Remote control operation assisted driving method and system

Abstract

The present invention is applicable to the technical field of remote driving of airport passenger elevators, and provides a remote control operation assisted driving method and system. By acquiring the historical driving data of the target passenger elevator on the designated driving route, and extracting the historical body posture warning data of the target passenger elevator, the various designated landmarks on the designated driving route and the historical driving response strategies of the target passenger elevator for each designated landmark are determined based on the historical body posture warning data. When the vehicle deviates from the designated driving route or historical response strategy, it can scientifically and accurately analyze the cause of the deviation, especially determine whether the trajectory deviation is caused by the inconsistency between the real-time response strategy and the historical response strategy (standard). The system quickly determines whether there is an obvious operation difference by calculating the similarity curve and analyzing the changing slope of the deviation trend, and generates personalized driving control guidance in a timely manner.

Description

Technical Field

[0001] The invention belongs to the technical field of remote driving of airport passenger elevators, and in particular relates to a remote control operation auxiliary driving method and system. Background Art

[0002] As a key equipment for airport ground services, airport passenger elevators are mainly used to connect aircraft doors with boarding bridges or the ground to facilitate passengers getting on and off aircraft. With the complexity of airport operations, the operating difficulty and safety requirements of passenger elevators are constantly increasing. Traditional manually driven passenger elevators have certain limitations in terms of operating accuracy and efficiency. In order to solve these problems, remote control driving technology has gradually been applied to the operation of airport passenger elevators. Remote driving enables more efficient scheduling management and safety control through real-time control of passenger elevators by remote control personnel in the control center, especially in environments with obstructed vision, small operating space or complex environments. Remote control driving technology has significant advantages. At present, remote driving technology can realize remote control of basic vehicle driving and respond appropriately when encountering emergencies.

[0003] In the prior art, remote control driving systems usually rely on the vehicle's sensor data (such as GPS, accelerometers, and tilt sensors) to generate real-time response strategies to ensure the vehicle's stable driving under complex road conditions. When the passenger elevator deviates from the planned route or has an abnormal posture, the system will automatically adjust the driving strategy based on this data. However, these systems often find it difficult to accurately determine the cause of the deviation when the vehicle's trajectory deviates or an operation error occurs, especially when they cannot scientifically analyze whether the real-time response strategy is inconsistent with the historical response strategy (the optimal strategy summarized based on past data). Therefore, when the vehicle deviates from its trajectory, the system cannot make adjustments quickly, nor can it be clear whether the deviation is caused by a problem with the real-time response strategy or other external factors. In this case, the existing system can only provide limited automatic adjustments, and when the strategy fails, human intervention is required, but the timing of takeover is usually not good.

[0004] In addition, in the prior art, after the remote control personnel take over the vehicle, although they can manually adjust the operation of the vehicle, due to the lack of full use of historical response strategies, the remote control personnel are often unable to effectively operate according to the most appropriate historical standard strategy. This kind of human operation deviation, especially in an emergency, may lead to unnecessary risks or delays. Therefore, the existing remote control driving technology has deficiencies in dealing with trajectory deviations and quickly restoring the safe operation of the vehicle. It is difficult to scientifically and accurately analyze the causes of deviations, and it is difficult to provide remote control personnel with personalized operation guidance based on historical data, resulting in low emergency response and recovery efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a remote control operation assisted driving method and system, aiming to solve the problems raised in the background technology.

[0006] The present invention is implemented as follows: a remote control operation assisted driving method, the method comprising:

[0007] Obtaining historical driving data of the target passenger elevator on the designated driving route, and extracting historical body posture warning data of the target passenger elevator from the data, and determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data;

[0008] Based on historical driving data, the remote control personnel's control records of the target passenger elevator are obtained, and personalized driving control guidance is generated for each designated road sign based on the control records and historical driving response strategies;

[0009] During the real-time operation of the target passenger elevator, if it is found that the running trajectory of the target passenger elevator deviates significantly and the deviation point belongs to a certain designated landmark point, analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator relative to the historical driving response strategy exceeds the preset range;

[0010] If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the personalized driving control guidance corresponding to the deviation point is retrieved and sent to the remote control terminal of the remote control personnel.

[0011] As a further limitation of the technical solution of the embodiment of the present invention, the steps of obtaining historical driving data of the target passenger elevator on the designated driving route, extracting historical body posture warning data of the target passenger elevator therefrom, and determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator for each designated landmark point based on the historical body posture warning data include:

[0012] Obtain historical driving data of the target passenger elevator on the specified driving route, and obtain historical body posture warning data of the target passenger elevator based on the historical driving data;

[0013] Analyze historical vehicle posture warning data, extract GPS data at the time of warning, determine the specific location where the warning occurred based on the GPS data at the time of warning, and calibrate the designated landmarks on the designated driving route based on the location;

[0014] The historical driving response strategy of the target passenger elevator vehicle for each designated landmark point is determined, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator vehicle at the designated landmark point.

[0015] As a further limitation of the technical solution of the embodiment of the present invention, the steps of obtaining the control record of the target passenger elevator by the remote control personnel according to the historical driving data, and generating personalized driving control guidance for each designated landmark point in combination with the control record and the historical driving response strategy include:

[0016] Based on historical driving data, obtain the remote control personnel's control records of the target passenger elevator;

[0017] Intelligently analyze the remote control personnel's control records of the target passenger elevator, deeply analyze their operation modes in acceleration, deceleration and steering adjustment, and extract the remote control personnel's control habits and behavioral characteristics;

[0018] Based on the remote control personnel's control habits and behavioral characteristics, each operation step in the historical driving response strategy is personalized and optimized.

[0019] As a further limitation of the technical solution of the embodiment of the present invention, during the real-time operation of the target passenger elevator, if it is found that the operation trajectory of the target passenger elevator deviates significantly, and the deviation point belongs to a certain designated landmark point, the step of analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator exceeds a preset range relative to the historical driving response strategy includes:

[0020] During the real-time operation of the target passenger elevator, the operation track of the target passenger elevator is monitored according to the real-time GPS data of the target passenger elevator;

[0021] When the running trajectory of the target passenger elevator vehicle deviates significantly from the designated driving route at a certain position, it is determined that the running trajectory of the target passenger elevator vehicle deviates significantly, and the position information of the deviation point is obtained, and it is determined whether the deviation point matches a designated landmark point based on the position information;

[0022] If it is determined that the deviation point matches a certain designated landmark point, it is analyzed whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range.

