Ski field transport vehicle remote control method and system

Abstract

The invention provides a skiing field transport vehicle remote control method and system, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the current position information and the current transport vehicle state of a skiing field transport vehicle in real time; the optimal control action of the transport vehicle is obtained according to the current transport vehicle state, the actual position and the topographic information and the accumulated snow information corresponding to the actual position; and if the externally input transport vehicle control instruction is not received within the preset waiting time or the matching degree of the transport vehicle control instruction and the optimal control action of the transport vehicle is lower than a preset threshold value, judging that the ski field transport vehicle enters a remote control state. Whether the vehicle driving state is safe or not can be monitored in real time based on the driving road condition and the vehicle state in the driving process of the ski field transport vehicle, the ski field transport vehicle can be remotely controlled in time when dangerous situations occur, the optimal control mode can be selected according to the surrounding environment, and safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a remote control method and system for a ski resort transport vehicle. Background Art

[0002] Ski resort transport vehicles are vehicles used to transport people and materials in ski resorts. These vehicles usually need to be able to drive on ice and snow-covered ground and be able to adapt to low temperature environments. With the development of vehicle networking technology and intelligent driving technology, related technologies are gradually beginning to be applied to ski resort transport vehicles.

[0003] However, in actual use, it is found that the terrain of the ski resort transporter is much more complicated than that of conventional roads, and the additional impact of snow accumulation when driving on snow must also be considered. When remotely controlling the ski resort transporter, higher technical challenges are posed in terms of environmental perception and vehicle control.

[0004] Therefore, how to provide a remote control method for ski resort transport vehicles with higher reliability and safety is a problem that needs to be solved urgently. Summary of the invention

[0005] In order to improve the above problems, the present invention provides a remote control method and system for a ski resort transport vehicle.

[0006] A first aspect of an embodiment of the present invention provides a remote control method for a ski resort transport vehicle, the method comprising: Obtain the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area passed by the navigation path; Get the current location information and status of the ski resort transport vehicle in real time; determining the actual position of the ski resort transport vehicle in the navigation path according to the current position information; Obtaining an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and terrain information and snow accumulation information corresponding to the actual position; If no external input transport vehicle control command is received within a preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold, it is determined that the ski resort transport vehicle enters a remote control state; A corresponding automatic control instruction for the transport vehicle is generated according to the optimal control action of the transport vehicle, and the automatic control instruction for the transport vehicle is used to remotely control the transport vehicle of the ski resort.

[0007] Optionally, during the driving process of the ski resort transport vehicle, real-time terrain information and real-time snow accumulation information of the location of the ski resort transport vehicle are collected in real time by means of on-board sensor equipment; If the real-time terrain information and real-time snow accumulation information are different from the terrain information and snow accumulation information of the area through which the navigation path passes, the terrain information and snow accumulation information of the area through which the navigation path passes are updated based on the real-time terrain information and real-time snow accumulation information.

[0008] Optionally, the step of obtaining the optimal control action of the transport vehicle according to the current state of the transport vehicle, the actual position, and the terrain information and snow accumulation information corresponding to the actual position specifically includes: Determine the area that can affect the travel of the transport vehicle based on the actual position; Determine the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area; Obtaining a safe driving state of the transport vehicle according to the environmental influencing factors; An optimal control action for the transport vehicle is determined according to the difference between the current transport vehicle state and the safe driving state.

[0009] Optionally, the snow accumulation information includes snow accumulation state information and snow accumulation thickness information, the environmental influencing factors include terrain factors, snow accumulation factors and combined factors, and the step of determining the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area specifically includes: determining whether the transport vehicle is directly affected by the terrain according to the terrain information; If not, further determining whether the transport vehicle will be affected by at least one of the snow state and the snow thickness, and if so, determining that the environmental influencing factor is the snow factor; If yes, it is further determined whether the transport vehicle is affected by at least one of the snow state and snow thickness at the same time. If yes, the environmental influencing factor is determined to be a common factor. If not, the environmental influencing factor is determined to be a terrain factor.

[0010] Optionally, the safe driving state includes a safe driving lane, a safe driving speed, and a safe driving direction, and the step of obtaining the safe driving state of the transport vehicle according to the environmental influencing factors specifically includes: Based on the vehicle configuration parameters of the ski resort transport vehicle, according to the environmental influencing factors and the specific values ​​of the information corresponding to the environmental influencing factors, the numerical range of various data of the safe driving state of the transport vehicle is calculated.

