Remote control driving system for fire fighting truck

Abstract

The embodiment of the invention provides a remote control driving system for a fire fighting truck, and the system comprises a vehicle-mounted intelligent control system which is used for collecting the environment data and vehicle state information of the fire fighting truck, and transmitting the environment data and vehicle state information to a remote control system through a communication system; after a control instruction of the remote control system is received, the control instruction is responded to control a vehicle body actuator corresponding to the fire fighting truck to execute corresponding operation; the remote control system determines remote control operation for the fire fighting truck according to the environment data and the vehicle state information, and sends a corresponding control instruction to the vehicle-mounted intelligent control system according to the remote control operation; and the communication system is used for providing a communication channel between the vehicle-mounted intelligent control system and the remote control system. According to the technical scheme, the fire fighting truck can be remotely controlled to reach a specified disaster area and remotely controlled to carry out fire extinguishing operation, so that the safety is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of fire truck control, and in particular to a remote control driving system for a fire truck. Background Art

[0002] With the development of science and technology, driverless cars have become a trend. Driverless cars have already entered people's daily lives and are increasingly being used.

[0003] When a fire occurs and firefighters need to drive fire trucks to extinguish fires and rescue people, they often need to bear greater safety risks. However, in the field of firefighting technology, unmanned driving is still a blank area. Therefore, the unmanned driving problem of fire trucks is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a remote control driving system for a fire truck.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a remote control driving system for a fire truck, the remote control driving system comprising:

[0006] The vehicle-mounted intelligent control system is used to collect environmental data and vehicle status information of the fire truck and transmit it to the remote control system through the communication system; after receiving the control command of the remote control system, it responds to the control command to control the corresponding body actuator of the fire truck to perform corresponding operations;

[0007] The remote control system determines the remote control operation for the fire truck according to the environmental data and vehicle status information, and sends the corresponding control instructions to the on-board intelligent control system according to the remote control operation;

[0008] The communication system is used to provide a communication channel between the vehicle-mounted intelligent control system and the remote control system.

[0009] In an embodiment of the present application, the environmental data includes an environmental image of the fire truck and radar data around the fire truck. The on-board intelligent control system includes: an image acquisition device for acquiring an environmental image of the fire truck; a laser radar device for acquiring radar data around the fire truck; and a remote control system for fusing the environmental data to detect obstacles around the fire truck and the lane where the fire truck is located.

[0010] In an embodiment of the present application, the on-board intelligent control system is also used to: after collecting the environmental data of the fire truck, fuse the environmental data to detect obstacles around the fire truck and the lane where the fire truck is located; when transmitting the environmental data and vehicle status information of the fire truck to the remote control system, the position data corresponding to the surrounding obstacles and the lane where the fire truck is located are also transmitted to the remote control system.

[0011] In an embodiment of the present application, the vehicle status information includes the real-time driving speed of the fire truck, and the remote control system is also used to: determine the collision time required for the fire truck to reach the obstacle based on the driving speed and the position data corresponding to the obstacles around the fire truck; when the collision time is less than the preset time, send an emergency braking command to the on-board intelligent control system.

[0012] In an embodiment of the present application, the remote control system includes: a simulated driving platform, the simulated driving platform includes a human-computer interaction device and a display device, the display device is used to visualize environmental data and vehicle status information, and the human-computer interaction device provides a user with an interactive interface for remote control of a fire truck; the remote control system is also used to determine the remote control operation of the fire truck based on the user's interactive operation on the interactive interface.

[0013] In an embodiment of the present application, the remote control system is also used to: provide corresponding force feedback to the simulated actuator in the simulated driving platform according to the vehicle status information, wherein the simulated actuator includes at least one of a steering wheel, a gear lever, a brake, a throttle, and a fire extinguishing operation command control.

[0014] In an embodiment of the present application, the remote control driving system also includes: an on-board execution control system, which is used to receive control instructions forwarded by the on-board intelligent control system, and respond to the control instructions to control the corresponding body actuators of the fire truck to perform corresponding operations.

[0015] In an embodiment of the present application, the remote control system also includes: a first safety monitoring module, which is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit value, and / or whether the steering angle of the steering wheel is greater than a preset angle, and when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle, send a corresponding first warning notification to the remote control system; the remote control system is also used to send a speed limit instruction and / or a steering limit instruction to the on-board intelligent control system according to the first warning notification, so as to control the fire truck to slow down and / or adjust the steering angle of the fire truck through the on-board intelligent control system.

[0016] In an embodiment of the present application, the on-board intelligent control system also includes: a second safety monitoring module, which is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit and / or whether the steering angle of the steering wheel is greater than a preset angle, and when the driving speed exceeds the preset speed upper limit and / or the steering angle is greater than the preset angle, send a corresponding second warning notification to the on-board intelligent control system; the on-board intelligent control system is also used to control the fire truck to slow down and / or adjust the steering angle of the fire truck according to the second warning notification.

