Remote driving system and driving method

Abstract

The invention provides a remote driving system and a driving method. According to the remote driving system, a control end generates and sends a selection instruction according to selection operation of an operator; the cloud side selects a corresponding vehicle side according to the received selection instruction, and generates and sends a corresponding connection instruction; communication connection is established between the control end and the corresponding vehicle end according to the received connection instruction; the control end is further used for generating and sending a remote control instruction according to control operation of an operator, and the corresponding vehicle end receives the remote control instruction and operates according to the remote control instruction. Through the remote driving system and the driving method provided by the invention, the real-time performance of remote operation can be improved.

Description

Technical Field

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

[0002] In modern industrial fields, such as steel mills and mining areas, engineering vehicles are widely used in material handling and other key operations. With the development of automation and information technology, remote driving systems have gradually become a key means to improve the efficiency and safety of operations. Through remote driving, drivers can drive and operate engineering vehicles in a safe environment, greatly reducing the risk of accidents while improving the continuity and efficiency of operations.

[0003] However, existing remote driving systems still face many challenges in these complex environments. For example, harsh environmental conditions such as high temperature and dust affect the performance of sensor equipment and communication delays lead to insufficient real-time remote operation, resulting in the need for further optimization of system stability and robustness. Therefore, there is room for improvement. Summary of the invention

[0004] The object of the present invention is to provide a remote driving system and a driving method, which can improve the real-time performance of remote operation.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a remote driving system, comprising:

[0007] at least one vehicle terminal, for generating and sending a vehicle authentication instruction after startup;

[0008] At least one control terminal, used to generate and send a control authentication instruction after startup;

[0009] The cloud is connected to the vehicle end and the control end in communication, and is used to receive and parse the vehicle authentication instruction, and allow the corresponding vehicle end to log in after the authentication is passed; and receive the control authentication instruction, and allow the corresponding control end to log in after the authentication is passed;

[0010] The control terminal is further used to generate and send a selection instruction according to the selection operation of the operator; the cloud selects the corresponding vehicle terminal according to the received selection instruction, generates and sends a corresponding connection instruction; the control terminal and the corresponding vehicle terminal establish a communication connection according to the received connection instruction;

[0011] The control end is also used to generate and send remote control instructions according to the operator's control operation, and the corresponding vehicle end receives and operates according to the remote control instructions.

[0012] In one embodiment of the present invention, the vehicle end includes:

[0013] Vehicle body;

[0014] Environmental perception module, used to collect surrounding environment information in real time;

[0015] Vehicle positioning module, used to obtain vehicle location information in real time;

[0016] A parameter acquisition module, used to acquire the working parameters of the vehicle body in real time;

[0017] The vehicle control module is used to control the vehicle body to work according to the remote control command, and to send the surrounding environment information, the vehicle position information and the working parameters.

[0018] In one embodiment of the present invention, the remote control command includes a throttle adjustment command, a vehicle braking command, a vehicle shift command, a vehicle parking command, a vehicle steering command, and a light switching command; the vehicle body includes:

[0019] A wire-controlled drive unit, used to adjust the output power of the engine or the motor according to the throttle adjustment instruction;

[0020] A brake-by-wire unit, used to adjust the braking force according to the vehicle braking command;

[0021] A wire-controlled gear unit, used to switch the gear of the vehicle according to the vehicle shift instruction;

[0022] A wire-controlled parking unit, used to park or release the vehicle according to the vehicle parking instruction;

[0023] A wire-controlled steering unit, used for adjusting the steering angle of the vehicle according to the vehicle steering instruction;

[0024] The wire-controlled lighting unit is used to switch on or off the vehicle's lights according to the lighting switching instruction.

[0025] In one embodiment of the present invention, the control terminal includes:

[0026] Remote cockpit; and

[0027] A remote control module, used to generate and send corresponding selection instructions and remote control instructions according to the operator's operation on the remote cockpit, and receive the surrounding environment information, the vehicle position information and the working parameters;

[0028] Wherein, the remote cockpit has a display screen, and the display screen is used to display the surrounding environment information, the vehicle position information and the working parameters.

[0029] In one embodiment of the present invention, the control terminal further includes an audio-visual alarm module; the remote control module is used to determine the distance between the obstacle in the surrounding environment information and the vehicle body:

[0030] When the distance is less than a first threshold, the remote control module generates and sends an audible and visual alarm instruction;

[0031] When the distance is within a plurality of set threshold ranges, the remote control module generates a corresponding alarm instruction according to different threshold ranges; wherein the minimum value of the threshold range is greater than the first threshold;

[0032] The sound and light alarm module is used to make sound and light alarms according to the sound and light alarm instructions, and to make alarms of different levels according to other alarm instructions.