[0011] Optionally, the current transport vehicle state includes a current driving speed and a current driving direction, the transport vehicle optimal control action includes a direction control action and a speed control action, and the step of determining the optimal control action of the transport vehicle according to the difference between the current transport vehicle state and the safe driving state specifically includes: determining a driving speed adjustment interval according to a difference between the current driving speed and the safe driving speed; determining a driving direction adjustment interval according to a difference between the actual position and the safe driving lane and a difference between the current driving direction and the safe driving direction; determining a speed control action according to the driving speed adjustment interval; A direction control action is determined according to the speed control action and the driving direction adjustment interval.

[0012] Optionally, the method for determining whether the matching degree between the transport vehicle control instruction and the transport vehicle optimal control action is lower than a preset threshold value specifically includes: Calculating a theoretical control effect on the ski resort transport vehicle according to the transport vehicle control instructions; Determining whether the theoretical control effect falls within the driving direction adjustment interval and the speed adjustment interval; If not, it is determined that the matching degree is lower than a preset threshold.

[0013] Optionally, the method further comprises: After the ski resort transport vehicle enters the remote control state, if it receives an external transport vehicle control instruction again within a preset waiting time, and the matching degree between the transport vehicle control instruction and the optimal control action of the transport vehicle reaches a preset threshold, it leaves the remote control state; The ski resort transport vehicle is controlled according to the transport vehicle control command received again.

[0014] Optionally, when the number of continuously received transport vehicle control instructions whose matching degree with the optimal control action of the transport vehicle reaches a preset threshold value exceeds a preset safety threshold value, the remote control state is exited.

[0015] A second aspect of an embodiment of the present invention provides a remote control system for a ski resort transport vehicle, comprising: An information acquisition unit, used to acquire the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area through which the navigation path passes; A status acquisition unit, used to acquire the current position information and current status of the ski resort transport vehicle in real time; A position determination unit, used to determine the actual position of the ski resort transport vehicle in the navigation path according to the current position information; An action determination unit, configured to obtain an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and terrain information and snow accumulation information corresponding to the actual position; A state judgment unit, configured to judge that the ski resort transport vehicle enters a remote control state if no external input transport vehicle control command is received within a preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold; A remote control unit is used to generate corresponding automatic control instructions for the transport vehicle according to the optimal control action of the transport vehicle, and use the automatic control instructions for the transport vehicle to remotely control the ski resort transport vehicle.

[0016] In summary, the present invention provides a remote control method and system for a ski resort transport vehicle, which can monitor in real time whether the vehicle's driving status is safe based on the driving road conditions and vehicle status during the driving of the ski resort transport vehicle. When a dangerous situation occurs, the ski resort transport vehicle can be remotely controlled in time, and the optimal control method can be selected according to the surrounding environment to ensure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A method flow chart of a remote control method for a ski resort transport vehicle according to an embodiment of the present invention; Figure 2 This is a functional module block diagram of a remote control system for a ski resort transport vehicle according to an embodiment of the present invention.

[0019] Reference numerals: Information acquisition unit 110; state acquisition unit 120; position determination unit 130; action determination unit 140; state determination unit 150; remote control unit 160. DETAILED DESCRIPTION

[0020] In actual use, it is found that the terrain of the ski resort transporter is much more complex than that of conventional roads, and the additional impact of snow accumulation when driving on snow must also be considered. When remotely controlling the ski resort transporter, higher technical challenges are posed in terms of environmental perception and vehicle control.

[0021] Therefore, how to provide a remote control method for ski resort transport vehicles with higher reliability and safety is a problem that needs to be solved urgently.

[0022] In view of this, the designers of the present invention have designed a remote control method and system for a ski resort transport vehicle.

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] In the description of the present invention, it should be noted that the terms "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invented product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0029] The following is a detailed description of a ski resort transport vehicle remote control method provided by this embodiment.

[0030] See also Figure 1 , this embodiment provides a ski resort transport vehicle remote control method, the method comprising: Step S101, obtaining the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area through which the navigation path passes.

