Remote control driving method and system

Abstract

The invention discloses a remote control driving method and system. The system comprises an unmanned vehicle used for acquiring environment information of a surrounding area of the unmanned vehicle; according to a first specified rule, dividing the environment information of the surrounding area into a plurality of subspace areas; target object identification is carried out on the environment information of each sub-space area in the plurality of sub-space areas, and corresponding target object information closest to the unmanned vehicle in each sub-space area is obtained; the information of the corresponding target object closest to the unmanned vehicle in each subspace area is sent to a remote control driving terminal; and the remote control driving terminal is used for receiving the target object information sent by the unmanned vehicle and displaying the target object information on a display interface according to a second specified rule. The technical problem of insufficient safety of remote control driving is effectively solved.

Description

Technical Field

[0001] The present application relates to the field of vehicles and unmanned driving technology, and more specifically, to a remote control driving method and system. Background Art

[0002] With the intelligentization of mining scenes, the demand for remote control of vehicles has increased significantly. Taking mining trucks as an example, simply remotely controlling the power system of mining trucks sometimes cannot meet the actual use needs well. Since remote control driving has a certain delay, and there may be poor network conditions at the work site, in this case, if remote control driving cannot provide enough information to the remote control driver, it may cause on-site accidents. A safer remote control driving strategy is yet to be provided in the relevant technology. Summary of the invention

[0003] The embodiments of the present application provide a remote control driving method and system to solve the technical problem of insufficient safety of remote control driving in related technologies.

[0004] According to one aspect of the present application, a remote control driving method is provided, the method comprising: obtaining environmental information of an area surrounding an unmanned vehicle; dividing the spatial information of the surrounding area into a plurality of subspace areas according to a first specified rule, and obtaining environmental information corresponding to each subspace area; performing target object identification on the environmental information corresponding to each subspace area of ​​the plurality of subspace areas, and obtaining target object information corresponding to each subspace area and closest to the unmanned vehicle; sending the target object information corresponding to each subspace area and closest to the unmanned vehicle to a remote control driving terminal, so that the display interface of the remote control driving terminal displays the target object information, and the target object information is used to guide the remote control driver to remotely drive the unmanned vehicle.

[0005] Optionally, the multiple subspace areas include: an area directly in front of the unmanned vehicle, an area directly behind the unmanned vehicle, a left front area of ​​the front of the unmanned vehicle, a right front area of ​​the front of the unmanned vehicle, a left rear area of ​​the rear of the unmanned vehicle, a right rear area of ​​the rear of the unmanned vehicle, a left area of ​​the unmanned vehicle, and a right area of ​​the unmanned vehicle.

[0006] Optionally, the left side area of ​​the unmanned vehicle includes at least a first target subspace area located on the left side of the unmanned vehicle and a second target subspace area located on the left side of the unmanned vehicle, which are divided based on the length of the unmanned vehicle; and / or, the right side area of ​​the unmanned vehicle includes at least a third target subspace area located on the right side of the unmanned vehicle and a fourth target subspace area located on the right side of the unmanned vehicle, which are divided based on the length of the unmanned vehicle.

[0007] Optionally, the method also includes: obtaining the odometer information, map information and positioning information of the unmanned vehicle; predicting the distance between the target object and the unmanned vehicle based on the environmental information of the area surrounding the unmanned vehicle, the odometer information, the map information and the positioning information; sending the target object information closest to the unmanned vehicle in each subspace area to the remote control driving terminal, including: sending the target object information closest to the unmanned vehicle in each subspace area and the distance between each target object and the unmanned vehicle to the remote control driving terminal, and the remote control driving terminal is used to display the target object information at a specified position on the display interface according to the distance.

[0008] According to another aspect of the present application, a remote control driving method is provided, the method comprising: receiving target object information sent by an unmanned vehicle, wherein the target object information is information corresponding to a target object closest to the unmanned vehicle in each of a plurality of subspace areas obtained by dividing the surrounding area of ​​the unmanned vehicle; and displaying the target object information on a display interface according to a second specified rule.

[0009] Optionally, displaying the target object information on the display interface according to the second specified rule includes: displaying the identifier of the unmanned vehicle at the target position of the display interface based on the real-time positioning of the unmanned vehicle, and displaying each subspace area in the following areas around the identifier of the unmanned vehicle, and displaying the corresponding target object information in the subspace area where the target object exists: the area directly in front of the identifier, the area directly behind the identifier, the left front area of ​​the front of the vehicle corresponding to the identifier, the right front area of ​​the front of the vehicle corresponding to the identifier, the left rear area of ​​the rear of the vehicle corresponding to the identifier, the right rear area of ​​the rear of the vehicle corresponding to the identifier, the left area of ​​the identifier, and the right area of ​​the identifier.