[0033] The vehicle control module receives and controls the wire control brake unit to adjust the braking force to slow down or stop the vehicle body according to the sound and light alarm instruction.

[0034] In one embodiment of the present invention, the operating end further includes a communication indicator light;

[0035] The remote control module is used to monitor the communication line between the vehicle end and the operating end in real time:

[0036] When the communication line is unobstructed, generating a normal instruction;

[0037] When the communication line is blocked and the duration of the blockage is less than a preset duration, an abnormal instruction is generated;

[0038] When the communication line is blocked and the duration of the blockage is greater than or equal to a preset duration, generating a warning instruction;

[0039] The communication indicator light is used to enter a normal state according to the normal instruction, enter an abnormal state according to the abnormal instruction, and enter a warning state according to the warning instruction.

[0040] In one embodiment of the present invention, the vehicle control module is used to monitor the communication line between the vehicle end and the operating end in real time:

[0041] When the communication line is blocked and the duration of the blockage is greater than a preset duration, the vehicle control module generates a braking command, and based on the braking command, controls the brake-by-wire unit to adjust the braking force to slow down or stop the vehicle body.

[0042] In one embodiment of the present invention, the remote control module is also used to generate and send a disconnection instruction based on the operator's operation of the remote cockpit, and the remote control module and / or the vehicle control module disconnects the communication between the control end and the vehicle end based on the disconnection instruction.

[0043] In one embodiment of the present invention, the vehicle end and the operating end communicate with each other using at least one of 4G, 5G, and Lora.

[0044] The present invention also provides a remote driving method, comprising:

[0045] Receiving vehicle authentication instructions from the vehicle end and control authentication instructions from the control end through the cloud;

[0046] The cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle end and control end to log in after the authentication is passed;

[0047] The control terminal generates and sends a selection instruction according to the selection operation of the operator;

[0048] The cloud selects the corresponding vehicle end according to the received selection instruction, generates and sends the corresponding connection instruction;

[0049] The control end and the corresponding vehicle end establish a communication connection according to the received connection instruction;

[0050] The control end generates and sends a remote control instruction according to the operator's control operation, and the corresponding vehicle end receives and operates according to the remote control instruction.

[0051] As described above, the present invention provides a remote driving system and driving method, which realize low-latency and high-precision remote driving through the combination of environmental perception technology and point-to-point communication technology, and significantly improve the safety and reliability of the system through multi-level security protection and flexible state switching mechanism.

[0052] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0054] Figure 1 A schematic diagram of a remote driving system according to an embodiment of the present invention;

[0055] Figure 2 Flow chart of a remote driving method according to an embodiment of the present invention.

[0056] In the figure: 100, vehicle end; 110, vehicle body; 120, environment perception module; 130, vehicle positioning module; 140, parameter acquisition module; 150, vehicle control module; 160, first communication module;

[0057] 200, control terminal; 210, remote cockpit; 220, remote control module; 230, second communication module; 240, sound and light alarm module; 250, communication indicator light;

[0058] 300. Cloud. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] See also Figure 1 The present invention provides a remote driving system, which can be applied to modern steel, mining and other industrial fields to complete on-site operations. The remote driving system may include a vehicle end 100, a control end 200 and a cloud end 300.

[0061] See also Figure 1 In one embodiment, the number of the vehicle end 100 may be at least one. The vehicle end 100 may be an engineering vehicle. The vehicle end 100 may include a vehicle body 110, an environment perception module 120, a vehicle positioning module 130, a parameter acquisition module 140, a vehicle control module 150, and a first communication module 160.

[0062] In one embodiment, the vehicle body 110 may be a main component of the vehicle, which may include a vehicle body, an engine, a transmission, a suspension system, a drive-by-wire unit, a brake-by-wire unit, a gear-by-wire unit, a parking-by-wire unit, a steering-by-wire unit, a lighting-by-wire unit, etc. The vehicle control module 150 may control the vehicle body to work according to a remote control instruction. The remote control instruction may include a throttle adjustment instruction, a vehicle brake instruction, a vehicle shift instruction, a vehicle parking instruction, a vehicle steering instruction, a lighting switching instruction, etc.