[0017] In an embodiment of the present application, the remote control system periodically sends continuous identification data to the on-board intelligent control system through the communication system. When the identification data received by the on-board intelligent control system is discontinuous or the period of the received identification data is inconsistent with the period of the remote control system sending the identification data, it is determined that an abnormality has occurred in the communication system and the packet loss rate of the communication data is calculated; the on-board intelligent control system is also used to intelligently determine the next execution action and execute it according to the current working condition and packet loss rate of the fire truck when an abnormality occurs in the communication system.

[0018] In an embodiment of the present application, the on-board intelligent control system is also used to: when the fire truck is in a driving state and the packet loss rate is greater than a first threshold, automatically control the fire truck to slow down; when the fire truck is in a driving state and the packet loss rate is greater than a second threshold, automatically control the fire truck to stop driving, wherein the second threshold is greater than the first threshold; after the fire truck is automatically controlled to stop driving, and the duration of the packet loss rate greater than the second threshold reaches a first duration or a retreat command for the fire truck is received, automatically control the fire truck to start retreating.

[0019] In an embodiment of the present application, the on-board intelligent control system is also used to: record the travel data of the fire truck, the travel data including the travel path, travel speed and real-time steering angle of the fire truck; after the fire truck is automatically controlled to stop driving, and the duration of the packet loss rate greater than the second threshold reaches a first duration or a retreat instruction for the fire truck is received, determine the retreat path of the fire truck according to the recorded travel data; and automatically control the fire truck to start retreating along the retreat path.

[0020] In an embodiment of the present application, the on-board intelligent control system is also used to: control the fire truck to stop retreating when any of the following situations is detected during the process of automatically controlling the fire truck to retreat along the retreat path: there is an obstacle on the retreat path; the retreat distance of the fire truck reaches a preset maximum retreat distance; the packet loss rate is less than a second threshold and reaches a second time length.

[0021] In an embodiment of the present application, the on-board intelligent control system is also used for: when the fire truck is in a water spraying state and the packet loss rate is greater than a third threshold, if a control instruction for the fire truck is received from the remote control system, then the control instruction is refused to be executed; when the fire truck is in a water spraying state and the packet loss rate is greater than the third threshold, if a control instruction for the fire truck is not received from the remote control system, then the next action of the fire truck is automatically controlled according to the current water spraying parameters of the fire truck.

[0022] In an embodiment of the present application, the control instructions include fire extinguishing instructions and driving instructions, and the on-board intelligent control system is also used to: after receiving the driving instructions sent by the remote control system, respond to the driving instructions to control the fire truck to move to the disaster area where the fire is to be extinguished; after receiving the fire extinguishing instructions sent by the remote control system, respond to the fire extinguishing instructions to control the corresponding body actuators of the fire truck to perform corresponding fire extinguishing operations.

[0023] Through the above technical solution, the fire truck can be remotely controlled to reach the designated disaster area and remotely controlled to perform fire extinguishing operations, which greatly improves safety.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of a remote control driving system for a fire truck according to an embodiment of the present application is schematically shown;

[0027] Figure 2 A schematic diagram of a remote control driving system for a fire truck according to another embodiment of the present application is shown schematically;

[0028] Figure 3 The following schematically shows an algorithm flow diagram of a vehicle-mounted surround vision perception system according to an embodiment of the present application;

[0029] Figure 4 A schematic diagram of a safe driving strategy according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, 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. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] Figure 1 The structural framework diagram of the remote control driving system for a fire truck according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a remote control driving system 100 for a fire truck is provided, the system comprising:

[0032] The on-board intelligent control system 102 is used to collect environmental data and vehicle status information of the fire truck and transmit it to the remote control system through the communication system; after receiving the control command of the remote control system, it responds to the control command to control the corresponding body actuator of the fire truck to perform corresponding operations.

[0033] The remote control system 104 is used to determine the remote control operation for the fire truck according to the environmental data and the vehicle status information, and send the corresponding control instructions to the vehicle-mounted intelligent control system according to the remote control operation.

[0034] The communication system 106 is used to provide a communication channel between the vehicle-mounted intelligent control system and the remote control system.

[0035] The remote control driving system 100 for a fire truck provided in this embodiment includes an on-board intelligent control system 102, a remote control system 104, and a communication system 106. Among them, the communication system 106 is used to provide a communication channel between the on-board intelligent control system and the remote control system, so that timely data transmission can be carried out between the two systems, reducing the delay of its data transmission. The on-board intelligent control system 102 is used to collect environmental data and vehicle status information of the fire truck in real time, and then transmit the collected data to the remote control system 104 through the communication system 106. The remote control system 104 will determine the remote control operation for the fire truck based on the received environmental data and vehicle status information, and then send the corresponding control command to the on-board intelligent control system 102 based on the determined remote control operation. After receiving the control command sent by the remote control system 104, the on-board intelligent control system 102 will respond to the received control command to control the corresponding body actuator of the fire truck to perform the corresponding operation. Further, the communication system 106 may include a data communication network and an ad hoc network. The data communication network may refer to a 3G network, a 4G network, a 5G network, etc.

