Vehicle remote driving system and vehicle

Abstract

The present invention provides a vehicle remote driving system and a vehicle. The vehicle remote driving system includes: an image acquisition device, a radar device, an automatic driving controller, a gateway, a first control device and a second control device, wherein the automatic driving controller is used to detect faults in the vehicle remote driving system. When the automatic driving controller detects that the radar device has failed, the gateway sends the image information collected by the image acquisition device to the second control device, and sends the control instructions fed back by the second control device to the first control device; when the automatic driving controller detects that the image acquisition device has failed, the automatic driving controller sends the radar information collected by the radar device to the second control device, and sends the control instructions fed back by the second control device to the first control device. The present invention ensures the reliability of remote driving and realizes that the vehicle's operating tasks can still be performed when one of the control links of the vehicle remote driving system fails.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving technology, and in particular to a vehicle remote driving system and a vehicle. Background Art

[0002] Among the related technologies, most of them currently use the link of cockpit-cloud-5G (5th Generation Mobile Networks) router-video host-vehicle control unit (VCU) to control the vehicle. If there is a fault in the entire link, remote driving cannot be carried out. At the same time, if there is a fault in the remote driving link, the vehicle can only be parked on the side of the road and wait for the driver to deal with it. There is no guarantee that the vehicle can be repaired after the entire operation task is completed, which increases labor costs and driver safety risks. Summary of the invention

[0003] The present invention aims to solve or improve at least one of the above-mentioned technical problems.

[0004] To this end, a first object of the present invention is to provide a vehicle remote driving system.

[0005] A second object of the present invention is to provide a vehicle.

[0006] To achieve the first objective of the present invention, the technical solution of the present invention provides a vehicle remote driving system, including: an image acquisition device, the image acquisition device is used to acquire image information; a radar device, the radar device is used to acquire radar information; an automatic driving controller, the automatic driving controller is respectively connected to the image acquisition device and the radar device; a gateway, the gateway is respectively connected to the image acquisition device and the automatic driving controller; a first control device, the first control device is respectively connected to the gateway and the automatic driving controller, and is used to control the vehicle; a second control device, the second control device is respectively connected to the gateway and the automatic driving controller, and is used to receive control instructions; wherein the automatic driving controller is used to detect faults in the vehicle remote driving system, and when the automatic driving controller detects that the radar device has a fault, the gateway sends the image information acquired by the image acquisition device to the second control device, and sends the control instructions fed back by the second control device to the first control device; when the automatic driving controller detects that the image acquisition device has a fault, the automatic driving controller sends the radar information acquired by the radar device to the second control device, and sends the control instructions fed back by the second control device to the first control device.

[0007] The vehicle remote driving system provided by the present invention mainly includes: an image acquisition device, a radar device, an automatic driving controller, a gateway, a first control device and a second control device. Among them, the image acquisition device can collect image information, the image acquisition device can be a camera, and the image information can also be video information around the vehicle. The radar device can collect radar information, and the radar information can be a laser radar or a millimeter wave radar, or the sum of the two, so the radar information can be a laser point cloud image or a millimeter wave image. The automatic driving controller is connected to the image acquisition device and the radar device through the vehicle bus respectively, so that the automatic driving controller can receive the image information and radar information collected by the image acquisition device and the radar device. The gateway is connected to the image acquisition device and the automatic driving controller through the vehicle bus respectively, so that the gateway can receive the image information collected by the image acquisition device and send control instructions to the automatic driving controller. The first control device, the first control device is connected to the gateway and the automatic driving controller through the vehicle bus respectively, and then receives the control instructions sent by the gateway or the automatic driving controller, so as to control the vehicle to perform the operation task according to the control instructions. The second control device can be a remote cockpit. The second control device is connected to the gateway and the automatic driving controller respectively, so as to receive the image information and radar information collected by the image acquisition device and / or the radar device, and then generate control instructions according to the image information and / or the radar information, and send them to the first control device through the gateway or the automatic driving controller, so as to control the vehicle to perform the operation task. At the same time, the automatic driving controller can also detect the failure of the vehicle remote driving system. When the automatic driving controller detects that the radar device fails, the gateway can send the image information collected by the image acquisition device to the second control device, and then the second control device feeds back the control instruction to the gateway according to the image information. Finally, the gateway sends the feedback control instruction to the first control device. After receiving the control instruction, the first control device controls the vehicle operation according to the control instruction, that is, when the control link of the radar device, the automatic driving controller and the second control device in the vehicle remote driving system fails, the image acquisition device, the gateway, the second control device and the first control device can be used to control the vehicle to work. When the automatic driving controller detects that the image acquisition device has a fault, the automatic driving controller can send radar information collected by the radar device to the second control device, and the second control device will feedback control instructions to the automatic driving controller based on the radar information. Finally, the automatic driving controller transmits the feedback control instructions to the first control device, and the first control device controls the vehicle operation according to the control instructions. That is, when the control link of the image acquisition device, gateway and second control device in the vehicle remote driving system fails, the control link of the radar device, automatic driving controller, second control device and first control device can be used to control the vehicle to work.The present invention sets up multiple control links in the vehicle remote driving system, which maximizes the reliability of remote driving. The multiple redundant control links can ensure that the vehicle can still be repaired after completing its operating mission even if one of the control links fails.