[0023] As a further limitation of the technical solution of the embodiment of the present invention, if it is determined that the deviation point matches a certain designated landmark point, the step of analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range includes:

[0024] If it is confirmed that the deviation point matches a certain designated landmark point, the driving data of the target passenger elevator vehicle in the preset period before the deviation point is extracted, and the designated landmark points passed in the preset period and their corresponding historical driving response strategies and real-time driving response strategies are obtained;

[0025] Analyze the similarity between the historical driving response strategy and the real-time driving response strategy for each designated landmark point and generate a similarity curve;

[0026] The descending slope of the similarity curve is calculated to determine whether it exceeds a preset threshold. If the descending slope exceeds the preset threshold, it is determined that the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy has exceeded the preset range.

[0027] As a further limitation of the technical solution of the embodiment of the present invention, if the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the steps of retrieving the personalized driving control guidance corresponding to the deviation point and sending it to the remote control terminal of the remote control personnel include:

[0028] If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, determine the designated landmark point corresponding to the deviation point;

[0029] Obtain personalized driving control guidance for designated road signs corresponding to the deviation points;

[0030] The personalized driving control instructions are sent to the remote control terminal of the remote control personnel, and the remote control personnel are prompted to take over manually.

[0031] A remote control operation assisted driving system, the system comprises: a designated landmark point determination module, a personalized driving control guidance generation module, a driving response strategy analysis module and a remote control auxiliary module, wherein:

[0032] A designated landmark point determination module is used to obtain the historical driving data of the target passenger elevator on the designated driving route, and extract the historical body posture warning data of the target passenger elevator from it, and determine each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data;

[0033] The personalized driving control guidance generation module is used to obtain the remote control personnel's control records of the target passenger elevator based on historical driving data, and generate personalized driving control guidance for each designated road sign based on the control records and historical driving response strategies;

[0034] The driving response strategy analysis module is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range if the target passenger elevator car's running trajectory is found to deviate significantly during the real-time operation of the target passenger elevator car and the deviation point belongs to a specified landmark point;

[0035] The remote control auxiliary module is used to retrieve the personalized driving control guidance corresponding to the deviation point and send it to the remote control terminal of the remote control personnel if the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range.

[0036] As a further limitation of the technical solution of the embodiment of the present invention, the designated landmark point determination module specifically includes:

[0037] A first data acquisition unit is used to acquire historical driving data of a target passenger elevator vehicle on a specified driving route, and acquire historical vehicle body posture warning data of the target passenger elevator vehicle based on the historical driving data;

[0038] A designated landmark point determination unit is used to analyze historical vehicle body posture warning data, extract GPS data at the time of warning, determine the specific location where the warning occurs based on the GPS data at the time of warning, and calibrate the designated landmark point on the designated driving route based on the location;

[0039] The historical driving response strategy determination unit is used to determine the historical driving response strategy of the target passenger elevator vehicle for each designated landmark point, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator vehicle at the designated landmark point.

[0040] As a further limitation of the technical solution of the embodiment of the present invention, the personalized driving control guidance generation module specifically includes:

[0041] A second data acquisition unit is used to acquire the control record of the target passenger elevator by the remote control personnel according to the historical driving data;

[0042] The control record analysis unit is used to intelligently analyze the control records of the remote control personnel on the target passenger elevator, deeply analyze the operation mode in acceleration, deceleration and steering adjustment, and extract the control habits and behavioral characteristics of the remote control personnel;

[0043] The operation step optimization unit is used to perform personalized optimization of each operation step in the historical driving response strategy based on the remote control personnel's control habits and behavioral characteristics.

[0044] As a further limitation of the technical solution of the embodiment of the present invention, the driving response strategy analysis module specifically includes:

[0045] An operation trajectory monitoring unit is used to monitor the operation trajectory of the target passenger elevator car according to the real-time GPS data of the target passenger elevator car during the real-time operation of the target passenger elevator car;

[0046] A deviation point matching unit is used to determine that the running trajectory of the target passenger elevator vehicle has significantly deviated from the designated driving route at a certain position, obtain the position information of the deviation point, and determine whether the deviation point matches a designated landmark point based on the position information;

[0047] The deviation trend analysis unit is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range if it is determined that the deviation point matches a specified landmark point.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] By real-time monitoring of the target passenger elevator vehicle's driving trajectory, posture data, and response strategy, it is possible to scientifically and accurately analyze the cause of the deviation when the vehicle deviates from the designated driving route or historical response strategy, especially to determine whether the trajectory deviation is caused by the inconsistency between the real-time response strategy and the historical response strategy (standard). The system quickly determines whether there is a significant operational difference by calculating the similarity curve and analyzing the slope of the deviation trend, and generates personalized driving control guidance in a timely manner.

[0050] When the remote operator takes over the vehicle, the system provides accurate operation suggestions based on historical data and the remote operator's operating habits, ensuring that the vehicle can quickly return to a safe driving state in complex environments or emergencies. This mechanism effectively improves the accuracy of operations and emergency response capabilities, and reduces the risk of loss of control due to strategy deviation or improper operation. At the same time, the system can continuously learn and optimize the operating habits of remote operators, enhance the collaborative effectiveness of future driving scenarios, and ensure the safety and driving efficiency of vehicles in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A flowchart of a method provided by an embodiment of the present invention;

[0052] Figure 2 A flow chart of determining a designated landmark point and a historical driving response strategy for the designated landmark point in the method provided in an embodiment of the present invention;

[0053] Figure 3 A flow chart of generating personalized driving control guidance for a designated landmark in a method provided by an embodiment of the present invention;

[0054] Figure 4 A flow chart of real-time operation process analysis of a target passenger elevator vehicle in the method provided by an embodiment of the present invention;

[0055] Figure 5 A flow chart for analyzing whether a deviation trend exceeds a preset range in the method provided in an embodiment of the present invention;

[0056] Figure 6 A flow chart of obtaining personalized driving control guidance for a designated landmark point corresponding to a deviation point in the method provided in an embodiment of the present invention;

[0057] Figure 7 An application architecture diagram of a system provided by an embodiment of the present invention;

[0058] Figure 8 A structural block diagram of a module for determining a designated landmark point in a system provided by an embodiment of the present invention;

[0059] Fig. 9 A structural block diagram of a personalized driving control guidance generation module in a system provided by an embodiment of the present invention;

[0060] Fig.10 This is a structural block diagram of a driving response strategy analysis module in a system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0062] Figure 1 A flow chart of a method provided by an embodiment of the present invention is shown.