[0063] In one embodiment, the drive-by-wire unit can be used to control the start and throttle of the vehicle, and adjust the output power of the engine or motor by receiving the throttle adjustment command, thereby controlling the acceleration and driving speed of the vehicle. The brake-by-wire unit can be used to control the braking system of the vehicle, and adjust the braking force by receiving the vehicle brake command to achieve the deceleration and parking of the vehicle. The gear-by-wire unit can be used to control the gear of the vehicle, and switch the gear of the vehicle by receiving the vehicle shift command, such as switching from neutral to forward gear or reverse gear. The parking-by-wire unit can be used to control the parking system of the vehicle, and realize the parking and unparking operations of the vehicle by receiving the parking command of the vehicle. The steering-by-wire unit can be used to control the steering wheel angle of the vehicle, and adjust the steering angle of the vehicle by receiving the steering command of the vehicle to achieve precise steering operation. The lighting-by-wire unit can be used to control the lighting of the vehicle, and turn on, turn off or adjust the headlights, taillights, turn signals, etc. of the vehicle by receiving the lighting switching command.

[0064] In one embodiment, the main task of the environmental perception module 120 is to collect the surrounding environment information of the vehicle body 110 in real time. The surrounding environment information may include surrounding image information and obstacle information. The environmental perception module 120 may include at least one millimeter wave radar, at least one ultrasonic radar, and at least one high-definition camera. Among them, the surrounding image information refers to the visual image around the vehicle captured by the high-definition camera. Obstacle information refers to the obstacles around the vehicle detected by the millimeter wave radar and ultrasonic radar, including data such as the distance, speed and position of static and dynamic objects. The installation location and quantity of millimeter wave radar, ultrasonic radar, and high-definition camera can be set according to actual needs.

[0065] In one embodiment, the vehicle positioning module 130 is used to obtain vehicle position information in real time. The vehicle positioning module 130 may be a RTK positioning device (Real-Time Kinematic). The RTK positioning device may achieve positioning by using a differential GPS (Global Positioning System) or a differential GNSS (Global Navigation Satellite System). The RTK positioning device utilizes the data difference between the base station and the mobile station to improve positioning accuracy.

[0066] In one embodiment, the parameter acquisition module 140 is used to acquire the working parameters of the vehicle body in real time. The working parameters may include the vehicle's speed, acceleration, engine speed, battery status, throttle opening, brake pressure, gear status, steering angle, operating mechanism posture, etc. The working parameters acquired in real time can help monitor various indicators of the vehicle during driving and ensure that the vehicle operates within a normal range.

[0067] In one embodiment, the vehicle control module 150 is used to control the vehicle body 110 to operate according to the remote control command, and to send surrounding environment information, vehicle location information and operating parameters.

[0068] In one embodiment, the first communication module 160 can be used to send the vehicle's surrounding environment information, vehicle location information, and operating parameters to the cloud 300. The first communication module 160 can use one or more communication technologies, such as 4G, 5G, and LoRa. For example, the first communication module 160 can flexibly select or combine 4G, 5G, LoRa, and other communication technologies to meet communication needs in different scenarios.

[0069] In one embodiment, the number of the control terminal 200 may be at least one. The control terminal 200 may be a remote control terminal for realizing remote operation of the vehicle terminal 100. The control terminal 200 may include a remote cockpit 210, a remote control module 220, a second communication module 230, an audible and visual alarm module 240, a communication indicator light 250, and the like.

[0070] In one implementation, the composition structure of the remote cockpit 210 may be similar to the composition structure of the vehicle body. The operator can realize the functions of wire control drive, wire control brake, wire control gear, wire control parking, wire control steering, wire control lighting, etc. by operating the remote cockpit 210. Specifically, the remote cockpit 210 may be equipped with equipment such as an accelerator pedal, a brake pedal, a gear lever, a parking button, a steering wheel, and a light control switch. The operator can control the acceleration and driving speed of the vehicle by adjusting the opening of the accelerator pedal. The operator can control the braking force of the vehicle by stepping on the brake pedal to achieve vehicle deceleration or parking. The operator can control the gear of the vehicle by switching the gear lever, such as forward gear, reverse gear, neutral gear, etc. The operator can control the parking function of the vehicle by pressing the parking button, such as pulling the handbrake or starting the electronic parking. The operator can control the steering angle of the vehicle by turning the steering wheel to achieve precise steering operation. The operator can control the opening and closing of the headlights, taillights, turn signals, etc. of the vehicle by operating the light control switch. The remote cockpit 210 may have at least one display, which may be used to display surrounding environment information, vehicle location information, operating parameters, and the like.

