Container truck remote control method and container truck remote control system

Abstract

The invention provides a container truck remote control method and a container truck remote control system. According to the container truck remote control method disclosed by the embodiment of the invention, the domain controller receives and analyzes the remote control message from the remote controller to obtain the control instruction, and the domain controller starts or closes the automatic driving function or the emergency braking function of the container truck according to the control instruction after confirming that the remote controller is associated with the domain controller. According to the embodiment of the invention, remote control of automatic driving and emergency braking of the container truck can be realized, and the method is suitable for application scenes with complex internal environments such as ports, closed road sections and high-speed roads.

Description

Technical Field

[0001] The present disclosure relates to autonomous driving technology, and particularly to a method and a system for remotely controlling a container truck. Background Art

[0002] In application scenarios such as ports, closed sections, highways, etc., container trucks with autonomous driving functions and emergency braking functions are widely used. Taking a port as an example, due to the complex internal environment of the port, affected by routes, quay cranes, and containers, even if the container truck has autonomous driving functions and emergency braking functions, it may not be able to use these functions on certain sections due to the inability to clearly perceive the external environment, resulting in limited use of these functions of the container truck. Summary of the Invention

[0003] In view of this, the present disclosure provides a method and a system for remotely controlling a container truck.

[0004] According to a first aspect of the present disclosure, there is provided a method for remotely controlling a container truck, the method comprising:

[0005] Receiving a remote control message from a remote controller, the remote control message carrying identity information and a control instruction of the remote controller, the remote control message being generated in response to an operation of a dispatcher on a function key of the remote controller;

[0006] Parsing the remote control message to obtain the identity information and the control instruction of the remote controller;

[0007] Determining whether the remote controller is associated with a current domain controller according to the identity information of the remote controller;

[0008] After determining that the remote controller is associated with the current domain controller, turning on or off the autonomous driving function or the emergency braking function of the container truck according to the control instruction.

[0009] In some embodiments of the first aspect of the present disclosure, the method further comprises:

[0010] Sending container truck information to a container truck operation system, the container truck information including the position, operation status, origin, destination, and identifier of the container truck, so that the container truck operation system provides the container truck information to the remote controller and then displays it to the dispatcher.

[0011] In some embodiments of the first aspect of the present disclosure, the method further comprises: ignoring the control instruction if the remote controller is not associated with the current domain controller.

[0012] In some embodiments of the first aspect of the present disclosure, the turning on or off the autonomous driving function or the emergency braking function of the container truck according to the control instruction includes:

[0013] Determine whether the control instruction is an automatic driving shutdown instruction, an automatic driving startup instruction, or an emergency braking instruction;

[0014] When the control instruction is an automatic driving shutdown instruction, send instructions to each electronic control unit of the truck to control the truck to exit the automatic driving mode;

[0015] When the control instruction is an automatic driving startup instruction, send instructions to each electronic control unit of the truck to control the truck to enter the automatic driving mode;

[0016] When the control instruction is an emergency braking instruction, send instructions to the braking system of the truck to perform an emergency braking operation.

[0017] According to a second aspect of the present disclosure, there is provided a method for remotely controlling a truck, the method comprising:

[0018] In response to an operation of a dispatcher on a function key, generate a remote control message and send it to a domain controller deployed on the truck through a first communication module, the remote control message carrying the identity information of the first remote controller itself and a control instruction corresponding to the function key; wherein, the function key includes an automatic driving key and an emergency braking key, and the control instruction is used to start or close the automatic driving function or the emergency braking function.

[0019] In some embodiments of the second aspect of the present disclosure, the method further comprises:

[0020] Receive a truck message from a truck operation system, the truck message including the position, operation status, origin, destination, and identifier of the truck;

[0021] Display the position, operation status, origin, destination, and identifier of the truck to the dispatcher through its own display, so that the dispatcher can understand the situation of the truck in real time.

[0022] In some embodiments of the second aspect of the present disclosure, the remote controller includes a first control module and a first communication module; the generating a remote control message in response to an operation of a dispatcher on a function key and sending it to a domain controller deployed on the truck through the first communication module includes: in response to an operation of a dispatcher on a function key, the function key acts; the action of the function key causes a signal change on the input / output pin of the first control module, the first control module continuously collects the status of the input / output pin multiple times at a predetermined interval duration, if the status of the input / output pin collected multiple times is consistent, then confirm that the action of the function key is valid, generate a remote control message corresponding to the action of the function key; send the remote control message to the domain controller through the first communication module.