[0008] In addition, the technical solution provided by the present invention may also have the following additional technical features:

[0009] In some technical solutions, optionally, when the autonomous driving controller detects that a radar device and an image acquisition device have malfunctioned, the autonomous driving controller sends incomplete radar information collected by the radar device to the second control device, and the gateway sends incomplete image information collected by the image acquisition device to the second control device; when the incomplete radar information and the incomplete image information contain environmental information of the vehicle, the second control device sends a control instruction to the autonomous driving controller, and the autonomous driving controller sends the received control instruction to the first control device.

[0010] In this technical solution, when the automatic driving controller detects that the radar device and the image acquisition device send faults at the same time, that is, when the radar device and the image acquisition device fail at the same time, for example, a certain camera fails, and at the same time one of the laser radar or the millimeter wave radar fails, and can only collect incomplete image information and incomplete radar information, the automatic driving controller can send the incomplete radar information collected by the radar device to the second control device, and the gateway sends the incomplete image information collected by the image acquisition device to the second control device. When the incomplete image information and the incomplete radar information contain the vehicle's environmental information, the second control device can send the control instruction to the automatic driving controller, that is, as long as the incomplete image information and the incomplete radar information can combine the front, rear, left and right images of the vehicle, the vehicle remote driving system can operate, that is, the second control device can send the control instruction to the automatic driving controller, and finally the automatic driving controller sends the control instruction to the first control device, so that the first control device can control the vehicle to perform the operation task according to the control instruction. In the present invention, when some components in the radar device and the image acquisition device fail, it is only necessary to ensure that the incomplete video picture, i.e., the image information, and the incomplete radar information can output the combined front, rear, left and right images, so that the vehicle can be controlled to drive remotely until the mission is completed.

[0011] In some technical solutions, optionally, when the autonomous driving controller detects that a gateway or radar device has failed, the autonomous driving controller sends image information captured by the image acquisition device to the second control device, and sends control instructions fed back by the second control device to the first control device.

[0012] In this technical solution, when the automatic driving controller detects that the gateway or radar device fails, the automatic driving controller sends the image information collected by the image acquisition device to the second control device. After receiving the image information transmitted by the automatic driving controller, the second control device feeds back the control instruction to the automatic driving controller according to the image information. After receiving the feedback control instruction, the automatic driving controller sends the control instruction to the first control device to control the vehicle to work normally. In other words, when the radar device and the gateway fail, the control link of the image acquisition device, the automatic driving controller, the second control device and the first control device can be used, so that when a control link in the vehicle remote driving system fails, the vehicle remote driving system can still work normally.

[0013] In some technical solutions, optionally, based on the fact that the autonomous driving controller does not detect a malfunction in the vehicle's remote driving system, the autonomous driving controller sends radar information collected by the radar device to the second control device, and the gateway sends image information collected by the image acquisition device to the second control device; the second control device sends a control instruction to the autonomous driving controller, and the autonomous driving controller sends the received control instruction to the first control device.

