Remote driving system and remote driving method

Abstract

The invention provides a remote driving system and a remote driving method, the remote driving system comprises at least one vehicle end, at least one control end and a master control base station, and the master control base station is in communication connection with the vehicle end and the control end; the main control base station is used for receiving and analyzing authentication information input by a driver and distributing a control end for the driver after the authentication is passed; and starting a corresponding vehicle end based on license plate information in the authentication information, the control end is used for generating a remote control instruction according to the control operation of a driver and sending the remote control instruction through the main control base station, and the corresponding vehicle end receives the remote control instruction and operates according to the remote control instruction; the vehicle end is used for collecting driving information and sending the driving information through the master control base station, and the corresponding control end receives and displays the driving information. Through collaborative design of software and hardware, high efficiency, safety and reliability of remote driving are realized, and an extensible and high-adaptability technical solution is provided for automatic driving and remote operation scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle driving, and particularly to a remote driving system and a remote driving method. Background Art

[0002] With the continuous progress of the automotive industry, intelligent networking and autonomous driving technologies are gradually becoming the key trends for future transportation. The traditional driving mode relies on the driver's direct control of the vehicle, including operating the steering wheel, accelerator (or throttle), brake, and observing the rearview mirror, etc., to ensure driving safety.

[0003] However, there are many problems with the traditional automotive driving mode. Firstly, the driver's destination is limited by the passengers' destinations, that is, the driver must go to the same place with the vehicle, which to a certain extent limits flexibility. Secondly, before the popularization of fully driverless driving, even vehicles equipped with intelligent assistance systems still have a certain risk of driving misguidance. Once a serious accident occurs, the driver's personal safety may still be threatened. Finally, the traditional driving mode is greatly affected by the driving environment. For example, fatigue during long-distance driving can only be relieved by short stops, and in bad weather or emergencies, the challenges faced by the driver are even more severe. Therefore, there is room for improvement. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a remote driving system and a remote driving method, which are used to solve the technical problems in the prior art that the traditional automotive driving mode has limitations in driver flexibility, potential personal safety hazards, and driving environment limitations.

[0005] To achieve the above purpose and other related purposes, the present invention provides a remote driving system, including: at least one vehicle terminal, at least one control terminal, and a main control base station, and the main control base station communicates with the vehicle terminal and the control terminal through an ultra-wideband low-latency network;

[0006] The main control base station is configured to receive and parse the authentication information input by the driver, and allocate a control terminal to the driver after authentication; and based on the license plate information in the authentication information, start the corresponding vehicle terminal;

[0007] The control terminal is configured to generate a remote control instruction according to the driver's control operation, and send the remote control instruction through the main control base station, and the corresponding vehicle terminal receives and operates according to the remote control instruction;

[0008] The vehicle terminal is configured to collect driving information, and send the driving information through the main control base station, and the corresponding control terminal receives and displays the driving information;

[0009] Among them, the control end is also used to monitor the fatigue state value of the driver, and when the fatigue state value is greater than a preset fatigue threshold, generate and send a parking instruction, and the corresponding vehicle end receives and parks according to the parking instruction;

[0010] The vehicle end is also used to monitor the communication line with the main control base station, and switch to autonomous driving when the communication line is not smooth.

[0011] In an embodiment of the present invention, the vehicle end includes:

[0012] The vehicle body;

[0013] The environment perception module is used to collect surrounding environment information in real time;

[0014] The vehicle positioning module is used to obtain vehicle position information in real time;

[0015] The parameter acquisition module is used to obtain the working parameters of the vehicle body in real time;

[0016] The vehicle control module is used to receive and control the vehicle body to work according to the remote control instruction, and package the surrounding environment information, the vehicle position information and the working parameters into driving information;

[0017] The first communication module is communicatively connected to the main control base station, and is used to receive the remote operation instruction sent by the main control base station and send the driving information to the main control base station.

[0018] In an embodiment of the present invention, the vehicle end further includes:

[0019] The intelligent driving module is used to generate a local control instruction according to the surrounding environment information, the vehicle position information and the working parameters after startup;

[0020] Among them, the vehicle control module is also used to monitor the communication line between the first communication module and the main control base station in real time:

[0021] When the communication line is smooth, control the vehicle body to work according to the remote control instruction;

[0022] When the communication line is not smooth and the non-smooth duration is less than the preset duration, control the vehicle body according to the remote control instruction;

[0023] When the communication line is not smooth and the non-smooth duration is greater than or equal to the preset duration, generate and send a startup instruction, the intelligent driving module is started according to the startup instruction, and the vehicle control module controls the vehicle body according to the local control instruction.

