Multi-driving-mode interactive cooperation method and system applied to security patrol car

Abstract

The invention relates to a multi-driving-mode interactive cooperation method and system applied to a security patrol car, and the method comprises the steps: M1, executing an automatic driving mode of a first priority when the patrol car works, starting the automatic driving mode according to a process, enabling a vehicle to run according to the automatic driving mode, and remotely driving a controller, uploading the vehicle state data to a patrol vehicle management platform in real time; and M2, when the vehicle runs in the automatic driving mode and the automatic driving operation ODD is exceeded, the automatic driving controller sends early warning information to a CAN network, the remote driving controller uploads the early warning information to a patrol vehicle management platform and a background operator, and when the early warning information is received, the remote driving mode of the remote driving cockpit is started. According to the invention, a single driving mode of the vehicle is expanded into a multi-driving mode, which is more beneficial to the use of an actual operation scene, the operation efficiency is enhanced, and the operation safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of security patrol vehicles, and in particular to a multi-driving mode interactive coordination method and system applied to security patrol vehicles. Background Art

[0002] As cities continue to expand, security work plays an increasingly important role in today's society. In densely populated areas such as residential communities, commercial areas, and business office areas, various incidents occur frequently, and it is often necessary to deploy personnel and patrol cars to facilitate patrol inspections and rapid response to emergency events. In recent years, self-driving wheeled vehicles (mobile robots) have gradually replaced traditional vehicles and become the main patrol vehicle in the security field. With the continuous expansion of the application of self-driving wheeled vehicles (mobile robots) in the field of security inspections and patrols, single-driving mode patrol cars have gradually transitioned to a multi-scenario, multi-driving mode interactive and collaborative mode.

[0003] There are three main types of patrol car driving modes currently in use: automatic driving mode based on unmanned driving technology, remote driving mode based on 4G or 5G mobile communication technology, and local driving mode based on vehicle-by-wire chassis technology. How to coordinate the interaction of these three types of driving modes is of great significance for ensuring that patrol cars can efficiently complete the application of actual scenes such as back streets and alleys, and can greatly enhance the market value of this type of vehicle. Summary of the invention

[0004] In view of the above problems, the present invention provides a multi-driving mode interactive coordination method and system applied to security patrol vehicles, which not only expands the vehicle from a single driving mode to multiple driving modes, but is also more conducive to the use of actual operation scenarios, thereby enhancing operational efficiency and improving operational safety.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the present invention is as follows: A multi-driving mode interactive coordination method applied to a security patrol car, the method comprising: M1. When the patrol car is operating, the first priority automatic driving mode is executed, the automatic driving mode is started according to the process, the vehicle operates in the automatic driving mode, the remote driving controller uploads the vehicle status data to the patrol car management platform in real time; M2. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, the automatic driving controller sends a warning message to the CAN network, and the remote driving controller uploads the warning message to the patrol car management platform. When the back-end operator receives the warning message, the remote driving cockpit remote driving mode is started, and the remote driving cockpit sends a mode takeover signal to the on-board remote driving controller. The on-board remote driving controller uploads the vehicle's 360-degree environmental video to the remote driving cockpit. The back-end operator checks the vehicle's surrounding environment information through the video. When it is manually determined that the vehicle is driven through the remote driving cockpit, steps M21 to 25 are executed. When it is determined that the vehicle cannot be driven through the video remote cockpit, step M3 is executed. M3. From step M2, if the backend operator manually determines that the remote driving cockpit cannot be used for driving, the warning information and vehicle location information are sent through the patrol car management platform to the mobile device. The field staff checks the vehicle location information through the APP on the mobile device. When they arrive at the location, they execute steps M31-M35. M4. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, and the wireless communication network status is unstable, execute steps M41-M46.

[0006] Further, in step M2, steps M21-M25 include: M21. The remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==1 in a periodic event CAN message; M22. The autopilot controller receives periodic event CAN messages and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M23. The back-end operator sends the simulated driving data to the patrol car management platform through the remote driving cockpit, and then forwards it to the remote driving controller. The remote driving controller converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD. M24. When it is manually determined that the driving beyond the automatic driving ODD section has been completed, the backend operator sends a remote control end signal to the remote driving controller through the patrol car management platform, and the remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==0 in the periodic event message; M25. The autopilot controller receives the message and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