[0063] Specifically, a remote control operation assisted driving method comprises the following steps:

[0064] Step S100, obtaining the historical driving data of the target passenger elevator on the designated driving route, and extracting the historical body posture warning data of the target passenger elevator therefrom, and determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data.

[0065] Specifically, Figure 2 A flow chart for determining a designated landmark point and a historical driving response strategy for the designated landmark point is shown.

[0066] The process of obtaining the historical driving data of the target passenger elevator on the designated driving route and extracting the historical body posture warning data of the target passenger elevator from the historical body posture warning data is as follows: determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data. Specifically, the process includes the following steps:

[0067] Step S101, obtaining historical travel data of a target passenger elevator on a specified travel route, and obtaining historical vehicle body posture warning data of the target passenger elevator based on the historical travel data;

[0068] Step S102, parsing historical vehicle body posture warning data, extracting GPS data at the warning time, determining the specific location where the warning occurred based on the GPS data at the warning time, and calibrating a designated landmark point on the designated driving route based on the location;

[0069] Step S103, determining the historical driving response strategy of the target passenger elevator to each designated landmark point, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator at the designated landmark point.

[0070] In the embodiment of the present invention, the historical vehicle body posture warning data is generated by real-time monitoring of the vehicle body posture of the target passenger elevator vehicle during driving. When the vehicle posture (such as tilt, pitch, lateral sliding, etc.) exceeds the preset safety threshold, the system will immediately trigger an alarm based on the data of sensors (such as gyroscopes, acceleration sensors, etc.). These alarms are intended to indicate that the vehicle posture no longer meets the standard for stable driving and may pose a safety hazard.

[0071] When an alarm is sounded, the system will automatically record the vehicle's GPS location, speed, acceleration, steering angle and other detailed data for subsequent analysis and optimization of operations. When the target passenger elevator vehicle's body posture alarm occurs, the data recorded by the system will be used as historical body posture alarm data to help analyze the vehicle's posture changes and countermeasures in different situations.

[0072] The historical driving response strategy refers to the proactive adjustment measures taken by the system based on the vehicle's status (such as speed, posture, road environment, etc.) when the autonomous passenger elevator encounters a body posture warning. These adjustments include acceleration, deceleration, steering, braking and other operations taken by the vehicle in the warning state to restore the vehicle's normal driving posture.

[0073] The generation process of this response strategy relies on multiple technical means, including sensor data fusion, vehicle state analysis and automatic control algorithms. When the vehicle triggers a body posture alarm, the system first analyzes the data input by the sensor (such as tilt angle, vehicle speed, etc.), and then selects an appropriate adjustment strategy based on the current road conditions and vehicle status. These strategies can include automatic deceleration, steering angle adjustment, and even braking to ensure that the vehicle returns to a safe state in the shortest time. This response strategy belongs to the existing technology, based on the automatic adjustment made by the autonomous driving system through sensor data analysis and control algorithms when the vehicle posture is abnormal.

[0074] Furthermore, the remote control operation assisted driving method further comprises the following steps:

[0075] Step S200, based on the historical driving data, obtain the remote control personnel's control record of the target passenger elevator, and generate personalized driving control guidance for each designated landmark point in combination with the control record and the historical driving response strategy.

[0076] Specifically, Figure 3 A flow chart for generating personalized driving control guidance for a specified landmark is shown.

[0077] Among them, according to the historical driving data, the remote control personnel's control record of the target passenger elevator is obtained, and combined with the control record and the historical driving response strategy, a personalized driving control guide is generated for each designated road sign, which specifically includes the following steps:

[0078] Step S201, obtaining the control record of the target passenger elevator by the remote control personnel according to the historical driving data;

[0079] Step S202, intelligently analyzing the control records of the remote control personnel on the target passenger elevator, deeply analyzing the operation modes of the remote control personnel in terms of acceleration, deceleration and steering adjustment, and extracting the control habits and behavior characteristics of the remote control personnel;

[0080] Step S203, based on the remote control personnel's control habits and behavior characteristics, each operation step in the historical driving response strategy is personalized and optimized.

[0081] In the embodiment of the present invention, the control record generally covers all the operation behaviors of the remote control personnel on the target passenger elevator, including acceleration, deceleration, steering, braking, speed change, steering angle, turning radius, braking intensity and other operation data. These data can reflect the operation habits of the remote control personnel under different road conditions, environmental conditions and driving scenarios. In addition, it should also include environmental data during operation, such as vehicle body posture, road conditions, weather conditions, etc., as auxiliary information for analyzing the decision-making basis of the remote control personnel.

[0082] To deeply analyze the control habits and behavioral characteristics of remote control personnel, big data analysis and machine learning technology can be used. By statistically analyzing and mining a large amount of data from historical control records, the system can identify the operation modes of remote control personnel in different situations. For example, based on clustering algorithms, different operations of remote control personnel can be classified to extract their behavioral characteristics in acceleration, deceleration, and steering. Through association analysis, common operation strategies of remote control personnel in specific scenarios (such as sharp turns or uphill and downhill) can also be found to summarize their control habits.

[0083] The key to combining "operation records" and "historical driving response strategies" and applying them to the autonomous operation of the target passenger elevator is to build an intelligent control system that can make real-time decisions based on the remote control personnel's operating habits and historical strategies. When the remote control personnel manually take over the target passenger elevator, the system will first extract the operating mode and behavior characteristics from the historical operation records to form personalized driving guidance. This guidance not only retains the remote control personnel's operating preferences in different situations, but also combines the optimized response strategy under specific road conditions.

[0084] Specifically, the system will first identify the best operating steps under different road conditions and environments based on historical driving response strategies. These steps will be combined with the remote control personnel's operating habits. For example, when the vehicle enters a sharp turn or goes uphill or downhill, the system can optimize the current vehicle driving path through the remote control personnel's habitual acceleration, deceleration, and steering patterns extracted from historical records. At the same time, the system adjusts the steering angle, braking force, and acceleration timing in real time according to these habitual operations, so that autonomous operation is more in line with actual operating preferences.