[0023] According to a third aspect of the present disclosure, a truck remote control system is provided. The system includes a remote controller and a domain controller. The domain controller is deployed on the truck. The remote controller is operated by a dispatcher and has function buttons. The remote controller is used to implement the above method, and the domain controller is used to implement the above method.

[0024] In some embodiments of the third aspect of the present disclosure, the truck remote control system further includes a truck operation system. The truck operation system can communicate with the remote controller and the domain controller respectively. The domain controller is further configured to send truck information to the truck operation system. The truck information includes the position, operation status, origin, destination, and identifier of the truck. The truck operation system is configured to receive the truck information from the domain controller and send it to the remote controller. The remote controller is configured to receive and display the truck information from the truck operation system so that the dispatcher can understand the condition of the truck.

[0025] In some embodiments of the third aspect of the present disclosure, the remote controller includes a first communication module and a second communication module. The domain controller includes a first communication module and a second communication module. The truck operation system includes a second communication module. The remote controller communicates with the domain controller through the first communication module. The remote controller and the domain controller communicate with the truck operation system through the second communication module respectively.

[0026] It can be seen from the above technical solutions that through the truck remote control method provided by the embodiments of the present disclosure, the automatic driving function of the truck can be remotely turned on or off through the remote controller in a complex environment, and the emergency braking function of the truck can be remotely turned on, improving the safety and reliability of the automatic driving function and the emergency braking function of the truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic structural diagram of the truck remote control system provided by the embodiments of the present disclosure;

[0029] Figure 2 It is a schematic structural diagram of the remote controller involved in the embodiments of the present disclosure;

[0030] Figure 3 It is a schematic structural diagram of the domain controller involved in the embodiments of the present disclosure;

[0031] Figure 4A schematic diagram of a flow chart of a container truck remote control method provided in an embodiment of the present disclosure;

[0032] Figure 5 A schematic diagram of a message structure of a remote control message involved in an embodiment of the present disclosure;

[0033] Figure 6 A schematic flow chart of another method for remotely controlling a container truck provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0035] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0036] As used herein, the words "if," "if," and the like may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0037] As described in the background technology, when the external environment is relatively complex, the use of the automatic driving function and the emergency braking function of the container truck is limited, resulting in the container truck being unable to activate its automatic driving function and the emergency braking function at any time.

[0038] At present, in the case of complex external environment, even if the automatic driving function of the container truck is barely applied, the safety officer is still needed to observe in real time. In an emergency, the safety officer's assistance is needed to brake the container truck to avoid accidents.

[0039] In view of this, the embodiments of the present disclosure provide the following container truck remote control method and container truck remote control system, which can realize remote turning on and off of the automatic driving function of the container truck in a complex environment through a remote control, and can also realize remote starting of the emergency braking function of the container truck.

[0040] The embodiments of the present disclosure are applicable to application scenarios with complex internal environments, and can be applied to many aspects such as logistics distribution, unmanned transportation, and last-mile delivery, especially applicable to scenarios such as mining areas, ports, highways, and closed sections. Those skilled in the art should understand that the embodiments of the present disclosure can also be applicable to any other application scenarios that require the use of autonomous driving functions, and the embodiments of the present disclosure do not limit this.

[0041] For the convenience of understanding, the container truck remote control system applicable to the embodiments of the present disclosure will be described in detail below.

[0042] Figure 1 The structure diagram of the container truck remote control system provided by the embodiments of the present disclosure is shown. Figure 2 The exemplary structure diagram of the remote controller 110 is shown. Figure 3 The exemplary structure diagram of the domain controller 120 is shown.

[0043] See Figure 1 As shown, the container truck remote control system 100 may include: a remote controller 110 and a domain controller 120. The domain controller 120 is deployed on the container truck. The remote controller 110 is operated by a dispatcher and has function buttons. The remote controller 110 can communicate with the domain controller 120. The remote controller 110 can be used to implement the following Figure 5 As shown, the container truck remote control method, and the domain controller 120 can be used to implement the following Figure 4 As shown, the container truck remote control method.