[0014] In this technical solution, when the automatic driving controller does not detect that the vehicle remote driving system has a fault, that is, when the vehicle remote driving system is operating normally, the automatic driving controller will send the radar information collected by the radar device to the second control device, and the gateway will send the image information collected by the image acquisition device to the second control device. After receiving the image information and radar information, the second control device mainly uses the image information and the radar information as a supplement to obtain the control instruction, and sends the control instruction to the automatic driving controller. Finally, the automatic driving controller sends the received control instruction to the first control device, so that the first control device controls the vehicle to perform the operation task according to the control instruction. In the present invention, when the vehicle remote driving system is operating normally, the second control device mainly uses the image information and the radar information as a supplement to obtain the control instruction, and then sends the control instruction to the automatic driving controller. The automatic driving controller sends the control instruction to the second control device to drive the vehicle to perform driving, braking, steering and other actions.

[0015] In some technical solutions, optionally, the second control device includes: a router, which is respectively connected to the gateway and the automatic driving controller, and is used to receive image information and / or radar information; a remote cockpit, which is connected to the router via cloud communication; and is used to determine control instructions based on the image information and / or radar information, and send the control instructions to the router.

[0016] In this technical solution, the second control device may include: a router and a remote cockpit. The router is respectively connected to the gateway and the automatic driving controller through the vehicle bus, and the router can receive image information and / or radar information sent by the gateway or the automatic driving controller, and then send the image information and / or radar information to the cloud through 5G communication technology, and finally the cloud sends the image information and / or radar information to the remote cockpit. The remote cockpit is connected to the router through cloud communication, that is, the remote cockpit can exchange data with the router through 5G communication technology, and then the remote cockpit can determine the control instructions based on the image information and / or radar information, and then send the control instructions to the router, so that the router sends the control instructions to the gateway or the automatic driving controller respectively.

[0017] In some technical solutions, optionally, the router includes: multiple communication modules for transmitting image information and / or radar information to the remote cockpit via the cloud.

[0018] In this technical solution, a router has multiple communication modules. The communication module can communicate with the remote cockpit through the cloud to transmit image information and / or radar information to the remote cockpit. Each communication module has a subscriber identity module (SIM) card, and the operator of each communication module is different, such as China Unicom or China Mobile. By setting multiple communication modules in the router, and each communication module has a different operator, the router can support fast switching of different operators, thereby effectively reducing abnormal situations of network disconnection and network delay.

[0019] In some technical solutions, optionally, the vehicle remote driving system also includes: a video host, which is connected to the image acquisition device and the gateway respectively, and is used to output image information or output incomplete image information.

[0020] In this technical solution, the vehicle remote driving system also includes: a video host. The video host can be connected to the image acquisition device through low-voltage differential signal (LVDS) technology, and can receive image information transmitted by the image acquisition device. At the same time, the video host can also be connected to the gateway through the vehicle bus to output image information to the gateway. The present invention sets a video host between the image acquisition device and the gateway in the vehicle remote driving system, so that the video host can output video images and output incomplete video images.

[0021] In some technical schemes, optionally, the first control device includes: a vehicle controller, which is respectively connected to the gateway and the automatic driving controller, and is used to receive control instructions transmitted by the gateway or the automatic driving controller; a wire-controlled steering gear, which is connected to the vehicle controller, and is used to control the vehicle according to the control instructions; a wire-controlled brake, which is connected to the vehicle controller, and is used to control the vehicle according to the control instructions; and a wire-controlled drive, which is connected to the vehicle controller, and is used to control the vehicle according to the control instructions.

[0022] In this technical solution, the first control device includes: a vehicle controller, a wire-controlled steering gear, a wire-controlled brake and a wire-controlled driver. Among them, the vehicle controller is connected to the gateway and the automatic driving controller respectively through the vehicle bus, and can receive control instructions output by the gateway and / or the automatic driving controller. The wire-controlled steering gear is connected to the vehicle controller through the vehicle bus, and the wire-controlled steering gear can control the vehicle to steer according to the control instructions. The wire-controlled brake is connected to the vehicle controller through the vehicle bus, and the wire-controlled brake can control the vehicle to brake according to the control instructions. The wire-controlled driver is connected to the vehicle controller through the vehicle bus, and the wire-controlled driver can control the vehicle to drive according to the control instructions. In the present invention, a vehicle controller is provided, so that the technical effects of steering, braking and driving the whole vehicle can be achieved.