[0007] Further, in step M3, steps M31-M35 include: M31. The field staff sends the remote takeover information to the patrol car management platform through the APP, which is then forwarded to the remote driving controller, and sends the remote driving control mode signal Mobile_Remote_Model==1 in the periodic event CAN message; M32. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M33. Field personnel send simulated driving data to the patrol vehicle management platform through the APP on their mobile devices, which is then forwarded to the remote driving controller; the remote driving controller converts the simulated driving data into messages, which are received by the VCU controller and drive the vehicle to complete the section beyond the autonomous driving ODD; M34. When it is manually determined that the vehicle has traveled beyond the autonomous driving ODD section, the field staff sends a remote control end signal to the patrol vehicle management platform through the APP, which is then forwarded to the remote driving controller. The remote driving controller sends a periodic event message remote driving control mode signal Mobile_Remote_Model==0; M35. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

[0008] Further, in step M4, steps M41-M46 include: M41. The back-end operation personnel send warning information, vehicle location information, and poor network status information to the mobile device through the patrol car management platform. The field staff check the vehicle location information through the APP on the mobile device and arrive at the location site. M42. Field staff turns on the Bluetooth handle and pairs it with the Bluetooth control module on the vehicle. After pairing is completed, the Bluetooth control module sends a remote driving control mode signal in the periodic event CAN message, and the local control mode signal Local_Model==1; M43. The autopilot controller receives the message and reads the Local_model value. When Local_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M44. Field staff, through the Bluetooth remote control handle, send simulated driving data to the Bluetooth control module, which then converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD; M45. When it is manually determined that the vehicle has completed driving beyond the autonomous driving ODD section, the field staff cancels the pairing between the handle and the control module, and the Bluetooth control module sends a local control mode signal Local_Model==0 in a periodic event CAN message; M46. The automatic driving controller receives the message and reads the Local_Model value. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2. When the patrol vehicle is running, if the VCU controller does not receive a message for 500ms continuously, it jumps to step M5.

[0009] Furthermore, the step M5 includes: The driving control mode signal Drive_Model==0 in the sending periodic event message is converted into a network signal "driving mode invalid" by the remote driving controller and sent to the patrol car management platform to execute steps M51-M52.

[0010] Furthermore, the steps M51-M52 include: M51. After receiving the "driving mode failure" information, the back-end operation personnel send the "driving mode failure" signal and the vehicle location information to the mobile device. The field staff check the vehicle location information through the APP on the mobile device and arrive at the location site; M52. The field staff presses the emergency stop button to terminate the vehicle operation and re-execute step M2.

[0011] In order to achieve the above-mentioned object and other related objects, the present invention also provides a system for implementing any of the multi-driving mode interactive coordination methods for security patrol vehicles, the system comprising: an emergency stop vehicle control system, a local remote control system, a remote driving system, an automatic driving system, a vehicle CAN network and a 4G / 5G mobile communication network; The emergency stop vehicle control system includes an emergency stop button, an on-board ESC controller and a patrol vehicle management platform; The local remote control system includes a Bluetooth remote control handle, a Bluetooth control module and a vehicle-mounted VCU controller; The remote driving system includes a remote driving cockpit, a mobile terminal device and a remote driving controller; The autonomous driving system includes an autonomous driving sensor and an autonomous driving controller; The emergency stop button is a physical button installed on the patrol vehicle and is connected to the ESC controller via a hard line. When the emergency stop button is pressed, a voltage signal is transmitted to the ESC controller via the hard line. The ESC controller is connected to the emergency stop button through a hard line. When the emergency stop button is pressed, a voltage signal is received and the ESC controller triggers full braking of the vehicle; The patrol vehicle management platform is a patrol vehicle status information monitoring cloud platform system, which receives vehicle status information reported by the on-board mobile communication device on the patrol vehicle, such as the remote driving controller, through the 4G / 5G network, and can also issue an emergency stop command through the device; The Bluetooth remote control handle communicates with the on-board Bluetooth control module on the patrol vehicle through the Bluetooth transceiver to send information on steering, throttle, gear position and braking of the vehicle; The Bluetooth control module is paired with the Bluetooth remote control handle one by one, receives the vehicle steering, throttle and brake information sent by the remote control handle through the Bluetooth protocol, converts the above vehicle control information into CAN information, communicates with the VCU controller through the CAN network, and sends the converted CAN information to the VCU controller; The VCU controller is connected to the Bluetooth control module, remote driving controller and automatic driving controller through the CAN network, receives the steering, throttle, gear and braking information sent by them, drives the vehicle steering system, braking system and power system, and completes the vehicle movement. The VCU controller is the CAN communication gateway between the wire-controlled chassis and the upper-mounted controller.