[0031] There are two main ways to obtain information about the navigation path. One is to obtain it through a background server remotely connected to the control system installed on the ski resort transport vehicle. The server generates a corresponding navigation path based on the set departure and destination coordinates and sends it to the ski resort transport vehicle. The other is to generate a corresponding navigation path based on the destination coordinates input by the driver currently driving the ski resort transport vehicle, and synchronize the generated navigation path to the background server to facilitate the acquisition of other related information.

[0032] After obtaining the navigation path, the areas that the navigation path passes through can be known based on the ski resort map model pre-stored in the background server or the local ski resort transport vehicle. Then the terrain information and snow accumulation information of the areas that the navigation path passes through are obtained. It should be noted that the terrain structure of the ski resort is usually relatively fixed, so the terrain information is usually fixed, unless some major events have occurred that have caused the terrain structure of the ski resort to change. Generally speaking, the terrain structure of the ski resort includes flat areas, slopes, trees, cliffs, snow trails, bridges, artificial roads, service facilities, etc. The snow accumulation information changes dynamically with the snowfall in the ski resort and other environmental factors, so the snow accumulation information obtained is the latest information recorded and saved by the background server or the local ski resort transport vehicle.

[0033] On this basis, considering that a large number of sensor devices (such as laser radar, cameras, etc.) are also installed on ski resort transport vehicles to sense the environment around the vehicle during driving, the transport vehicle can also obtain real-time terrain information and snow information around the vehicle through these sensor devices during driving (for example, laser radar can provide high-resolution three-dimensional terrain information; millimeter-wave radar can penetrate the snow layer and detect the ground structure below, thereby distinguishing the thickness and density of the snow layer; the camera can cooperate with image processing technology to analyze the color and texture characteristics of the snow). As a preferred embodiment of the present invention, the method also includes: During the driving process of the ski resort transport vehicle, the real-time terrain information and real-time snow accumulation information of the location of the ski resort transport vehicle are collected in real time through the on-board sensor equipment; If the real-time terrain information and real-time snow accumulation information are different from the terrain information and snow accumulation information of the area through which the navigation path passes, the terrain information and snow accumulation information of the area through which the navigation path passes are updated based on the real-time terrain information and real-time snow accumulation information.

[0034] As mentioned above, since the terrain information and snow accumulation information initially obtained may have a certain time lag, the real-time terrain information and real-time snow accumulation information collected by the vehicle-mounted sensor equipment may be inconsistent with the terrain information and snow accumulation information previously obtained. At this time, it is necessary to overwrite the previous information with the newly acquired information. On the one hand, the transport vehicle that collects the information can make more accurate judgments. On the other hand, by uploading it to the background server, it can also be synchronized to other units in the entire system.

[0035] Step S102, obtaining the current position information and current status of the ski resort transport vehicle in real time.

[0036] In addition to the above-mentioned modules for sensing the surrounding environment, the on-board equipment of the ski resort transport vehicle also includes a module for the user to sense the vehicle's own status, including a satellite positioning module (such as a GPS module or a Beidou module), an inertial measurement unit (IMU), an acceleration sensor, etc. Through these perception modules, the current location information of the ski resort transport vehicle and the current transport vehicle status can be obtained. Among them, the transport vehicle status mainly includes the vehicle's driving direction and speed. As a preference, the transport vehicle status can further include acceleration information.

[0037] Step S103, determining the actual position of the ski resort transport vehicle in the navigation path according to the current position information.

[0038] By comparing the current position information of the ski resort transport vehicle with the acquired navigation path, on the one hand, it is possible to determine whether the ski resort transport vehicle is traveling according to the navigation path, and on the other hand, to determine the specific actual position of the ski resort transport vehicle in the navigation path, and to obtain the terrain information and snow accumulation information of the passing area corresponding to the position.

[0039] The range selection of the passing area can be set according to the needs of navigation. When a larger range needs to be searched, a larger exploration radius can be set with each point of the path as the center to determine a larger passing area. Correspondingly, if the exploration radius is larger, the amount of calculation involved will also be greater, which requires determining the appropriate value based on the actual situation. Of course, users can also dynamically adjust it at any time according to their needs during use.

[0040] It should be noted that due to the limited perception range of the on-board sensing equipment, when updating the terrain information and snow information of the passed area, only the information within the perception range of the on-board sensing equipment is updated. For those outside the perception range, the information obtained for the first time will continue to be used.