[0085] In autonomous operation, the system continuously updates the operation model through continuous learning and analysis of historical data, so that it can effectively apply these personalized optimization strategies in future driving scenarios. This means that the system will perform operations consistent with historical response strategies based on the remote control personnel's operating style, ensuring that when taking over or driving autonomously, the vehicle can respond to complex road conditions in a more accurate and stable manner, thereby improving the effectiveness and safety of autonomous operation.

[0086] Furthermore, the remote control operation assisted driving method further comprises the following steps:

[0087] Step S300, during the real-time operation of the target passenger elevator, if it is found that the operation trajectory of the target passenger elevator deviates significantly and the deviation point belongs to a specified landmark point, analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator relative to the historical driving response strategy exceeds a preset range.

[0088] Specifically, Figure 4 A flow chart showing the real-time operation process analysis of the target passenger elevator vehicle is shown.

[0089] Among them, during the real-time operation of the target passenger elevator, if it is found that the operation trajectory of the target passenger elevator deviates significantly, and the deviation point belongs to a certain designated landmark point, analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator exceeds the preset range relative to the historical driving response strategy specifically includes the following steps:

[0090] Step S301, during the real-time operation of the target passenger elevator, monitoring the operation track of the target passenger elevator according to the real-time GPS data of the target passenger elevator;

[0091] Step S302, when the running track of the target passenger elevator vehicle deviates significantly from the designated driving route at a certain position, it is determined that the running track of the target passenger elevator vehicle deviates significantly, and the position information of the deviation point is obtained, and it is determined whether the deviation point matches a designated landmark point based on the position information;

[0092] Step S303: if it is determined that the deviation point matches a certain designated landmark point, it is analyzed whether the deviation trend of the real-time driving response strategy of the target passenger elevator vehicle relative to the historical driving response strategy exceeds a preset range.

[0093] In an embodiment of the present invention, the index of significant deviation is usually determined by comparing the real-time running trajectory of the target passenger elevator car with the preset designated driving route. This can be comprehensively evaluated based on factors such as distance error, yaw angle, speed change, etc. For example, the system can preset a trajectory deviation threshold (such as 2 meters). When the distance between the real-time GPS position of the target passenger elevator car and the ideal position of the designated driving route exceeds the threshold, it is considered that a significant deviation has occurred. In addition, it can also be combined with the change in yaw angle. When the direction of the vehicle deviates from the steering angle of the preset route by more than a certain degree (such as 5 degrees), it can also be considered that a significant deviation has occurred. Through real-time monitoring of these parameters, the system can automatically determine the occurrence of deviations and trigger further analysis.

[0094] The determination of whether the deviation point matches a specified landmark point is mainly achieved through GPS data and position matching algorithms. First, the system obtains the real-time GPS location information of the target passenger elevator and compares it with the GPS coordinates of the pre-set landmark points. Geographic distance calculation methods, such as Euclidean distance or Haversine formula, can be used to calculate the distance between the deviation point and each specified landmark point. If the distance is less than the preset matching threshold (for example, 1-2 meters), the deviation point is considered to match a specified landmark point. In addition, considering the dynamic changes in the trajectory during driving, the system can also combine time series analysis to further confirm whether the deviation point is consistent with the specified landmark point by comparing the trajectory changes before and after the deviation point. This ensures the accuracy and real-time performance of the matching.

[0095] Specifically, Figure 5 A flow chart is shown for analyzing whether the deviation trend exceeds a preset range.

[0096] If it is determined that the deviation point matches a certain designated landmark point, analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator vehicle relative to the historical driving response strategy exceeds a preset range specifically includes the following steps:

[0097] Step S3031, if it is confirmed that the deviation point matches a certain designated landmark point, extract the driving data of the target passenger elevator vehicle in the preset period before the deviation point, obtain the designated landmark points passed in the preset period and their corresponding historical driving response strategies and real-time driving response strategies;

[0098] Step S3032, analyzing the similarity between the historical driving response strategy and the real-time driving response strategy of each designated landmark point, and generating a similarity curve;

[0099] Step S3033, calculate the descending slope of the similarity curve and determine whether it exceeds the preset threshold. If the descending slope exceeds the preset threshold, it is determined that the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy has exceeded the preset range.

[0100] In an embodiment of the present invention, the deviation trend of the real-time driving response strategy relative to the historical driving response strategy is analyzed, mainly based on the change in similarity between the two, and the trend of such change over a period of time. If the historical driving response strategy represents the optimal or safe response plan, and the real-time strategy shows significant differences when facing similar road conditions or environments, the system can determine the degree of deviation by calculating the similarity curve between the two. The downward slope of the similarity curve indicates the speed of change of the gap between the real-time response and the historical response strategy. If the downward slope exceeds the preset threshold, it means that the trend of the current strategy deviating from the historical response strategy has increased significantly, indicating that the vehicle may face the risk of not adapting to the current road conditions.

[0101] The increase in deviation trend may be caused by a variety of reasons, including sensor data delay or abnormality, system processing lag, network communication problems, sudden changes in environment or road conditions, vehicle mechanical failure or remote control personnel operation errors, etc. These factors together lead to the system's failure to obtain data in time and adopt historical driving response strategies, increasing risks.

[0102] This analysis method can timely identify whether the target passenger elevator's response strategy under specific road conditions deviates from the best practice plan, helping the system maintain driving safety and stability during vehicle operation. By monitoring the changes in the similarity curve, the system can quickly detect anomalies in real-time operation and decide whether to immediately adjust the strategy or notify the remote control personnel to intervene based on the severity of the deviation trend. The benefit is that it provides an early warning mechanism that can take effective action before the problem evolves into a greater risk, thereby reducing the possibility of the vehicle deviating from the preset route or causing an accident.

[0103] This analysis method can be used to ensure that the autonomous driving system or remote control system can effectively handle real-time changes in complex environments. By comparing the degree of deviation between the real-time strategy and the historical strategy, this method can be applied to vehicles that require high-precision control, such as airport passenger elevators, to ensure that when the vehicle encounters complex road conditions, sudden environmental changes, or system feedback delays, it can still be corrected in time based on the historical optimal solution or through remote control operations. It can help improve the emergency response capabilities of the autonomous driving system, especially in some scenarios involving sensitive areas or dangerous operations, to ensure driving safety and stability.

[0104] Furthermore, the remote control operation assisted driving method further comprises the following steps:

[0105] Step S400: If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the personalized driving control guidance corresponding to the deviation point is retrieved and sent to the remote control terminal of the remote control personnel.

