real-time communication between the passengers in the vehicle and the remote driver.

[0058] Optionally, when the vehicle is remotely controlled, the remote cockpit terminal 110, in response to the remote driver initiating an external call, encodes the content of the external call and forwards it to the audio domain controller 126 through the communication gateway 122.

[0059] The audio domain controller 126 is used to receive the encoded announcement content, decode the announcement content, and play the decoded announcement content through the vehicle's external speaker.

[0060] Given the uncertainty of traffic accidents, after a serious accident, due to factors such as vehicle deformation, the occupants may not be able to communicate remotely via the in-vehicle tablet. Therefore, it is also necessary to set up a function to call for help.

[0061] In embodiments of the present invention, such as Figure 2c As shown, when the vehicle is remotely controlled, the remote cockpit 110 responds to the remote driver's call by encoding the message and forwarding it to the audio domain controller 126 via the communication gateway 122. The audio domain controller 126 receives the encoded message, decodes it, and plays it through the vehicle's external speakers. Passengers inside the vehicle can use the call to request help, and the remote driver can use the external speaker to provide remote assistance to those inside.

[0062] Optionally, the vehicle-side 120 also includes a vehicle chassis domain controller 127;

[0063] The remote cockpit terminal 110 is also used to respond to a speed adjustment command initiated by the remote driver when the vehicle is remotely taken over, and send the speed adjustment command to the CANBUS module 123 through the communication gateway 122.

[0064] The CANBUS module 123 is used to convert the vehicle speed adjustment command into a serial communication CAN protocol and send it to the vehicle chassis domain controller 127 to instruct the vehicle chassis domain controller 127 to adjust the vehicle speed based on the vehicle speed adjustment command.

[0065] In this optional embodiment, the vehicle-side 120 further includes a vehicle chassis domain controller 127. When the vehicle is remotely controlled, the remote cockpit 110 responds to a speed adjustment command initiated by the remote driver by sending the speed adjustment command to the CANBUS module 123 via the communication gateway 122. The CANBUS module 123 converts the speed adjustment command into a serial communication CAN protocol and sends it to the vehicle chassis domain controller 127, instructing the vehicle chassis domain controller 127 to adjust the vehicle speed based on the speed adjustment command, thereby enabling rapid vehicle deceleration and stopping after an accident, preventing a larger traffic accident.

[0066] The CANBUS module 123 can not only transmit vehicle speed adjustment commands to the vehicle chassis domain controller, but also transmit vehicle chassis information to the vehicle-side diagnostic module 121.

[0067] Optionally, the body control module 124 is also used to control the door lock controller module 125 to perform a door unlocking operation in response to an occupant pressing an electronic unlock button.

[0068] In this optional embodiment, to further avoid the problem of the door locks not opening in the rare event of an accident, an electronic unlock button can also be installed inside the vehicle. The occupants of the vehicle can initiate a door unlocking command by pressing the electronic unlock button. After receiving the door unlocking command, the door lock controller module 125 executes the door unlocking operation.

[0069] It is worth noting that the vehicle is also equipped with a mechanical unlock button. In the absence of remote control and electronic unlock button, people inside the vehicle can also directly press the mechanical unlock button to unlock the door, achieving multiple security guarantees.

[0070] Optionally, the communication gateway 122 is also used to perform format conversion on the received data.

[0071] In this optional embodiment, the communication gateway 122 serves as the external communication unit for the vehicle terminal 120, responsible for exchanging all data except video, such as instruction data and vehicle status data related to remote driving services, with the remote cockpit terminal 110. If the remote cockpit terminal 110 and the vehicle terminal 120 use different data formats, the communication gateway 122 is also used to convert the received data format. For example, the instruction data from the remote cockpit terminal 110 is converted from Lightweight Data Exchange (JavaScript Object Notation, JSON) format to ProtoBuf format, and the vehicle status data from the vehicle terminal 120 is converted from ProtoBuf format to JSON format.

[0072] Optionally, when the vehicle is remotely controlled, the remote cockpit terminal 110 can also, in response to a headlight-on command initiated by the remote driver, send a headlight-on command to the CANBUS module 123 via the communication gateway 122. This instructs the CANBUS module 123 to send the headlight-on command to the body control module 124. The body control module 124, in response to the headlight-on command, controls the headlight controller module to perform the headlight-on operation.

[0073] Optionally, the vehicle terminal 120 can also provide real-time feedback on whether the seat belts are unlocked to the remote cockpit terminal 110 via the CANBUS module 123 and the communication gateway 122.