[0041] Step S104, obtaining an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and the terrain information and snow accumulation information corresponding to the actual position.

[0042] After determining the actual position of the transport vehicle in the navigation path, the specific impact of the surrounding environment on the vehicle's driving can be determined based on the terrain information and snow accumulation information within the passing area of ​​the position, and then a safe driving state that can correspond to these impacts can be obtained. Accordingly, the current optimal control action is to gradually switch the vehicle from the current transport vehicle state to the safe driving state.

[0043] Specifically, as a preferred implementation, step S104 specifically includes: Determine the area that can affect the travel of the transport vehicle based on the actual position; Determine the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area; Obtaining a safe driving state of the transport vehicle according to the environmental influencing factors; An optimal control action for the transport vehicle is determined according to the difference between the current transport vehicle state and the safe driving state.

[0044] The terrain information and snow accumulation information can be used to determine the impact of the passing area on the driving of the ski resort transport vehicle. Based on different influencing factors, corresponding countermeasures and corresponding safe driving conditions can be obtained.

[0045] Since ski resort transport vehicles are usually limited to driving within the ski resort, the difference between the terrain within the ski resort and conventional roads is that, based on the functional attributes of the ski resort, the frequency and amount of snowfall within the venue are much higher than conventional roads. On the other hand, some areas within the ski resort are usually not built with roads, and transport vehicles need to drive directly on the snow to reach these areas. Therefore, terrain and snow accumulation are factors that need to be considered that may affect the driving of ski resort transport vehicles.

[0046] Specifically, as a preferred implementation, the snow accumulation information includes snow accumulation state information and snow accumulation thickness information, the environmental influencing factors include terrain factors, snow accumulation factors and joint factors, and the step of determining the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area specifically includes: determining whether the transport vehicle is directly affected by the terrain according to the terrain information; If not, further determining whether the transport vehicle will be affected by at least one of the snow state and the snow thickness, and if so, determining that the environmental influencing factor is the snow factor; If yes, it is further determined whether the transport vehicle is affected by at least one of the snow state and snow thickness at the same time. If yes, the environmental influencing factor is determined to be a common factor. If not, the environmental influencing factor is determined to be a terrain factor.

[0047] Among them, the snow state information is used to indicate the current state of snow accumulation, which mainly includes two states: one is the new snow state, that is, the newly fallen snow layer that has not been crushed by vehicles before; the other is the compacted snow surface state, which refers to the snow surface compacted by other vehicles. The impact of these two states of snow on transport vehicles is quite different. Among them, when driving on the snow layer in the new snow state, the vehicle is prone to slipping and losing traction, resulting in inability to move forward or loss of control; at the same time, if the snow layer in the new snow state reaches a certain thickness, the driving resistance increases, which easily causes the vehicle to fall into the snow; obstacles such as stones, wood or potholes covered by the new snow are not easy to find, which may cause vehicle damage or rollover. When driving on the snow in the compacted snow surface state, the snow can provide better traction for the vehicle, and because the snow has been compacted, the obstacles below have less impact on the vehicle.

[0048] When making a judgment, the terrain has the most direct impact on driving. Some terrains will affect the driving of vehicles regardless of whether there is snow. On this basis, if there is a certain degree of snow, it may cause a greater impact. For some terrains, the size of the impact needs to be judged in combination with the state or thickness of the snow. For example, on flat terrain, if there is no snow, the vehicle can drive at a higher speed; if there is new snow, the newly fallen soft snow will increase the driving resistance, and the vehicle needs to reduce the speed and drive slowly, and it may even make the vehicle impassable depending on the thickness. If there is compacted snow, the compacted snow can provide better traction for the vehicle than the new snow, allowing the vehicle to drive at a lower speed. On sloping terrain, if there is no snow, the vehicle is easier to climb, and it is easier to control the speed when going downhill, and it can drive at a faster speed; if there is new snow, the vehicle's climbing ability will be limited, and it may even cause slipping and inability to climb, and it may cause the vehicle to lose control when going downhill, so the speed needs to be strictly controlled; if there is a certain thickness of compacted snow, it can provide a certain amount of traction and can drive at a lower speed. On a forest trail, if there is no snow, the vision is clear, obstacles are easy to identify, and you can maintain a certain speed; if it is covered with new snow, the trail may become narrow due to the snow, the vision is blocked, and obstacles under the snow are difficult to identify, so you must pass very slowly; if it is compacted snow, the impact of obstacles under the snow is relatively small, so you can drive at a relatively low speed.