[0106] Specifically, Figure 6 A flow chart of obtaining personalized driving control guidance for a designated landmark point corresponding to a deviation point is shown.

[0107] If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the personalized driving control guidance corresponding to the deviation point is retrieved and sent to the remote control terminal of the remote control personnel, which specifically includes the following steps:

[0108] Step S401, if the deviation trend of the real-time driving response strategy of the target passenger elevator vehicle relative to the historical driving response strategy exceeds a preset range, determine the designated landmark point corresponding to the deviation point;

[0109] Step S402, obtaining personalized driving control guidance for a designated landmark point corresponding to the deviation point;

[0110] Step S403, sending the personalized driving control instructions to the remote control terminal of the remote control personnel, and prompting the remote control personnel to take over manually.

[0111] In an embodiment of the present invention, during the operation of the target passenger elevator, when the system detects that the deviation trend of the real-time driving response strategy from the historical driving response strategy exceeds the preset range, the system will issue a reminder and require the remote control personnel to take over the vehicle immediately. At this time, the system will automatically extract the personalized driving control guidance of the designated landmark point corresponding to the deviation point, and push the detailed operation steps to the remote control terminal of the remote control personnel. The guidance is generated based on the historical driving response strategy and the operating habits of the remote control personnel, aiming to ensure that the vehicle can quickly return to a safe operating state.

[0112] After taking over, the remote control personnel need to perform operations according to the personalized driving control instructions. First, the remote control personnel should check the current status of the vehicle and control suggestions, such as steering angle, speed adjustment, etc. through the remote control terminal. According to the requirements of the instructions, the remote control personnel gradually adjust the steering angle, acceleration or deceleration operation of the vehicle to ensure that the vehicle responds to the current road conditions according to the best strategy. During the whole process, the remote control personnel need to monitor the response of the vehicle in real time to confirm whether the execution effect of each adjustment is consistent with the instructions.

[0113] For example, when the vehicle deviates from the response strategy at a sharp turn, the system may suggest that the remote control personnel adjust the steering angle to 25 degrees and reduce the speed to 12 kilometers per hour. The remote control personnel should immediately adjust the steering angle through the remote control terminal and reduce the speed through the brake controller to ensure that the vehicle can smoothly pass the sharp turn. Through the real-time monitoring system, the remote control personnel can check the vehicle's posture and trajectory to confirm that it is gradually returning to a safe state.

[0114] The entire process ensures that after taking over the vehicle, the remote control personnel can accurately operate the vehicle according to the personalized driving control guidance generated by the system, and ensure that the vehicle's operating status can be adjusted quickly and effectively in the event of deviation to ensure safe driving of the vehicle. This mechanism not only improves the accuracy of operation, but also reduces the risk of human error.

[0115] In summary, the present invention can scientifically and accurately analyze the cause of deviation when the vehicle deviates from the designated driving route or historical response strategy by real-time monitoring of the target passenger elevator vehicle's driving trajectory, posture data, and response strategy, especially judging whether the trajectory deviation is caused by the inconsistency between the real-time response strategy and the historical response strategy (standard). The system can quickly determine whether there is an obvious operational difference by calculating the similarity curve and analyzing the change slope of the deviation trend, and generate personalized driving control guidance in a timely manner.

[0116] When the remote operator takes over the vehicle, the system provides accurate operation suggestions based on historical data and the remote operator's operating habits, ensuring that the vehicle can quickly return to a safe driving state in complex environments or emergencies. This mechanism effectively improves the accuracy of operations and emergency response capabilities, and reduces the risk of loss of control due to strategy deviation or improper operation. At the same time, the system can continuously learn and optimize the operating habits of remote operators, enhance the collaborative effectiveness of future driving scenarios, and ensure the safety and driving efficiency of vehicles in various environments.

[0117] Furthermore, Figure 7 The application architecture diagram of the system provided by the embodiment of the present invention is shown.

[0118] Among them, in another preferred embodiment provided by the present invention, a remote control operation assisted driving system includes:

[0119] The designated landmark point determination module 100 is used to obtain the historical driving data of the target passenger elevator on the designated driving route, and extract the historical body posture warning data of the target passenger elevator therefrom, and determine each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data.

[0120] Specifically, Figure 8The structure block diagram of the designated landmark point determination module 100 in the system provided by the embodiment of the present invention is shown.

[0121] Among them, in the preferred embodiment provided by the present invention, the designated landmark point determination module 100 specifically includes:

[0122] The first data acquisition unit 101 is used to acquire the historical driving data of the target passenger elevator on the specified driving route, and acquire the historical body posture warning data of the target passenger elevator based on the historical driving data;

[0123] The designated landmark point determination unit 102 is used to analyze the historical vehicle body posture warning data, extract the GPS data at the time of the warning, determine the specific location where the warning occurs based on the GPS data at the time of the warning, and calibrate the designated landmark point on the designated driving route based on the location;

[0124] The historical driving response strategy determination unit 103 is used to determine the historical driving response strategy of the target passenger elevator for each designated landmark point, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator at the designated landmark point.

[0125] In the embodiment of the present invention, the historical vehicle body posture warning data is generated by real-time monitoring of the vehicle body posture of the target passenger elevator vehicle during driving. When the vehicle posture (such as tilt, pitch, lateral sliding, etc.) exceeds the preset safety threshold, the system will immediately trigger an alarm based on the data of sensors (such as gyroscopes, acceleration sensors, etc.). These alarms are intended to indicate that the vehicle posture no longer meets the standard for stable driving and may pose a safety hazard.

[0126] When an alarm is sounded, the system will automatically record the vehicle's GPS location, speed, acceleration, steering angle and other detailed data for subsequent analysis and optimization of operations. When the target passenger elevator vehicle's body posture alarm occurs, the data recorded by the system will be used as historical body posture alarm data to help analyze the vehicle's posture changes and countermeasures in different situations.

[0127] The historical driving response strategy refers to the proactive adjustment measures taken by the system based on the vehicle's status (such as speed, posture, road environment, etc.) when the autonomous passenger elevator encounters a body posture warning. These adjustments include acceleration, deceleration, steering, braking and other operations taken by the vehicle in the warning state to restore the vehicle's normal driving posture.