[0074] The technical solution of this invention embodiment, after the vehicle is remotely taken over, the remote cockpit responds to the remote driver's requests for door unlocking, in-vehicle voice communication, external announcements, and speed adjustment, and then uses modules such as CANBUS module or audio domain controller to realize door control, speed adjustment, in-vehicle voice communication, and external announcements, which can assist the people in the vehicle to escape in a variety of ways.

[0075] Example 3

[0076] Figure 3 This is a flowchart of a vehicle remote takeover method according to Embodiment 3 of the present invention. The technical solution of this embodiment is applicable to the situation of quickly establishing remote takeover when a vehicle accident occurs. This method can be applied to the vehicle remote takeover system described in any embodiment. The vehicle remote takeover system includes a remote cockpit end and a vehicle end; the remote cockpit end includes a cockpit end diagnostic module; the vehicle end includes a vehicle end diagnostic module, a communication gateway, and a controller area network CANBUS module.

[0077] like Figure 3 As shown, the method specifically includes the following steps:

[0078] S310, the cabin-side diagnostic module responds to the remote takeover command initiated by the remote driver, obtains the takeover level contained in the remote takeover command, and if the takeover level is the vehicle accident level, transmits the remote takeover command to the vehicle-side diagnostic module through the communication gateway.

[0079] The remote driver sends remote takeover requests, remote driving commands, exits remote takeover, and opens doors to the vehicle by operating the steering wheel, pedals, or buttons set in the remote cockpit.

[0080] Normally, when the cabin diagnostic module receives a remote takeover command from a remote driver, it determines whether the cabin network and essential remote driving components in the cockpit, such as the steering wheel and pedals, are available. Only if the cabin network and essential remote driving components are both determined to be available will the remote takeover request be approved and sent to the vehicle.

[0081] Among them, the remote takeover command is a command initiated by the driver in the cockpit by pressing a preset takeover button, which is used to remotely control the unmanned vehicle.

[0082] The takeover level indicates the urgency of a remote driver taking over the vehicle. For example, takeover levels include vehicle accident level, difficult environment driving level, and normal remote driving level, with the urgency decreasing in that order. A takeover level field can be added to the remote takeover command. Upon receiving the remote takeover command, the cabin diagnostic module can determine whether emergency takeover is necessary by reading the takeover level contained in the command.

[0083] For example, a remote driver can initiate a remote takeover command by pressing the takeover button corresponding to different takeover levels in the cockpit, or by selecting a target takeover level from the preset takeover levels through the visual screen in the cockpit and initiating a remote takeover command that includes the target takeover level.

[0084] Considering that in the event of a traffic accident involving an autonomous vehicle, emergency takeover by a remote driver is necessary to improve the efficiency of vehicle and personnel rescue, in this embodiment of the invention, after receiving a remote takeover command initiated by the remote driver, the cabin-side diagnostic module first reads the takeover level contained in the remote takeover command. If the takeover level is a vehicle accident level, it indicates that emergency takeover is currently required. In this case, the cabin-side diagnostic module will directly transmit the remote takeover command to the vehicle-side diagnostic module through the communication gateway.

[0085] If the remote takeover command includes a takeover level other than the vehicle accident level, such as a difficult driving environment level, it indicates that emergency takeover is not currently required. The cabin-side diagnostic module can then determine whether the cabin-side network and necessary components for remote driving are available. If available, the remote takeover command is then transmitted to the vehicle-side diagnostic module via the communication gateway.

[0086] The S320 vehicle-side diagnostic module receives the remote takeover command, obtains the takeover level contained in the remote takeover command, and transmits the remote takeover command to the CANBUS module when the takeover level is the vehicle accident level.

[0087] Normally, when the vehicle-side diagnostic module receives a remote takeover command from the cabin-side diagnostic module, it checks whether the vehicle-side network and the vehicle's video stream transmission conditions are normal. Only if these conditions are met will the remote takeover request be sent to the vehicle-side CANBUS module.

[0088] To quickly establish remote takeover in the event of a traffic accident involving an autonomous vehicle, in this embodiment of the invention, after receiving a remote takeover command sent by the cabin-side diagnostic module through the communication gateway, the vehicle-side diagnostic module first reads the takeover level contained in the remote takeover command. If the takeover level is a vehicle accident level, it indicates that emergency takeover is required, and in this case, the vehicle-side diagnostic module directly transmits the remote takeover command to the CANBUS module.