[0049] Based on the above judgment process, it is possible to know which environmental factors may affect the transport vehicle within the current passing area, thereby facilitating the subsequent determination of corresponding vehicle control actions.

[0050] Specifically, as a preferred implementation, the safe driving state includes a safe driving lane, a safe driving speed, and a safe driving direction, and the step of obtaining the safe driving state of the transport vehicle according to the environmental influencing factors specifically includes: Based on the vehicle configuration parameters of the ski resort transport vehicle, according to the environmental influencing factors and the specific values ​​of the information corresponding to the environmental influencing factors, the numerical range of various data of the safe driving state of the transport vehicle is calculated.

[0051] The navigation path obtained provides a route from the departure point to the destination. The specific driving state of each specific transport vehicle in the navigation path needs to be determined based on the actual situation of the passing area. After obtaining the terrain information and snow accumulation information, the safe driving state through each area can be calculated. The safe driving state specifically includes a safe driving lane indicating which lane to drive on (the safe driving lane corresponds to the current lane division situation. When driving on a road without lane division or snow, a virtual lane can be generated based on a simulated image to facilitate the determination of a clear driving path), a safe driving speed indicating the speed to drive at (the safe driving speed is the calculated speed range for safe driving), and a safe driving direction indicating the direction to drive (the safe driving direction is the calculated driving direction range that does not deviate from the navigation path and can be passed safely).

[0052] Specifically, when calculating the safe driving state, since the performance of ski resort transport vehicles of different types or models may be different, the calculation results may be different according to the performance parameters of the vehicle itself. As a preferred embodiment, a large number of simulation models can be used to simulate and conduct real scene experiments to obtain more accurate safe driving data for ski resort transport vehicles of different types or models, so as to obtain more accurate calculation results when performing actual calculations.

[0053] Specifically, as a preferred implementation, the current transport vehicle state includes the current driving speed and the current driving direction, the transport vehicle optimal control action includes a direction control action and a speed control action, and the step of determining the optimal control action of the transport vehicle according to the difference between the current transport vehicle state and the safe driving state specifically includes: determining a driving speed adjustment interval according to a difference between the current driving speed and the safe driving speed; determining a driving direction adjustment interval according to a difference between the actual position and the safe driving lane and a difference between the current driving direction and the safe driving direction; determining a speed control action according to the driving speed adjustment interval; A direction control action is determined according to the speed control action and the driving direction adjustment interval.

[0054] When controlling the vehicle, adjustments to the driving lane and driving direction are achieved through direction control. Therefore, the driving direction adjustment interval is first determined based on the difference between the actual position and the safe driving lane and the difference between the current driving direction and the safe driving direction. That is, the adjustment amount required for lane adjustment is superimposed with the adjustment amount for direction adjustment to obtain the overall driving direction adjustment interval.

[0055] On this basis, in order to achieve the driving direction adjustment within the corresponding range, it is also necessary to determine how large the direction adjustment action is required based on the vehicle's driving speed (for the same driving direction adjustment range, the greater the speed, the smaller the amplitude of the direction adjustment action performed). Therefore, it is necessary to first determine the driving speed adjustment range and speed control action, and then determine the direction control action.

[0056] Combining the above two adjustment actions, the optimal control action of the transport vehicle is obtained to adjust the transport vehicle from the current state to a safe driving state.

[0057] It should be noted that as the transport vehicle travels, the terrain information and snow accumulation information of the passing area are changing dynamically, the corresponding environmental influencing factors are also changing dynamically, and the calculated safe driving state is also changing dynamically. Therefore, it is necessary to continuously generate new optimal control actions for the transport vehicle at an appropriate frequency. The frequency can be set to a fixed value in advance, or it can be set to a value that changes dynamically according to the vehicle's driving speed. When the vehicle speed is slower, the generation frequency decreases, and when the vehicle speed is faster, the frequency increases.

[0058] Step S105, if no external input transport vehicle control command is received within the preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold, it is determined that the ski resort transport vehicle enters the remote control state.