[0010] Optionally, the left area of ​​the identifier includes at least a first target subspace area located on the left side of the identifier and a second target subspace area located on the left side of the identifier, which are divided based on the length of the identifier; and / or, the right area of ​​the identifier includes at least a third target subspace area located on the right side of the identifier and a fourth target subspace area located on the right side of the identifier, which are divided based on the length of the identifier.

[0011] Optionally, the target object information is displayed on the display interface according to the second specified rule, including: for multiple subspace areas surrounding the identifier of the unmanned vehicle, for the subspace areas where the target object exists, displaying the target object and the corresponding area border, and / or, for the subspace areas where the target object does not exist, displaying the corresponding area border.

[0012] Optionally, the method further includes: displaying an area border corresponding to the unmanned vehicle identifier on the display interface.

[0013] Optionally, the method also includes: receiving the distance between each target object and the unmanned vehicle sent by the unmanned vehicle; and displaying the target object information on the display interface according to the second specified rule, including: displaying the corresponding target object information on the display interface according to the distance and the second specified rule.

[0014] According to another aspect of the present application, a remote control driving system is also provided, which includes: an unmanned vehicle, used to obtain environmental information of the area around the unmanned vehicle; dividing the environmental information of the surrounding area into multiple subspace areas according to a first specified rule; performing target object identification on the environmental information of each subspace area among the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area; sending the target object information closest to the unmanned vehicle corresponding to each subspace area to a remote control driving terminal; the remote control driving terminal is used to receive the target object information sent by the unmanned vehicle, and display the target object information on a display interface according to a second specified rule.

[0015] In an embodiment of the present application, environmental information of the area surrounding the unmanned vehicle is obtained through an unmanned vehicle, and the environmental information of the surrounding area is divided into multiple subspace areas according to a first specified rule, and target object recognition is performed on the environmental information of each subspace area among the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area, and the target object information closest to the unmanned vehicle corresponding to each subspace area is sent to a remote control driving terminal; the remote control driving terminal receives the target object information sent by the unmanned vehicle, and displays the target object information on a display interface according to a second specified rule, thereby realizing the display of target object information in different spatial areas according to specific rules on the display interface of the remote control driving end, so that the remote control driver can obtain more valuable reference information, thereby effectively improving the remote control driver's controllability of the unmanned vehicle, thereby improving the safety of remote control driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 is a schematic diagram of a remote control driving method according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of another remote control driving method according to an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of a remote control driving terminal display interface;

[0020] Figure 4 A remote control driving system according to an embodiment of the present application;

[0021] Figure 5 The present invention is a schematic diagram of a control process of remote control driving according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0025] With the intelligentization of mining scenes, the demand for remote control driving of trucks has increased significantly. However, simply remotely controlling the power system of mining trucks sometimes cannot meet the actual use needs. Since remote control driving has a certain delay and there may be poor network conditions at the work site, if remote control driving cannot provide enough information to the remote driver, it may cause an on-site accident. A safer remote control driving strategy is yet to be provided in the relevant technology.

[0026] In order to effectively solve the above problems, the embodiments of the present application adopt a remote control driving method and system, which will be described in detail below.

[0027] like Figure 1 As shown, a schematic diagram of a remote control driving method according to an embodiment of the present application is provided, such as Figure 1 As shown, the method includes:

[0028] Step S101, obtaining environmental information of the area surrounding the unmanned vehicle;

[0029] Step S102, dividing the spatial information of the surrounding area into a plurality of sub-space areas according to a first specified rule, and acquiring environmental information corresponding to each sub-space area;

[0030] Step S103, performing target object recognition on the environmental information corresponding to each of the multiple subspace areas, and obtaining target object information corresponding to each subspace area and closest to the unmanned vehicle;

[0031] Step S104, sending the target object information closest to the unmanned vehicle in each subspace area to the remote control driving terminal, so that the display interface of the remote control driving terminal displays the target object information, and the target object information is used to guide the remote control driver to remotely drive the unmanned vehicle.

[0032] The execution entity of the above steps may be an unmanned vehicle, a cloud control platform or other third party (such as roadside equipment, etc.), and this embodiment does not make any specific limitations on this.

