Remote control driving method and device of vehicle and automatic driving vehicle

Abstract

The invention provides a remote control driving method and device of a vehicle and an automatic driving vehicle, and relates to the field of vehicle control and the field of intelligent auxiliary driving. The method comprises the steps of determining a control mode of a target vehicle with an automatic driving function as a remote control mode in response to a remote control mode instruction; based on the remote control mode, performing path planning according to a remote control driving instruction from a remote control end to obtain a remote control driving path; and controlling the target vehicle to travel based on the remote control travel path.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control and intelligent assisted driving, and more specifically, to a remote control driving method and device for a vehicle, an automatic driving vehicle, and a remote control driving system. Background Art

[0002] With the rapid development of science and technology, unmanned driving technology has been widely used in scenarios such as mining operations to improve the operating efficiency of vehicle operations in various scenarios such as mineral resource mining and cargo transportation. Summary of the invention

[0003] In view of this, the present disclosure provides a remote control driving method and device for a vehicle, an automatic driving vehicle, and a remote control driving system.

[0004] One aspect of the present disclosure provides a remote control driving method for a vehicle, comprising: in response to a remote control mode instruction, determining the control mode of a target vehicle with an automatic driving function as a remote control mode; based on the above remote control mode, performing path planning according to the remote control driving instruction from the remote control end to obtain a remote control driving path; and controlling the driving of the above target vehicle based on the above remote control driving path.

[0005] Another aspect of the present disclosure provides a remote control driving device for a vehicle, comprising: a first determination module, for determining the control mode of a target vehicle with an automatic driving function as a remote control mode in response to a remote control mode instruction; a remote control driving path determination module, for performing path planning based on the remote control mode and the remote control driving instruction from the remote control end to obtain a remote control driving path; and a first control module, for controlling the driving of the target vehicle based on the remote control driving path.

[0006] Another aspect of the present disclosure provides an autonomous driving vehicle, comprising: a remote control driving device for the vehicle provided according to an embodiment of the present disclosure.

[0007] Another aspect of the present disclosure provides a remote control driving system, comprising: a remote control terminal; an autonomous driving vehicle, which is communicatively connected to the remote control terminal, and the autonomous driving vehicle comprises:

[0008] According to a device provided by an embodiment of the present disclosure.

[0009] Another aspect of the present disclosure provides an electronic device, comprising:

[0010] one or more processors;

[0011] a memory for storing one or more programs,

[0012] When the one or more programs are executed by the one or more processors, the one or more processors implement the method provided according to the embodiment of the present disclosure.

[0013] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the method provided according to the embodiment of the present disclosure when executed.

[0014] Another aspect of the present disclosure provides a computer program product, which includes computer executable instructions. When the instructions are executed, they are used to implement the method provided according to the embodiment of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0016] Figure 1 Schematically illustrates an exemplary system architecture to which a remote control driving method and device for a vehicle according to an embodiment of the present disclosure can be applied;

[0017] Figure 2 A flowchart of a remote control driving method for a vehicle according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 3 The schematic diagram of the architecture of the vehicle-side control system of the embodiment of the present disclosure is schematically shown;

[0019] Figure 4 The schematic diagram shows an architecture diagram of a vehicle control system according to another embodiment of the present disclosure;

[0020] Figure 5 A diagram schematically shows an application scenario of a remote control driving method for a vehicle provided in an embodiment of the present disclosure;

[0021] Figure 6 A block diagram of a remote control driving device for a vehicle according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0025] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0026] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security, and national security.

[0027] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0028] The inventors have found that in operation scenarios such as mining operations, operation tasks can be automatically performed based on operation vehicles with automatic driving functions. For example, the transportation of mineral resources can be automatically performed based on mining vehicles with automatic driving functions. However, the operating environment in the operation scenario will change due to weather, operation progress, etc., and the passage path in the operation environment is relatively complex, which will make it difficult for the automatic driving function to accurately and smoothly pass through the operation environment, resulting in delays or interruptions in the operation task, and even safety accidents.

[0029] The embodiments of the present disclosure provide a remote control driving method, device, automatic driving vehicle, and remote control driving system for a vehicle. The remote control driving method for a vehicle includes: in response to a remote control mode instruction, determining the control mode of a target vehicle with an automatic driving function as a remote control mode; based on the remote control mode, performing path planning according to the remote control driving instruction from the remote control end to obtain a remote control driving path; and controlling the target vehicle to drive based on the remote control driving path.

[0030] According to the embodiments of the present disclosure, by determining that the control mode of the target vehicle with the automatic driving function is the remote control mode, and performing path planning based on the remote control driving command, it is possible to reuse the automatic driving function module related to the target vehicle to process the remote control driving command, thereby reducing the hardware overhead and computing overhead of setting up the remote control driving function module separately. By generating a remote control driving path and controlling the target vehicle to drive according to the remote control driving path, it is possible to realize remote control of the target vehicle under the condition of reusing the automatic driving function hardware module, and by allowing the target vehicle to drive based on the remote control driving path, it is possible to reduce the remote control driving command failure caused by communication delay and signal packet loss between the remote control end and the target vehicle, thereby making the target vehicle out of control, thereby improving the driving safety of the target vehicle. At the same time, by generating a remote control driving path, the target vehicle can meet the driving conditions such as the relevant safety conditions set by the automatic driving function during the remote control driving process, thereby further improving the driving safety of the target vehicle under the remote control model.

[0031] Figure 1 The following schematically shows an exemplary system architecture of a remote control driving method and device for a vehicle that can be applied according to an embodiment of the present disclosure. It should be noted that: Figure 1 What is shown is merely an example of a system architecture to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0032] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a first vehicle 101, a second vehicle 102, a third vehicle 103, a network 104, a server 105, and a terminal device 106. The network 104 is used to provide a medium for a communication link between the first vehicle 101, the second vehicle 102, the third vehicle 103, the server 105, and the terminal device 106. The network 104 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0033] The first vehicle 101, the second vehicle 102, and the third vehicle 103 can each interact with the server 105 and the terminal device 106 through the network 104 to receive or send messages, etc. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can also interact with each other based on the network 104 to receive or send messages. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can be unmanned vehicles, or can also include vehicles driven by driver users. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can have an automatic driving function, for example, they can travel based on a planned automatic driving path.

[0034] The first vehicle 101 , the second vehicle 102 , and the third vehicle 103 may be any type of vehicle, such as a mining car, a truck, a car, and the like.

[0035] The server 105 may be a server that provides various services, such as a server that provides background management for the motion status and operation status of the first vehicle 101, the second vehicle 102, and the third vehicle 103 (for example only). The background management server may analyze and process the data such as the broadcast messages received from the vehicles, and feed back the processing results to any vehicle.

[0036] The terminal device 106 may be any electronic device having a display screen and supporting web browsing, including but not limited to a smart phone, a tablet computer, a laptop computer, a desktop computer, etc. Alternatively, the terminal device 106 may also be a device having a simulated driving function, such as a remote control cockpit, a remote control driving system, etc. It is understandable that the terminal device 106 may be used as a remote control terminal in the embodiments of the present disclosure.