[0036] Stable network communication is the guarantee for the stable operation of vehicle remote driving. In remote areas or places with harsh environments, there may be no 5G signal, or the 4G signal may be unstable. In order not to hinder the remote control of the fire truck in this environment, it is possible to rely on the network communication of the ad hoc network. The remote control system of the fire truck can visualize the communication mode currently adopted by the communication system and the strength of the communication signal. In one embodiment, the communication system can use 5G communication by default when the vehicle is started, and the communication system can monitor the communication data transmission speed in real time. When the average data transmission speed of the communication is lower than the set threshold, a communication warning can be issued on the monitoring display screen and automatically switched to the ad hoc network communication mode. Ad hoc network communication is easily affected by factors such as distance and obstacle obstruction. When the average data transmission speed of the ad hoc network communication is lower than the set threshold, a communication warning can be issued on the monitoring display screen and a prompt to increase the communication relay can be displayed. The warning prompt will be automatically lifted after the communication is stable.

[0037] In one embodiment, the control instructions include fire extinguishing instructions and driving instructions. The vehicle-mounted intelligent control system is also used to: after receiving the driving instruction sent by the remote control system, respond to the driving instruction to control the fire truck to move to the disaster area where the fire is to be extinguished; after receiving the fire extinguishing instruction sent by the remote control system, respond to the fire extinguishing instruction to control the corresponding body actuator of the fire truck to perform the corresponding fire extinguishing operation.

[0038] The remote control system may include a simulated cockpit, and the remote operator may receive the environmental data and vehicle status information of the fire truck to be controlled based on the simulated cockpit. Then the remote operator may control the fire truck to drive to the area where fire extinguishing is required based on the simulated cockpit, and control the fire truck to perform fire extinguishing operations. Specifically, the remote operator may send a driving instruction to the on-board intelligent control system through the remote control system, and the on-board intelligent control system may respond to the driving instruction to control the fire truck to move to the disaster area where fire extinguishing is to be performed after receiving the driving instruction sent by the remote control system. Then, the remote operator may view the environmental data of the disaster area and the vehicle status information of the fire truck through the remote control system, and then send a fire extinguishing instruction to the on-board intelligent control system, and the on-board intelligent control system may respond to the fire extinguishing instruction to control the corresponding body actuator of the fire truck to perform the corresponding fire extinguishing operation after receiving the fire extinguishing instruction sent by the remote control system. Among them, the fire extinguishing operation includes filling water supply, filling foam supply, foam introduction, foam flushing, cannon water discharge, etc.

[0039] In this way, fire trucks can be remotely controlled to reach designated disaster areas and perform fire-fighting operations, greatly improving safety.

[0040] In one embodiment, the environmental data includes an environmental image of the fire truck and radar data around the fire truck. The on-board intelligent control system includes: an image acquisition device for acquiring an environmental image of the fire truck; a laser radar device for acquiring radar data around the fire truck. The remote control system is used to perform fusion processing on the environmental data to detect obstacles around the fire truck and the lane where the fire truck is located.

[0041] The on-board intelligent control system is usually installed on the fire truck to be remotely controlled. The on-board intelligent control system may include an image acquisition device and a laser radar device. Among them, the image acquisition device is used to acquire the environmental image of the fire truck. The environmental image may specifically include the front window image, rear window image, 360-degree window image of the fire truck, etc. The laser radar device is used to collect radar data around the fire truck. After acquiring the environmental image and radar data, the remote control system can fuse them to detect whether there are obstacles around the fire truck and the distance between the obstacles and the vehicle. It can also detect the lane where the fire truck is located. For example, whether the fire truck is currently on the main road or the secondary road, or which lane it is on the main road, etc., to assist the remotely operated driver in making road condition judgments and remote control driving.

[0042] In one embodiment, the on-board intelligent control system is also used to: after collecting the environmental data of the fire truck, fuse the environmental data to detect obstacles around the fire truck and the lane where the fire truck is located; when transmitting the environmental data and vehicle status information of the fire truck to the remote control system, the position data corresponding to the surrounding obstacles and the lane where the fire truck is located are also transmitted to the remote control system.

[0043] In this embodiment, after collecting the environmental data of the fire truck, the on-board intelligent control system can first fuse the environmental data by itself to detect whether there are obstacles around the fire truck and the distance between the obstacles and the vehicle, and can also detect the lane where the fire truck is located. Then, when the on-board intelligent control system transmits the environmental data and vehicle status information of the fire truck to the remote control system, it can simultaneously transmit the location data corresponding to the surrounding obstacles and the lane where the fire truck is located to the remote control system, that is, obstacle perception and lane perception. After receiving the data transmitted by the on-board intelligent control system, the remote control system can visualize the received data through a display device.