[0128] The generation process of this response strategy relies on multiple technical means, including sensor data fusion, vehicle state analysis and automatic control algorithms. When the vehicle triggers a body posture alarm, the system first analyzes the data input by the sensor (such as tilt angle, vehicle speed, etc.), and then selects an appropriate adjustment strategy based on the current road conditions and vehicle status. These strategies can include automatic deceleration, steering angle adjustment, and even braking to ensure that the vehicle returns to a safe state in the shortest time. This response strategy belongs to the existing technology, based on the automatic adjustment made by the autonomous driving system through sensor data analysis and control algorithms when the vehicle posture is abnormal.

[0129] Furthermore, the remote control operation assisted driving system also includes:

[0130] The personalized driving control guidance generating module 200 is used to obtain the remote control personnel's control records of the target passenger elevator car based on the historical driving data, and generate personalized driving control guidance for each designated landmark point in combination with the control records and the historical driving response strategies.

[0131] Specifically, Fig. 9 It shows a structural block diagram of the personalized driving control guidance generating module 200 in the system provided by an embodiment of the present invention.

[0132] Among them, in the preferred embodiment provided by the present invention, the personalized driving control guidance generation module 200 specifically includes:

[0133] The second data acquisition unit 201 is used to acquire the operation record of the target passenger elevator by the remote control personnel according to the historical driving data;

[0134] The control record analysis unit 202 is used to intelligently analyze the control record of the remote control personnel on the target passenger elevator car, deeply analyze its operation mode in acceleration, deceleration and steering adjustment, and extract the control habits and behavior characteristics of the remote control personnel;

[0135] The operation step optimization unit 203 is used to perform personalized optimization on each operation step in the historical driving response strategy based on the operation habits and behavior characteristics of the remote control personnel.

[0136] In the embodiment of the present invention, the control record generally covers all the operation behaviors of the remote control personnel on the target passenger elevator, including acceleration, deceleration, steering, braking, speed change, steering angle, turning radius, braking intensity and other operation data. These data can reflect the operation habits of the remote control personnel under different road conditions, environmental conditions and driving scenarios. In addition, it should also include environmental data during operation, such as vehicle body posture, road conditions, weather conditions, etc., as auxiliary information for analyzing the decision-making basis of the remote control personnel.

[0137] To deeply analyze the control habits and behavioral characteristics of remote control personnel, big data analysis and machine learning technology can be used. By statistically analyzing and mining a large amount of data from historical control records, the system can identify the operation modes of remote control personnel in different situations. For example, based on clustering algorithms, different operations of remote control personnel can be classified to extract their behavioral characteristics in acceleration, deceleration, and steering. Through association analysis, common operation strategies of remote control personnel in specific scenarios (such as sharp turns or uphill and downhill) can also be found to summarize their control habits.

[0138] The key to combining "operation records" and "historical driving response strategies" and applying them to the autonomous operation of the target passenger elevator is to build an intelligent control system that can make real-time decisions based on the remote control personnel's operating habits and historical strategies. When the remote control personnel manually take over the target passenger elevator, the system will first extract the operating mode and behavior characteristics from the historical operation records to form personalized driving guidance. This guidance not only retains the remote control personnel's operating preferences in different situations, but also combines the optimized response strategy under specific road conditions.

[0139] Specifically, the system will first identify the best operating steps under different road conditions and environments based on historical driving response strategies. These steps will be combined with the remote control personnel's operating habits. For example, when the vehicle enters a sharp turn or goes uphill or downhill, the system can optimize the current vehicle driving path through the remote control personnel's habitual acceleration, deceleration, and steering patterns extracted from historical records. At the same time, the system adjusts the steering angle, braking force, and acceleration timing in real time according to these habitual operations, so that autonomous operation is more in line with actual operating preferences.

[0140] In autonomous operation, the system continuously updates the operation model through continuous learning and analysis of historical data, so that it can effectively apply these personalized optimization strategies in future driving scenarios. This means that the system will perform operations consistent with historical response strategies based on the remote control personnel's operating style, ensuring that when taking over or driving autonomously, the vehicle can respond to complex road conditions in a more accurate and stable manner, thereby improving the effectiveness and safety of autonomous operation.

[0141] Furthermore, the remote control operation assisted driving system also includes:

[0142] The driving response strategy analysis module 300 is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator relative to the historical driving response strategy exceeds a preset range if it is found that the running trajectory of the target passenger elevator has significantly deviated during the real-time operation of the target passenger elevator and the deviation point belongs to a specified landmark point.

[0143] Specifically, Fig.10It shows a structural block diagram of the driving response strategy analysis module 300 in the system provided by an embodiment of the present invention.

[0144] Among them, in the preferred embodiment provided by the present invention, the driving response strategy analysis module 300 specifically includes:

[0145] The running track monitoring unit 301 is used to monitor the running track of the target passenger elevator car according to the real-time GPS data of the target passenger elevator car during the real-time running process of the target passenger elevator car;

[0146] The deviation point matching unit 302 is used to determine that the running trajectory of the target passenger elevator vehicle has significantly deviated from the designated driving route at a certain position, obtain the position information of the deviation point, and determine whether the deviation point matches a designated landmark point based on the position information;

[0147] The deviation trend analysis unit 303 is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range if it is determined that the deviation point matches a certain designated landmark point.

[0148] In an embodiment of the present invention, the index of significant deviation is usually determined by comparing the real-time running trajectory of the target passenger elevator car with the preset designated driving route. This can be comprehensively evaluated based on factors such as distance error, yaw angle, speed change, etc. For example, the system can preset a trajectory deviation threshold (such as 2 meters). When the distance between the real-time GPS position of the target passenger elevator car and the ideal position of the designated driving route exceeds the threshold, it is considered that a significant deviation has occurred. In addition, it can also be combined with the change in yaw angle. When the direction of the vehicle deviates from the steering angle of the preset route by more than a certain degree (such as 5 degrees), it can also be considered that a significant deviation has occurred. Through real-time monitoring of these parameters, the system can automatically determine the occurrence of deviations and trigger further analysis.

[0149] The determination of whether the deviation point matches a specified landmark point is mainly achieved through GPS data and position matching algorithms. First, the system obtains the real-time GPS location information of the target passenger elevator and compares it with the GPS coordinates of the pre-set landmark points. Geographic distance calculation methods, such as Euclidean distance or Haversine formula, can be used to calculate the distance between the deviation point and each specified landmark point. If the distance is less than the preset matching threshold (for example, 1-2 meters), the deviation point is considered to match a specified landmark point. In addition, considering the dynamic changes in the trajectory during driving, the system can also combine time series analysis to further confirm whether the deviation point is consistent with the specified landmark point by comparing the trajectory changes before and after the deviation point. This ensures the accuracy and real-time performance of the matching.