[0037] It should be noted that the remote control driving method of the vehicle provided in the embodiment of the present disclosure can generally be performed by any one of the first vehicle 101, the second vehicle 102, and the third vehicle 103. The remote control driving device of the vehicle provided in the embodiment of the present disclosure can also be set in any one of the first vehicle 101, the second vehicle 102, and the third vehicle 103.

[0038] Alternatively, the remote control driving method of the vehicle provided in the embodiment of the present disclosure may also be generally executed by the server 105. Accordingly, the remote control driving device of the vehicle provided in the embodiment of the present disclosure may generally be arranged in the server 105. The remote control driving method of the vehicle provided in the embodiment of the present disclosure may also be executed by a server or server cluster that is different from the server 105 and can communicate with the first vehicle 101, the second vehicle 102, the third vehicle 103 and / or the server 105. Accordingly, the remote control driving device of the vehicle provided in the embodiment of the present disclosure may also be arranged in a server or server cluster that is different from the server 105 and can communicate with the first vehicle 101, the second vehicle 102, the third vehicle 103 and / or the server 105.

[0039] It should be understood that Figure 1 The number of vehicles, networks and servers in the embodiment is only for illustration. Any number of vehicles, networks, servers and terminal devices may be provided as required.

[0040] Figure 2 The flowchart of the remote control driving method of a vehicle according to an embodiment of the present disclosure is schematically shown.

[0041] like Figure 2 As shown, the remote control driving method of the vehicle includes operations S210~S230.

[0042] In operation S210, in response to the remote control mode command, a control mode of the target vehicle having the automatic driving function is determined to be a remote control mode.

[0043] In operation S220, based on the remote control mode, path planning is performed according to the remote control driving instruction from the remote control terminal to obtain a remote control driving path.

[0044] In operation S230, the target vehicle is controlled to travel based on the remote control driving path.

[0045] According to the embodiments of the present disclosure, the target vehicle may be any type of vehicle, such as a mine car, a truck, etc. The autonomous driving function may be understood as being able to make autonomous driving decisions based on the traffic environment of the target vehicle, such as being able to plan an autonomous driving path for the target vehicle based on any information such as a traffic map, a sensor signal, etc., to control the target vehicle to travel through the autonomous driving path.

[0046] It should be noted that, in order to facilitate the description of the method provided in the embodiment of the present disclosure, a mine car with an automatic driving function is used in the embodiment of the present disclosure to describe the method provided in the embodiment of the present disclosure, which does not mean that the target vehicle of the method provided in the embodiment of the present disclosure is limited to a mine car.

[0047] According to the embodiments of the present disclosure, the remote control driving mode can be understood as a mode of controlling the target vehicle to travel or perform operations through a remote control signal sent by the remote control terminal. The remote control driving instructions sent by the remote control terminal can control the target vehicle to perform corresponding driving actions and operating actions. Driving actions may include turning, accelerating, decelerating, braking, etc. Operating actions may include lifting the bucket, lowering the bucket, sending operating signals, etc. The remote control driving instructions may be sent directly to the target vehicle by the remote control terminal, or the remote control terminal may forward the remote control driving instructions based on any device such as other vehicles or terminal devices, so that the target vehicle receives the remote control driving instructions.

[0048] It should be noted that the remote control driving instruction can be determined based on the remote control driving operation of the driver operating the remote control terminal. For example, the driver can directly enter the remote control cockpit to perform the remote control driving operation and generate the remote control driving instruction. However, it is not limited to this. The remote control driving instruction can also be generated by the relevant driver sending a remote control driving message to the remote control terminal through an electronic device such as a server. The embodiments of the present disclosure do not limit the specific method of generating the remote control driving instruction.

[0049] According to an embodiment of the present disclosure, the remote control mode instruction is used to control the target vehicle to determine the driving mode, so that the target vehicle responds to the remote control driving instruction to perform path planning. The target vehicle can process the remote control driving instruction based on the relevant modules of the automatic driving function to generate a remote control driving path. For example, the remote control driving instruction can be processed based on the path planning module related to the automatic driving function to obtain the remote control driving path. The path planning module can also be used to generate an automatic driving path based on map information, task instruction information, etc. related to the target vehicle, so that the target vehicle can automatically drive along the automatic driving path to realize the automatic driving function of the target vehicle.

[0050] According to an embodiment of the present disclosure, the remote control driving instruction may include any type of instruction that can control the driving of the target vehicle. For example, the remote control driving instruction may be a throttle remote control instruction, a driving direction remote control instruction, a driving gear remote control instruction, and a brake remote control instruction. The throttle remote control instruction, the driving direction remote control instruction, the driving gear remote control instruction, and the brake remote control instruction may be used to control the target vehicle's engine speed, driving direction, driving gear setting, and braking action, respectively. The target vehicle may perform path planning based on one or more remote control driving instructions, and generate a remote control driving path corresponding to the remote control driving intention of the one or more remote control driving instructions received. In this way, the remote control driving instruction can be converted into a path that satisfies the safety conditions of the automatic driving function as the automatic driving path by generating a remote control driving path, so that the target vehicle can be driven safely in the remote control mode, thereby improving the driving safety of the vehicle.

[0051] In one example, path planning can be performed based on the remote control driving instructions received in a preset time period to generate a remote control driving path corresponding to the preset time period. The target vehicle can periodically receive the remote control driving instructions of each preset time period in a plurality of consecutive preset time periods, and perform periodic path planning based on the remote control driving instructions received in each periodic preset time period to obtain remote control driving paths corresponding to a plurality of preset time periods. The target vehicle can be controlled to travel along a plurality of remote control driving paths arranged in a time sequence based on the remote control driving paths corresponding to each of the plurality of preset time periods to achieve remote control driving control of the target vehicle.

[0052] According to an embodiment of the present disclosure, controlling the target vehicle to travel based on a remote control execution path may include controlling the target vehicle to travel according to the remote control driving path.

[0053] In one example, the target vehicle may have an environmental sensing device such as an image acquisition device, a laser radar, a millimeter wave radar, etc., and the environmental sensing device is used to sense the environment around the driving environment. Path planning can be performed based on the remote control driving instructions and the sensing data collected by the environmental sensing device to generate a remote control driving path.

[0054] In one example, a remote control driving path can be periodically generated based on the remote control driving instructions periodically issued by the remote control terminal. In this way, the target vehicle can be controlled to drive based on multiple periodic remote control driving paths. The remote control driving paths corresponding to multiple preset time periods generated periodically can respond to the remote control driving instructions in a relatively timely manner, so as to achieve accurate control of the safe driving of the target vehicle by periodically and timely adjusting the remote control driving paths.

[0055] According to an embodiment of the present disclosure, the remote control mode instruction is determined based on at least one remote control mode condition.

[0056] According to an embodiment of the present disclosure, the remote control mode condition indicates that the risk level of controlling the target vehicle to drive based on the automatic driving mode is higher than a preset risk level threshold. The remote control mode condition may indicate that there is any type of risk such as safety risk, operation delay risk, etc. when the target vehicle is currently controlled to drive automatically based on the automatic driving mode.