[0033] In step S101, a sensing device may be provided on the unmanned vehicle, and the sensing device may be one or more of a laser radar, a camera, and a millimeter-wave radar, etc.; environmental information may be sensed and acquired through the above-mentioned sensing device. The sensing device may be provided around the body of the unmanned vehicle, for example, on both sides of the front of the vehicle, on both sides of the rear of the vehicle, on the left and right sides of the vehicle, etc. Optionally, the sensing ranges of adjacently arranged sensing devices overlap, thereby ensuring 360-degree perception around the vehicle body. Of course, the arrangement of the sensing devices may also be provided according to specific user needs, and the present disclosure does not specifically limit this.

[0034] In step S102, the first specified rule is to divide the space around the unmanned vehicle according to the specified spatial distribution method to obtain multiple subspace areas. For example, the space around the unmanned vehicle can be divided into four areas: front, back, left, and right, or other division methods can be used, for example, the three areas of the front, left, and right sides of the vehicle center toward the vehicle head direction.

[0035] In step S103, by performing target object recognition on the environmental perception information obtained in each subspace area, target object information in the environment can be obtained. In this embodiment, through further analysis, the target object information closest to the unmanned vehicle in each subspace area is obtained, and other target object information is ignored.

[0036] In step S104, the remote control driving terminal can be set at the site or remotely where the unmanned vehicle is working, and the embodiment of the present application does not specifically limit this. In this step, the target information closest to the unmanned vehicle corresponding to each subspace area is sent to the remote control driving terminal, and the display interface of the remote control driving terminal will display the target information, and the remote control driver will remotely drive the unmanned vehicle according to the displayed information.

[0037] In an optional embodiment, the multiple subspace areas include: the area directly in front of the unmanned vehicle, the area directly behind the unmanned vehicle, the left front area of ​​the front of the unmanned vehicle, the right front area of ​​the front of the unmanned vehicle, the left rear area of ​​the rear of the unmanned vehicle, the right rear area of ​​the rear of the unmanned vehicle, the left area of ​​the unmanned vehicle, and the right area of ​​the unmanned vehicle. This embodiment can effectively cover the areas surrounding the unmanned vehicle, and the identified targets are all targets that interfere with or conflict with the unmanned vehicle. Transmitting and displaying this information can effectively improve the safety of remote control driving.

[0038] In an optional embodiment, the left area of ​​the unmanned vehicle at least includes a first target subspace area located on the left side of the unmanned vehicle and a second target subspace area located on the left side of the unmanned vehicle, which are divided based on the length of the unmanned vehicle; and / or, the right area of ​​the unmanned vehicle at least includes a third target subspace area located on the right side of the unmanned vehicle and a fourth target subspace area located on the right side of the unmanned vehicle, which are divided based on the length of the unmanned vehicle. This embodiment further refines the display content of the space objects on the left and right sides of the unmanned vehicle, making the display content on the remote control driving side more refined, which can effectively improve the detection of intrusion of vehicles on the left and right sides during remote control driving, thereby further improving the safety of remote control driving.

[0039] In an optional embodiment, the method further includes: obtaining the odometer information, map information and positioning information of the unmanned vehicle; predicting the distance between the target object and the unmanned vehicle based on the environmental information of the area around the unmanned vehicle, the odometer information, the map information and the positioning information; sending the target object information closest to the unmanned vehicle corresponding to each subspace area to the remote control driving terminal includes: sending the target object information closest to the unmanned vehicle corresponding to each subspace area and the distance between each target object and the unmanned vehicle to the remote control driving terminal, and the remote control driving terminal is used to display the target object information at a specified position on the display interface according to the distance. In this embodiment, by combining the environmental information, odometer information, map information and positioning information of the area around the unmanned vehicle, the distance between the target object and the unmanned vehicle can be accurately predicted, and the distance information can be sent to the remote control driving terminal, so that the target object can be effectively displayed on the remote control driving terminal side based on the distance information.

[0040] In the above embodiment, environmental information of the area around the unmanned vehicle is obtained, and according to the first specified rule, the spatial information of the surrounding area is divided into multiple subspace areas, and the environmental information corresponding to each subspace area is obtained, and target object recognition is performed on the environmental information corresponding to each subspace area of ​​the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area, and the target object information closest to the unmanned vehicle corresponding to each subspace area is sent to the remote control driving terminal so that the display interface of the remote control driving terminal displays the target object information. The target object information is used to guide the remote control driver to remotely drive the unmanned vehicle, and the space around the unmanned vehicle can be effectively divided and target object recognition can be performed, and the sending of the identified target object can effectively ensure the accurate display of the target object on the remote control driving end.