[0044] In one embodiment, the vehicle status information includes the real-time driving speed of the fire truck. The remote control system is also used to: determine the collision time required for the fire truck to reach the obstacle based on the driving speed and the position data corresponding to the obstacles around the fire truck; and send an emergency braking command to the on-board intelligent control system when the collision time is less than the preset time.

[0045] The vehicle status information of the fire truck collected by the on-board intelligent control system includes the real-time driving speed of the fire truck. The remote control system can also determine the collision time required for the fire truck to reach the obstacle based on the driving speed of the fire truck and the position data corresponding to the obstacles around the fire truck. In other words, the remote control system needs to determine how long it will take for the fire truck to collide with the obstacle when it is driving at the current speed. If the collision time is less than the preset time, it means that the fire truck needs to be controlled to reduce the driving speed or emergency brake as soon as possible, otherwise the fire truck will collide with the obstacle. Therefore, when the collision time is less than the preset time, the remote control system will send an emergency braking command to the on-board intelligent control system, so that the on-board intelligent control system controls the fire truck to emergency brake according to the emergency braking command.

[0046] In one embodiment, the remote control system includes: a simulated driving platform, the simulated driving platform includes a human-computer interaction device and a display device, the display device is used to visualize environmental data and vehicle status information, and the human-computer interaction device provides a user with an interactive interface for remote control of a fire truck. The remote control system is also used to determine a remote control operation for the fire truck according to the user's interactive operation on the interactive interface.

[0047] The remote control system includes a simulated driving platform, i.e., a simulated cockpit. The simulated driving platform includes a human-computer interaction device and a display device. Among them, the display device is used to visualize the environmental data and vehicle status information, and the human-computer interaction device provides the user with an interactive interface for remote control of the fire truck. That is to say, the remote control driver can trigger the remote control action for the fire truck through the human-computer interaction device. It can be understood that the control mode for the fire truck includes a remote control driving mode and a manual driving mode. When the fire truck is just started, the fire truck is in manual driving mode by default. If the fire truck needs to be remotely controlled, the driving mode can be switched by operating the button for mode switching. Specifically, the mode switching button can be installed on the simulated driving platform or in the cab of the fire truck. Further, when the driving mode of the fire truck is switched from the manual driving mode to the remote control driving mode, the current state of the vehicle should be checked to confirm whether the current state of the vehicle meets the conditions for switching to the remote control driving mode. Specifically, the state data of the steering wheel torque and the brake pedal of the vehicle can be checked. For example, if the torque of the steering wheel is less than or equal to 2N.m and the brake pedal of the vehicle is not depressed, the driving mode of the fire truck can be switched to the remote control driving mode.

[0048] In one embodiment, the remote control system is also used to: provide corresponding force feedback to the simulation actuator in the simulation driving platform according to the vehicle status information, wherein the simulation actuator includes at least one of a steering wheel, a gear lever, a brake, and an accelerator.

[0049] In order to improve the driving immersion of the remote-controlled driver on the simulated driving platform, the remote control system can provide corresponding force feedback to the simulated actuator in the simulated driving platform according to the vehicle status information received in real time. The simulated actuator includes at least one of the steering wheel, gear lever, brake, and accelerator. For example, when controlling the brakes of a fire truck, the same pedal force can be fed back to the brake pedal on the simulated driving platform, so that the driver can feel the specific experience of the current braking operation for the remotely controlled fire truck.

[0050] In one embodiment, the remote control driving system also includes: an on-board execution control system, which is used to receive control instructions forwarded by the on-board intelligent control system, and respond to the control instructions to control the corresponding body actuators of the fire truck to perform corresponding operations.

[0051] The vehicle-mounted execution control system is located at the vehicle to be controlled, and is used to receive the control instructions forwarded by the vehicle-mounted intelligent control system, and respond to the received control instructions to control the corresponding body actuators of the fire truck to perform corresponding operations. That is, the vehicle-mounted execution control system can directly control the body actuators.

[0052] like Figure 2 As shown, the remote control part is represented as the vehicle side, which specifically includes the body actuators of the vehicle itself, the image acquisition equipment (such as cameras) and laser radar equipment installed on the fire truck, the vehicle-mounted surround perception system, and the vehicle-mounted control system. Among them, the vehicle-mounted intelligent control system includes the vehicle-mounted control system and the vehicle-mounted surround perception system. The vehicle-mounted control system (i.e., the vehicle-mounted execution control system) can directly control each body actuator of the vehicle. The vehicle-mounted surround perception system can receive the data collected by the image acquisition equipment and the laser radar equipment, and forward it to the vehicle-mounted intelligent control system. The vehicle-mounted intelligent control system can communicate with the fire truck remote control system through the communication system. Among them, the fire truck remote control system includes a simulated driving platform and a control unit. The simulated driving platform includes a human-computer interaction device and a display device (i.e., a monitoring screen). The display device is used to visualize the environmental data and vehicle status information of the fire truck. The simulated driving platform can also include multiple simulated actuators, and the simulated actuators in the simulated driving platform can be fed back with corresponding force according to the vehicle status information of the remotely controlled fire truck. The simulated actuators include steering wheels, gear levers, brakes, throttles, fire extinguishing operation command controls, etc. The control unit of the fire truck remote control system is used to determine the remote control operation for the fire truck based on the environmental data and vehicle status information of the fire truck, and generate corresponding control operations, etc.