[0044] Furthermore, the remote controller 110 may include a first communication module and a second communication module. The domain controller 120 may also include a first communication module and a second communication module. The container truck operation system 130 includes a second communication module. The remote controller 110 communicates with the domain controller 120 through the first communication module. The remote controller 110 and the domain controller 120 respectively communicate with the container truck operation system 130 through the second communication module. Thus, the communication mode between the remote controller 110 and the domain controller 120 and the communication mode of the container truck operation system 130 can be distinguished to avoid interference and improve the security and reliability of the communication between the remote controller 110 and the domain controller 120.

[0045] Exemplarily, the first communication module may be, but is not limited to, a Long Range Radio (LoRa) module, a Narrow Band Internet of Things (NB-IoT) module, an Enhanced Machine-Type Communication (eMTC) module, or other similar communication modules. Figure 2 and Figure 3In the example, the first communication module adopts a LoRa module. Considering that the LoRa module is a wireless communication module based on spread-spectrum modulation technology, mainly used for long-distance and low-power data transmission, and the LoRa module has advantages such as long-distance transmission ability, low power consumption, and strong anti-interference ability. Therefore, using LoRa technology to implement the communication between the remote controller 110 and the domain controller 120 can better adapt to application scenarios with complex internal environments such as ports.

[0046] Exemplarily, the second communication module can be, but is not limited to, a module supporting one or more of the following wireless communication methods: mobile communication, Long-Term Evolution-Vehicle (LTE-V), Dedicated Short-Range Communication (DSRC), mobile communication, Cellular Vehicle-to-Everything (C-V2X), Vehicle-to-Everything (V2X). Figure 2 and Figure 3 In the example, the second communication module adopts a 4G module. Since the 4G module not only supports high-speed data transmission, but also has advantages such as low latency, high capacity, good compatibility, wide network coverage, and support for multiple network standards. Therefore, in this example, the 4G module is used to implement the communication between the truck operation system 130 and the domain controller 120, and between the truck operation system 130 and the remote controller 110.

[0047] In addition to including the first communication module, the second communication module, and the function keys, the remote controller 110 may further include, but is not limited to, a display module and a first control module. The first control module is used to control other parts of the remote controller 110 to implement the following truck remote control method. The display module can be used to display truck information so that the dispatcher can clearly and intuitively understand the status of the truck.

[0048] The function keys of the remote controller 110 can be implemented as, but are not limited to, virtual keys, physical keys, or other forms. Figure 2 In the example, the function keys of the remote controller 110 may include an automatic driving key and an emergency braking key. The automatic driving key is used to perform an action under the operation of the dispatcher to generate a control instruction for turning on or off the automatic driving function of the truck. The emergency braking key is used to perform an action under the operation of the dispatcher to generate a control instruction for turning on or off the emergency braking function of the truck.

[0049] Considering that the autonomous driving function and the emergency braking function may directly affect the safety of the heavy truck, in some embodiments of the present disclosure, the remote controller 110 further adds a debounce filtering function to the function keys. Through this function, it is possible to effectively prevent control commands from being generated due to accidental touches of the function keys, reduce misoperations, and thus effectively improve the safety of the heavy truck. The specific implementation of this debounce filtering function will be described in detail below.

[0050] Figure 2 In the example of, the first control module of the remote controller 110 is implemented as a micro control unit (MCU, Micro Control Unit), and the display module is implemented as a touch screen display. Those skilled in the art should understand that Figure 2 Merely as an example, in specific applications, the first control module and the display module can also be implemented in other forms. In this regard, the embodiments of the present disclosure do not make any restrictions.

[0051] In addition to including the first communication module and the second communication module, the domain controller 120 may further include, but is not limited to, a first processing unit, a second processing unit, a power supply module, a clock module, etc. The first processing unit is responsible for vehicle control tasks with high real-time requirements, such as vehicle chassis control functions, etc. The second processing unit is mainly responsible for processing complex computing tasks, such as perception, global path planning, etc. Tasks that require extremely high computing power in autonomous driving, such as environmental perception and deep learning, and tasks such as control decision-making and logical operations. The power supply module is used to supply power to other parts, and the clock module is used to provide the clock signals required for the operation of other parts.