[0071] In one embodiment, the remote control module 220 is used to generate corresponding selection instructions and remote control instructions according to the operator's operation on the remote cockpit 210, and receive surrounding environment information, vehicle location information and working parameters. The remote control instructions may include throttle adjustment instructions, vehicle braking instructions, vehicle shifting instructions, vehicle parking instructions, vehicle steering instructions, light switching instructions, etc.

[0072] In one embodiment, the operator can adjust the throttle opening through the throttle pedal of the remote cockpit 210. The position sensor of the throttle pedal detects the opening of the pedal. The remote control module 220 generates a corresponding throttle adjustment instruction according to the opening detected by the sensor. For example, when the operator steps on the throttle pedal, the remote control module 220 detects that the pedal opening is 50%, and generates a control instruction "throttle opening 50%".

[0073] In one embodiment, the operator can control the brakes through the brake pedal of the remote cockpit 210. The pressure sensor of the brake pedal detects the pressure of the pedal. The remote control module 220 generates a corresponding vehicle braking command based on the pressure detected by the sensor. For example, when the operator steps on the brake pedal, the remote control module 220 detects that the pressure is 60%, and generates a control command "brake force 60%".

[0074] In one embodiment, the operator can switch gears through the gear lever of the remote cockpit 210. The position sensor of the gear lever detects the position of the gear lever. The remote control module 220 generates a corresponding vehicle shift instruction according to the position detected by the sensor. For example, when the operator switches the gear lever to the reverse gear position, the remote control module 220 generates a control instruction "switch to reverse gear" and can send it through the second communication module 230.

[0075] In one embodiment, the operator can perform a parking operation by using the parking button of the remote cockpit 210. The state sensor of the parking button detects the pressing state of the button. The remote control module 220 generates a corresponding vehicle parking instruction according to the state detected by the sensor. For example, when the operator presses the parking button, the remote control module 220 generates a control instruction "start parking".

[0076] In one embodiment, the operator can perform steering operations through the steering wheel of the remote cockpit 210. The angle sensor of the steering wheel detects the steering angle of the steering wheel. The remote control module 220 generates a corresponding vehicle steering instruction based on the steering angle detected by the sensor. For example, the operator turns the steering wheel to the left, and the remote control module 220 detects that the steering wheel angle is 30 degrees, and generates a control instruction "turn left 30 degrees".

[0077] In one embodiment, the operator can control the vehicle's lights through the light switch of the remote cockpit 210. The state sensor of the light switch detects the pressing state of the switch. The remote control module 220 generates a corresponding light switching instruction according to the state detected by the sensor. For example, when the operator presses the headlight switch, the remote control module 220 generates a control instruction "turn on the headlights".

[0078] In one embodiment, the second communication module 230 can be used to send an authentication request. The one or more communication technologies that the second communication module 230 can use, for example, can be one or more of 4G, 5G, and LoRa. For example, the second communication module 230 can flexibly select or combine 4G, 5G, LoRa and other communication technologies to meet communication needs in different scenarios.

[0079] In one embodiment, when the vehicle is started, the system of the vehicle end 100 will automatically run, and the vehicle control module 150 can automatically initiate a vehicle authentication instruction to the cloud end 300 through the first communication module 160, and the vehicle authentication instruction can include the identity information of the vehicle end 100 (such as vehicle ID, key, etc.). When the operator starts the remote cockpit 210, the system of the control end 200 will automatically run. The remote control module 220 can automatically initiate a control authentication instruction to the cloud end 300 through the second communication module 230, and the control authentication instruction can include an authentication request of the identity information (such as operator ID, key, etc.) of the control end 200 to the cloud end 300. The cloud end 300 can receive the vehicle authentication instruction from the vehicle end 100, parse the identity information and key in the request, and verify whether the identity of the vehicle end 100 is legal based on the parsed vehicle ID and key. The cloud end 300 can also receive the control authentication instruction from the control end 200, parse the identity information and key in the request, and verify whether the identity of the control end 200 is legal based on the parsed operator ID and key. After confirming that the identities of the vehicle end 100 and the control end 200 are correct, the cloud end 300 allows the control end 200 and the vehicle end 100 to log in.

[0080] In one embodiment, the control terminal 200 can communicate with the cloud 300 through the second communication module 230 to generate and send a selection instruction. The cloud 300 can be used to select the corresponding vehicle terminal 100 according to the received selection instruction and generate a corresponding connection instruction. The control terminal 200 can establish a communication connection with the corresponding vehicle terminal 100 according to the connection instruction.