[0057] For example, when the target vehicle drives to a congested intersection based on the autonomous driving mode, the module related to the autonomous driving function will plan the path based on the environmental perception data, resulting in the generated autonomous driving path to stop driving to avoid collision with other vehicles. At this time, the target vehicle will stop and wait under the autonomous driving conditions, resulting in the risk of operation delay or even operation failure.

[0058] According to the embodiments of the present disclosure, the target vehicle can determine whether the target vehicle itself meets the remote control mode conditions based on any data such as map information and environmental perception data. However, it is not limited to this. It is also possible to determine whether the target vehicle meets the remote control mode conditions based on any terminal or service end such as other vehicles and edge communication devices, and broadcast the judgment result to the target vehicle. The embodiments of the present disclosure do not limit the specific method of determining whether the remote control mode conditions are met and the type of the judgment execution subject device.

[0059] According to an embodiment of the present disclosure, the remote control mode instruction may also be sent by the remote control terminal.

[0060] In one example, the driver can also issue remote control mode instructions to the target vehicle by operating the remote control terminal at any time, so as to take over the target vehicle at any time, improve the flexibility of the target vehicle in switching between the automatic driving mode and the remote control mode, and improve the operating efficiency of the target vehicle.

[0061] In one example, the driver can operate the remote control terminal to send a remote control mode command based on any prompt information such as positioning information, environmental perception data, alarm information, etc. related to the target vehicle. In this way, the driver can take over the target vehicle in a timely manner to perform remote control driving and execute the remote control driving task.

[0062] According to an embodiment of the present disclosure, the remote control driving method of a vehicle may further include: determining a remote control mode prompt request based on at least one remote control mode condition; and sending the remote control mode prompt request to the remote control end.

[0063] According to an embodiment of the present disclosure, the remote control mode prompt request is used to prompt the remote control terminal to send a remote control mode instruction to the target vehicle.

[0064] According to an embodiment of the present disclosure, a remote control mode prompt request may be determined based on at least one remote control mode condition. For example, when it is detected that the target vehicle satisfies at least one remote control mode condition, a remote control mode prompt request is generated and sent to the remote control end. In this way, when there are any types of risks such as safety risks and operation delay risks in controlling the automatic driving of the target vehicle based on the automatic driving mode, the driver of the remote control end is promptly prompted to issue a remote control mode instruction to the target vehicle, and the driving efficiency and driving safety of the target vehicle are improved by quickly switching the control mode of the target vehicle to the remote control mode through the driver's remote control driving instructions.

[0065] According to an embodiment of the present disclosure, the remote control mode condition includes at least one of a first remote control mode condition, a second remote control mode condition, a third remote control mode condition, and a fourth remote control mode condition.

[0066] According to an embodiment of the present disclosure, the first remote control mode condition indicates that at least one of a sensor and a working device of the target vehicle is in a fault state.

[0067] According to the embodiments of the present disclosure, the sensor is used to collect environmental perception data of the working environment. The sensor may include a laser radar sensor, a millimeter wave sensor, etc., but is not limited thereto. The sensor may also include an image sensor such as a monocular camera and a depth camera. The embodiments of the present disclosure do not limit the specific type of the sensor, as long as it can collect environmental perception data.

[0068] According to an embodiment of the present disclosure, the working device is used to perform a specified working task, which may include any type of task such as a driving task, a bucket lifting and unloading task, etc. The working device may be any device for performing a working task such as a brake device, a bucket lifting device, etc.

[0069] According to an embodiment of the present disclosure, when at least one of the working device or the sensor is in a fault state, it can be indicated that the target vehicle is difficult to safely and efficiently perform the designated working task through the automatic driving mode. When the target vehicle meets the first remote control mode condition, it can automatically switch to the remote control mode in a timely manner by generating a remote control mode instruction, or send a remote control mode prompt request to the remote control end so that the remote control end can take over the target vehicle in time, so that the target vehicle in the remote control mode can travel based on the remote control driving instruction sent by the remote control end, thereby improving the working efficiency and working safety of the target vehicle.

[0070] According to an embodiment of the present disclosure, the second remote control mode condition indicates that the target vehicle is located in a designated parking area, or indicates that the distance between the target vehicle and the designated parking area is less than a preset parking distance threshold.

[0071] According to an embodiment of the present disclosure, the designated parking area may represent an area where the target vehicle needs to park, and the designated parking area may be, for example, a loading area, an unloading area, or other area where the target vehicle needs to park to perform a task. However, the designated parking area is not limited thereto, and may also include a parking space area for storing the target vehicle, and the like.

[0072] According to the embodiments of the present disclosure, the area of ​​the designated parking area is usually small, and the target vehicle is required to be a certain distance away from the boundary of the designated parking area when moving in the parking area. By switching the control mode of the target vehicle to the remote control mode when the target vehicle is located in the designated parking area or is less than a preset parking distance threshold from the designated parking area, the target vehicle can be controlled to park in the parking area more accurately and quickly with the help of remote control driving instructions, so as to improve the driving safety of the target vehicle in the working environment.

[0073] It should be noted that whether the target vehicle is located in the designated parking area or the distance between the target vehicle and the designated parking area can be determined based on the environmental perception data (such as positioning information, working environment images, etc.) acquired by the target vehicle. The embodiments of the present disclosure do not limit the specific method of determining whether the target vehicle is located in the designated parking area or the distance between the target vehicle and the designated parking area.

[0074] According to an embodiment of the present disclosure, the third remote control mode condition represents that the number of first target obstacles around the target vehicle is greater than or equal to a preset congestion number threshold.

[0075] According to an embodiment of the present disclosure, the height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first designated type that the target vehicle should avoid colliding with.

[0076] According to an embodiment of the present disclosure, a first target obstacle that is higher than a preset height threshold may represent an obstacle that the target vehicle should not collide with, unlike a low obstacle. By determining that the number of first target obstacles around the target vehicle is greater than or equal to a preset congestion number threshold, it can be indicated that there are a large number of obstacles that the target vehicle should not collide with in the current driving area. When the target vehicle is controlled to travel in the current driving area through the automatic driving mode, it may be slow or even stop in congestion. Therefore, the driving of the target vehicle can be accurately controlled through remote control driving instructions to avoid abnormal situations such as the target vehicle stopping in the automatic driving mode.

[0077] According to an embodiment of the present disclosure, the first specified type may include any type of obstacle that the target vehicle should avoid colliding with, and the first specified type may include pedestrians, vehicles, signs, roadside equipment, and the like. The embodiment of the present disclosure does not limit the specific type of the first specified type. By determining that the number of obstacles of the first specified type around the target vehicle is greater than or equal to the preset congestion number threshold, it can be indicated that there are a large number of obstacles that the target vehicle should not collide with in the current driving area, and the passage area is narrow. When the target vehicle is controlled to travel in the current driving area through the automatic driving mode, slow driving or even congested parking may occur. Therefore, the driving of the target vehicle can be accurately controlled through remote control driving instructions to avoid abnormal situations such as parking of the target vehicle in the automatic driving mode.

[0078] It should be noted that the height or designated type of the first target obstacle may be determined in any manner, such as by a target object detection module provided in the target vehicle, or by another vehicle or a cloud server sending a broadcast message containing the height or designated type of the first target obstacle to the target vehicle to obtain the height or designated type of the first target obstacle.