[0052] Figure 3 In the example of, the first processing unit is implemented as an MCU, and the second processing unit is implemented as a system on chip (SoC, System on Chip). Those skilled in the art should understand that Figure 3 Merely as an example, in specific applications, the first processing unit and the second processing unit can also be implemented in other forms. In this regard, the embodiments of the present disclosure do not make any restrictions.

[0053] Furthermore, the heavy truck remote control system may further include: a heavy truck operation system 130, which can communicate with the remote controller 110 and the domain controller 120 respectively.

[0054] Furthermore, the domain controller 120 can also be used to send container truck information to the container truck operation system 130. The container truck information includes the position, operation status, origin, destination, and identification of the container truck. The container truck operation system 130 can be used to receive the container truck information from the domain controller 120 and send it to the remote controller 110. The remote controller 110 can also be used to receive and display the container truck information from the container truck operation system 130, so that the dispatcher can understand the condition of the container truck. Thus, the container truck information can be transmitted to the remote controller 110 through the container truck operation system 130, and the remote controller 110 can display the container truck information to the dispatcher, which is convenient for the dispatcher to clearly understand the positioning and status of the container truck and timely operate the remote controller 110 to remotely control the automatic driving function and / or emergency braking function of the container truck. In addition, using a method different from the remote control message to transmit the container truck information between the domain controller 120 and the remote controller 110 can avoid the transmission interference of the container truck information on the remote control message and further improve the safety and reliability of the container truck remote control.

[0055] In a specific application, there is a power-off storage system inside the domain controller 120, and the container truck information is stored in the power-off storage system. The domain controller 120 sends the container truck information through its own second communication module. The container truck operation system 130 receives the container truck information from the domain controller 120 through its own second communication module, stores the container truck information locally, and at the same time sends the container truck information through its own second communication module. The remote controller 110 receives the container truck information from the container truck operation system 130 through its own second communication module.

[0056] Considering the association relationship between the remote controller 110 and the domain controller 120, the container truck operation system 130 can save the association relationship between the remote controller 110 and the domain controller 120, and send the container truck information from the domain controller 120 to the remote controller 110 associated with the domain controller 120 by querying the association relationship. Here, the association relationship between the remote controller 110 and the domain controller 120 can be sent to the container truck operation system 130 by the domain controller 120 or the remote controller 110 after the remote controller 110 and the domain controller 120 establish an association through pairing.

[0057] Furthermore, to avoid misjudgment, after receiving the container truck information from the container truck operation system 130, the remote controller 110 can also parse and identify the container truck information, and judge whether the domain controller 120 of the container truck is associated with itself according to information such as the container truck identification in the container truck information. After confirming that the domain controller 120 of the container truck identified by the container truck information is associated with itself, the remote controller 110 displays the container truck information through the display module. If it is found that the domain controller 120 of the container truck identified by the container truck information is not associated with itself, no display is made. Thus, it can prevent the dispatcher from making misjudgments due to incorrect displayed container truck information.

[0058] Table 1 below shows an exemplary format of the container yard information sent by the domain controller 120 to the container yard operation system 130. In this example, the size of the container yard information can support 64 to 1024 bytes, and the start flag is 32 consecutive 1s.

[0059] Data Address Data Size Function Description 0x10 to 0x14 5 bytes Indicates the position of the container carrier 0x20 1 byte Indicates the operation status of the container carrier, operating or idle 0x30 1 byte Origin 0x40 1 byte Destination 0x50 1 byte Container Carrier Identification

[0060] Table 1

[0061] The format of the container yard information sent by the container yard operation system 130 to the remote controller 110 is similar to Representation 1, except that the starting state is different. The start flag of the container yard information sent by the container yard operation system 130 to the remote controller 110 is 32 consecutive 0s.

[0062] In a specific application, the domain controller 120 can send the container yard information to the container yard operation system 130 by sending a message to the container yard operation system 130. The container yard operation system 130 can send the container yard information to the remote controller 110 by sending a message to the remote controller 110. The message structure of this message is similar to the message structure of the remote control message below. For the description of the message structure of the remote control message, refer to the following text and details will not be repeated here.