[0059] In actual applications, there are three control methods for ski resort transport vehicles. The first is direct control by the driver in the ski resort transport vehicle; the second is control by the driver through a manual remote control system set up in the control room. The remote control system in the control room is equipped with control equipment that completely simulates the real scene in the ski resort transport vehicle. The driver can see the information obtained by the on-board sensing equipment of the ski resort transport vehicle on the display screen in the control room, including video images and radar images. Then, after performing operations on the control equipment, the corresponding operation instructions are sent to the vehicle through the wireless communication module. The ski resort transport vehicle performs the corresponding operation after receiving the remotely sent instructions; the third is that the automatic remote control system directly generates control instructions based on the information obtained by the on-board sensing equipment of the ski resort transport vehicle and sends them to the vehicle, thereby realizing automatic remote control of the ski resort transport vehicle.

[0060] Normally, the first or second method is generally used to drive ski resort transport vehicles in ski resorts. In the first case, since the driving of ski resort transport vehicles is completely based on the driver's operation, when the driver is unable to perform correct driving actions within a reasonable time due to external reasons (snow blocking the view, bad road conditions and vehicle bumps, etc.) or personal reasons (sudden illness, interference from other people), the intervention of automatic remote control is required. On the other hand, due to the high difficulty of driving on snow, the driver's operation based on experience may be misjudged, resulting in incorrect operation. Since the risk of driving on snow is higher, incorrect operation may lead to very serious consequences, so active intervention of automatic remote control is also required. In the second case, since the driver in the control room is controlled remotely, when the communication quality is affected, it may also cause the driver's response to the emergency situation to be not timely enough, and the intervention of automatic remote control is required at this time. On the other hand, the driver in the control room is also based on experience as in the first case, and operational errors may also occur.

[0061] Therefore, for the above two methods, two conditions can be divided as the judgment criteria for whether automatic remote control intervenes. One is the measurement of time, that is, whether the driver performs the operation within a reasonable time, and the other is the judgment of the specific operation action, that is, whether the driver has made the correct control action. For the measurement of time, it can be judged by the preset waiting time. The judgment of specific operation actions is relatively complicated, and it is necessary to compare and judge with the above-mentioned optimal control actions. If the control action performed by the driver is consistent with the optimal control action or the similarity is very high, it means that he has performed the correct operation, otherwise it means that the operation has an error. Specifically, as a preferred implementation, the method for judging that the matching degree between the control instruction of the transport vehicle and the optimal control action of the transport vehicle is lower than the preset threshold specifically includes: Calculating a theoretical control effect on the ski resort transport vehicle according to the transport vehicle control instructions; Determining whether the theoretical control effect falls within the driving direction adjustment interval and the speed adjustment interval; If not, it is determined that the matching degree is lower than a preset threshold.

[0062] The key to judging whether the driver made an error in operation is based on the control effect brought about by his operation. If the control effect can adjust the state of the transport vehicle to the safe driving state and finally enter the range covered by the safe driving state, it means that the operation is correct. When it is judged that the driver made an error in operation, the ski resort transport vehicle needs to be remotely and automatically controlled.

[0063] Step S106, generating corresponding automatic control instructions for the transport vehicle according to the optimal control action of the transport vehicle, and using the automatic control instructions for the transport vehicle to remotely control the ski resort transport vehicle.

[0064] The remote automatic control method is also based on the optimal control action of the transport vehicle, which converts the optimal control action of the transport vehicle into actual automatic control instructions for the transport vehicle, and performs actual control through the control system of the ski resort transport vehicle.

[0065] It should be noted that, as another implementation method, the driver can also choose to actively enter the remote control state according to actual conditions, by sending a specific control instruction for indicating entering the remote control state to the system, and the system can directly enter the remote control state after receiving it.

[0066] After entering the remote control state, if the driving environment is restored, the driver needs to prove that the first or second driving mode can be restored through correct operation behavior. Specifically, as a preferred embodiment, the method also includes: After the ski resort transport vehicle enters the remote control state, if it receives an external transport vehicle control instruction again within a preset waiting time, and the matching degree between the transport vehicle control instruction and the optimal control action of the transport vehicle reaches a preset threshold, it leaves the remote control state; The ski resort transport vehicle is controlled according to the transport vehicle control command received again.