[0012] Furthermore, the remote driving cockpit is installed and run with a remote driving application software, which communicates with the patrol car's on-board remote driving controller via a 4G / 5G wireless network, sends simulated driving data to the patrol car management platform, and then forwards it to the on-board remote driving controller; the mobile device terminal is installed and run with a remote driving APP, which sends simulated driving data to the patrol car management platform via a 4G or 5G wireless network, and then forwards it to the on-board remote driving controller.

[0013] Furthermore, the remote driving controller uploads the on-board 360-degree video information to the patrol car management platform through the 4G or 5G wireless network, and then forwards it to the remote driving cockpit application software and the APP software on the mobile phone or PAD. At the same time, it receives the simulated driving data of the above two terminals forwarded by the patrol car management platform, and converts it into CAN protocol data, which is sent to the VCU controller through CAN network communication, and the VCU controller completes the vehicle driving. The automatic driving sensor is a sensor mounted on the patrol car body, which communicates with the automatic driving controller through Ethernet or CAN communication to obtain road environment information of the vehicle.

[0014] Furthermore, the autonomous driving controller communicates with the autonomous driving sensor via Ethernet or CAN communication, receives vehicle operating road environment information, calculates driving data through an internal autonomous driving algorithm, and sends the data to the VCU controller via the CAN communication protocol, and the VCU controller completes the vehicle driving.

[0015] The present invention has the following positive effects: 1. The present invention adds another 4 driving modes to the single driving mode of the existing autonomous driving patrol robot (wheeled vehicle), expanding the vehicle from a single driving mode to multiple driving modes, which is more conducive to the use of actual operation scenarios, enhances operation efficiency, and improves operation safety.

[0016] 2. The present invention designs a scientific and reasonable system solution for multiple driving modules, and designs a specific execution process based on the optimization level prior experience, which solves the problem that the vehicle exceeds the automatic driving ODD and cannot drive, and expands the application scope of the automatic driving patrol robot (wheeled vehicle).

[0017] 3. The present invention designs corresponding processing solutions for special scenarios such as network anomalies and vehicle anomalies through the above-mentioned multi-driving mode system and process, which can ensure the safety and efficiency of the vehicle under abnormal operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the method flow of the present invention; Figure 2 It is a schematic diagram of the system framework of the present invention; Figure 3 It is a schematic diagram of the priority of multiple driving modes of the present invention. DETAILED DESCRIPTION

[0019] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] Example 1: Figure 1 As shown, a multi-driving mode interactive coordination method applied to a security patrol car, the method comprising: M1. When the patrol car is operating, the first priority automatic driving mode is executed, the automatic driving mode is started according to the process, the vehicle operates in the automatic driving mode, the remote driving controller uploads the vehicle status data to the patrol car management platform in real time; M2. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, the automatic driving controller sends a warning message to the CAN network, and the remote driving controller uploads the warning message to the patrol car management platform. When the back-end operator receives the warning message, the remote driving cockpit remote driving mode is started, and the remote driving cockpit sends a mode takeover signal to the on-board remote driving controller. The on-board remote driving controller uploads the vehicle's 360-degree environmental video to the remote driving cockpit. The back-end operator checks the vehicle's surrounding environment information through the video. When it is manually determined that the vehicle is driven through the remote driving cockpit, steps M21 to 25 are executed. When it is determined that the vehicle cannot be driven through the video remote cockpit, step M3 is executed. M3. From step M2, if the backend operator manually determines that the remote driving cockpit cannot be used for driving, the warning information and vehicle location information are sent through the patrol car management platform to the mobile device. The field staff checks the vehicle location information through the APP on the mobile device. When they arrive at the location, they execute steps M31-M35. M4. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, and the wireless communication network status is unstable, execute steps M41-M46.