[0079] According to an embodiment of the present disclosure, the fourth remote control mode condition represents that the number of second target obstacles around the target vehicle is greater than a preset pass number threshold.

[0080] According to an embodiment of the present disclosure, the height of the second target obstacle is lower than a preset height threshold, or the type of the second target obstacle is a second designated type that the target vehicle can pass through.

[0081] According to an embodiment of the present disclosure, the second designated type may include obstacle types such as falling rocks and earth piles, but is not limited thereto, and may also include other obstacle types that can be run over by the target vehicle. By setting a suitable preset height threshold, the second target obstacle with a height lower than the preset height threshold can be indicated as an obstacle that can be run over by the target vehicle.

[0082] According to an embodiment of the present disclosure, the second target obstacle may represent a low obstacle, such as a mound of earth, a fallen rock, or other obstacle that the target vehicle can crush to pass through. The preset passage quantity threshold may represent the number of second target obstacles in the current passage area, which is a critical quantity threshold that enables the target vehicle to pass smoothly in the automatic driving mode. When the number of second target obstacles around the target vehicle is greater than the preset passage quantity threshold, it may indicate that there are many second target obstacles around the current target vehicle. Controlling the driving of the target vehicle through the automatic driving mode may cause the automatic driving path of the target vehicle to crush too many low obstacles, causing the vehicle to shake too much, and may cause the target vehicle to roll over, damage the suspension structure, or other safety accidents.

[0083] According to an embodiment of the present disclosure, performing path planning according to the acquired remote control driving instructions to obtain the remote control driving path may include: performing path planning based on at least one of environmental perception data, vehicle positioning information and map information, and the remote control driving instructions to obtain the remote control driving path.

[0084] According to the embodiments of the present disclosure, the environmental perception data is collected by the sensors of the target vehicle. The environmental perception data includes any type of perception data such as point cloud data, monocular images, depth images, etc. The embodiments of the present disclosure do not limit the specific type of environmental perception data, as long as it can characterize the operating environment around the target vehicle.

[0085] According to an embodiment of the present disclosure, the map information is related to the operating environment of the target vehicle. The map information may include any type of map, such as a standard map, a high-definition map, etc., as long as it can represent the operating environment.

[0086] According to an embodiment of the present disclosure, the vehicle positioning information represents the position of the target vehicle. For example, the vehicle positioning information may be the current coordinate position of the target vehicle, the current position of the target vehicle in a map, and the like.

[0087] According to an embodiment of the present disclosure, performing path planning based on environmental perception data, at least one of vehicle positioning information and map information, and remote control driving instructions may include processing environmental perception data, at least one of vehicle positioning information and map information, and remote control driving instructions based on a path planning algorithm. For example, the path planning algorithm may be any type of algorithm such as a genetic algorithm, a particle swarm algorithm, a vehicle engineering model, etc. The embodiment of the present disclosure does not limit the specific manner of performing path planning.

[0088] It should be noted that the functional module for executing the path planning algorithm can be set in the target vehicle, or in other vehicles or cloud servers that are communicatively connected to the target vehicle. The embodiments of the present disclosure do not limit the specific device for executing the path planning operation based on at least one of environmental perception data, vehicle positioning information and map information, and remote control driving instructions.

[0089] According to the embodiments of the present disclosure, path planning is performed based on at least one of environmental perception data, vehicle positioning information and map information, and remote control driving instructions. Remote control driving can be achieved in the remote control mode of the target vehicle by reusing the environmental perception data, map information, vehicle positioning information and other information acquired by the target vehicle, and reusing the path planning module that performs the automatic driving function, thereby reducing the hardware cost of switching the target vehicle between the automatic driving mode and the remote control mode and the mode switching calculation overhead cost, and improving the control flexibility of the target vehicle during driving.

[0090] According to an embodiment of the present disclosure, the remote control driving method of a vehicle also includes: in response to an automatic driving mode instruction, determining the control mode of the target vehicle as the automatic driving mode; performing path planning based on at least one of environmental perception data, vehicle positioning information and map information to obtain an automatic driving path; and controlling the target vehicle to travel based on the automatic driving path.

[0091] According to an embodiment of the present disclosure, the automatic driving mode instruction may be sent from a remote control terminal, or the automatic driving mode instruction may be automatically generated when it is detected that the target vehicle meets the automatic driving conditions. The embodiment of the present disclosure does not limit the specific method of determining the automatic driving mode instruction.

[0092] According to the embodiments of the present disclosure, the control mode of the target vehicle is flexibly switched through automatic driving mode instructions and remote control mode instructions to achieve flexible control of the driving of the target vehicle, so that the target vehicle can adapt to a variety of operating environments more quickly and improve the efficiency and safety of operating task execution.

[0093] Figure 3 The schematic diagram shows the architecture of the vehicle-side control system of an embodiment of the present disclosure.

[0094] like Figure 3 As shown, the vehicle-side control system 300 can be used to execute the remote control driving method of the vehicle provided according to the embodiment of the present disclosure. The vehicle-side control system 300 includes an information acquisition component 310, a path prediction module 320, a decision planning module 330, a business module 340, a control module 350 and a remote control driving module 360. In the automatic driving mode, the perception module of the information acquisition component 310 receives environmental perception data, the positioning module collects vehicle positioning information, and the map module obtains map information related to the working environment. The environmental perception data, vehicle positioning information and map information are sent to the path prediction module 320 for path planning to generate an initial automatic driving path. The decision planning module 330 obtains the initial automatic driving path, environmental perception data, vehicle positioning information and map information to make automatic driving action decisions and generate an automatic driving path that the target vehicle can execute. The control module 350 receives the automatic driving path to control the driving of the target vehicle.

[0095] When the vehicle-side control system 300 detects that it is difficult for the target vehicle to perform the task in the automatic driving mode (for example, when at least one remote control mode condition is met), a remote control mode instruction can be sent to the remote control driving module 360 ​​based on the business module 340 to switch the automatic driving mode to the remote control mode. The business module 340 can be responsible for sending remote control mode instructions and automatic driving mode instructions to enable the target vehicle to flexibly switch between the automatic driving mode and the remote control driving mode. The business module 340 can switch to the automatic driving mode to control the target vehicle by sending the automatic driving mode instruction to the decision-making planning module 330 and the remote control driving module 360.

[0096] The remote control driving module 360 ​​is responsible for the relevant functions in the remote control driving mode, including: processing the remote control driving instructions issued by the remote control end and processing the business instructions sent by the business module 340. The remote control driving module 360 ​​can respond to the remote control mode instructions of the business module 340 to receive the remote control driving instructions sent by the remote control end. The remote control driving module 360 ​​responds to the remote control driving instructions (such as throttle opening instructions, steering wheel angle instructions, gear control instructions, brake angle instructions, etc.) issued by the remote control end, and sends the remote control driving information corresponding to the remote control driving instructions to the path prediction module 320. The path prediction module 320 reuses the environmental perception data, vehicle positioning information and map information obtained by the information acquisition component 310 that can execute the automatic driving function, and combines the remote control driving information to perform path planning to generate a remote control driving path. The remote control driving path can be transmitted to the control module 350 via the remote control driving module 360. Based on the environmental perception data, vehicle positioning information and map information of the automatic driving function and other related information, the control module 350 completes the conversion of the remote control driving instructions issued by the remote control driver into a remote control driving trajectory action executable by the target vehicle. The target vehicle is controlled by remote control driving trajectory actions to complete the final execution of the remote control driving instructions of the remote control driver.