[0081] In one embodiment, specifically, the operator can select the vehicle end 100 that he wants to control on the UI interface of the display screen. The display screen provides a user interface that lists the selectable vehicle ends 100. Based on the operator's selection, the remote control module 220 generates a selection instruction containing the selected vehicle end 100 information. After the cloud 300 receives the selection instruction from the second communication module 230, it can select the corresponding vehicle end 100 based on the vehicle information in the selection instruction, and generate a connection instruction, which contains detailed information of the vehicle end 100 (such as IP address, port number, etc.) and authentication information (such as key, authentication code, etc.). After the remote control module 220 receives the connection instruction through the second communication module 230, it can parse the vehicle end 100 information and authentication information therein. After the vehicle control module 150 receives the connection instruction through the first communication module 160, it is ready to establish a communication connection with the control end 200.

[0082] In one embodiment, the control terminal 200 can establish a communication connection with the vehicle terminal 100 according to the connection instruction, using peer-to-peer (P2P) communication technology, and directly connect nodes. Once the communication connection is established, instant communication can be achieved between the control terminal 200 and the vehicle terminal 100, including the sending of remote control instructions and the receiving of surrounding environment information. The real-time monitoring images collected by the camera and other sensors of the vehicle terminal 100 can be directly transmitted to the remote control module 220 without transcoding and transiting in the cloud 300, effectively reducing the network delay of image transmission.

[0083] In one embodiment, for example, an operator controls an unmanned engineering vehicle labeled "12345" as an example. The operator can select the vehicle labeled "12345" on the UI interface of the display screen to connect. The display screen can be used to display information of the "12345" vehicle, such as the surrounding environment, location, status, etc. of the vehicle. The remote control module 220 can generate a selection instruction based on the selection, and the selection instruction can include: "Start vehicle 12345". The second communication module 230 can send the selection instruction to the cloud 300 through the network. After receiving the selection instruction, the cloud 300 can query the database to find the relevant information (such as IP address, port number, etc.) of the vehicle end 100 labeled "12345", and generate a connection instruction, which can include: "The IP address of vehicle 12345 is 192.168.1.100, the port number is 8080, and the authentication code is ABCD1234". The cloud 300 can send the connection instruction back to the second communication module 230. The remote control module 220 receives the connection instruction through the second communication module 230, and parses out the IP address, port number and authentication code of the vehicle 12345. The first communication module 160 of the vehicle 12345 is ready to receive the connection request. The control terminal 200 can use P2P technology to directly connect to the vehicle terminal 100 of the vehicle 12345 with an IP address of 192.168.1.100 and a port number of 8080, and perform identity authentication through the authentication code. The operator can generate remote control instructions through the input devices of the remote cockpit 210 (such as the accelerator pedal, brake pedal, steering wheel, etc.), and the remote control instructions can be directly transmitted to the vehicle 12345. The real-time monitoring images collected by the camera and sensors of the vehicle 12345 are directly transmitted to the control terminal 200 and displayed on the UI interface of the display screen, ensuring that the operator can see the real-time image and make accurate and timely operation decisions.

[0084] In one embodiment, through point-to-point communication technology, the vehicle end 100 and the control end 200 communicate directly without transcoding and transiting through the cloud 300, which effectively reduces the network delay of image transmission and improves the real-time effect. The connection instruction contains authentication information to ensure a secure connection between the control end 200 and the vehicle end 100 and prevent unauthorized control. The cloud 300 can manage and coordinate multiple vehicle ends 100 to ensure that each control end 200 establishes a connection with the correct vehicle end 100, thereby improving the flexibility and management efficiency of the system. Among them, one vehicle end 100 can only be controlled by one control end 200 at the same time.

[0085] In one embodiment, when the vehicle is started, the system of the vehicle end 100 will automatically run, and the vehicle control module 150 can automatically initiate an authentication request to the cloud 300 through the first communication module 160, and the authentication request can include the identity information of the vehicle end 100 (such as vehicle ID, key, etc.). When the operator starts the remote cockpit 210, the system of the control end 200 will automatically run. The remote control module 220 can automatically initiate an authentication request to the cloud 300 through the second communication module 230, and the authentication request can include the authentication request of the identity information of the control end 200 (such as operator ID, key, etc.) to the cloud 300. The cloud 300 can receive the login authentication request from the vehicle end 100, parse the identity information and key in the request, and verify whether the identity of the vehicle end 100 is legal based on the parsed vehicle ID and key. The cloud 300 can also receive the authentication request from the control end 200, parse the identity information and key in the request, and verify whether the identity of the control end 200 is legal based on the parsed operator ID and key. After confirming that the identities of the vehicle end 100 and the control end 200 are correct, the cloud end 300 allows the control end 200 and the vehicle end 100 to log in.