[0089] If the remote takeover command includes a takeover level other than the vehicle accident level, such as the difficult driving environment level, it indicates that emergency takeover is not currently required. The vehicle diagnostic module can continue to determine whether the vehicle network and the vehicle's video stream transmission conditions are normal. Under normal circumstances, the remote takeover command will be passed through to the CANBUS module.

[0090] Upon receiving a remote takeover command, the S330 and CANBUS modules modify the remote takeover identifier; the remote takeover identifier is used to indicate whether the vehicle has been remotely taken over.

[0091] The remote takeover identifier is used to indicate whether the vehicle is under remote takeover. For example, the remote takeover identifier can be 1 or 0. When the remote takeover identifier is 1, it indicates that the vehicle is under remote takeover. When the remote takeover identifier is 0, it indicates that the vehicle is in autonomous driving mode.

[0092] In this embodiment of the invention, after receiving a remote takeover command, the CANBUS module modifies the remote takeover identifier to put the vehicle into a remote takeover state.

[0093] Optionally, after modifying the remote takeover identifier, the following may also be included:

[0094] In response to a remote driver's door unlocking command, the remote cockpit sends the door unlocking command to the CANBUS module via the communication gateway, which instructs the CANBUS module to send the door unlocking command to the body control module.

[0095] The body control module responds to the door unlocking command sent by the CANBUS module and controls the door lock controller module to perform the door unlocking operation.

[0096] In this optional embodiment, after modifying the remote takeover identifier, the remote cockpit responds to the remote driver's initiation of a door unlock command by sending the door unlock command to the CANBUS module via the communication gateway. This instructs the CANBUS module to send the door unlock command to the body control module. The body control module, in response to the door unlock command sent by the CANBUS module, controls the door lock controller module to perform the door unlock operation. This enables rapid remote takeover of the vehicle, and after remote takeover, it controls the doors to open, avoiding the rare problem of door locks failing to open after an accident, thus improving the escape rate of occupants.

[0097] Optionally, after modifying the remote takeover identifier, the following may also be included:

[0098] The vehicle body control module responds to the occupant pressing the electronic unlock button by controlling the door lock controller module to perform the door unlocking operation.

[0099] In this optional embodiment, to further avoid the problem of the door locks not opening in the rare event of an accident, an electronic unlock button can also be installed inside the vehicle. The occupants of the vehicle can initiate a door unlocking command by pressing the electronic unlock button. After receiving the door unlocking command, the door lock controller module will execute the door unlocking operation.

[0100] In the technical solution of this invention, when the cabin-side diagnostic module and the vehicle-side diagnostic module receive a remote takeover command, they first obtain the takeover level contained in the command. If the takeover level is the vehicle accident level, the operation of judging whether the vehicle and cabin meet the remote takeover conditions is omitted, and the remote takeover command is directly transmitted. This can improve the efficiency of establishing remote takeover in the event of a vehicle accident and assist the occupants of the vehicle to quickly escape danger.

[0101] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0102] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle remote takeover system, characterized by, The remote cockpit end and the vehicle end; the remote cockpit end comprises a cockpit end diagnostic module; the vehicle end comprises a vehicle end diagnostic module, a communication gateway, and a controller area network (CAN) bus module; The cockpit end diagnostic module is configured to, in response to a remote takeover instruction initiated by a remote driver, acquire a takeover level contained in the remote takeover instruction, and in a case where the takeover level is a vehicle accident level, transmit the remote takeover instruction to the vehicle end diagnostic module through the communication gateway. The vehicle end diagnostic module is configured to receive the remote takeover instruction, acquire the takeover level contained in the remote takeover instruction, and in a case where the takeover level is the vehicle accident level, transmit the remote takeover instruction to the CAN bus module. The CAN bus module is configured to, in response to receiving the remote takeover instruction, modify a remote takeover identifier. The remote takeover identifier is used to indicate whether the vehicle is remotely taken over. The vehicle end diagnostic module is further configured to, if the takeover level contained in the remote takeover instruction is a level other than the vehicle accident level, determine whether a vehicle network and a video stream return condition of the vehicle are normal, and if the conditions are normal, transmit the remote takeover instruction to the CAN bus module. The vehicle end further comprises an audio domain controller. The remote cockpit end is configured to, in a state where the vehicle is remotely taken over, in response to a remote driver initiating an in-vehicle voice call, encode call content of the in-vehicle voice call, and forward the encoded call content to the audio domain controller through the communication gateway. The audio domain controller is configured to receive the encoded call content, decode the call content, and play the decoded call content through a vehicle-mounted tablet computer. The remote cockpit end is configured to, in a state where the vehicle is remotely taken over, in response to a remote driver initiating an out-of-vehicle shouting, encode shouting content of the out-of-vehicle shouting, and forward the encoded shouting content to the audio domain controller through the communication gateway. The audio domain controller is configured to receive the encoded shouting content, decode the shouting content, and play the decoded shouting content through an external speaker of the vehicle. The vehicle end further comprises a vehicle body control module and a door lock controller module.