[0063] In addition, the container yard operation system 130 may also have other functions. For example, the container yard operation system 130 can also be used to allocate operation tasks according to the container yard information. Specifically, the operation tasks are usually allocated close by according to the container yard positioning to improve the operation efficiency of the container yard. For the specific functions and specific implementation manners of the container yard operation system 130, the embodiments of the present disclosure do not make limitations.

[0064] In practical applications, the remote controller 110 is usually in the hands of the port command dispatcher. The dispatcher can send a remote control message to the domain controller 120 of the container yard through the remote controller 110 to remotely control the container yard, so as to realize the automatic opening and closing of the automatic driving function and the emergency braking function of the container yard. It has been verified that the effective remote control distance of the remote controller 110 is 20 meters. If there are many obstacles in the surrounding environment affecting wireless transmission, the remote control distance can be extended by adding signal towers in the surrounding environment. It has been verified that after adding signal towers, the effective remote control distance of the remote controller 110 will increase to 40 meters and will not be interfered by obstacles.

[0065] The following will make a detailed description of the container yard remote control method provided by the embodiments of the present disclosure.

[0066] Figure 4 shows a schematic flow chart of a container yard remote control method provided by the embodiments of the present disclosure. This container yard remote control method can be executed by the domain controller described above. Refer to Figure 4 , this container yard remote control method may include:

[0067] Step 401: Receive a remote control message from the remote controller. The remote control message carries the identity information and control instructions of the remote controller, and the remote control message is generated in response to the dispatcher's operation on the function keys of the remote controller.

[0068] Step 402: Analyze the remote control message to obtain the identity information and control instructions of the remote controller.

[0069] Step 403: Determine whether the remote controller is associated with the current domain controller according to the identity information of the remote controller.

[0070] Step 404: After determining that the remote controller is associated with the current domain controller, turn on or off the automatic driving function or emergency braking function of the container truck according to the control instructions.

[0071] Furthermore, before step 401, it may further include: pairing with the remote controller to establish an association. Specifically, the domain controller downloads the program of the remote controller to the local, runs the program of the remote controller to pair with the remote controller, records the association relationship between the domain controller and the remote controller after successful pairing, and if the pairing fails, the pairing can be repeated until successful.

[0072] In a specific application, the association relationship between the domain controller and the remote controller can be expressed as the corresponding relationship between the identity information of the remote controller and the container truck identifier of the container truck deploying the domain controller.

[0073] In a specific application, the specific implementation manner of pairing between the domain controller and the remote controller depends on the type of the first communication module. Taking the LoRa module as an example, the LoRa modules in the remote controller and the domain controller are respectively set to the learning mode. In the learning mode, the LoRa module in the remote controller sends a learning request, and the learning request can carry the identity information of the remote controller. After the LoRa module of the domain controller receives the learning request, the pairing is completed, and an association is established between the identity information of the remote controller and the container truck identifier stored in the domain controller. After the pairing is completed, it can be confirmed whether the pairing is successful by sending and receiving data. The specific implementation manner of the pairing is not limited in the embodiments of the present disclosure.

[0074] In a specific application, the association relationship between the domain controller and the remote controller can be a one-to-one correspondence relationship, or a one-to-many correspondence relationship or a many-to-one correspondence relationship. Preferably, to avoid misoperation, the association relationship between the domain controller and the remote controller is a one-to-one correspondence relationship, that is, one remote controller corresponds to one container truck. Thus, misoperation can be avoided, and the safety and reliability of remote control of the container truck can be further improved.

[0075] Among them, the identity information of the remote controller is a set of data used to uniquely identify the remote controller. Exemplarily, the identity information of the remote controller may include, but is not limited to, one or more of the following: model, manufacturer, serial number, MAC address, etc.

[0076] Figure 5 An exemplary message structure of a remote control message is shown. Refer to Figure 5 , the remote control message may include a preamble, a header, a preamble check, data, and a data check. Due to the check of the preamble, an invalid header can be accepted, and the message is automatically filtered. Only the message with a successful preamble check can be recognized.

[0077] The preamble is used to identify the start of the message so that the domain controller can synchronize and recognize the starting point of the message. The preamble helps the domain controller detect the start of the message from background noise and can be used for signal synchronization.

[0078] The header may contain control information of the message, such as device address, message type, message length, etc. It enables the domain controller to understand the context of the message and determine how to process the subsequent data. In the embodiments of the present disclosure, the identity information of the remote controller may be included in the header.