[0023] In some technical solutions, optionally, the image acquisition device, the radar device, the automatic driving controller, the first control device and the second control device are connected through a vehicle bus, wherein the vehicle bus includes: one or a combination of a controller area network bus and an Ethernet bus.

[0024] In this technical solution, the image acquisition device, the radar device, the automatic driving controller, the first control device and the second control device are connected through a vehicle bus, wherein the vehicle bus includes: one or a combination of a controller area network bus and an Ethernet bus. For example, CAN (Controller Area Network) or Ethernet. By using CAN or Ethernet to connect between the image acquisition device, the radar device, the automatic driving controller, the first control device and the second control device, the transmission performance of image information, radar information and control instructions is improved.

[0025] To achieve the second objective of the present invention, the technical solution of the present invention provides a vehicle, including: a vehicle remote driving system as described in any technical solution of the present invention.

[0026] The vehicle provided by this technical solution has a vehicle remote driving system as in any technical solution of the present invention, and thus it has all the beneficial effects of the vehicle remote driving system as in any technical solution of the present invention, which will not be repeated here, and the vehicle may be an unmanned mining car, etc.

[0027] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 One of the schematic diagrams of a vehicle remote driving system according to an embodiment of the present invention is shown;

[0030] Figure 2 A second schematic diagram of a vehicle remote driving system according to an embodiment of the present invention is shown;

[0031] Figure 3 A third schematic diagram showing a vehicle remote driving system according to an embodiment of the present invention;

[0032] Figure 4 A fourth schematic diagram of a vehicle remote driving system according to an embodiment of the present invention is shown;

[0033] Figure 5 A fifth schematic diagram showing a vehicle remote driving system according to an embodiment of the present invention;

[0034] Figure 6 A schematic diagram of a vehicle showing one embodiment of the present invention;

[0035] in, Figures 1 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0036] 100 vehicle remote driving system, 102 image acquisition device, 104 radar device, 106 automatic driving controller, 108 gateway, 110 first control device, 112 second control device, 1122 router, 1124 remote cockpit, 1126 cloud, 1128 communication module, 114 video host, 1102 vehicle controller, 1104 wire-controlled steering gear, 1106 wire-controlled brake, 1108 wire-controlled driver, 10 vehicle. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0039] like Figure 1 As shown, an embodiment of the present invention provides a vehicle remote driving system 100, including: an image acquisition device 102, the image acquisition device 102 is used to acquire image information; a radar device 104, the radar device 104 is used to acquire radar information; an automatic driving controller 106, the automatic driving controller 106 is connected to the image acquisition device 102 and the radar device 104 respectively; a gateway 108, the gateway 108 is connected to the image acquisition device 102 and the automatic driving controller 106 respectively; a first control device 110, the first control device 110 is connected to the gateway 108 and the automatic driving controller 106 respectively, and is used to control the vehicle; a second control device 112, the second control device 112 is connected to the gateway 108 and the automatic driving controller respectively The gateway 108 is connected to the driving controller 106 for receiving control instructions; wherein the automatic driving controller 106 is used to detect faults in the vehicle remote driving system 100. When the automatic driving controller 106 detects that the radar device 104 has a fault, the gateway 108 sends the image information collected by the image acquisition device 102 to the second control device 112, and sends the control instructions fed back by the second control device 112 to the first control device 110; when the automatic driving controller 106 detects that the image acquisition device 102 has a fault, the automatic driving controller 106 sends the radar information collected by the radar device 104 to the second control device 112, and sends the control instructions fed back by the second control device 112 to the first control device 110.