[0086] In one embodiment, the remote control module 220 can be used to judge the distance between the obstacle in the surrounding environment information and the vehicle body: when the distance is less than a first threshold, the remote control module 220 generates an audible and visual alarm instruction; when the distance is within a set multiple threshold ranges, the remote control module 220 generates corresponding alarm instructions based on different threshold ranges; wherein the minimum value of the threshold range is greater than the first threshold, and the values ​​included in different threshold ranges are different; the audible and visual alarm module 240 is used to make audible and visual alarms based on the audible and visual alarm instructions, and to make alarms of different levels based on other alarm instructions.

[0087] In one embodiment, specifically, multiple threshold ranges can be divided into a range of 3 to 5m and a range of 1.5 to 3m, and the first threshold can be 1.5m. When the spacing is in the range of 3 to 5m, a first-level warning instruction can be generated. When the spacing is in the range of 1.5 to 3m, a second-level warning instruction can be generated. When the spacing is less than 1.5m, a third-level warning instruction can be generated. The sound and light alarm module 240 can perform a first-level warning according to the first-level warning instruction. The first-level warning can be represented by the sound and light alarm module 240 issuing a green reminder signal to prompt the operator to pay attention to the obstacle, but no immediate measures are required. The sound and light alarm module 240 can perform a second-level warning according to the second-level warning instruction. The second-level warning can be represented by the sound and light alarm module 240 issuing a yellow reminder signal. The remote control module 220 synchronously generates a vehicle braking instruction and sends it to the vehicle control module 150. The vehicle control module 150 can brake the vehicle to reduce the speed according to the vehicle braking instruction. The sound and light alarm module 240 can perform a three-level warning according to the three-level warning instruction. The three-level warning can be represented by the sound and light alarm module 240 sending out a red warning signal and sending out a sound alarm through the sound alarm to prompt the operator to take emergency measures immediately or automatically stop the vehicle. By setting multiple warning levels, the severity of the alarm is gradually increased, so that the operator has enough time and information to respond, thereby improving the safety of the system.

[0088] In one embodiment, the remote control module 220 is also used to send sound and light alarm instructions. The vehicle control module 150 can receive and perform braking operations on the vehicle body 110 according to the sound and light alarm instructions. At this time, the wire control braking unit can be controlled to adjust the braking force to slow down or stop the vehicle body 110. For example, the braking force can be adjusted to the maximum until the vehicle body 110 completes braking. Through the cooperation of the remote control module 220 and the vehicle control module 150, the sound and light alarm instructions can be quickly sent from the control end 200 to the vehicle end 100, ensuring the system's immediate response capability. The vehicle control module 150 can automatically perform braking operations based on the received sound and light alarm instructions, thereby improving the active safety of the system and reducing the risks brought by the operator's reaction time.

[0089] In one embodiment, the remote control module 220 can be used to monitor the communication line between the vehicle end 100 and the control end 200 in real time: when the communication line is unobstructed, a normal instruction can be generated and sent; when the communication line is not unobstructed, and the duration of the unobstructed is less than the preset duration, an abnormal instruction can be generated and sent; when the communication line is not unobstructed, and the duration of the unobstructed is greater than or equal to the preset duration, a warning instruction can be generated and sent. Among them, the communication indicator light 250 can enter the normal state according to the normal instruction, enter the abnormal state according to the abnormal instruction, and enter the warning state according to the warning instruction. The normal state means that the communication is normal, and the communication indicator light 250 can emit a green light. The abnormal state means that the communication is abnormal and there may be risks. At this time, the communication indicator light 250 can emit a yellow or red light. The warning state refers to a communication failure and there is a risk. At this time, the communication indicator light 250 can emit a flashing red light.

[0090] In one embodiment, the vehicle control module 150 can be used to monitor the communication line between the vehicle end 100 and the control end 200 in real time: when the communication line is blocked and the duration of the blockage is longer than a preset duration, the vehicle control module 150 generates a braking command, and controls the wire control brake unit to adjust the braking force based on the braking command to slow down or stop the vehicle body 110. For example, the braking force can be adjusted to the maximum to allow the vehicle body 110 to perform a braking operation; otherwise, the vehicle control module 150 enters a waiting state or a working state.