[0079] The preamble check is a check process for the preamble to ensure that the preamble sequence is correctly received. The preamble check helps ensure that the synchronization process of the message is not disturbed.

[0080] The data part is the main body of the remote control message and contains control instructions.

[0081] The data check may include, but is not limited to, cyclic redundancy check (CRC), checksum, or other error detection and correction algorithms. Through the data check, errors that may occur during the transmission process can be detected, and to a certain extent, the integrity and accuracy of the control commands in the remote control message can be ensured. If the remote control message is disturbed or damaged during the transmission process, the data check can help identify the error.

[0082] In practical applications, adopting Figure 5 the shown structure helps ensure the integrity, reliability, and correctness of the remote control message.

[0083] In step 402, after parsing the remote control message and performing the preamble check and data check, the identity information of the remote controller is extracted from the header, and the control instructions are extracted from the data part of the remote control message. Specifically, if the preamble check fails, the remote control message can be ignored and the subsequent steps are not executed. If the preamble check passes, the data check can continue for the control instructions in the data part of the remote control message. If the data check passes, the subsequent steps are continued. If the data check is incorrect, the current remote control message can be ignored and the subsequent steps are not executed.

[0084] Further, if there is a data verification error in step 402, the domain controller can also return a response message indicating an error in the current remote control message to the remote controller. After receiving this response message, the remote controller can issue an alarm through the display module, informing the dispatcher of the error in the remote control message in a timely manner, avoiding accidents in situations such as emergency braking, and further improving reliability and safety.

[0085] In step 403, the domain controller can verify whether there is a corresponding relationship between the identity information of the remote controller and the truck identification of the truck to which it belongs by querying the associated relationship recorded locally. If so, it is determined that the remote controller is associated with the current domain controller; otherwise, it is determined that the remote controller is not associated with the current domain controller.

[0086] Further, the truck remote control method may further include: step 405, if the remote controller is not associated with the current domain controller, the control instruction is ignored.

[0087] Further, step 404 may include: determining whether the control instruction is an automatic driving shutdown instruction, an automatic driving startup instruction, or an emergency braking instruction; when the control instruction is an automatic driving shutdown instruction, sending instructions to each electronic control unit of the truck to control the truck to exit the automatic driving mode; when the control instruction is an automatic driving startup instruction, sending instructions to each electronic control unit of the truck (such as the engine control unit, braking system, steering system, etc.) to control the truck to enter the automatic driving mode; when the control instruction is an emergency braking instruction, sending instructions to the braking system of the truck to perform an emergency braking operation.

[0088] Exemplarily, the control instruction can be represented in the format shown in Table 2 below.

[0089]

[0090] Table 2

[0091] If the value of the first byte of the control instruction is "00", it can be determined that the control instruction is an automatic driving shutdown instruction; if the value of the first byte of the control instruction is "11", it can be determined that the control instruction is an automatic driving startup instruction; if the value of the second byte of the control instruction is "11", it can be determined that the control instruction is an emergency braking instruction. If the first byte and the second byte of the control instruction are not the aforementioned values, the control instruction is invalid and can be ignored.

[0092] Further, the container truck remote control method may further include: sending container truck information to the container truck operation system, where the container truck information includes the position, operation status, origin, destination, and identification of the container truck, so that the container truck operation system provides the container truck information to the remote controller and then displays it to the dispatcher. In a specific application, the step of sending the container truck information may be performed simultaneously during the execution of each of the foregoing steps, may also be performed before step 401, and may be performed after step 404 or step 405.

[0093] Here, for the specific form of the container truck information, reference may be made to the relevant description in Table 1 above, and details will not be elaborated here.

[0094] Figure 6 The flowchart shows another container truck remote control method provided by an embodiment of the present disclosure, and this container truck remote control method can be executed by the remote controller in the foregoing container truck remote control system. Refer to Figure 6 , this container truck remote control method may include:

[0095] Step 601, in response to an operation of the dispatcher on a function button, generate a remote control message and send it to the domain controller deployed on the container truck through the first communication module. The remote control message carries the identity information of the first remote controller itself and the control instruction corresponding to the function button;

[0096] Among them, the function button includes an automatic driving button and an emergency braking button, and the control instruction is used to start or close the automatic driving function or the emergency braking function.