[0040] like Figure 1As shown, the vehicle remote driving system 100 provided by the present invention mainly includes: an image acquisition device 102, a radar device 104, an automatic driving controller 106, a gateway 108, a first control device 110 and a second control device 112. Among them, the image acquisition device 102 can acquire image information, and the image acquisition device 102 can be a camera, and the image information can also be video information around the vehicle. The radar device 104 can acquire radar information, and the radar information can be a laser radar or a millimeter wave radar, or the sum of the two, so the radar information can be a laser point cloud image or a millimeter wave image. The automatic driving controller 106 is connected to the image acquisition device 102 and the radar device 104 through the vehicle bus, so that the automatic driving controller 106 can receive the image information and radar information collected by the image acquisition device 102 and the radar device 104. The gateway 108 is connected to the image acquisition device 102 and the automatic driving controller 106 through the vehicle bus, so that the gateway 108 can receive the image information collected by the image acquisition device 102 and send control instructions to the automatic driving controller 106. The first control device 110, the first control device 110 is connected to the gateway 108 and the automatic driving controller 106 through the vehicle bus, and then receives the control instructions issued by the gateway 108 or the automatic driving controller 106, so as to control the vehicle to perform the operation task according to the control instructions. The second control device 112, the second control device 112 can be a remote cockpit 1124, the second control device 112 is connected to the gateway 108 and the automatic driving controller 106 respectively, and then can receive the image information and radar information collected by the image acquisition device 102 and / or the radar device 104, and then generate control instructions according to the image information and / or radar information, and send them to the first control device 110 through the gateway 108 or the automatic driving controller 106, so as to control the vehicle to perform the operation task. At the same time, the automatic driving controller 106 can also detect faults in the vehicle remote driving system 100, such as Figure 2 As shown, when the automatic driving controller 106 detects that the radar device 104 fails, the gateway 108 can send the image information collected by the image acquisition device 102 to the second control device 112, and then the second control device 112 feeds back the control instruction to the gateway 108 according to the image information, and finally the gateway 108 sends the feedback control instruction to the first control device 110. After receiving the control instruction, the first control device 110 controls the vehicle operation according to the control instruction. That is, when the control link of the radar device 104, the automatic driving controller 106 and the second control device 112 in the vehicle remote driving system 100 fails, the control link of the image acquisition device 102, the gateway 108, the second control device 112 and the first control device 110 can be used at this time. Figure 2 The dashed line link in the figure is used to control the vehicle to work. Figure 3As shown, when the automatic driving controller 106 detects that the image acquisition device 102 fails, the automatic driving controller 106 can send the radar information collected by the radar device 104 to the second control device 112, and the second control device 112 feeds back the control instruction to the automatic driving controller 106 according to the radar information. Finally, the automatic driving controller 106 transmits the feedback control instruction to the first control device 110, and the first control device 110 controls the vehicle operation according to the control instruction. That is, when the control link of the image acquisition device 102, the gateway 108 and the second control device 112 in the vehicle remote driving system 100 fails, the control link of the radar device 104, the automatic driving controller 106, the second control device 112 and the first control device 110 can be used at this time. Figure 3 The dotted link in the figure is used to control the vehicle to work. The present invention sets multiple control links in the vehicle remote driving system 100 to maximize the reliability of remote driving. Multiple redundant control links can ensure that the vehicle can still be repaired after completing its operating task even if one of the control links fails.

[0041] In some embodiments, optionally, Figure 5 As shown, when the automatic driving controller 106 detects that the radar device 104 and the image acquisition device 102 have malfunctioned, the automatic driving controller 106 sends the incomplete radar information collected by the radar device 104 to the second control device 112, and the gateway 108 sends the incomplete image information collected by the image acquisition device 102 to the second control device 112; when the incomplete radar information and the incomplete image information contain the environmental information of the vehicle, the second control device 112 sends the control instruction to the automatic driving controller 106, and the automatic driving controller 106 sends the received control instruction to the first control device 110.

[0042] In this embodiment, if Figure 5As shown, when the automatic driving controller 106 detects that the radar device 104 and the image acquisition device 102 simultaneously send faults, that is, when the radar device 104 and the image acquisition device 102 simultaneously fail, for example, a certain camera fails and at the same time one of the laser radar or the millimeter wave radar fails and can only collect incomplete image information and incomplete radar information, the automatic driving controller 106 can send the incomplete radar information collected by the radar device 104 to the second control device 112, and at the same time the gateway 108 sends the incomplete image information collected by the image acquisition device 102 to the second control device 112. When the incomplete image information and the incomplete radar information contain the vehicle's environmental information, the second control device 112 can send the control instruction to the automatic driving controller 106, that is, as long as the incomplete image information and the incomplete radar information can combine the front, rear, left and right images of the vehicle, the vehicle remote driving system 100 can operate, that is, the second control device 112 can issue the control instruction to the automatic driving controller 106, and finally the automatic driving controller 106 sends the control instruction to the first control device 110, so that the first control device 110 can control the vehicle to perform the operation task according to the control instruction. In the present invention, when some parts of the radar device 104 and the image acquisition device 102 fail, it is only necessary to ensure that the incomplete video picture, i.e., the image information and the incomplete radar information can output the combined front, rear, left and right images, so that the vehicle can be controlled to remotely drive until the task is completed.