[0053] In one embodiment, Figure 3As shown in the figure, a schematic diagram of the algorithm flow of the vehicle-mounted surround perception system is shown. Among them, the vehicle-mounted surround perception system can obtain the images collected by the camera and the images collected by the laser radar device. Then the two images are fused and processed to achieve lane perception, obstacle perception, and vehicle window perception. Finally, the collected images can also be sent to the fire truck remote control system for visualization through the monitoring screen of the fire truck remote control system.

[0054] In one embodiment, the remote control system also includes: a first safety monitoring module, which is used to detect in real time whether the driving speed of the fire truck exceeds the preset speed upper limit value, and / or whether the steering angle of the steering wheel is greater than the preset angle, and when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle, send a corresponding first warning notification to the remote control system; the remote control system is also used to send a speed limit instruction and / or a steering limit instruction to the on-board intelligent control system according to the first warning notification, so as to control the fire truck to slow down and / or adjust the steering angle of the fire truck through the on-board intelligent control system.

[0055] In this embodiment, the remote control system further includes a first safety monitoring module. The first safety monitoring module is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit value and / or whether the steering angle of the steering wheel is greater than a preset angle, and send a corresponding first warning notification to the remote control system when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle.

[0056] In one embodiment, the vehicle-mounted intelligent control system further includes: a second safety monitoring module, which is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit value and / or whether the steering angle of the steering wheel is greater than a preset angle, and send a corresponding second warning notification to the vehicle-mounted intelligent control system when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle. The vehicle-mounted intelligent control system is also used to control the fire truck to slow down and / or adjust the steering angle of the fire truck according to the second warning notification.

[0057] In this embodiment, the monitoring function of safe driving can also be achieved by an on-board intelligent control system located on the side of the fire truck. Among them, the on-board intelligent control system also includes a second safety monitoring module. The second safety monitoring module is used to detect in real time whether the driving speed of the fire truck exceeds the preset speed upper limit value, and / or whether the steering angle of the steering wheel is greater than the preset angle, and when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle, send a corresponding second warning notification to the on-board intelligent control system. The on-board intelligent control system is also used to control the fire truck to slow down and / or adjust the steering angle of the fire truck according to the second warning notification.

[0058] Specifically, Figure 4As shown, when the fire truck is remotely controlled, a safe driving strategy is introduced. Specifically, the speed, acceleration and steering angle of the fire truck will be restricted. That is to say, the first safety monitoring module and / or the second safety monitoring module will detect in real time whether the driving speed of the fire truck exceeds the preset speed upper limit value, and / or whether the steering angle of the steering wheel is greater than the preset angle, and can also detect whether the instantaneous acceleration of the fire truck exceeds the preset acceleration threshold, and send a corresponding first warning notification to the remote control system when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle, and / or the instantaneous acceleration exceeds the preset acceleration threshold. After receiving the first warning notification, the remote control system can send a speed limit instruction and / or a steering limit instruction to the on-board intelligent control system according to the first warning notification. The on-board intelligent control system will control the fire truck to slow down and / or adjust the steering angle of the fire truck accordingly. If the second safety monitoring module detects that the driving speed of the fire truck exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle, and / or the instantaneous acceleration exceeds the preset acceleration threshold, the second safety monitoring module will send a corresponding second warning notification to the on-board intelligent control system. The on-board intelligent control system will control the fire truck to slow down and / or adjust the steering angle of the fire truck according to the second warning notification. Furthermore, the control mode for the fire truck includes a remote control driving mode and a manual driving mode. When the fire truck is just started, the fire truck is in manual driving mode by default. If the fire truck needs to be remotely controlled, the driving mode can be switched by operating the button for mode switching. Specifically, the mode switching button can be installed on a simulated driving platform or in the cab of a fire truck. Furthermore, when the driving mode of the fire truck is switched from manual driving mode to remote control driving mode, the current state of the vehicle should be checked to confirm whether the current state of the vehicle meets the conditions for switching to remote control driving mode. Specifically, the state data of the steering wheel torque and brake pedal of the vehicle can be checked. For example, if the torque of the steering wheel is less than or equal to 2N.m and the brake pedal of the vehicle is not depressed, the driving mode of the fire truck can be switched to remote control driving mode.