[0021] In this embodiment, in step M2, steps M21-M25 include: M21. The remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==1 in a periodic event CAN message; M22. The autopilot controller receives periodic event CAN messages and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M23. The back-end operator sends the simulated driving data to the patrol car management platform through the remote driving cockpit, and then forwards it to the remote driving controller. The remote driving controller converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD. M24. When it is manually determined that the driving beyond the automatic driving ODD section has been completed, the backend operator sends a remote control end signal to the remote driving controller through the patrol car management platform, and the remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==0 in the periodic event message; M25. The autopilot controller receives the message and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

[0022] In this embodiment, in step M3, steps M31-M35 include: M31. The field staff sends the remote takeover information to the patrol car management platform through the APP, which is then forwarded to the remote driving controller, and sends the remote driving control mode signal Mobile_Remote_Model==1 in the periodic event CAN message; M32. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M33. Field personnel send simulated driving data to the patrol vehicle management platform through the APP on their mobile devices, which is then forwarded to the remote driving controller; the remote driving controller converts the simulated driving data into messages, which are received by the VCU controller and drive the vehicle to complete the section beyond the autonomous driving ODD; M34. When it is manually determined that the vehicle has traveled beyond the autonomous driving ODD section, the field staff sends a remote control end signal to the patrol vehicle management platform through the APP, which is then forwarded to the remote driving controller. The remote driving controller sends a periodic event message remote driving control mode signal Mobile_Remote_Model==0; M35. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

[0023] In this embodiment, in step M4, steps M41-M46 include: M41. The back-end operation personnel send warning information, vehicle location information, and poor network status information to the mobile device through the patrol car management platform. The field staff check the vehicle location information through the APP on the mobile device and arrive at the location site. M42. Field staff turns on the Bluetooth handle and pairs it with the Bluetooth control module on the vehicle. After pairing is completed, the Bluetooth control module sends a remote driving control mode signal in the periodic event CAN message, and the local control mode signal Local_Model==1; M43. The autopilot controller receives the message and reads the Local_model value. When Local_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M44. Field staff, through the Bluetooth remote control handle, send simulated driving data to the Bluetooth control module, which then converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD; M45. When it is manually determined that the vehicle has completed driving beyond the autonomous driving ODD section, the field staff cancels the pairing between the handle and the control module, and the Bluetooth control module sends a local control mode signal Local_Model==0 in a periodic event CAN message; M46. The automatic driving controller receives the message and reads the Local_Model value. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2. When the patrol vehicle is running, if the VCU controller does not receive a message for 500ms continuously, it jumps to step M5.

[0024] In this embodiment, the step M5 includes: The driving control mode signal Drive_Model==0 in the sending periodic event message is converted into a network signal "driving mode invalid" by the remote driving controller and sent to the patrol car management platform to execute steps M51-M52.

[0025] In this embodiment, the steps M51-M52 include: M51. After receiving the "driving mode failure" information, the back-end operation personnel send the "driving mode failure" signal and the vehicle location information to the mobile device. The field staff check the vehicle location information through the APP on the mobile device and arrive at the location site; M52. The field staff presses the emergency stop button to terminate the vehicle operation and re-execute step M2.

[0026] Example 2: Based on the multi-driving mode interactive coordination method applied to a security patrol car in Example 1, the present invention is further illustrated and described below.

[0027] like Figure 1 As shown, a multi-driving mode interactive coordination method applied to a security patrol car, the method comprising: M1. When the patrol car is operating, the first priority automatic driving mode is executed, the automatic driving mode is started according to the process, the vehicle operates in the automatic driving mode, the remote driving controller uploads the vehicle status data to the patrol car management platform in real time; M2. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, the automatic driving controller sends a warning message to the CAN network, and the remote driving controller uploads the warning message to the patrol car management platform. When the back-end operator receives the warning message, the remote driving cockpit remote driving mode is started, and the remote driving cockpit sends a mode takeover signal to the on-board remote driving controller. The on-board remote driving controller uploads the vehicle's 360-degree environmental video to the remote driving cockpit. The back-end operator checks the vehicle's surrounding environment information through the video. When it is manually determined that the vehicle is driven through the remote driving cockpit, steps M21 to 25 are executed. When it is determined that the vehicle cannot be driven through the video remote cockpit, step M3 is executed. M3. From step M2, if the backend operator manually determines that the remote driving cockpit cannot be used for driving, the warning information and vehicle location information are sent through the patrol car management platform to the mobile device. The field staff checks the vehicle location information through the APP on the mobile device. When they arrive at the location, they execute steps M31-M35. M4. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, and the wireless communication network status is unstable, execute steps M41-M46.