[0043] In some embodiments, optionally, Figure 4 As shown, when the autonomous driving controller 106 detects that the gateway 108 or the radar device 104 has failed, the autonomous driving controller 106 sends the image information collected by the image acquisition device 102 to the second control device 112 , and sends the control instructions fed back by the second control device 112 to the first control device 110 .

[0044] In this embodiment, if Figure 4 As shown, when the automatic driving controller 106 detects that the gateway 108 or the radar device 104 fails, the automatic driving controller 106 sends the image information collected by the image acquisition device 102 to the second control device 112. After receiving the image information transmitted by the automatic driving controller 106, the second control device 112 feeds back a control instruction to the automatic driving controller 106 according to the image information. After receiving the feedback control instruction, the automatic driving controller 106 sends the control instruction to the first control device 110 to control the vehicle to work normally. In other words, when the radar device 104 and the gateway 108 fail, the control link of the image acquisition device 102, the automatic driving controller 106, the second control device 112 and the first control device 110 can be used. Figure 4The dashed line control link in the figure ensures that when a control link in the vehicle remote driving system 100 fails, the vehicle remote driving system 100 can still work normally.

[0045] In some embodiments, optionally, Figure 1 As shown, based on the fact that the automatic driving controller 106 does not detect a fault in the vehicle remote driving system 100, the automatic driving controller 106 sends the radar information collected by the radar device 104 to the second control device 112, and the gateway 108 sends the image information collected by the image acquisition device 102 to the second control device 112; the second control device 112 sends the control instruction to the automatic driving controller 106, and the automatic driving controller 106 sends the received control instruction to the first control device 110.

[0046] In this embodiment, if Figure 1 As shown, when the automatic driving controller 106 does not detect that the vehicle remote driving system 100 has a fault, that is, when the vehicle remote driving system 100 is operating normally, the automatic driving controller 106 will send the radar information collected by the radar device 104 to the second control device 112, and the gateway 108 will send the image information collected by the image acquisition device 102 to the second control device 112. After receiving the image information and radar information, the second control device 112 mainly uses the image information and the radar information as a supplement to obtain the control instruction, and sends the control instruction to the automatic driving controller 106. Finally, the automatic driving controller 106 sends the received control instruction to the first control device 110, so that the first control device 110 controls the vehicle to perform the operation task according to the control instruction. In the present invention, when the vehicle remote driving system 100 is operating normally, the second control device 112 mainly uses the image information and the radar information as a supplement to obtain the control instruction, and then sends the control instruction to the automatic driving controller 106. The automatic driving controller 106 sends the control instruction to the second control device 112 to drive the vehicle to perform driving, braking, steering and other actions.

[0047] In some embodiments, optionally, Figures 1 to 5 As shown, the second control device 112 includes: a router 1122, which is respectively connected to the gateway 108 and the automatic driving controller 106, and is used to receive image information and / or radar information; a remote cockpit 1124, which is communicatively connected to the router 1122 via the cloud 1126; and is used to determine control instructions based on the image information and / or radar information, and send the control instructions to the router 1122.

[0048] In this embodiment, if Figures 1 to 5As shown, the second control device 112 may include: a router 1122 and a remote cockpit 1124. The router 1122 is connected to the gateway 108 and the automatic driving controller 106 through the vehicle bus, and the router 1122 can receive the image information and / or radar information sent by the gateway 108 or the automatic driving controller 106, and then send the image information and / or radar information to the cloud 1126 through the 5G communication technology, and finally the cloud 1126 sends the image information and / or radar information to the remote cockpit 1124. The remote cockpit 1124 is connected to the router 1122 through the cloud 1126, that is, the remote cockpit 1124 can exchange data with the router 1122 through the 5G communication technology, and then the remote cockpit 1124 can determine the control instruction according to the image information and / or radar information, and then send the control instruction to the router 1122, so that the router 1122 sends the control instruction to the gateway 108 or the automatic driving controller 106 respectively.