[0024] In one embodiment of the present invention, the vehicle control module is further configured to, after the communication line resumes normal, receive and control the vehicle body according to the remote control instruction, and generate and send a shutdown instruction; the intelligent driving module shuts down according to the shutdown instruction.

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

[0026] A remote cockpit; and

[0027] A remote control module, configured to generate and send corresponding remote control instructions according to the driver's operations on the remote cockpit, and receive the driving information;

[0028] Wherein, the remote cockpit has a display screen, and the display screen is configured to display the driving information.

[0029] In one embodiment of the present invention, the control terminal further includes a status monitoring module, and the status monitoring module is configured to collect the facial features of the driver to calculate and generate a corresponding fatigue status value, and generate a fatigue warning message when the fatigue status value is greater than a preset fatigue threshold;

[0030] The remote control module is further configured to generate a parking instruction according to the fatigue warning message;

[0031] The vehicle control module responds to the parking instruction and sends a start instruction and a parking planning instruction to the intelligent driving module;

[0032] The intelligent driving module starts in response to the start instruction, and after starting, based on the vehicle position information, retrieves the parking lot position information according to the parking planning instruction to generate corresponding path planning information; and generates corresponding parking control instructions according to the path planning information;

[0033] The vehicle control module controls the vehicle body to drive to the corresponding parking lot according to the parking control instruction.

[0034] In one embodiment of the present invention, the control terminal further includes an alarm module;

[0035] The remote control module is further configured to judge the distance between the obstacles in the surrounding environment information and the vehicle body:

[0036] When the distance is within a set of multiple threshold ranges, the remote control module generates alarm instructions of corresponding levels according to different threshold ranges;

[0037] Wherein, the alarm module is configured to perform corresponding-level acoustic and optical alarms according to the alarm instructions of different levels.

[0038] In an embodiment of the present invention, the vehicle control module receives and controls the vehicle body to avoid according to the alarm instructions of different levels.

[0039] In an embodiment of the present invention, the remote control instructions include a throttle adjustment instruction, a vehicle braking instruction, a vehicle gear shifting instruction, a vehicle parking instruction, a vehicle steering instruction, and a lighting switching instruction; the vehicle body includes:

[0040] A vehicle body;

[0041] A drive unit configured to adjust the output power of an engine or a motor in response to the throttle adjustment instruction;

[0042] A braking unit configured to adjust the braking force in response to the vehicle braking instruction;

[0043] A gear unit configured to switch the gears of the vehicle in response to the vehicle gear shifting instruction;

[0044] A parking unit configured to perform parking and unparking operations of the vehicle in response to the vehicle parking instruction;

[0045] A steering unit configured to adjust the steering angle of the vehicle in response to the vehicle steering instruction;

[0046] A lighting unit configured to turn on, turn off, or adjust the headlights, taillights, and turn signals of the vehicle in response to the lighting switching instruction.

[0047] The present invention also provides a remote driving method applied to the remote driving system as described in any one of the above. The remote driving method includes:

[0048] The master control base station is configured to receive and parse the authentication information input by the driver, and allocate a control terminal to the driver after authentication; and based on the license plate information in the authentication information, start the corresponding vehicle terminal;

[0049] The control terminal is configured to generate remote control instructions according to the driver's control operations, and send the remote control instructions through the master control base station. The corresponding vehicle terminal receives and operates according to the remote control instructions;

[0050] The vehicle terminal is configured to collect driving information, and send the driving information through the master control base station. The corresponding control terminal receives and displays the driving information;

[0051] Monitor the fatigue status value of the driver through the control terminal, and when the fatigue status value is greater than a preset fatigue threshold, generate and send a parking instruction, and the corresponding vehicle terminal receives and parks according to the parking instruction;

[0052] Monitor the communication line between the vehicle terminal and the main control base station through the vehicle terminal, and switch to autonomous driving when the communication line is not smooth.

[0053] As described above, a remote driving system and a remote driving method of the present invention have the following beneficial effects: through the collaborative design of software and hardware, the present invention realizes the high efficiency, safety and reliability of remote driving, and provides an expandable and highly adaptable technical solution for the scenarios of autonomous driving and remote operation. Brief Description of the Drawings

[0054] Figure 1 It shows a system block diagram of a remote driving system provided by an embodiment of the present invention;

[0055] Figure 2 It shows a schematic flow chart of a remote driving method provided by an embodiment of the present invention. Detailed Embodiments

[0056] The following uses specific specific examples to illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0057] It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation. The type, quantity and ratio of each component in its actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0058] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0059] The present invention provides a remote driving system and a remote driving method, which relate to the technical field of automobiles and can be specifically applied to solve the technical problems in the prior art that the traditional automobile driving mode has limitations in driver flexibility, potential personal safety hazards, and limitations in the driving environment. The following will be described in detail through specific embodiments.