[0028] The priorities of the five driving modes in the present invention are as follows: Figure 3 As shown, the priority is set according to the a priori rules of actual application. The priorities are arranged from high to low. Priority 5: emergency stop control; Priority 4: local remote control driving; Priority 3: mobile communication remote driving; Priority 2: remote driving cockpit driving; Priority 1: automatic driving. The VCU controller only responds to one periodic CAN message (assuming that the ID is 0x219 and the sending period is 10ms) to receive driving data (steering, throttle, braking, gear, etc.) to drive the vehicle.

[0029] In this embodiment, if Figure 2As shown, the present invention also provides a system for implementing any of the multi-driving mode interactive coordination methods applied to security patrol vehicles, the system comprising: an emergency stop vehicle control system, a local remote control system, a remote driving system, an automatic driving system, a vehicle CAN network and a 4G / 5G mobile communication network; The emergency stop vehicle control system includes an emergency stop button, an on-board ESC controller and a patrol vehicle management platform; The local remote control system includes a Bluetooth remote control handle, a Bluetooth control module and a vehicle-mounted VCU controller; The remote driving system includes a remote driving cockpit, a mobile terminal device and a remote driving controller; The autonomous driving system includes an autonomous driving sensor and an autonomous driving controller; The emergency stop button is a physical button installed on the patrol vehicle and is connected to the ESC controller via a hard line. When the emergency stop button is pressed, a voltage signal is transmitted to the ESC controller via the hard line. The ESC controller is connected to the emergency stop button through a hard line. When the emergency stop button is pressed, a voltage signal is received and the ESC controller triggers full braking of the vehicle; The patrol vehicle management platform is a patrol vehicle status information monitoring cloud platform system, which receives vehicle status information reported by the on-board mobile communication device on the patrol vehicle, such as the remote driving controller, through the 4G / 5G network, and can also issue an emergency stop command through the device; The Bluetooth remote control handle communicates with the on-board Bluetooth control module on the patrol vehicle through the Bluetooth transceiver to send information on steering, throttle, gear position and braking of the vehicle; The Bluetooth control module is paired with the Bluetooth remote control handle one by one, receives the vehicle steering, throttle and brake information sent by the remote control handle through the Bluetooth protocol, converts the above vehicle control information into CAN information, communicates with the VCU controller through the CAN network, and sends the converted CAN information to the VCU controller; The VCU controller is connected to the Bluetooth control module, remote driving controller and automatic driving controller through the CAN network, receives the steering, throttle, gear and braking information sent by them, drives the vehicle steering system, braking system and power system, and completes the vehicle movement. The VCU controller is the CAN communication gateway between the wire-controlled chassis and the upper-mounted controller.

[0030] In this embodiment, the remote driving cockpit is installed and run with remote driving application software, which communicates with the patrol car's on-board remote driving controller via a 4G / 5G wireless network, sends simulated driving data to the patrol car management platform, and then forwards it to the on-board remote driving controller; the mobile device terminal is installed and run with a remote driving APP, which sends simulated driving data to the patrol car management platform via a 4G or 5G wireless network, and then forwards it to the on-board remote driving controller.

[0031] In this embodiment, the remote driving controller uploads the on-board 360-degree video information to the patrol car management platform through the 4G or 5G wireless network, and then forwards it to the remote driving cockpit application software and the APP software on the mobile phone or PAD. At the same time, it receives the simulated driving data of the above two terminals forwarded by the patrol car management platform, converts it into CAN protocol data, and sends it to the VCU controller through CAN network communication. The VCU controller completes the vehicle driving. The automatic driving sensor is a sensor mounted on the patrol car body, which communicates with the automatic driving controller through Ethernet or CAN communication to obtain road environment information for the vehicle.

[0032] In this embodiment, the autonomous driving controller communicates with the autonomous driving sensor via Ethernet or CAN communication, receives vehicle operating road environment information, calculates driving data through an internal autonomous driving algorithm, and sends it to the VCU controller via the CAN communication protocol, and the VCU controller completes the vehicle driving.

[0033] In this embodiment, the present invention provides a computer-readable storage medium storing a computer program programmed or configured to execute any one of the multi-driving mode interactive collaboration methods applied to a security patrol car.

[0034] Any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0035] In summary, the present invention not only expands the vehicle from a single driving mode to multiple driving modes, but is also more conducive to use in actual operation scenarios, thereby enhancing operational efficiency and improving operational safety.