[0049] In some embodiments, optionally, Figures 1 to 5 As shown, the router 1122 includes: a plurality of communication modules 1128 for transmitting image information and / or radar information to the remote cockpit 1124 via the cloud 1126 .

[0050] In this embodiment, if Figures 1 to 5 As shown, the router 1122 has multiple communication modules 1128. The communication module 1128 can communicate with the remote cockpit 1124 through the cloud 1126 to transmit image information and / or radar information to the remote cockpit 1124. Each communication module 1128 has a subscriber identity module (SIM) card, and the operator of each communication module 1128 is different, such as China Unicom or China Mobile. By setting multiple communication modules 1128 in the router 1122, and each communication module 1128 has a different operator, the router 1122 can support fast switching of different operators, thereby effectively reducing abnormal situations of network disconnection and network delay.

[0051] In some embodiments, optionally, Figures 1 to 5 As shown, the vehicle remote driving system 100 further includes: a video host 114, which is connected to the image acquisition device 102 and the gateway 108 respectively, and is used to output image information or output incomplete image information.

[0052] In this embodiment, if Figures 1 to 5As shown, the vehicle remote driving system 100 also includes: a video host 114. The video host 114 can be connected to the image acquisition device 102 through the low-voltage differential signal (LVDS) technology, and can receive the image information transmitted by the image acquisition device 102. At the same time, the video host 114 can also be connected to the gateway 108 through the vehicle bus to output the image information to the gateway 108. The present invention sets the video host 114 between the image acquisition device 102 and the gateway 108 in the vehicle remote driving system 100, so that the video host 114 can output video images and output incomplete video images.

[0053] In some embodiments, optionally, Figures 1 to 5 As shown, the first control device 110 includes: a vehicle controller 1102, which is connected to the gateway 108 and the automatic driving controller 106 respectively, and is used to receive control instructions transmitted by the gateway 108 or the automatic driving controller 106; a wire-controlled steering gear 1104, which is connected to the vehicle controller 1102 and is used to control the vehicle according to the control instructions; a wire-controlled brake 1106, which is connected to the vehicle controller 1102 and is used to control the vehicle according to the control instructions; a wire-controlled driver 1108, which is connected to the vehicle controller 1102 and is used to control the vehicle according to the control instructions.

[0054] In this embodiment, if Figures 1 to 5 As shown, the first control device 110 includes: a vehicle controller 1102, a wire-controlled steering device 1104, a wire-controlled brake 1106, and a wire-controlled driver 1108. Among them, the vehicle controller 1102 is connected to the gateway 108 and the automatic driving controller 106 respectively through the vehicle bus, and can receive the control instructions output by the gateway 108 and / or the automatic driving controller 106. The wire-controlled steering device 1104 is connected to the vehicle controller 1102 through the vehicle bus, and the wire-controlled steering device 1104 can control the vehicle to steer according to the control instructions. The wire-controlled brake 1106 is connected to the vehicle controller 1102 through the vehicle bus, and the wire-controlled brake 1106 can control the vehicle to brake according to the control instructions. The wire-controlled driver 1108 is connected to the vehicle controller 1102 through the vehicle bus, and the wire-controlled driver 1108 can control the vehicle to drive according to the control instructions. In the present invention, the vehicle controller 1102 is set, so that the technical effects of steering, braking and driving the vehicle can be achieved.

[0055] In some embodiments, optionally, the image acquisition device 102, the radar device 104, the automatic driving controller 106, the first control device 110 and the second control device 112 are connected via a vehicle bus, wherein the vehicle bus includes: one or a combination of a controller area network bus and an Ethernet bus.

[0056] In this embodiment, the image acquisition device 102, the radar device 104, the automatic driving controller 106, the first control device 110 and the second control device 112 are connected via a vehicle bus, wherein the vehicle bus includes: one or a combination of a controller area network bus and an Ethernet bus. For example, CAN (Controller Area Network) or Ethernet. By using CAN or Ethernet to connect the image acquisition device 102, the radar device 104, the automatic driving controller, the first control device 110 and the second control device 112, the transmission performance of image information, radar information and control instructions is improved.

[0057] like Figure 6 As shown, the present invention provides a vehicle 10, comprising: a vehicle remote driving system 100 as any embodiment of the present invention.