[0059] At the same time, during the driving process of the fire truck, the obstacles around the fire truck and the lane where the fire truck is located will be detected in real time. The vehicle status information of the fire truck collected by the on-board intelligent control system includes the real-time driving speed of the fire truck. The remote control system can also determine the collision time required for the fire truck to reach the obstacle based on the driving speed of the fire truck and the position data corresponding to the obstacles around the fire truck. In other words, the remote control system needs to determine how long it will take for the fire truck to collide with the obstacle when it is driving at the current speed. If the collision time is less than the preset time, it means that the fire truck needs to be controlled to reduce the driving speed or emergency brake as soon as possible, otherwise the fire truck will collide with the obstacle. Therefore, when the collision time is less than the preset time, the remote control system will send an emergency braking command to the on-board intelligent control system, so that the on-board intelligent control system controls the emergency braking of the fire truck according to the emergency braking command.

[0060] In one embodiment, the remote control system periodically sends continuous identification data to the on-board intelligent control system through the communication system. When the identification data received by the on-board intelligent control system is discontinuous or the period of the received identification data is inconsistent with the period of the remote control system sending the identification data, it is determined that an abnormality has occurred in the communication system and the packet loss rate of the communication data is calculated; the on-board intelligent control system is also used to intelligently determine the next execution action and execute it according to the current working condition and packet loss rate of the fire truck when an abnormality has occurred in the communication system.

[0061] When the on-board intelligent control system and the remote control system communicate through the communication system, the remote control system will periodically send continuous identification data to the on-board intelligent control system through the communication system to confirm whether the communication channel between the two remains connected. If the identification data received by the on-board intelligent control system is discontinuous or the period of receiving the identification data is inconsistent with the period of sending the identification data by the remote control system, it means that an abnormality has occurred in the communication system, that is, an abnormality has occurred in the communication between the on-board intelligent control system and the remote control system. At this time, it is necessary to calculate the packet loss rate of the communication data. When calculating the packet loss rate, it can be calculated by the on-board intelligent control system or by the remote control system. In this embodiment, when determining that the communication is abnormal, the on-board intelligent control system can calculate the packet loss rate of the communication data. The specific calculation method can refer to the technical solution used in the prior art and is not limited here. Then, the on-board intelligent control system can intelligently determine the next execution action and execute it according to the current working condition and packet loss rate of the fire truck. Such as driving, deceleration, stopping, backing up along the original route, and other actions.

[0062] In one embodiment, the on-board intelligent control system is also used to: when the fire truck is in a driving state and the packet loss rate is greater than a first threshold, automatically control the fire truck to slow down; when the fire truck is in a driving state and the packet loss rate is greater than a second threshold, automatically control the fire truck to stop driving, wherein the second threshold is greater than the first threshold; after the fire truck is automatically controlled to stop driving, and the duration of the packet loss rate greater than the second threshold reaches a first duration or a retreat instruction for the fire truck is received, automatically control the fire truck to start retreating.

[0063] The current working condition of the fire truck may be a driving condition, that is, the fire truck is in a driving state. In this working condition, if the packet loss rate is greater than the deceleration threshold, that is, the packet loss rate is greater than the first threshold, the on-board intelligent control system can automatically control the fire truck to decelerate without the control of the remote control system. If the packet loss rate continues to increase until the packet loss rate is greater than the stop threshold, that is, the packet loss rate is greater than the second threshold, the on-board intelligent control system can automatically control the fire truck to stop driving. If the packet loss rate still does not decrease after the fire truck is automatically controlled to stop driving, that is, it continues to remain greater than the second threshold, and the duration greater than the second threshold reaches the first duration, the on-board intelligent control system can automatically control the fire truck to start backing up. Alternatively, if after the fire truck is automatically controlled to stop driving, the on-board intelligent control system receives a back-up instruction for the fire truck, the on-board intelligent control system can also automatically control the fire truck to start backing up. At this time, the back-up instruction for the fire truck can be triggered by manual operation. Among them, the second threshold is greater than the first threshold.

[0064] In one embodiment, the on-board intelligent control system is also used to: record the travel data of the fire truck, the travel data including the travel path, travel speed and real-time steering angle of the fire truck; after the fire truck is automatically controlled to stop driving, and the duration of the packet loss rate greater than the second threshold reaches a first duration or a retreat instruction for the fire truck is received, determine the retreat path of the fire truck based on the recorded travel data; and automatically control the fire truck to start retreating along the retreat path.

[0065] During the driving process of the fire truck, the on-board intelligent control system can record the travel data of the fire truck. Among them, the travel data includes data such as the travel path, travel speed and real-time steering angle of the fire truck. When the fire truck is in a driving state and the packet loss rate is greater than the second threshold, the on-board intelligent control system can automatically control the fire truck to stop driving. After the fire truck is automatically controlled to stop driving, if the packet loss rate is still greater than the second threshold, and the duration greater than the second threshold reaches the first duration or a retreat instruction for the fire truck is received, the on-board intelligent control system can determine the retreat path of the fire truck based on the recorded travel data, that is, the fire truck can be controlled to return to the original route, and the return path, steering angle, speed and other data can all refer to the previously recorded travel data. In this way, the on-board intelligent control system can realize automatic control of the fire truck to start retreating along the retreat path.