[0097] In addition, some device control instructions of the target vehicle (such as lighting control instructions, horn control instructions, etc.) can be sent to the remote control driving module 360 ​​through the remote control terminal, and transmitted to the VCU (Vehicle Control Unit) module of the target vehicle through the control module 350 for the final response.

[0098] In one example, when a traffic jam occurs at an intersection ahead of the target vehicle, the target vehicle cannot pass normally in the automatic driving mode. A remote control mode request can be sent to the remote control end to request the remote control end to remotely control the target vehicle. After the target vehicle is driven away from the congested section by processing the remote control driving command in the remote control mode, the automatic driving mode is switched to realize the unmanned driving operation of the target vehicle, thereby avoiding the target vehicle being congested in the intersection area.

[0099] According to an embodiment of the present disclosure, controlling the target vehicle's travel based on a remote control driving path may include: responding to an anti-collision on command from a remote control end, controlling the target vehicle to travel according to the remote control driving path based on an anti-collision on mode; and responding to an anti-collision off command from the remote control end, controlling the target vehicle to travel according to the remote control driving path based on an anti-collision off mode.

[0100] According to an embodiment of the present disclosure, the anti-collision on mode is used to control the target vehicle to perform evasive actions on obstacles during driving. The target vehicle can sense obstacles around it that should be avoided by acquiring environmental perception data, map information and other information. The anti-collision on mode can be used to control the target vehicle to perform evasive actions such as parking and detours at a preset distance from the obstacle that should be avoided during driving to avoid collision with the obstacle. Under the control of the remote control mode and the anti-collision on mode, the target vehicle can travel along the remote control driving path generated by the remote control driving command, and avoid obstacles in the working environment that should be avoided in a timely manner, ensuring that the remote control end can remotely control the driving of the target vehicle more safely.

[0101] According to an embodiment of the present disclosure, the anti-collision off mode is used to control the target vehicle not to perform evasive action on obstacles. For example, the anti-collision off mode can control the target vehicle to avoid collision with obstacles that meet the preset distance, and the remote control path generated by the remote control driving command is used to control the target vehicle to drive accurately. This allows the target vehicle to accurately drive according to the remote control driving path under conditions where the road environment is relatively complex and the width of the passage path is relatively narrow, avoiding repeated evasive actions that cause the target vehicle to drive too slowly or even have difficulty passing through specific complex environmental areas.

[0102] It should be noted that the anti-collision opening instruction or the anti-collision closing instruction may be sent by the remote control terminal. However, it is not limited thereto. The anti-collision opening instruction or the anti-collision closing instruction may also be generated by the target vehicle based on any data such as environmental perception data. The embodiments of the present disclosure do not limit the specific method of generating the anti-collision opening instruction or generating the anti-collision closing instruction.

[0103] According to an embodiment of the present disclosure, the remote control driving method of a vehicle further includes: sending a request to turn on an anti-collision mode to a remote control terminal while the target vehicle is driving based on the remote control driving path.

[0104] According to an embodiment of the present disclosure, the anti-collision mode on request is used to prompt the remote control end to send an anti-collision on command to the target vehicle. The driver of the remote control end can perform operations based on the prompt of the anti-collision on request to generate and send an anti-collision on command to the target vehicle. The anti-collision on request can be based on the environmental perception data of the target vehicle, vehicle positioning information and other information to determine whether the current target vehicle needs to turn on the anti-collision on mode, so as to promptly prompt the driver of the remote control end to adjust the driving method, thereby improving the adaptability of the remote control driving command sent by the driver to the operating environment of the current target vehicle.

[0105] According to an embodiment of the present disclosure, the remote control driving method of a vehicle may further include: sending an anti-collision mode closing request to the remote control end.

[0106] According to an embodiment of the present disclosure, the anti-collision mode off request is used to prompt the remote control end to send an anti-collision off instruction to the target vehicle. The driver of the remote control end can perform operations based on the prompt of the anti-collision off request to generate and send an anti-collision off instruction to the target vehicle. The anti-collision off request can be based on the environmental perception data of the target vehicle, vehicle positioning information and other information to determine whether it is currently necessary to control the driving of the target vehicle based on the anti-collision off mode, so as to promptly prompt the driver of the remote control end to adjust the driving method, thereby improving the adaptability of the remote control driving instruction sent by the driver to the operating environment of the current target vehicle.

[0107] According to an embodiment of the present disclosure, the anti-collision mode on request is determined based on at least one anti-collision mode on condition of a first anti-collision mode on condition, a second anti-collision mode on condition, and a third anti-collision mode on condition.

[0108] According to an embodiment of the present disclosure, the first anti-collision mode activation condition indicates that the target vehicle's driving speed is greater than a preset speed threshold. When the target vehicle's driving speed is greater than the preset speed threshold, it may indicate that the target vehicle's current traffic environment is relatively smooth, for example, there are fewer obstacles in the traffic environment or the traffic area is wider. The first anti-collision mode activation condition can prevent the target vehicle from colliding with obstacles that should be avoided when the target vehicle is driving at a faster speed, thereby improving the driving safety of the target vehicle.

[0109] According to an embodiment of the present disclosure, the second anti-collision mode activation condition indicates that the distance between the target vehicle and the designated working area is greater than or equal to a preset distance threshold. For example, the second anti-collision mode activation condition may indicate that the target vehicle is far away from a designated working area with a relatively complex road environment such as a loading area, an unloading area, a ramp area, etc., and the traffic environment is less complex and can be driven quickly. The anti-collision activation mode may be used to assist the remote control driving path control target vehicle in the remote control mode to avoid obstacles.

[0110] According to an embodiment of the present disclosure, the third collision avoidance mode activation condition indicates that the number of first target obstacles around the target vehicle is greater than a first preset number threshold. The third collision avoidance activation mode activation condition may indicate that the number of obstacles that need to be avoided in the current traffic conditions of the target vehicle is large, and the collision avoidance activation mode may be used to assist the remote control mode to remotely control the target vehicle to avoid collision with the first target obstacle.

[0111] According to an embodiment of the present disclosure, the anti-collision mode off request is determined based on at least one anti-collision mode off condition among a first anti-collision mode off condition, a second anti-collision mode off condition, and a third anti-collision mode off condition.

[0112] According to an embodiment of the present disclosure, the first anti-collision mode closing condition represents that the driving speed of the target vehicle is less than or equal to a preset speed threshold. The driving speed is less than or equal to the preset speed threshold, which can indicate that the target vehicle is driving more accurately and slowly under the control of the remote control driving command. By determining the first anti-collision mode closing condition when the driving speed of the target vehicle is less than or equal to the preset speed threshold, it is possible to avoid the target vehicle from automatically triggering evasive actions frequently under the control of the remote control mode, thereby affecting the control accuracy of the remote control driving path generated based on the remote control driving command, thereby achieving precise control in the remote control mode.