[0036] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A multi-driving mode interactive coordination method applied to a security patrol car, characterized in that: The method comprises: M1. When the patrol car is operating, the first priority automatic driving mode is executed, the automatic driving mode is started according to the process, the vehicle operates in the automatic driving mode, the remote driving controller uploads the vehicle status data to the patrol car management platform in real time; M2. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, the automatic driving controller sends a warning message to the CAN network, and the remote driving controller uploads the warning message to the patrol car management platform. When the back-end operator receives the warning message, the remote driving cockpit remote driving mode is started, and the remote driving cockpit sends a mode takeover signal to the on-board remote driving controller. The on-board remote driving controller uploads the vehicle's 360-degree environmental video to the remote driving cockpit. The back-end operator views the vehicle's surrounding environment information through the video. When it is manually determined that the vehicle is driven through the remote driving cockpit, steps M21-M25 are executed. When it is determined that the vehicle cannot be driven through the video remote cockpit, step M3 is executed. M3. From step M2, if the backend operator manually determines that the remote driving cockpit cannot be used for driving, the warning information and vehicle location information are sent through the patrol car management platform to the mobile device. The field staff checks the vehicle location information through the APP on the mobile device. When they arrive at the location, they execute steps M31-M35. M4. When the vehicle is running in the automatic driving mode and exceeds the automatic driving operation ODD, and the wireless communication network status is unstable, execute steps M41-M46.

2. The multi-driving mode interactive coordination method applied to a security patrol car according to claim 1 is characterized in that: In step M2, steps M21-M25 include: M21. The remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==1 in a periodic event CAN message; M22. The autopilot controller receives periodic event CAN messages and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M23. The back-end operator sends the simulated driving data to the patrol car management platform through the remote driving cockpit, and then forwards it to the remote driving controller. The remote driving controller converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD. M24. When it is manually determined that the driving beyond the automatic driving ODD section has been completed, the backend operator sends a remote control end signal to the remote driving controller through the patrol car management platform, and the remote driving controller sends a remote driving control mode signal Cockpit_Remote_Model==0 in the periodic event message; M25. The autopilot controller receives the message and reads the value of Cockpit_Remote_model. When Cockpit_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

3. The multi-driving mode interactive coordination method applied to a security patrol car according to claim 1 is characterized in that: In step M3, steps M31-M35 include: M31. The field staff sends the remote takeover information to the patrol car management platform through the APP, which is then forwarded to the remote driving controller, and sends the remote driving control mode signal Mobile_Remote_Model==1 in the periodic event CAN message; M32. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M33. Field personnel send simulated driving data to the patrol vehicle management platform through the APP on their mobile devices, which is then forwarded to the remote driving controller; the remote driving controller converts the simulated driving data into messages, which are received by the VCU controller and drive the vehicle to complete the section beyond the autonomous driving ODD; M34. When it is manually determined that the vehicle has traveled beyond the autonomous driving ODD section, the field staff sends a remote control end signal to the patrol vehicle management platform through the APP, which is then forwarded to the remote driving controller. The remote driving controller sends a periodic event message remote driving control mode signal Mobile_Remote_Model==0; M35. The autonomous driving controller receives the message and reads the value of Mobile_Remote_model. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2.

4. The multi-driving mode interactive coordination method applied to a security patrol car according to claim 1 is characterized in that: In step M4, steps M41-M46 include: M41. The back-end operation personnel send warning information, vehicle location information, and poor network status information to the mobile device through the patrol car management platform. The field staff check the vehicle location information through the APP on the mobile device and arrive at the location site. M42. Field staff turns on the Bluetooth handle and pairs it with the Bluetooth control module on the vehicle. After pairing is completed, the Bluetooth control module sends a remote driving control mode signal in the periodic event CAN message, and the local control mode signal Local_Model==1; M43. The autopilot controller receives the message and reads the Local_model value. When Local_Model==1 is received for 5 consecutive frames, it gives up the right to control the vehicle. M44. Field staff, through the Bluetooth remote control handle, send simulated driving data to the Bluetooth control module, which then converts the simulated driving data into messages, and the VCU controller receives the response and drives the vehicle to complete the section beyond the autonomous driving ODD; M45. When it is manually determined that the vehicle has completed driving beyond the autonomous driving ODD section, the field staff cancels the pairing between the handle and the control module, and the Bluetooth control module sends a local control mode signal Local_Model==0 in a periodic event CAN message; M46. The automatic driving controller receives the message and reads the Local_Model value. When Mobile_Remote_Model==0 is received for 5 consecutive frames, it drives according to the navigation route. If it cannot drive, repeat step M2. When the patrol vehicle is running, if the VCU controller does not receive a message for 500ms continuously, it jumps to step M5.