[0066] In one embodiment, the on-board intelligent control system is also used to control the fire truck to stop retreating when any of the following situations is detected during the process of automatically controlling the fire truck to retreat along the retreat path: there is an obstacle on the retreat path; the retreat distance of the fire truck reaches a preset maximum retreat distance; the packet loss rate is less than a second threshold and reaches a second time length.

[0067] When the on-board intelligent control system automatically controls the fire truck to start retreating along the retreat path, if the on-board intelligent control system detects an obstacle on the retreat path, or the retreat distance of the fire truck reaches the preset maximum retreat distance, or detects that the packet loss rate is less than the second threshold and the duration of being less than the second threshold reaches the second duration, the on-board intelligent control system can control the fire truck to stop retreating. The preset maximum retreat distance can be customized by the technician.

[0068] In one embodiment, the on-board intelligent control system is also used for: when the fire truck is in a water spraying state and the packet loss rate is greater than a third threshold, if a control instruction for the fire truck is received from the remote control system, then the control instruction is refused to be executed; when the fire truck is in a water spraying state and the packet loss rate is greater than the third threshold, if a control instruction for the fire truck is not received from the remote control system, then the next action of the fire truck is automatically controlled according to the current water spraying parameters of the fire truck.

[0069] The current working condition of the fire truck may be a water spraying condition, that is, the fire truck is in a water spraying state. When the fire truck is in a water spraying state and the packet loss rate is greater than the third threshold, if the on-board intelligent control system receives a control instruction from the remote control system for the fire truck, it does not need to be taken care of. Because the communication system is still in an abnormal state at this time, the control instruction received at this time is unreliable, so the on-board intelligent control system can refuse to execute the control instruction it has received. If the on-board intelligent control system does not receive a control instruction from the remote control system for the fire truck, the on-board intelligent control system can automatically control the next action of the fire truck according to the current water spraying parameters of the fire truck. For example, when it is detected that the water level in the water tank of the fire truck is lower than the preset value, the fire truck can be controlled to spray water at idle speed. If it is detected that the water level in the water tank of the fire truck is lower than the preset value for 30S, the fire truck can be controlled to stop spraying water.

[0070] In actual application scenarios, such as when a remotely controlled fire truck enters a fire scene, due to the complexity and variability of the fire scene environment, there are communication anomalies that cause the fire truck to be unable to control normally. At this time, the fire truck itself needs to take emergency actions and re-establish communication with the remote end to continue subsequent rescue work, in order to improve safety and timeliness of rescue.

[0071] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0077] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0079] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A remote control driving system for a fire truck, characterized in that: The remote control driving system comprises: The vehicle-mounted intelligent control system is used to collect environmental data and vehicle status information of the fire truck and transmit it to the remote control system through the communication system; after receiving the control command of the remote control system, respond to the control command to control the corresponding body actuator of the fire truck to perform corresponding operations; The remote control system is used to determine the remote control operation for the fire truck according to the environmental data and the vehicle status information, and send corresponding control instructions to the vehicle-mounted intelligent control system according to the remote control operation; The communication system is used to provide a communication channel between the vehicle-mounted intelligent control system and the remote control system.

2. The remote control driving system for a fire truck according to claim 1, characterized in that: The environmental data includes an environmental image of the fire truck and radar data around the fire truck, and the on-board intelligent control system includes: An image acquisition device, used to acquire an image of the environment of the fire truck; A laser radar device for collecting radar data around the fire truck; The remote control system is used to perform fusion processing on the environmental data to detect obstacles around the fire truck and the lane where the fire truck is located.

3. The remote control driving system for a fire truck according to claim 1, characterized in that: The vehicle-mounted intelligent control system is also used for: After collecting the environmental data of the fire truck, the environmental data is fused and processed to detect obstacles around the fire truck and the lane where the fire truck is located; When the environmental data and vehicle status information of the fire truck are transmitted to the remote control system, the position data corresponding to the surrounding obstacles and the lane where the fire truck is located are also transmitted to the remote control system.

4. The remote control driving system for a fire truck according to claim 1, characterized in that: The vehicle status information includes the real-time driving speed of the fire truck, and the remote control system is also used for: Determine the collision time required for the fire truck to reach the obstacle according to the driving speed and the position data corresponding to the obstacles around the fire truck; When the collision duration is less than the preset duration, an emergency braking command is sent to the on-board intelligent control system.

5. The remote control driving system for a fire truck according to claim 1, characterized in that: The remote control system comprises: A simulated driving platform, the simulated driving platform comprising a human-computer interaction device and a display device, the display device is used to visualize the environmental data and the vehicle status information, and the human-computer interaction device provides a user with an interactive interface for remotely controlling the fire truck; The remote control system is also used to determine the remote control operation for the fire truck according to the interactive operation of the user on the interactive interface.