[0113] According to an embodiment of the present disclosure, the second anti-collision mode closing condition indicates that the target vehicle is located in a designated working area, or indicates that the distance between the target vehicle and the designated working area is less than a preset distance threshold. The designated working area may be an area with a small passage space, such as a congested intersection area, a one-way road area, etc., or a loading area, an unloading area, or an area with a lot of soil and falling rocks. By assisting the remote control mode to remotely control the driving of the target vehicle based on the anti-collision closing mode when the target vehicle is located in the designated working area or is close to the designated working area, it is possible to avoid the anti-collision opening mode causing the target vehicle to automatically perform evasive actions frequently near obstacles, and to control the safe driving of the target vehicle using a remote control driving path generated based on remote control driving instructions.

[0114] According to an embodiment of the present disclosure, the third collision avoidance mode off condition represents that the number of first target obstacles around the target vehicle is less than or equal to a first preset number threshold, and the number of second target obstacles around the target vehicle is greater than a second preset number threshold;

[0115] According to an embodiment of the present disclosure, the condition for closing the third collision avoidance mode may indicate that the number of second target obstacles that can be crushed is large, and the number of first target obstacles that the target vehicle should not collide with is small. The remote control driving instruction that the driver at the remote control end performs the driving action can be used to generate a remote control driving path to control the target vehicle to drive precisely, thereby avoiding the target vehicle from performing evasive actions near the first target obstacle or the second target obstacle.

[0116] According to an embodiment of the present disclosure, areas satisfying the closing condition of the third collision avoidance mode may include loading areas, unloading areas, soil dumping areas, crushing station areas, and other areas with a lot of soil and rockfall.

[0117] Figure 4 The schematic diagram shows an architecture diagram of a vehicle control system according to another embodiment of the present disclosure.

[0118] like Figure 4As shown, the vehicle control system 410 can be used to execute the remote control driving method of the vehicle provided in the embodiment of the present disclosure. The vehicle control system 410 may include a path planning component, a guard mode component, a speed planning component, and a working device control component. The path planning component obtains the steering wheel angle in the remote control driving instruction, and performs path planning in combination with at least one of the environmental perception data, vehicle positioning information, and map information to obtain an initial remote control driving path.

[0119] The guard mode component processes the initial remote control driving path and at least one of the environmental perception data, the vehicle positioning information and the map information to determine the guard mode instruction. The guard mode instruction may include a guard on mode instruction or a guard off mode instruction.

[0120] The speed planning component corrects the initial remote control driving path by processing the throttle opening, brake pedal angle, speed limit information, gear information, etc. in the remote control driving command to obtain the remote control driving path. The target vehicle can be controlled based on the protection on mode or protection off mode corresponding to the guard mode command and the remote control driving path.

[0121] The working device control component can generate working device control signals based on the working device control instructions. The working device control signals can control working devices such as vehicle lights, vehicle horns, and vehicle buckets to perform corresponding working tasks.

[0122] According to an embodiment of the present disclosure, the guard mode instruction may further include an area guard instruction, and the area guard instruction includes an area guard on instruction and an area guard off instruction. The area guard on instruction is used to instruct the target vehicle to not drive outside the boundary of the map related to the working environment based on the area guard on mode. The area guard off instruction is used to instruct the target vehicle to be controlled based on the area guard off mode, and the target vehicle can drive in any known or unknown area.

[0123] According to an embodiment of the present disclosure, the guard mode instruction may further include a bucket lifting guard instruction. The guard mode instruction includes a bucket lifting guard on instruction and a bucket lifting guard off instruction. The bucket lifting guard on instruction is used to indicate that the target vehicle cannot operate the bucket device based on the bucket lifting guard on mode control, so as to avoid the target vehicle lifting the bucket during driving or in the height-restricted area to avoid safety accidents. The bucket lifting guard off instruction is used to indicate that the target vehicle can arbitrarily operate the bucket device to perform unloading and other operation tasks based on the bucket lifting guard off mode control.

[0124] According to an embodiment of the present disclosure, the guard mode command may further include a disconnection guard command. The disconnection guard command is used to detect whether there is an abnormality in the communication connection between the target vehicle and the remote control terminal, so as to verify the timeliness of the remote control driving command and prevent the target vehicle from losing control due to the disconnection of the connection between the target vehicle and the remote control terminal.

[0125] According to an embodiment of the present disclosure, the remote control driving method of a vehicle may further include: when it is detected that the communication connection state between the target vehicle and the remote control end is in an abnormal state, determining the control mode of the target vehicle to be an automatic driving mode.

[0126] According to an embodiment of the present disclosure, the communication connection state between the target vehicle and the remote control terminal is in an abnormal state, which may indicate that there is a communication abnormality between the target vehicle and the remote control terminal. For example, there may be abnormal communication indicators such as a packet loss rate between the target vehicle and the remote control terminal being higher than a preset packet loss rate threshold, or a communication delay between the target vehicle and the remote control terminal being higher than a preset delay threshold. In the case of an abnormal communication connection state, automatically switching to the automatic driving mode can avoid the expiration of the remote control driving command, or the loss of control of the target vehicle due to the failure to receive the remote control driving command for more than a preset period of time, thereby improving the driving safety of the target vehicle.

[0127] According to an embodiment of the present disclosure, the remote control driving method of a vehicle may further include: when it is detected that the communication connection state between the target vehicle and the remote control end is in an abnormal state, controlling the target vehicle to stop at a designated location.

[0128] According to an embodiment of the present disclosure, the target vehicle is controlled to stop at a designated location when the communication connection state is abnormal, so that the target vehicle can avoid safety accidents caused by the failure of the automatic driving function to be normally executed, thereby further improving the safety of the target vehicle.

[0129] Figure 5 The application scenario diagram of the remote control driving method of a vehicle provided in accordance with an embodiment of the present disclosure is schematically shown.

[0130] like Figure 5 As shown, the application scenario 500 may include a remote control terminal 501 and a target vehicle C501 that are in communication connection. The target vehicle C501 may be an unmanned mining vehicle, and the remote control terminal 501 is a computer device that can respond to the driver's remote control driving operation. The remote control terminal 501 sends a remote control mode instruction to the target vehicle C501, and the target vehicle C501 switches to the remote control mode in response to the remote control mode instruction. The target vehicle C501 performs path planning by obtaining a first remote control driving instruction from the remote control terminal 501, obtains a first remote control driving path L501, and drives toward the target vehicle C501 according to the control of the remote control terminal 501.

[0131] When the target vehicle C501 drives to the node N511, the target vehicle C501 performs path planning according to the second remote control driving instruction obtained from the remote control terminal 501, and obtains the second remote control driving path L502. The target vehicle C501 can be controlled to change the driving path at the node N511 according to the second remote control driving path L502, so that the target vehicle C501 drives according to the second remote control driving path L502. It should be understood that the target vehicle C501 can generate the remote control driving path corresponding to each cycle by obtaining the remote control driving instruction sent periodically, so that the appropriate cycle period can be set to continuously control the target vehicle to drive according to the new remote control driving path.