2. The system of claim 1, wherein, The remote cockpit end is configured to, in a state where the vehicle is remotely taken over, in response to a remote driver initiating a vehicle door unlocking instruction, send the vehicle door unlocking instruction to the CAN bus module through the communication gateway, to instruct the CAN bus module to send the vehicle door unlocking instruction to the vehicle body control module. The vehicle body control module is configured to, in response to the vehicle door unlocking instruction sent by the CAN bus module, control the door lock controller module to perform a vehicle door unlocking operation. The vehicle end further comprises an automobile chassis domain controller.

3. The system of claim 1, wherein, The remote cockpit end is further configured to, in a state where the vehicle is remotely taken over, in response to a vehicle speed adjustment instruction initiated by a remote driver, send the vehicle speed adjustment instruction to the CAN bus module through the communication gateway. The CAN bus module is configured to convert the vehicle speed adjustment instruction into a serial communication CAN protocol, and send the converted vehicle speed adjustment instruction to the automobile chassis domain controller, to instruct the automobile chassis domain controller to adjust the vehicle speed based on the vehicle speed adjustment instruction. ​ 4. The system of claim 2, wherein, The vehicle body control module is further configured to control the door lock controller module to perform a door unlocking operation in response to an electronic unlocking button being pressed by a person in the vehicle.

5. The system of claim 1, wherein, The communication gateway is further configured to perform format conversion on the received data.

6. A vehicle remote takeover method, characterized by, The method comprises the following steps: The cabin end diagnostic module obtains a takeover level included in the remote takeover instruction in response to the remote driver initiating a remote takeover instruction, and transmits the remote takeover instruction to the vehicle end diagnostic module in the case that the takeover level is a vehicle accident level through the communication gateway; The vehicle end diagnostic module receives the remote takeover instruction, obtains a takeover level included in the remote takeover instruction, and transmits the remote takeover instruction to the CANBUS module in the case that the takeover level is a vehicle accident level; The CANBUS module modifies a remote takeover identifier in response to receiving the remote takeover instruction; The remote takeover identifier is used to indicate whether the vehicle is remotely taken over; The vehicle end diagnostic module further comprises the following steps: if the takeover level included in the remote takeover instruction is other than the vehicle accident level, it is determined whether the vehicle end network and the video stream return condition of the vehicle are normal, and if it is determined that they are normal, the remote takeover instruction is transmitted to the CANBUS module; The method further comprises the following steps: The remote driving cabin end encodes the call content of the in-vehicle voice call and forwards it to the audio domain controller through the communication gateway in response to the remote driver initiating an in-vehicle voice call in the state that the vehicle is remotely taken over; The audio domain controller receives the encoded call content, decodes the call content, and plays the decoded call content through the vehicle-mounted tablet computer; The remote driving cabin end encodes the shout content of the shout outside the vehicle and forwards it to the audio domain controller through the communication gateway in response to the remote driver initiating a shout outside the vehicle in the state that the vehicle is remotely taken over; The audio domain controller receives the encoded shout content, decodes the shout content, and plays the decoded shout content through the external speaker of the vehicle.

7. The method of claim 6, wherein, After modifying the remote takeover identifier, the method further comprises the following steps: The remote driving cabin end sends the door unlocking instruction to the CANBUS module through the communication gateway in response to the remote driver initiating a door unlocking instruction, so as to instruct the CANBUS module to send the door unlocking instruction to the vehicle body control module; The vehicle body control module controls the door lock controller module to perform a door unlocking operation in response to the door unlocking instruction sent by the CANBUS module.

8. The method of claim 7, wherein, After modifying the remote takeover identifier, the method further comprises the following steps: The vehicle body control module controls the door lock controller module to perform a door unlocking operation in response to an electronic unlocking button being pressed by a person in the vehicle.

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