[0097] Further, the process of step 501 may be implemented by means of a debounce filtering function. Specifically, in response to an operation of the dispatcher on a function button, the function button acts; the action of the function button causes a signal change on the input / output pin of the first control module. The first control module continuously collects the status of the input / output pin multiple times at a predetermined interval duration. If the status of the input / output pin collected multiple times is consistent, it is confirmed that the action of the function button is valid, and a remote control message corresponding to the action of the function button is generated; the remote control message is sent to the domain controller through the first communication module.

[0098] With Figure 3For example, the signal of the function button on the remote control is connected to the input / output (I / O) pin of the MCU. When the function button is pressed, it will cause a change in the signal on the I / O pin. The MCU continuously samples the status of the I / O pin three times, with an interval of 20 milliseconds between each sample. When the results of the three samples are exactly the same, the MCU considers this action of the function button to be valid, generates a remote control message corresponding to this action of the function button, and sends it to the LoRa module through the Universal Asynchronous Receiver / Transmitter (UART) serial port. The LoRa module then sends this remote control message to the domain controller. When the results of the three samples are not exactly the same, the MCU considers this action of the function button to be invalid, does not generate a remote control message, and will not continue with subsequent processing.

[0099] In this way, a remote control message will only be sent after the MCU confirms that the action of the function button is valid, which can effectively prevent misjudgment caused by interference with the function button signal, and can effectively reduce misoperations caused by signal jitter or external interference, improving the reliability and accuracy of the remote control.

[0100] Furthermore, the container truck remote control method may further include the following steps a1 and a2:

[0101] Step a1: Receive a container truck message from the container truck operation system. The container truck message includes the position, operation status, origin, destination, and identification of the container truck.

[0102] Step a2: Display the position, operation status, origin, destination, and identification of the container truck to the dispatcher through its own display, so that the dispatcher can understand the situation of the container truck in real time.

[0103] In specific applications, steps a1 to a2 can be executed before step 601, after step 601, or can be carried out in real time as needed, so that the dispatcher can clearly understand the positioning and status of the container truck at any time.

[0104] The following makes an exemplary description of the specific implementation of the container truck remote control method of the present disclosure in a specific scenario.

[0105] Taking a port as an example, when the dispatcher discovers that a container truck on a certain route can adopt the automatic driving mode through the container truck information displayed on the remote control, the dispatcher confirms the container truck number (i.e., the aforementioned container truck identification), finds the corresponding remote control, presses the automatic driving button on the remote control, and the remote control sends a remote control message to activate the automatic driving function. After the domain controller of the corresponding container truck receives and successfully parses this remote control message, it controls the container truck to switch to the automatic driving mode and starts working according to the tasks and routes distributed by the container truck operation system.

[0106] When an emergency occurs, such as an object suddenly appearing on the driving route of the container truck, it is very likely to affect the safe driving of the container truck. After the dispatcher discovers it, the dispatcher confirms the container truck number (i.e., the aforementioned container truck identifier), finds the corresponding remote controller, and immediately presses the emergency braking button of the remote controller. The remote controller sends a remote control message to activate the emergency braking function. The domain controller of the corresponding container truck receives the remote control message, parses it, and sends an instruction to the braking system to control the braking system to complete braking emergently. After verification, from the time the remote control message is sent to the time an instruction is sent to the braking system of the container truck, this process is expected to take only about 500 milliseconds. It can be seen that by the method of the embodiments of the present disclosure, accidents can be reduced through emergency braking.

[0107] As can be seen from the above, through the container truck remote control method provided by the embodiments of the present disclosure, the automatic driving function of the container truck can be remotely turned on or off through the remote controller in a complex environment, and the emergency braking function of the container truck can be remotely activated, improving the safety and reliability of the automatic driving function and the emergency braking function of the container truck.

[0108] In addition, the embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored. The program includes instructions, and when the instructions are executed by one or more processors of a computing device, the steps of any of the aforementioned container truck remote control methods are executed.

[0109] The technical solutions provided by the present disclosure have been introduced in detail above. Specific examples are used in this article to elaborate on the principles and implementation manners of the present disclosure. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present disclosure; at the same time, for those of ordinary skill in the art, according to the idea of the present disclosure, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present disclosure.