[0132] In one example, the remote control end may be a simulated remote control cockpit, and the simulated remote control cockpit may generate a remote control driving instruction based on the remote control driving operation of the driver. The embodiments of the present disclosure are not described in detail here.

[0133] Figure 6 A block diagram of a remote control driving device for a vehicle according to an embodiment of the present disclosure is schematically shown.

[0134] like Figure 6 As shown, the remote control driving device 600 of the vehicle includes a first determination module 610 , a remote control driving path determination module 620 and a first control module 630 .

[0135] The first determination module 610 is used to determine the control mode of the target vehicle with the automatic driving function as the remote control mode in response to the remote control mode instruction.

[0136] The remote control driving path determination module 620 is used to perform path planning based on the remote control mode and the remote control driving instruction from the remote control end to obtain the remote control driving path.

[0137] The first control module 630 is used to control the driving of the target vehicle based on the remote control driving path.

[0138] According to an embodiment of the present disclosure, the remote control mode command is determined based on at least one remote control mode condition; or, the remote control mode command is sent by the remote control terminal. According to an embodiment of the present disclosure, the remote control driving device 600 of the vehicle further includes: a second determining module and a second sending module.

[0139] The second determining module is used to determine a remote control mode prompt request based on at least one remote control mode condition.

[0140] The second sending module is used to send a remote control mode prompt request to the remote control end, wherein the remote control mode prompt request is used to prompt the remote control end to send a remote control mode instruction to the target vehicle, and the remote control mode condition indicates that the risk level of controlling the target vehicle based on the automatic driving mode is higher than a preset risk level threshold.

[0141] According to an embodiment of the present disclosure, the remote control mode condition includes at least one of the following:

[0142] The first remote control mode condition indicates that at least one of the sensor and the working device of the target vehicle is in a fault state, wherein the sensor is used to collect environmental perception data of the working environment, and the working device is used to perform the specified working task.

[0143] The second remote control mode condition indicates that the target vehicle is located in a designated parking area, or indicates that the distance between the target vehicle and the designated parking area is less than a preset parking distance threshold.

[0144] The third remote control mode condition indicates that the number of first target obstacles around the target vehicle is greater than or equal to a preset congestion number threshold, wherein the height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first specified type that the target vehicle should avoid colliding with.

[0145] The fourth remote control mode condition indicates that the number of second target obstacles around the target vehicle is greater than a preset pass quantity threshold, wherein the height of the second target obstacle is lower than a preset height threshold, or the type of the second target obstacle is a second specified type that the target vehicle can pass through.

[0146] According to an embodiment of the present disclosure, the remote control driving path determination module 620 includes a path planning unit.

[0147] A path planning unit is used to perform path planning based on at least one of environmental perception data, vehicle positioning information and map information, and remote control driving instructions to obtain a remote control driving path, wherein the environmental perception data is collected by sensors of the target vehicle, the map information is related to the operating environment of the target vehicle, and the vehicle positioning information represents the position of the target vehicle.

[0148] According to an embodiment of the present disclosure, the remote control driving device 600 of the vehicle further includes: a third determination module, an automatic driving path acquisition module and a second control module.

[0149] The third determination module is used to determine the control mode of the target vehicle as the automatic driving mode in response to the automatic driving mode instruction.

[0150] The automatic driving path acquisition module is used to perform path planning based on at least one of the environmental perception data, vehicle positioning information and map information to obtain the automatic driving path.

[0151] The second control module is used to control the driving of the target vehicle based on the automatic driving path.

[0152] According to an embodiment of the present disclosure, the first control module 630 includes: a first control unit and a second control unit.

[0153] The first control unit is used to respond to the anti-collision activation command from the remote control end, and control the target vehicle to travel according to the remote control driving path based on the anti-collision activation mode, wherein the anti-collision activation mode is used to control the target vehicle to perform avoidance actions on obstacles during driving.

[0154] The second control unit is used to respond to the anti-collision shutdown command from the remote control end, and control the target vehicle to travel according to the remote control driving path based on the anti-collision shutdown mode, wherein the anti-collision shutdown mode is used to control the target vehicle not to perform avoidance action on obstacles.

[0155] According to an embodiment of the present disclosure, the remote control driving device 600 of the vehicle further includes: a third sending module and / or a fourth sending module.

[0156] The third sending module is used to send an anti-collision mode activation request to the remote control end when the target vehicle is driving based on the remote control driving path, wherein the anti-collision mode activation request is used to prompt the remote control end to send an anti-collision activation instruction to the target vehicle.

[0157] The fourth sending module is used to send an anti-collision mode closing request to the remote control end, wherein the anti-collision mode closing request is used to prompt the remote control end to send an anti-collision closing instruction to the target vehicle.

[0158] According to an embodiment of the present disclosure, the anti-collision mode activation request is determined based on at least one of the following anti-collision mode activation conditions: the first anti-collision mode activation condition indicates that the driving speed of the target vehicle is greater than a preset speed threshold; the second anti-collision mode activation condition indicates that the distance between the target vehicle and the designated working area is greater than or equal to a preset distance threshold; the third anti-collision mode activation condition indicates that the number of first target obstacles around the target vehicle is greater than a first preset number threshold, the height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first specified type that the target vehicle should avoid colliding with.

[0159] According to an embodiment of the present disclosure, the anti-collision mode closing request is determined based on at least one of the following anti-collision mode closing conditions: a first anti-collision mode closing condition, which indicates that the driving speed of the target vehicle is less than or equal to a preset speed threshold; a second anti-collision mode closing condition, which indicates that the target vehicle is located in a designated working area, or that the distance between the target vehicle and the designated working area is less than a preset distance threshold; a third anti-collision mode closing condition, which indicates that the number of first target obstacles around the target vehicle is less than or equal to a first preset number threshold, and the number of second target obstacles around the target vehicle is greater than a second preset number threshold; wherein the height of the first target obstacle is higher than the preset height threshold, or the type of the first target obstacle is a first designated type that the target vehicle should avoid colliding with,

[0160] The height of the second target obstacle is lower than a preset height threshold, or the type of the second target obstacle is a second specified type that the target vehicle can drive through.

[0161] According to an embodiment of the present disclosure, the remote control driving device 600 of the vehicle further includes: a fourth determination module or a fifth determination module

[0162] The fourth determination module is used to determine the control mode of the target vehicle as the automatic driving mode when it is detected that the communication connection state between the target vehicle and the remote control end is abnormal.

[0163] The fifth determination module is used to control the target vehicle to stop at a designated location when it is detected that the communication connection state between the target vehicle and the remote control end is abnormal.

[0164] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging circuits, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0165] It should be noted that the remote control driving device part of the vehicle in the embodiment of the present disclosure corresponds to the remote control driving method part of the vehicle in the embodiment of the present disclosure. The description of the remote control driving device part of the vehicle specifically refers to the remote control driving method part of the vehicle, which will not be repeated here.