[0041] like Figure 2 As shown, another schematic diagram of a remote control driving method according to an embodiment of the present application is provided, such as Figure 2 As shown, the method includes:

[0042] Step S201, receiving target object information sent by the unmanned vehicle, wherein the target object information is information of a target object closest to the unmanned vehicle in each of a plurality of subspace areas obtained by dividing the surrounding area of ​​the unmanned vehicle;

[0043] Step S202: displaying the target object information on a display interface according to a second specified rule.

[0044] The execution subject of the above embodiment may be a remote control driving terminal. The remote control driving terminal may receive the target object sent by the unmanned vehicle and display it on the display interface according to the second specified rule. The second specified rule may be the same as the first specified rule or may be obtained based on the first specified rule. For example, the first specified rule is to divide the environmental information of the surrounding area into multiple subspace areas, and the multiple subspace areas include: the area directly in front of the unmanned vehicle, the area directly behind the unmanned vehicle, the left front area of ​​the front of the unmanned vehicle, the right front area of ​​the front of the unmanned vehicle, the left rear area of ​​the rear of the unmanned vehicle, the right rear area of ​​the rear of the unmanned vehicle, the left area of ​​the unmanned vehicle, and the right area of ​​the unmanned vehicle; the second specified rule may be to further split or merge the subspace areas obtained by the first specified rule, obtain multiple target subspace areas, and display relevant information. Preferably, the second specified rule is the same as the first specified rule.

[0045] For example, the second specified rule may be based on the first specified rule, and only the bounding box of the subspace where the target object exists and the target object therein are displayed, while the bounding box of the subspace where the target object does not exist is not displayed.

[0046] Optionally, displaying the target object information on the display interface according to the second specified rule includes: displaying the identifier of the unmanned vehicle at the target position of the display interface based on the real-time positioning of the unmanned vehicle, and displaying each subspace area in the following areas around the identifier of the unmanned vehicle, and displaying the corresponding target object information in the subspace area where the target object exists: the area directly in front of the identifier, the area directly behind the identifier, the left front area of ​​the front of the vehicle corresponding to the identifier, the right front area of ​​the front of the vehicle corresponding to the identifier, the left rear area of ​​the rear of the vehicle corresponding to the identifier, the right rear area of ​​the rear of the vehicle corresponding to the identifier, the left area of ​​the identifier, and the right area of ​​the identifier.

[0047] Optionally, the left area of ​​the identifier includes at least a first target subspace area located on the left side of the identifier and a second target subspace area located on the left side of the identifier divided based on the length of the identifier; and / or, the right area of ​​the identifier includes at least a third target subspace area located on the right side of the identifier and a fourth target subspace area located on the right side of the identifier divided based on the length of the identifier. Figure 3 As shown, it includes displaying the vehicle and the border (located in the middle), area 1 and area 2...area 9.

[0048] Optionally, the display of the target object information on the display interface according to the second specified rule includes: for multiple subspace regions around the identifier of the unmanned vehicle, for the subspace region where the target object exists, displaying the target object and the corresponding region border, and / or, for the subspace region where the target object does not exist, displaying the corresponding region border. Preferably, for the subspace region where the target object exists, displaying the target object and the corresponding region border, and at the same time, for the subspace region where the target object does not exist, displaying the corresponding region border.

[0049] Optionally, the method further includes: displaying a region frame corresponding to the unmanned vehicle identifier on the display interface. This method will display the unmanned vehicle and its surrounding subspace region and targets in the subspace region in a bird's-eye view from the perspective of the unmanned vehicle, so as to improve the convenience of observation for the remote control driver and facilitate the remote control driver to drive from the perspective of the unmanned vehicle.

[0050] Optionally, the method further includes: receiving the distance between each target object and the unmanned vehicle sent by the unmanned vehicle; and displaying the target object information on the display interface according to the second specified rule, including: displaying the corresponding target object information on the display interface according to the distance and the second specified rule. In the embodiment of the present application, only the distance to the nearest obstacle in each area can be received, which can further meet the problem of high requirements for the network during remote control driving. On the one hand, the amount of data transmission can be reduced. On the other hand, the data is used to prompt the remote control driver in combination with the real-time video screen. Therefore, only the nearest obstacle distance value of each sub-area is transmitted to effectively ensure safety.