[0150] The analysis of the deviation trend of the real-time driving response strategy from the historical driving response strategy is mainly based on the change in similarity between the two and the trend of such change over a period of time. If the historical driving response strategy represents the optimal or safe response plan, and the real-time strategy shows significant differences when facing similar road conditions or environments, the system can determine the degree of deviation by calculating the similarity curve between the two. The downward slope of the similarity curve indicates the speed of change of the gap between the real-time response and the historical response strategy. If the downward slope exceeds the preset threshold, it means that the trend of the current strategy deviating from the historical response strategy has increased significantly, indicating that the vehicle may face the risk of not adapting to the current road conditions.

[0151] The increase in deviation trend may be caused by a variety of reasons, including sensor data delay or abnormality, system processing lag, network communication problems, sudden changes in environment or road conditions, vehicle mechanical failure or remote control personnel operation errors, etc. These factors together lead to the system's failure to obtain data in time and adopt historical driving response strategies, increasing risks.

[0152] This analysis method can timely identify whether the target passenger elevator's response strategy under specific road conditions deviates from the best practice plan, helping the system maintain driving safety and stability during vehicle operation. By monitoring the changes in the similarity curve, the system can quickly detect anomalies in real-time operation and decide whether to immediately adjust the strategy or notify the remote control personnel to intervene based on the severity of the deviation trend. The benefit is that it provides an early warning mechanism that can take effective action before the problem evolves into a greater risk, thereby reducing the possibility of the vehicle deviating from the preset route or causing an accident.

[0153] This analysis method can be used to ensure that the autonomous driving system or remote control system can effectively handle real-time changes in complex environments. By comparing the degree of deviation between the real-time strategy and the historical strategy, this method can be applied to vehicles that require high-precision control, such as airport passenger elevators, to ensure that when the vehicle encounters complex road conditions, sudden environmental changes, or system feedback delays, it can still be corrected in time based on the historical optimal solution or through remote control operations. It can help improve the emergency response capabilities of the autonomous driving system, especially in some scenarios involving sensitive areas or dangerous operations, to ensure driving safety and stability.

[0154] Furthermore, the remote control operation assisted driving system also includes:

[0155] The remote control auxiliary module 400 is used to retrieve the personalized driving control guidance corresponding to the deviation point and send it to the remote control terminal of the remote control personnel if the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range.

[0156] In an embodiment of the present invention, during the operation of the target passenger elevator, when the system detects that the deviation trend of the real-time driving response strategy from the historical driving response strategy exceeds the preset range, the system will issue a reminder and require the remote control personnel to take over the vehicle immediately. At this time, the system will automatically extract the personalized driving control guidance of the designated landmark point corresponding to the deviation point, and push the detailed operation steps to the remote control terminal of the remote control personnel. The guidance is generated based on the historical driving response strategy and the operating habits of the remote control personnel, aiming to ensure that the vehicle can quickly return to a safe operating state.

[0157] After taking over, the remote control personnel need to perform operations according to the personalized driving control instructions. First, the remote control personnel should check the current status of the vehicle and control suggestions, such as steering angle, speed adjustment, etc. through the remote control terminal. According to the requirements of the instructions, the remote control personnel gradually adjust the steering angle, acceleration or deceleration operation of the vehicle to ensure that the vehicle responds to the current road conditions according to the best strategy. During the whole process, the remote control personnel need to monitor the response of the vehicle in real time to confirm whether the execution effect of each adjustment is consistent with the instructions.

[0158] For example, when the vehicle deviates from the response strategy at a sharp turn, the system may suggest that the remote control personnel adjust the steering angle to 25 degrees and reduce the speed to 12 kilometers per hour. The remote control personnel should immediately adjust the steering angle through the remote control terminal and reduce the speed through the brake controller to ensure that the vehicle can smoothly pass the sharp turn. Through the real-time monitoring system, the remote control personnel can check the vehicle's posture and trajectory to confirm that it is gradually returning to a safe state.

[0159] The entire process ensures that after taking over the vehicle, the remote control personnel can accurately operate the vehicle according to the personalized driving control guidance generated by the system, and ensure that the vehicle's operating status can be adjusted quickly and effectively in the event of deviation to ensure safe driving of the vehicle. This mechanism not only improves the accuracy of operation, but also reduces the risk of human error.

[0160] In summary, the present invention can scientifically and accurately analyze the cause of deviation when the vehicle deviates from the designated driving route or historical response strategy by real-time monitoring of the target passenger elevator vehicle's driving trajectory, posture data, and response strategy, especially judging whether the trajectory deviation is caused by the inconsistency between the real-time response strategy and the historical response strategy (standard). The system can quickly determine whether there is an obvious operational difference by calculating the similarity curve and analyzing the change slope of the deviation trend, and generate personalized driving control guidance in a timely manner.

[0161] When the remote operator takes over the vehicle, the system provides accurate operation suggestions based on historical data and the remote operator's operating habits, ensuring that the vehicle can quickly return to a safe driving state in complex environments or emergencies. This mechanism effectively improves the accuracy of operations and emergency response capabilities, and reduces the risk of loss of control due to strategy deviation or improper operation. At the same time, the system can continuously learn and optimize the operating habits of remote operators, enhance the collaborative effectiveness of future driving scenarios, and ensure the safety and driving efficiency of vehicles in various environments.

[0162] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0163] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0164] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0166] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote control operation assisted driving method, characterized in that: The method comprises: Obtaining historical driving data of the target passenger elevator on the designated driving route, and extracting historical body posture warning data of the target passenger elevator from the data, and determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data; Based on historical driving data, the remote control personnel's control records of the target passenger elevator are obtained, and personalized driving control guidance is generated for each designated road sign based on the control records and historical driving response strategies; During the real-time operation of the target passenger elevator, if it is found that the running trajectory of the target passenger elevator deviates significantly and the deviation point belongs to a certain designated landmark point, analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator relative to the historical driving response strategy exceeds the preset range; If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the personalized driving control guidance corresponding to the deviation point is retrieved and sent to the remote control terminal of the remote control personnel.