[0091] In one embodiment, specifically, the preset duration refers to a pre-set time threshold, which is used to determine whether the communication line problem is serious enough to require safety measures. For example, the preset duration can be 1 second. When the vehicle control module 150 detects that the communication line between the vehicle end 100 and the control end 200 is not smooth, for example, the communication line has a high delay or the packet loss rate exceeds a certain threshold. The vehicle control module 150 can further detect that the unsmooth duration exceeds the preset duration and confirm the severity of the communication problem. After the unsmooth duration exceeds the preset duration, the vehicle control module 150 can generate a braking command to ensure that the vehicle can stop in time when it loses remote control to avoid danger. By monitoring the communication line status in real time, the vehicle control module 150 can detect communication problems in time and take emergency braking measures when necessary to avoid safety accidents caused by communication interruption. The preset value of the unsmooth communication line duration ensures that the system will not mistakenly trigger the braking operation due to a short-term communication problem, thereby improving the reliability and stability of the system.

[0092] In one embodiment, the remote control module 220 is also used to generate and send a disconnection command based on the operator's operation of the remote cockpit 210, and the remote control module 220 and / or the vehicle control module 150 disconnect the communication between the control end 200 and the vehicle end 100 based on the disconnection command.

[0093] In one embodiment, specifically, after completing the remote driving task, the operator can perform a disconnection operation through the remote cockpit 210, for example, the operator presses a disconnect button to end the remote driving task. After detecting the operator's disconnection operation, the remote control module 220 generates a disconnection instruction. The remote control module 220 can send the generated disconnection instruction to the vehicle end 100 through the network. Among them, the remote control module 220 can disconnect the communication between the control end 200 and the vehicle end 100 based on the disconnection instruction; the vehicle control module 150 can also disconnect the communication between the control end 200 and the vehicle end 100 based on the disconnection instruction. Disconnecting the communication in time after completing the task prevents unnecessary interference of remote control signals and improves the safety of the system.

[0094] It can be seen that in the above scheme, through the combination of environmental perception technology and point-to-point communication technology, low-latency and high-precision remote driving is achieved, and the safety and reliability of the system are significantly improved through multi-level security assurance and flexible state switching mechanism. Specifically, by real-time acquisition and processing of environmental information around the vehicle, such as obstacle distance, road conditions, etc., it is ensured that the remote driving system can respond quickly and accurately. Through point-to-point communication technology, the intermediate links of data transmission are reduced, the real-time nature of communication is improved, and the control instructions can be quickly transmitted from the control end to the vehicle end with extremely low delay. In complex environments, the system response time is significantly shortened, which improves the operator's control effect and driving safety. When the communication line is not smooth and the duration exceeds the preset time, the vehicle control module automatically generates and executes the braking command to ensure that the vehicle stops in time to avoid potential dangers. Through a multi-level security mechanism, the safety of remote driving is significantly improved and the risk of accidents is reduced. These technical effects make the present invention particularly suitable for remote driving applications in complex environments such as mining areas and steel mills.

[0095] See also Figure 2 The present invention also provides a remote driving method. The remote driving method can be applied to the above remote driving system, and the remote driving method can include the following steps:

[0096] Step S10: receiving a vehicle authentication instruction from the vehicle end and a control authentication instruction from the control end through the cloud;

[0097] Step S20: the cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle end and control end to log in after the authentication is passed;

[0098] Step S30: the control end generates and sends a selection instruction according to the selection operation of the operator;

[0099] Step S40: The cloud selects the corresponding vehicle end according to the received selection instruction, generates and sends the corresponding connection instruction;

[0100] Step S50: the control end and the corresponding vehicle end establish a communication connection according to the received connection instruction;

[0101] Step S60: The control end generates and sends a remote control instruction according to the operator's control operation, and the corresponding vehicle end receives and operates according to the remote control instruction.

[0102] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made based on the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A remote driving system, characterized in that: include: at least one vehicle terminal, for generating and sending a vehicle authentication instruction after startup; At least one control terminal, used to generate and send a control authentication instruction after startup; The cloud is connected to the vehicle end and the control end in communication, and is used to receive and parse the vehicle authentication instruction, and allow the corresponding vehicle end to log in after the authentication is passed; and receive the control authentication instruction, and allow the corresponding control end to log in after the authentication is passed; The control terminal is further used to generate and send a selection instruction according to the selection operation of the operator; the cloud selects the corresponding vehicle terminal according to the received selection instruction, generates and sends a corresponding connection instruction; the control terminal and the corresponding vehicle terminal establish a communication connection according to the received connection instruction; The control end is also used to generate and send remote control instructions according to the operator's control operation, and the corresponding vehicle end receives and operates according to the remote control instructions.