[0051] In the above embodiment, by receiving the target object information sent by the unmanned vehicle, wherein the target object information is information of the target object closest to the unmanned vehicle in each of the multiple subspace areas obtained by dividing the surrounding area of ​​the unmanned vehicle; and displaying the target object information on the display interface according to the second specified rule, the safety of the remote control driving of the unmanned vehicle can be effectively guaranteed.

[0052] like Figure 4 As shown, the embodiment of the present application also provides a remote control driving system, which includes:

[0053] The unmanned vehicle 40 is used to obtain environmental information of the area around the unmanned vehicle; divide the environmental information of the surrounding area into multiple subspace areas according to the first specified rule; perform target object recognition on the environmental information of each subspace area of ​​the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area; and send the target object information closest to the unmanned vehicle corresponding to each subspace area to the remote control driving terminal;

[0054] The remote control driving terminal 41 is used to receive the target object information sent by the unmanned vehicle and display the target object information on the display interface according to the second specified rule.

[0055] In this embodiment, the unmanned vehicle 40 can refer to Figure 1 The illustrated embodiments will not be described in detail here.

[0056] The remote control driving terminal 41 in this embodiment can refer to Figure 2 The illustrated embodiments will not be described in detail here.

[0057] In an embodiment of the present application, environmental information of the area surrounding the unmanned vehicle is obtained through an unmanned vehicle, and the environmental information of the surrounding area is divided into multiple subspace areas according to a first specified rule, and target object recognition is performed on the environmental information of each subspace area among the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area, and the target object information closest to the unmanned vehicle corresponding to each subspace area is sent to a remote control driving terminal; the remote control driving terminal receives the target object information sent by the unmanned vehicle, and displays the target object information on a display interface according to a second specified rule, thereby realizing the display of target object information in different spatial areas according to specific rules on the display interface of the remote control driving end, so that the remote control driver can obtain more valuable reference information, thereby effectively improving the remote control driver's controllability of the unmanned vehicle, thereby improving the safety of remote control driving.

[0058] like Figure 5 As shown, the present application also provides a control flow diagram of remote control driving according to an embodiment of the present application, and the control flow includes:

[0059] The perception module first perceives through the input lidar data and odometer information, and passes the perceived target information and freespace information to the prediction module. The prediction module analyzes the target information and gives the obstacle distance information in the area around the vehicle.

[0060] The obstacle distance information around the vehicle is described as follows:

[0061] According to the diagram, the area around the vehicle is divided into 10 areas (for details, please refer to Figure 3 As shown), by traversing the obstacles in each area, the distance to the obstacle closest to the vehicle in the area is calculated, a total of 10 closest distance values. After the calculation is completed, the prediction module sends these 10 distance values ​​to the remote control driving module. After the remote control driving module receives the information, it is displayed on the client interface of the remote control driver.

[0062] In the embodiment of the present application, only the distance to the nearest obstacle in each area is sent, which can further meet the problem of high network requirements during remote control driving. On the one hand, the amount of data transmission can be reduced. On the other hand, the data is used to prompt the remote control driver in combination with the real-time video screen. Therefore, only the nearest obstacle distance values ​​of 10 areas are transmitted to effectively ensure safety.

[0063] In an embodiment of the present application, environmental information of the area surrounding the unmanned vehicle is obtained through an unmanned vehicle, and the environmental information of the surrounding area is divided into multiple subspace areas according to a first specified rule, and target object recognition is performed on the environmental information of each subspace area among the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area, and the target object information closest to the unmanned vehicle corresponding to each subspace area is sent to a remote control driving terminal; the remote control driving terminal receives the target object information sent by the unmanned vehicle, and displays the target object information on a display interface according to a second specified rule, thereby realizing the display of target object information in different spatial areas according to specific rules on the display interface of the remote control driving end, so that the remote control driver can obtain more valuable reference information, thereby effectively improving the remote control driver's controllability of the unmanned vehicle, thereby improving the safety of remote control driving.

[0064] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0065] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0066] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0067] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A remote control driving method, characterized in that: The method comprises: Obtain environmental information about the area surrounding the unmanned vehicle; According to the first specified rule, the spatial information of the surrounding area is divided into a plurality of sub-space areas, and the environmental information corresponding to each sub-space area is obtained; Performing target object recognition on the environmental information corresponding to each of the multiple subspace areas to obtain target object information closest to the unmanned vehicle corresponding to each of the subspace areas; The target object information closest to the unmanned vehicle in each subspace area is sent to the remote control driving terminal so that the display interface of the remote control driving terminal displays the target object information, and the target object information is used to guide the remote control driver to remotely drive the unmanned vehicle.