2. The remote control operation assisted driving method according to claim 1, characterized in that: The steps of obtaining historical driving data of a target passenger elevator on a designated driving route, extracting historical body posture warning data of the target passenger elevator therefrom, and determining each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data include: Obtain historical driving data of the target passenger elevator on the specified driving route, and obtain historical body posture warning data of the target passenger elevator based on the historical driving data; Analyze historical vehicle posture warning data, extract GPS data at the time of warning, determine the specific location where the warning occurred based on the GPS data at the time of warning, and calibrate the designated landmarks on the designated driving route based on the location; The historical driving response strategy of the target passenger elevator vehicle for each designated landmark point is determined, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator vehicle at the designated landmark point.

3. The remote control operation assisted driving method according to claim 2, characterized in that: The steps of obtaining the remote control personnel's control records of the target passenger elevator based on the historical driving data and generating personalized driving control guidance for each designated road sign in combination with the control records and the historical driving response strategy include: Based on historical driving data, obtain the remote control personnel's control records of the target passenger elevator; Intelligently analyze the remote control personnel's control records of the target passenger elevator, deeply analyze their operation modes in acceleration, deceleration and steering adjustment, and extract the remote control personnel's control habits and behavioral characteristics; Based on the remote control personnel's control habits and behavioral characteristics, each operation step in the historical driving response strategy is personalized and optimized.

4. The remote control operation assisted driving method according to claim 1, characterized in that: During the real-time operation of the target passenger elevator, if it is found that the operation trajectory of the target passenger elevator deviates significantly, and the deviation point belongs to a certain designated landmark point, the steps of analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator exceeds a preset range relative to the historical driving response strategy include: During the real-time operation of the target passenger elevator, the operation track of the target passenger elevator is monitored according to the real-time GPS data of the target passenger elevator; When the running trajectory of the target passenger elevator vehicle deviates significantly from the designated driving route at a certain position, it is determined that the running trajectory of the target passenger elevator vehicle deviates significantly, and the position information of the deviation point is obtained, and it is determined whether the deviation point matches a designated landmark point based on the position information; If it is determined that the deviation point matches a certain designated landmark point, it is analyzed whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range.

5. The remote control operation assisted driving method according to claim 4, characterized in that: If it is determined that the deviation point matches a certain designated landmark point, the steps of analyzing whether the deviation trend of the real-time driving response strategy of the target passenger elevator vehicle relative to the historical driving response strategy exceeds a preset range include: If it is confirmed that the deviation point matches a certain designated landmark point, the driving data of the target passenger elevator vehicle in the preset period before the deviation point is extracted, and the designated landmark points passed in the preset period and their corresponding historical driving response strategies and real-time driving response strategies are obtained; Analyze the similarity between the historical driving response strategy and the real-time driving response strategy for each designated landmark point and generate a similarity curve; The descending slope of the similarity curve is calculated to determine whether it exceeds a preset threshold. If the descending slope exceeds the preset threshold, it is determined that the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy has exceeded the preset range.

6. The remote control operation assisted driving method according to claim 5, characterized in that: If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, the steps of retrieving the personalized driving control guidance corresponding to the deviation point and sending it to the remote control terminal of the remote control personnel include: If the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range, determine the designated landmark point corresponding to the deviation point; Obtain personalized driving control guidance for designated road signs corresponding to the deviation points; The personalized driving control instructions are sent to the remote control terminal of the remote control personnel, and the remote control personnel are prompted to take over manually.

7. A remote control operation assisted driving system, characterized in that: The system includes: a designated landmark determination module, a personalized driving control guidance generation module, a driving response strategy analysis module and a remote control assistance module, wherein: A designated landmark point determination module is used to obtain the historical driving data of the target passenger elevator on the designated driving route, and extract the historical body posture warning data of the target passenger elevator from it, and determine each designated landmark point on the designated driving route and the historical driving response strategy of the target passenger elevator to each designated landmark point based on the historical body posture warning data; The personalized driving control guidance generation module is used to obtain the remote control personnel's control records of the target passenger elevator based on historical driving data, and generate personalized driving control guidance for each designated road sign based on the control records and historical driving response strategies; The driving response strategy analysis module is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range if the target passenger elevator car's running trajectory is found to deviate significantly during the real-time operation of the target passenger elevator car and the deviation point belongs to a specified landmark point; The remote control auxiliary module is used to retrieve the personalized driving control guidance corresponding to the deviation point and send it to the remote control terminal of the remote control personnel if the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range.

8. The remote control operation assisted driving system according to claim 7, characterized in that: The designated landmark point determination module specifically includes: A first data acquisition unit is used to acquire historical driving data of a target passenger elevator vehicle on a specified driving route, and acquire historical vehicle body posture warning data of the target passenger elevator vehicle based on the historical driving data; A designated landmark point determination unit is used to analyze historical vehicle body posture warning data, extract GPS data at the time of warning, determine the specific location where the warning occurs based on the GPS data at the time of warning, and calibrate the designated landmark point on the designated driving route based on the location; The historical driving response strategy determination unit is used to determine the historical driving response strategy of the target passenger elevator vehicle for each designated landmark point, wherein the historical driving response strategy includes the acceleration, deceleration, and steering adjustment operations taken by the target passenger elevator vehicle at the designated landmark point.

9. The remote control operation assisted driving system according to claim 8, characterized in that: The personalized driving control guidance generation module specifically includes: A second data acquisition unit is used to acquire the control record of the target passenger elevator by the remote control personnel according to the historical driving data; The control record analysis unit is used to intelligently analyze the control records of the remote control personnel on the target passenger elevator, deeply analyze the operation mode in acceleration, deceleration and steering adjustment, and extract the control habits and behavioral characteristics of the remote control personnel; The operation step optimization unit is used to perform personalized optimization of each operation step in the historical driving response strategy based on the remote control personnel's control habits and behavioral characteristics.

10. The remote control operation assisted driving system according to claim 9, characterized in that: The driving response strategy analysis module specifically includes: An operation trajectory monitoring unit is used to monitor the operation trajectory of the target passenger elevator car according to the real-time GPS data of the target passenger elevator car during the real-time operation of the target passenger elevator car; A deviation point matching unit is used to determine that the running trajectory of the target passenger elevator vehicle has significantly deviated from the designated driving route at a certain position, obtain the position information of the deviation point, and determine whether the deviation point matches a designated landmark point based on the position information; The deviation trend analysis unit is used to analyze whether the deviation trend of the real-time driving response strategy of the target passenger elevator car relative to the historical driving response strategy exceeds a preset range if it is determined that the deviation point matches a specified landmark point.

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