6. The remote control driving system for a fire truck according to claim 5, characterized in that: The remote control system is also used for: According to the vehicle status information, corresponding force feedback is performed on the simulation actuator in the simulation driving platform, wherein the simulation actuator includes at least one of a steering wheel, a gear lever, a brake, an accelerator, and a fire extinguishing operation command control.

7. The remote control driving system for a fire truck according to claim 1, characterized in that: The remote control driving system also includes: The vehicle-mounted execution control system is used to receive the control instructions forwarded by the vehicle-mounted intelligent control system, and respond to the control instructions to control the corresponding body actuators of the fire truck to perform corresponding operations.

8. The remote control driving system for a fire truck according to claim 1, characterized in that: The remote control system further comprises: A first safety monitoring module is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit value and / or whether the steering angle of the steering wheel is greater than a preset angle, and send a corresponding first warning notification to the remote control system when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle; The remote control system is also used to send a speed limit instruction and / or a steering restriction instruction to the on-board intelligent control system according to the first warning notification, so as to control the fire truck to slow down and / or adjust the steering angle of the fire truck through the on-board intelligent control system.

9. The remote control driving system for a fire truck according to claim 1, characterized in that: The vehicle-mounted intelligent control system also includes: A second safety monitoring module is used to detect in real time whether the driving speed of the fire truck exceeds a preset speed upper limit value and / or whether the steering angle of the steering wheel is greater than a preset angle, and send a corresponding second warning notification to the on-board intelligent control system when the driving speed exceeds the preset speed upper limit value and / or the steering angle is greater than the preset angle; The on-board intelligent control system is also used to control the fire truck to slow down and / or adjust the steering angle of the fire truck according to the second warning notification.

10. The remote control driving system for a fire truck according to claim 1, characterized in that: The remote control system periodically sends continuous identification data to the on-board intelligent control system through the communication system. When the identification data received by the on-board intelligent control system is discontinuous or the period of the received identification data is inconsistent with the period of the remote control system sending the identification data, it is determined that the communication system is abnormal, and the packet loss rate of the communication data is calculated; The on-board intelligent control system is also used to intelligently determine and execute the next execution action according to the current working condition of the fire truck and the packet loss rate when an abnormality occurs in the communication system.

11. The remote control driving system for a fire truck according to claim 10, characterized in that: The vehicle-mounted intelligent control system is also used for: When the fire truck is in a driving state and the packet loss rate is greater than a first threshold, automatically controlling the fire truck to decelerate; When the fire truck is in a driving state and the packet loss rate is greater than a second threshold, the fire truck is automatically controlled to stop driving, wherein the second threshold is greater than the first threshold; After the fire truck is automatically controlled to stop driving, and when the duration of the packet loss rate being greater than the second threshold reaches a first duration or a retreat instruction for the fire truck is received, the fire truck is automatically controlled to start retreating.

12. The remote control driving system for a fire truck according to claim 11, characterized in that: The vehicle-mounted intelligent control system is also used for: Recording the travel data of the fire truck, wherein the travel data includes the travel path, travel speed and real-time steering angle of the fire truck; After the fire truck is automatically controlled to stop traveling, and the duration for which the packet loss rate is greater than the second threshold reaches a first duration or a retreat instruction for the fire truck is received, determining a retreat path for the fire truck according to the recorded travel data; The fire truck is automatically controlled to start retreating according to the retreat path.

13. The remote control driving system for a fire truck according to claim 12, characterized in that: The vehicle-mounted intelligent control system is also used for: When any of the following situations is detected during the process of automatically controlling the fire truck to start retreating along the retreat path, the fire truck is controlled to stop retreating: There is an obstacle on the retreat path; The fire truck's retreat distance reaches a preset maximum retreat distance; The packet loss rate is less than the second threshold and reaches a second duration.

14. The remote control driving system for a fire truck according to claim 10, characterized in that: The vehicle-mounted intelligent control system is also used for: When the fire truck is in a water spraying state and the packet loss rate is greater than a third threshold, if a control instruction from the remote control system for the fire truck is received, refusing to execute the control instruction; When the fire truck is in a water spraying state and the packet loss rate is greater than a third threshold, if no control instruction from the remote control system for the fire truck is received, the next action of the fire truck is automatically controlled according to the current water spraying parameters of the fire truck.

15. The remote control driving system for a fire truck according to any one of claims 1 to 14, characterized in that: The control instructions include fire extinguishing instructions and driving instructions, and the vehicle-mounted intelligent control system is also used for: After receiving the driving instruction sent by the remote control system, responding to the driving instruction to control the fire truck to move to the disaster area where fire extinguishing is to be performed; After receiving the fire extinguishing instruction sent by the remote control system, the fire extinguishing instruction is responded to so as to control the corresponding body actuator of the fire truck to perform the corresponding fire extinguishing operation.

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