2. The remote control driving method according to claim 1, characterized in that: The multiple subspace areas include: the area directly in front of the unmanned vehicle, the area directly behind the unmanned vehicle, the left front area of ​​the front of the unmanned vehicle, the right front area of ​​the front of the unmanned vehicle, the left rear area of ​​the rear of the unmanned vehicle, the right rear area of ​​the rear of the unmanned vehicle, the left area of ​​the unmanned vehicle and the right area of ​​the unmanned vehicle.

3. The remote control driving method according to claim 2, characterized in that: The left side area of ​​the unmanned vehicle at least includes a first target subspace area located on the left side of the unmanned vehicle and a second target subspace area located on the left side of the unmanned vehicle divided based on the length of the unmanned vehicle; and / or, The right side area of ​​the unmanned vehicle at least includes a third target subspace area located on the right side of the unmanned vehicle and a fourth target subspace area located on the right side of the unmanned vehicle, which are divided based on the length of the unmanned vehicle.

4. The remote control driving method according to claim 1, characterized in that: The method further comprises: Obtaining odometer information, map information, and positioning information of the unmanned vehicle; Predicting the distance between the target object and the unmanned vehicle based on the environmental information of the area around the unmanned vehicle, the odometer information, the map information, and the positioning information; Sending information of the target object closest to the unmanned vehicle in each subspace area to the remote control driving terminal includes: The target object information closest to the unmanned vehicle in each subspace area and the distance between each target object and the unmanned vehicle are sent to the remote control driving terminal, and the remote control driving terminal is used to display the target object information at a specified position on the display interface according to the distance.

5. A remote control driving method, characterized in that: The method comprises: Receiving target object information sent by the unmanned vehicle, wherein the target object information is information of a target object closest to the unmanned vehicle in each of a plurality of subspace areas obtained by dividing the surrounding area of ​​the unmanned vehicle; According to the second specified rule, the target object information is displayed on the display interface.

6. The remote control driving method according to claim 5, characterized in that: The step of displaying the target object information on the display interface according to the second specified rule includes: Based on the real-time positioning of the unmanned vehicle, the identifier of the unmanned vehicle is displayed at the target position of the display interface, and each subspace area is displayed in the following area around the identifier of the unmanned vehicle, and corresponding target object information is displayed in the subspace area where the target object exists: The area directly in front of the identifier, the area directly behind the identifier, the left front area of ​​the front of the vehicle corresponding to the identifier, the right front area of ​​the front of the vehicle corresponding to the identifier, the left rear area of ​​the rear of the vehicle corresponding to the identifier, the right rear area of ​​the rear of the vehicle corresponding to the identifier, the left area of ​​the identifier and the right area of ​​the identifier.

7. The remote control driving method according to claim 6, characterized in that: The left area of ​​the identifier at least includes a first target subspace area located on the left side of the identifier and a second target subspace area located on the left side of the identifier, which are divided based on the length of the identifier; and / or, The right region of the identifier at least includes a third target subspace region located on the right side of the identifier and a fourth target subspace region located on the right side of the identifier, which are divided based on the length of the identifier.

8. The remote control driving method according to claim 5, characterized in that: The step of displaying the target object information on the display interface according to the second specified rule includes: For multiple subspace areas surrounding the identifier of the unmanned vehicle, for the subspace area where the target object exists, the target object and the corresponding area border are displayed, and / or, for the subspace area where the target object does not exist, the corresponding area border is displayed.

9. The remote control driving method according to claim 5, characterized in that: The method further comprises: On the display interface, the area border corresponding to the unmanned vehicle identifier is displayed.

10. The remote control driving method according to claim 5, characterized in that: The method further comprises: Receiving the distance between each target object and the unmanned vehicle sent by the unmanned vehicle; The step of displaying the target object information on the display interface according to the second specified rule includes: According to the distance and in accordance with the second specified rule, corresponding target information is displayed on the display interface.

11. A remote control driving system, characterized in that: The system comprises: The unmanned vehicle is used to obtain environmental information of the area around the unmanned vehicle; divide the environmental information of the surrounding area into multiple subspace areas according to a first specified rule; perform target object recognition on the environmental information of each subspace area of ​​the multiple subspace areas to obtain the target object information closest to the unmanned vehicle corresponding to each subspace area; and send the target object information closest to the unmanned vehicle corresponding to each subspace area to the remote control driving terminal; The remote control driving terminal is used to receive the target object information sent by the unmanned vehicle and display the target object information on a display interface according to a second specified rule.

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