[0166] An embodiment of the present disclosure also provides an autonomous driving vehicle, which includes: a remote control driving device for the vehicle provided according to an embodiment of the present disclosure.

[0167] According to the embodiments of the present disclosure, the autonomous driving vehicle may be any vehicle with an autonomous driving function, such as an unmanned mining vehicle, an unmanned truck, etc. The remote control driving device of the vehicle provided in the embodiments of the present disclosure may be installed in the autonomous driving vehicle, so that the autonomous driving vehicle may execute the remote control driving method of the vehicle provided in the embodiments of the present disclosure.

[0168] An embodiment of the present disclosure further provides a remote control driving system, which includes: a remote control terminal and an autonomous driving vehicle.

[0169] According to an embodiment of the present disclosure, the autonomous driving vehicle is connected to a remote control terminal in communication. The autonomous driving vehicle includes a remote control driving device of the vehicle provided in an embodiment of the present disclosure. The remote control terminal can send a remote control driving instruction to the remote control driving device of the autonomous driving vehicle, and the remote control driving device can execute the method provided in an embodiment of the present disclosure in a remote control mode according to the remote control driving instruction to control the autonomous driving vehicle to travel.

[0170] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0171] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A remote control driving method for a vehicle, comprising: In response to the remote control mode instruction, determining the control mode of the target vehicle with the automatic driving function to be the remote control mode; Based on the remote control mode, path planning is performed according to the remote control driving command from the remote control end to obtain a remote control driving path; as well as The target vehicle is controlled to travel based on the remote control travel path.

2. The method according to claim 1, wherein: The remote control mode instruction is determined based on at least one remote control mode condition; or, The remote control mode instruction is sent by the remote control terminal; the method further comprises: determining a remote control mode prompt request based on at least one remote control mode condition; and The remote control mode prompt request is sent to the remote control end, wherein the remote control mode prompt request is used to prompt the remote control end to send the remote control mode instruction to the target vehicle, and the remote control mode condition indicates that the risk level of controlling the driving of the target vehicle based on the automatic driving mode is higher than a preset risk level threshold.

3. The method according to claim 2, wherein: The remote control mode condition includes at least one of the following: A first remote control mode condition, indicating that at least one of a sensor and an operating device of the target vehicle is in a fault state, wherein the sensor is used to collect environmental perception data of the operating environment and the operating device is used to perform a specified operating task; A second remote control mode condition, indicating that the target vehicle is located in a designated parking area, or indicating that the distance between the target vehicle and the designated parking area is less than a preset parking distance threshold; A third remote control mode condition, indicating that the number of first target obstacles around the target vehicle is greater than or equal to a preset congestion number threshold, wherein the height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first specified type that the target vehicle should avoid colliding with; The fourth remote control mode condition is characterized in that the number of second target obstacles around the target vehicle is greater than a preset pass quantity threshold, wherein the height of the second target obstacle is lower than a preset height threshold, or the type of the second target obstacle is a second specified type that the target vehicle can pass through.

4. The method according to claim 1, wherein: Based on the remote control mode, the path planning is performed according to the remote control driving instruction from the remote control end to obtain the remote control driving path, which includes: The remote control driving path is obtained by performing path planning based on at least one of environmental perception data, vehicle positioning information and map information, and the remote control driving instruction, wherein the environmental perception data is collected by sensors of the target vehicle, the map information is related to the operating environment of the target vehicle, and the vehicle positioning information represents the position of the target vehicle.

5. The method according to claim 4, wherein: The method further comprises: In response to the automatic driving mode instruction, determining the control mode of the target vehicle to be the automatic driving mode; Performing path planning based on at least one of the environmental perception data, the vehicle positioning information, and the map information to obtain an autonomous driving path; and The target vehicle is controlled to travel based on the automatic driving path.

6. The method according to claim 1, wherein: The controlling the target vehicle to travel based on the remote control driving path comprises: In response to an anti-collision activation instruction from the remote control end, controlling the target vehicle to travel according to the remote control driving path based on an anti-collision activation mode, wherein the anti-collision activation mode is used to control the target vehicle to perform an avoidance action on an obstacle during driving; and In response to the anti-collision shutdown instruction from the remote control end, the target vehicle is controlled to travel according to the remote control driving path based on the anti-collision shutdown mode, wherein the anti-collision shutdown mode is used to control the target vehicle not to perform avoidance action on obstacles.

7. The method according to claim 6, wherein: The method further comprises: During the process of the target vehicle driving based on the remote control driving path, sending an anti-collision mode activation request to the remote control end, wherein the anti-collision mode activation request is used to prompt the remote control end to send the anti-collision activation instruction to the target vehicle; and / or Sending an anti-collision mode closing request to the remote control end, wherein the anti-collision mode closing request is used to prompt the remote control end to send the anti-collision closing instruction to the target vehicle.

8. The method according to claim 7, wherein: The anti-collision mode activation request is determined based on at least one of the following anti-collision mode activation conditions: The first collision avoidance mode activation condition indicates that the target vehicle's driving speed is greater than a preset speed threshold; The second collision avoidance mode activation condition indicates that the distance between the target vehicle and the designated operation area is greater than or equal to a preset distance threshold; The third anti-collision mode activation condition is characterized by that the number of first target obstacles around the target vehicle is greater than a first preset number threshold, the height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first specified type that the target vehicle should avoid colliding with.

9. The method according to claim 7, wherein: The anti-collision mode off request is determined based on at least one of the following anti-collision mode off conditions: The first collision avoidance mode off condition indicates that the speed of the target vehicle is less than or equal to a preset speed threshold; The second anti-collision mode closing condition indicates that the target vehicle is located in the designated working area, or indicates that the distance between the target vehicle and the designated working area is less than a preset distance threshold; A third collision avoidance mode off condition indicates that the number of first target obstacles around the target vehicle is less than or equal to a first preset number threshold, and the number of second target obstacles around the target vehicle is greater than a second preset number threshold; The height of the first target obstacle is higher than a preset height threshold, or the type of the first target obstacle is a first specified type that the target vehicle should avoid colliding with, The height of the second target obstacle is lower than a preset height threshold, or the type of the second target obstacle is a second specified type that the target vehicle can pass through.

10. The method according to claim 1, wherein: The method further comprises: When it is detected that the communication connection state between the target vehicle and the remote control terminal is abnormal, determining the control mode of the target vehicle to be an automatic driving mode; or When it is detected that the communication connection state between the target vehicle and the remote control terminal is abnormal, the target vehicle is controlled to stop at a designated position.

11. A remote control driving device for a vehicle, comprising: A first determining module, configured to determine the control mode of the target vehicle with the automatic driving function as the remote control mode in response to the remote control mode instruction; A remote control driving path determination module is used to perform path planning based on the remote control mode and the remote control driving instruction from the remote control end to obtain a remote control driving path; as well as The first control module is used to control the target vehicle to travel based on the remote control driving path.

12. An autonomous driving vehicle, comprising: The remote control driving device for a vehicle as claimed in claim 11.

13. A remote control driving system comprising: Remote control terminal; An autonomous driving vehicle is communicatively connected to the remote control terminal, and the autonomous driving vehicle comprises: The device as claimed in claim 11.

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