5. The multi-driving mode interactive coordination method applied to a security patrol car according to claim 4 is characterized in that: The step M5 comprises: The driving control mode signal Drive_Model==0 in the sending periodic event message is converted into a network signal "driving mode failure" by the remote driving controller and sent to the patrol car management platform to execute steps M51-M52.

6. The multi-driving mode interactive coordination method applied to a security patrol car according to claim 5 is characterized in that: The steps M51-M52 include: M51. After receiving the "driving mode failure" information, the backend operator sends the "driving mode failure" signal and the vehicle location information to the mobile device. The field staff checks the vehicle location information through the APP on the mobile device and arrives at the location site; M52. The field staff presses the emergency stop button to terminate the vehicle operation and re-execute step M2.

7. A system for implementing the multi-driving mode interactive coordination method for a security patrol car as described in any one of claims 1 to 6, characterized in that: The system includes: an emergency stop vehicle control system, a local remote control system, a remote driving system, an automatic driving system, a vehicle CAN network and a 4G / 5G mobile communication network; The emergency stop vehicle control system includes an emergency stop button, an on-board ESC controller and a patrol vehicle management platform; The local remote control system includes a Bluetooth remote control handle, a Bluetooth control module and a vehicle-mounted VCU controller; The remote driving system includes a remote driving cockpit, a mobile terminal device and a remote driving controller; The autonomous driving system includes an autonomous driving sensor and an autonomous driving controller; The emergency stop button is a physical button installed on the patrol vehicle and is connected to the ESC controller via a hard line. When the emergency stop button is pressed, a voltage signal is transmitted to the ESC controller via the hard line. The ESC controller is connected to the emergency stop button through a hard line. When the emergency stop button is pressed, a voltage signal is received and the ESC controller triggers full braking of the vehicle; The patrol vehicle management platform is a patrol vehicle status information monitoring cloud platform system, which receives vehicle status information reported by the on-board mobile communication device on the patrol vehicle, such as the remote driving controller, through the 4G / 5G network, and can also issue an emergency stop command through the device; The Bluetooth remote control handle communicates with the on-board Bluetooth control module on the patrol vehicle through the Bluetooth transceiver to send information on steering, throttle, gear position and braking of the vehicle; The Bluetooth control module is paired with the Bluetooth remote control handle one by one, receives the vehicle steering, throttle and brake information sent by the remote control handle through the Bluetooth protocol, converts the above vehicle control information into CAN information, communicates with the VCU controller through the CAN network, and sends the converted CAN information to the VCU controller; The VCU controller is connected to the Bluetooth control module, remote driving controller and automatic driving controller through the CAN network, receives the steering, throttle, gear and braking information sent by them, drives the vehicle steering system, braking system and power system, and completes the vehicle movement. The VCU controller is the CAN communication gateway between the wire-controlled chassis and the upper-mounted controller.

8. The system according to claim 7, characterized in that: The remote driving cockpit is installed and run with remote driving application software, which communicates with the patrol car's on-board remote driving controller through a 4G / 5G wireless network, sends simulated driving data to the patrol car management platform, and then forwards it to the on-board remote driving controller; the mobile device terminal is installed and run with a remote driving APP, which sends simulated driving data to the patrol car management platform through a 4G or 5G wireless network, and then forwards it to the on-board remote driving controller.

9. The system according to claim 7, characterized in that: The remote driving controller uploads the on-board 360-degree video information to the patrol car management platform through the 4G or 5G wireless network, and then forwards it to the remote driving cockpit application software and the APP software on the mobile phone or PAD. At the same time, it receives the simulated driving data of the above two terminals forwarded by the patrol car management platform, and converts it into CAN protocol data, which is sent to the VCU controller through CAN network communication. The VCU controller completes the vehicle driving. The automatic driving sensor is a sensor mounted on the patrol car body, which communicates with the automatic driving controller through Ethernet or CAN communication to obtain road environment information for the vehicle.

10. The system according to claim 7, characterized in that: The autonomous driving controller communicates with the autonomous driving sensor via Ethernet or CAN communication, receives vehicle operating road environment information, calculates driving data through an internal autonomous driving algorithm, and sends the data to the VCU controller via the CAN communication protocol, which completes the vehicle driving.

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