[0067] The specific proof method is to perform the correct operation action within a reasonable time, that is, the transport vehicle control instruction can be input within the preset waiting time, and the matching degree between the transport vehicle control instruction and the optimal control action of the transport vehicle reaches a preset threshold.

[0068] On this basis, in order to further ensure that the driver has returned to a normal value state, as a preferred implementation, the method further includes: When the number of continuously received transport vehicle control instructions whose matching degree with the optimal control action of the transport vehicle reaches a preset threshold value exceeds a preset safety threshold value, the remote control state is left.

[0069] The driver must prove that he can drive normally within a certain period of time before he can regain the actual driving rights to ensure driving safety.

[0070] It should be noted that, whether the driver actively chooses to enter the remote control state, or is in the passive remote control state based on the above judgment process, if he wants to restore the original driving method, he needs to go through the above process to ensure driving safety.

[0071] In summary, the present invention provides a remote control method for a ski resort transport vehicle, which can monitor in real time whether the vehicle's driving status is safe based on the driving road conditions and vehicle status during the driving of the ski resort transport vehicle. When a dangerous situation occurs, the ski resort transport vehicle can be remotely controlled in time, and the optimal control method can be selected according to the surrounding environment to ensure safety.

[0072] like Figure 2 As shown, the ski resort transport vehicle remote control system provided by the present invention comprises: The information acquisition unit 110 is used to acquire the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area through which the navigation path passes; A status acquisition unit 120, used to acquire the current position information and current status of the ski resort transport vehicle in real time; A position determination unit 130, configured to determine the actual position of the ski resort transport vehicle in the navigation path according to the current position information; An action determination unit 140, configured to obtain an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and terrain information and snow accumulation information corresponding to the actual position; The state judgment unit 150 is used to judge that the ski resort transport vehicle enters the remote control state if no external input transport vehicle control command is received within a preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold; The remote control unit 160 is used to generate corresponding automatic control instructions for the transport vehicle according to the optimal control action of the transport vehicle, and use the automatic control instructions for the transport vehicle to remotely control the ski resort transport vehicle.

[0073] The ski resort transport vehicle remote control system provided by the embodiment of the present invention is used to implement the above-mentioned ski resort transport vehicle remote control method, so the specific implementation method is the same as the above-mentioned method and will not be repeated here.

[0074] In summary, the present invention provides a remote control method and system for a ski resort transport vehicle, which can monitor in real time whether the vehicle's driving status is safe based on the driving road conditions and vehicle status during the driving of the ski resort transport vehicle. When a dangerous situation occurs, the ski resort transport vehicle can be remotely controlled in time, and the optimal control method can be selected according to the surrounding environment to ensure safety.

[0075] In several embodiments disclosed in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0076] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0077] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Claims

1. A ski resort transport vehicle remote control method, characterized in that: The method comprises: Obtain the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area passed by the navigation path; Get the current location information and status of the ski resort transport vehicle in real time; determining the actual position of the ski resort transport vehicle in the navigation path according to the current position information; Obtaining an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and terrain information and snow accumulation information corresponding to the actual position; If no external input transport vehicle control command is received within a preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold, it is determined that the ski resort transport vehicle enters a remote control state; A corresponding automatic control instruction for the transport vehicle is generated according to the optimal control action of the transport vehicle, and the automatic control instruction for the transport vehicle is used to remotely control the transport vehicle of the ski resort.

2. The remote control method for ski resort transport vehicles according to claim 1, characterized in that: The method further comprises: During the driving process of the ski resort transport vehicle, the real-time terrain information and real-time snow accumulation information of the ski resort transport vehicle's location are collected in real time through the on-board sensor equipment; If the real-time terrain information and real-time snow accumulation information are different from the terrain information and snow accumulation information of the area through which the navigation path passes, the terrain information and snow accumulation information of the area through which the navigation path passes are updated based on the real-time terrain information and real-time snow accumulation information.

3. The remote control method for ski resort transport vehicles according to claim 1 or 2, characterized in that: The step of obtaining the optimal control action of the transport vehicle according to the current transport vehicle state, the actual position, and the terrain information and snow accumulation information corresponding to the actual position specifically includes: Determine the area that can affect the travel of the transport vehicle based on the actual position; Determine the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area; Obtaining a safe driving state of the transport vehicle according to the environmental influencing factors; An optimal control action for the transport vehicle is determined according to the difference between the current transport vehicle state and the safe driving state.