[0110] The above are only the preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A remote control method for container trucks, characterized in that: The method comprises: Receiving a remote control message from a remote controller, the remote control message carrying identity information and control instructions of the remote controller, the remote control message being generated in response to an operation of a function key on the remote controller by a dispatcher; Parsing the remote control message to obtain the identity information of the remote controller and the control instruction; Determining whether the remote control is associated with the current domain controller according to the identity information of the remote control; After determining that the remote controller has been associated with the current domain controller, the automatic driving function or emergency braking function of the container truck is turned on or off according to the control instruction.

2. The method according to claim 1, characterized in that The method further comprises: The truck collection information is sent to the truck collection operation system, wherein the truck collection information includes the location, operation status, origin, destination and identification of the truck collection, so that the truck collection operation system provides the truck collection information to the remote controller and then displays it to the dispatcher.

3. The method according to claim 1, characterized in that The method further includes: ignoring the control instruction if the remote controller is not associated with the current domain controller.

4. The method according to claim 1, characterized in that: The step of turning on or off the automatic driving function or the emergency braking function of the container truck according to the control instruction includes: Determining whether the control instruction is an automatic driving shutdown instruction, an automatic driving startup instruction, or an emergency braking instruction; When the control instruction is an automatic driving shutdown instruction, an instruction is sent to each electronic control unit of the container truck to control the container truck to exit the automatic driving mode; When the control instruction is an automatic driving start instruction, an instruction is sent to each electronic control unit of the container truck to control the container truck to enter the automatic driving mode; When the control instruction is an emergency braking instruction, an instruction is sent to the braking system of the container truck to perform an emergency braking operation.

5. A remote control method for container trucks, characterized in that: The method comprises: In response to the dispatcher's operation on the function button, a remote control message is generated and sent to the domain controller deployed on the container truck through the first communication module, and the remote control message carries the identity information of the first remote controller itself and the control instruction corresponding to the function button; Among them, the function buttons include an automatic driving button and an emergency braking button, and the control instructions are used to start or shut down the automatic driving function or the emergency braking function.

6. The method according to claim 5, characterized in that The method further comprises: Receiving a container truck message from a container truck operation system, wherein the container truck message includes the location, operation status, origin, destination and identification of the container truck; The location, operation status, origin, destination and identification of the container truck are displayed to the dispatcher through its own display so that the dispatcher can understand the situation of the container truck in real time.

7. The method according to claim 5, characterized in that The remote controller includes a first control module and a first communication module; In response to the dispatcher's operation on the function key, generating a remote control message and sending it to the domain controller deployed on the container truck through the first communication module, includes: In response to the dispatcher's operation on the function button, the function button takes action; The action of the function key causes a signal change on the input / output pin of the first control module, and the first control module continuously collects the state of the input / output pin for multiple times according to a predetermined interval. If the states of the input / output pin collected multiple times are consistent, it is confirmed that the action of the function key is valid, and a remote control message corresponding to the action of the function key is generated; The remote control message is sent to the domain controller through the first communication module.

8. A container truck remote control system, characterized in that: The system includes: a remote control and a domain controller, wherein the domain controller is deployed on the container truck, the remote control is controlled by a dispatcher and has function buttons, the remote control is used to implement the method described in any one of claims 5 to 7, and the domain controller is used to implement the method described in any one of claims 1 to 4.

9. The system according to claim 8, characterized in that Also includes: A truck container operation system, wherein the truck container operation system can communicate with the remote controller and the domain controller respectively; The domain controller is further used to send container truck information to the container truck operation system, wherein the container truck information includes the location, operation status, origin, destination and identification of the container truck; The truck collection operation system is used to receive the truck collection information from the domain controller and send it to the remote controller; The remote controller is used to receive and display the container truck information from the container truck operation system so that the dispatcher can understand the status of the container truck.

10. The system according to claim 8, characterized in that The remote controller includes a first communication module and a second communication module, the domain controller includes a first communication module and a second communication module, and the container truck operation system includes a second communication module; The remote controller communicates with the domain controller via the first communication module, and the remote controller and the domain controller communicate with the truck operating system via the second communication module respectively.

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