[0058] The vehicle 10 provided in this embodiment has a vehicle remote driving system 100 as in any embodiment of the present invention, and thus has all the beneficial effects of the vehicle remote driving system 100 as in any embodiment of the present invention, which will not be elaborated here, and the vehicle 10 may be an unmanned mining car, etc.

[0059] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance unless otherwise clearly specified and limited; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle remote driving system, characterized in that: include: An image acquisition device, wherein the image acquisition device is used to acquire image information; A radar device, wherein the radar device is used to collect radar information; An automatic driving controller, wherein the automatic driving controller is connected to the image acquisition device and the radar device respectively; A gateway, the gateway being connected to the image acquisition device and the automatic driving controller respectively; A first control device, the first control device is connected to the gateway and the automatic driving controller respectively, and is used to control the vehicle; a second control device, the second control device being connected to the gateway and the automatic driving controller respectively and being used to receive control instructions; The automatic driving controller is used to detect a fault in the vehicle remote driving system. When the automatic driving controller detects that the radar device has a fault, the gateway sends the image information collected by the image acquisition device to the second control device, and sends the control instruction fed back by the second control device to the first control device. When the automatic driving controller detects that the image acquisition device fails, the automatic driving controller sends the radar information collected by the radar device to the second control device, and sends the control instruction fed back by the second control device to the first control device.

2. The vehicle remote driving system according to claim 1, characterized in that: When the automatic driving controller detects that the radar device and the image acquisition device have malfunctioned, the automatic driving controller sends the incomplete radar information collected by the radar device to the second control device, and the gateway sends the incomplete image information collected by the image acquisition device to the second control device; when the incomplete radar information and the incomplete image information contain the environmental information of the vehicle, the second control device sends the control instruction to the automatic driving controller, and the automatic driving controller sends the received control instruction to the first control device.

3. The vehicle remote driving system according to claim 2, characterized in that: When the automatic driving controller detects that the gateway or the radar device fails, the automatic driving controller sends the image information collected by the image acquisition device to the second control device, and sends the control instruction fed back by the second control device to the first control device.

4. The vehicle remote driving system according to claim 3, characterized in that: When the automatic driving controller does not detect that the remote driving system of the vehicle has failed, the automatic driving controller sends the radar information collected by the radar device to the second control device, and the gateway sends the image information collected by the image acquisition device to the second control device; The second control device sends the control instruction to the automatic driving controller, and the automatic driving controller sends the received control instruction to the first control device.

5. The vehicle remote driving system according to any one of claims 1 to 4, characterized in that: The second control device comprises: a router, the router being connected to the gateway and the autonomous driving controller respectively, and being used to receive the image information and / or the radar information; A remote cockpit, wherein the remote cockpit is connected to the router via cloud communication; and is used to determine the control instruction according to the image information and / or the radar information, and send the control instruction to the router.

6. The vehicle remote driving system according to claim 5, characterized in that: The router comprises: A plurality of communication modules are used to transmit the image information and / or the radar information to the remote cockpit via the cloud.

7. The vehicle remote driving system according to any one of claims 1 to 4, characterized in that: Also includes: A video host, the video host is connected to the image acquisition device and the gateway respectively, and is used to output the image information or output incomplete image information.

8. The vehicle remote driving system according to any one of claims 1 to 4, characterized in that: The first control device comprises: A vehicle controller, the vehicle controller is connected to the gateway and the autonomous driving controller respectively, and is used to receive the control instruction transmitted by the gateway or the autonomous driving controller; A wire-controlled steering gear, the wire-controlled steering gear is connected to the vehicle controller and is used to control the vehicle according to the control instruction; A brake-by-wire device, the brake-by-wire device being connected to the vehicle controller and configured to control the vehicle according to the control instruction; A wire-controlled driver is connected to the vehicle controller and is used to control the vehicle according to the control instruction.

9. The vehicle remote driving system according to any one of claims 1 to 4, characterized in that: The image acquisition device, the radar device, the automatic driving controller, the first control device and the second control device are connected via a vehicle bus, wherein the vehicle bus includes: one or a combination of a controller area network bus and an Ethernet bus.

10. A vehicle, characterized in that: include: A vehicle remote driving system as claimed in any one of claims 1 to 9.

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