2. The remote driving system according to claim 1, characterized in that: The vehicle end includes: Vehicle body; Environmental perception module, used to collect surrounding environment information in real time; Vehicle positioning module, used to obtain vehicle location information in real time; A parameter acquisition module, used to acquire the working parameters of the vehicle body in real time; The vehicle control module is used to control the vehicle body to work according to the remote control command, and to send the surrounding environment information, the vehicle position information and the working parameters.

3. The remote driving system according to claim 2, characterized in that: The remote control instructions include throttle adjustment instructions, vehicle braking instructions, vehicle gear shifting instructions, vehicle parking instructions, vehicle steering instructions, and light switching instructions; the vehicle body includes: A wire-controlled drive unit, used to adjust the output power of the engine or the motor according to the throttle adjustment instruction; A brake-by-wire unit, used to adjust the braking force according to the vehicle braking command; A wire-controlled gear unit, used to switch the gear of the vehicle according to the vehicle shift instruction; A wire-controlled parking unit, used to park or release the vehicle according to the vehicle parking instruction; A wire-controlled steering unit, used for adjusting the steering angle of the vehicle according to the vehicle steering instruction; The wire-controlled lighting unit is used to switch on or off the vehicle's lights according to the lighting switching instruction.

4. The remote driving system according to claim 3, characterized in that: The control terminal includes: A remote cockpit; and a remote control module, for generating and sending corresponding selection instructions and remote control instructions according to the operator's operation on the remote cockpit, and receiving the surrounding environment information, the vehicle position information and the working parameters; Wherein, the remote cockpit has a display screen, and the display screen is used to display the surrounding environment information, the vehicle position information and the working parameters.

5. The remote driving system according to claim 4, characterized in that: The control terminal also includes an audio-visual alarm module; the remote control module is used to determine the distance between the obstacle in the surrounding environment information and the vehicle body: When the distance is less than a first threshold, the remote control module generates and sends an audible and visual alarm instruction; When the distance is within a plurality of set threshold ranges, the remote control module generates a corresponding alarm instruction according to different threshold ranges; wherein the minimum value of the threshold range is greater than the first threshold; The sound and light alarm module is used to make sound and light alarms according to the sound and light alarm instructions, and to make alarms of different levels according to other alarm instructions. The vehicle control module receives and controls the wire control brake unit to adjust the braking force to slow down or stop the vehicle body according to the sound and light alarm instruction.

6. The remote driving system according to claim 4, characterized in that: The operating end also includes a communication indicator light; The remote control module is used to monitor the communication line between the vehicle end and the operating end in real time: When the communication line is unobstructed, generating a normal instruction; When the communication line is blocked and the duration of the blockage is less than a preset duration, an abnormal instruction is generated; When the communication line is blocked and the duration of the blockage is greater than or equal to a preset duration, generating a warning instruction; The communication indicator light is used to enter a normal state according to the normal instruction, enter an abnormal state according to the abnormal instruction, and enter a warning state according to the warning instruction.

7. The remote driving system according to claim 6, characterized in that: The vehicle control module is used to monitor the communication line between the vehicle end and the operating end in real time: When the communication line is blocked and the duration of the blockage is greater than a preset duration, the vehicle control module generates a braking command, and based on the braking command, controls the brake-by-wire unit to adjust the braking force to slow down or stop the vehicle body.

8. The remote driving system according to claim 6, characterized in that: The remote control module is also used to generate and send a disconnection instruction according to the operator's operation on the remote cockpit, and the remote control module and / or the vehicle control module disconnect the communication between the control end and the vehicle end based on the disconnection instruction.

9. The remote driving system according to claim 6, characterized in that: The vehicle end and the operation end communicate with each other using at least one of 4G, 5G, and Lora.

10. A remote driving method, characterized in that: include: Receiving vehicle authentication instructions from the vehicle end and control authentication instructions from the control end through the cloud; The cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle end and control end to log in after the authentication is passed; The control terminal generates and sends a selection instruction according to the selection operation of the operator; The cloud selects the corresponding vehicle end according to the received selection instruction, generates and sends the corresponding connection instruction; The control end and the corresponding vehicle end establish a communication connection according to the received connection instruction; The control end generates and sends a remote control instruction according to the operator's control operation, and the corresponding vehicle end receives and operates according to the remote control instruction.

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