4. The ski resort transport vehicle remote control method according to claim 3, characterized in that: The snow accumulation information includes snow accumulation state information and snow accumulation thickness information, the environmental influencing factors include terrain factors, snow accumulation factors and combined factors, and the step of determining the environmental influencing factors when the current transport vehicle is traveling according to the terrain information and snow accumulation information within the area specifically includes: determining whether the transport vehicle is directly affected by the terrain according to the terrain information; If not, further determining whether the transport vehicle will be affected by at least one of the snow state and the snow thickness, and if so, determining that the environmental influencing factor is the snow factor; If yes, it is further determined whether the transport vehicle is affected by at least one of the snow state and snow thickness at the same time. If yes, the environmental influencing factor is determined to be a common factor. If not, the environmental influencing factor is determined to be a terrain factor.

5. The remote control method for ski resort transport vehicles according to claim 4, characterized in that: The safe driving state includes a safe driving lane, a safe driving speed, and a safe driving direction. The step of obtaining the safe driving state of the transport vehicle according to the environmental influencing factors specifically includes: Based on the vehicle configuration parameters of the ski resort transport vehicle, according to the environmental influencing factors and the specific values ​​of the information corresponding to the environmental influencing factors, the numerical range of various data of the safe driving state of the transport vehicle is calculated.

6. The ski resort transport vehicle remote control method according to claim 5, characterized in that: The current state of the transport vehicle includes a current driving speed and a current driving direction, the optimal control action of the transport vehicle includes a direction control action and a speed control action, and the step of determining the optimal control action of the transport vehicle according to the difference between the current state of the transport vehicle and the safe driving state specifically includes: determining a driving speed adjustment interval according to a difference between the current driving speed and the safe driving speed; determining a driving direction adjustment interval according to a difference between the actual position and the safe driving lane and a difference between the current driving direction and the safe driving direction; determining a speed control action according to the driving speed adjustment interval; A direction control action is determined according to the speed control action and the driving direction adjustment interval.

7. The ski resort transport vehicle remote control method according to claim 6, characterized in that: The method for determining whether the matching degree between the transport vehicle control instruction and the transport vehicle optimal control action is lower than a preset threshold value specifically includes: Calculating a theoretical control effect on the ski resort transport vehicle according to the transport vehicle control instructions; Determining whether the theoretical control effect falls within the driving direction adjustment interval and the speed adjustment interval; If not, it is determined that the matching degree is lower than a preset threshold.

8. The remote control method for ski resort transport vehicles according to claim 1, characterized in that: The method further comprises: After the ski resort transport vehicle enters the remote control state, if it receives an external transport vehicle control instruction again within a preset waiting time, and the matching degree between the transport vehicle control instruction and the optimal control action of the transport vehicle reaches a preset threshold, it leaves the remote control state; The ski resort transport vehicle is controlled according to the transport vehicle control command received again.

9. The remote control method of a ski resort transport vehicle according to claim 8, characterized in that: The method further comprises: When the number of continuously received transport vehicle control instructions whose matching degree with the optimal control action of the transport vehicle reaches a preset threshold value exceeds a preset safety threshold value, the remote control state is left.

10. A remote control system for a ski resort transport vehicle, characterized in that: include: An information acquisition unit, used to acquire the navigation path of the ski resort transport vehicle and the terrain information and snow accumulation information of the area through which the navigation path passes; A status acquisition unit, used to acquire the current position information and current status of the ski resort transport vehicle in real time; A position determination unit, used to determine the actual position of the ski resort transport vehicle in the navigation path according to the current position information; An action determination unit, configured to obtain an optimal control action for the transport vehicle according to the current state of the transport vehicle, the actual position, and terrain information and snow accumulation information corresponding to the actual position; A state judgment unit, configured to judge that the ski resort transport vehicle enters a remote control state if no external input transport vehicle control command is received within a preset waiting time or the matching degree between the transport vehicle control command and the optimal control action of the transport vehicle is lower than a preset threshold; A remote control unit is used to generate corresponding automatic control instructions for the transport vehicle according to the optimal control action of the transport vehicle, and use the automatic control instructions for the transport vehicle to remotely control the ski resort transport vehicle.

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