[0060] Please refer to Figure 1 , in an embodiment of the present invention, the remote driving system may include a vehicle terminal 100, a control terminal 200, and a main control base station 300. Among them, the main control base station 300 is respectively communicatively connected to the vehicle terminal 100 and the control terminal 200 through an ultra-wideband low-latency network.

[0061] In an embodiment of the present invention, the main control base station 300 is configured to receive and parse the authentication information input by the driver, and allocate a control terminal 200 to the driver after authentication; and based on the license plate information in the authentication information, start the corresponding vehicle terminal 100. The control terminal 200 is configured to generate corresponding remote control instructions according to various control operations of the driver, and send the remote control instructions through the main control base station 300. The corresponding vehicle terminal 100 receives and executes the operation according to the remote control instructions. The vehicle terminal 100 is configured to collect driving information, and send the driving information through the main control base station 300. The corresponding control terminal 200 receives and displays the driving information.

[0062] Furthermore, the control terminal 200 is also configured to monitor the fatigue state value of the driver, and when the fatigue state value is greater than a preset fatigue threshold, generate and send a parking instruction. The corresponding vehicle terminal 100 can receive and park according to the parking instruction. The vehicle terminal 100 is also configured to monitor the communication line with the main control base station 300, and switch to autonomous driving when the communication line is not smooth.

[0063] Please refer to Figure 1 , the number of vehicle terminals 100 can be at least one. The vehicle terminal 100 is a vehicle with remote driving ability and intelligent driving ability. In this embodiment, the vehicle terminal 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, a first communication module 160, and an intelligent driving module 170.

[0064] In an embodiment of the present invention, the vehicle body 110 may be the main component of the vehicle, which may include a vehicle body, an engine, a transmission, a suspension system, a driving unit, a braking unit, a gear unit, a parking unit, a steering unit, a lighting unit, etc. Among them, the vehicle control module 150 can control the vehicle body to work according to the remote control instructions. The remote control instructions may include throttle adjustment instructions, vehicle braking instructions, vehicle shifting instructions, vehicle parking instructions, vehicle steering instructions, lighting switching instructions, etc.

[0065] In one embodiment of the present invention, the driving unit can be used to control the start and throttle of the vehicle, adjust the output power of the engine or motor in response to the throttle adjustment instruction, so as to control the acceleration and driving speed of the vehicle. The braking unit can be used to control the braking system of the vehicle, adjust the braking force in response to the vehicle braking instruction, and achieve the deceleration and stopping of the vehicle. The gear unit can be used to control the gear of the vehicle, and switch the gear of the vehicle in response to the vehicle gear shifting instruction, for example, switch from neutral to forward or reverse. The parking unit can be used to control the parking system of the vehicle, and achieve the parking and release of the vehicle in response to the vehicle parking instruction. The steering unit can be used to control the steering wheel angle of the vehicle, adjust the steering angle of the vehicle in response to the vehicle steering instruction, and achieve precise steering operation. The lighting unit can be used to control the lights of the vehicle, and turn on, turn off or adjust the headlights, taillights, turn signals, etc. of the vehicle in response to the lighting switching instruction.

[0066] In one embodiment of the present invention, the environmental perception module 120 can be used 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 various types of sensors, such as cameras, radars, lidars (LiDAR), etc. Among them, the surrounding image information refers to the visual images around the vehicle captured by a high-definition camera. The obstacle information refers to the obstacles around the vehicle detected by millimeter-wave radars, ultrasonic radars, lidars, etc., including the distance, speed and position data of static and dynamic objects. The installation positions and quantities of the millimeter-wave radar, ultrasonic radar, lidar and high-definition camera can be set according to actual needs.

[0067] In one embodiment of the present invention, the vehicle positioning module 130 can be used to obtain the vehicle position information in real time. The vehicle positioning module 130 can be an RTK positioning device (Real-Time Kinematic). The RTK positioning device can achieve positioning by using GPS (Global Positioning System) or GNSS (Global Navigation Satellite System).

[0068] In one embodiment of the present invention, the parameter acquisition module 140 can be used to obtain the working parameters of the vehicle body in real time. The working parameters may include the speed, acceleration, engine speed, battery state, throttle opening, brake pressure, gear state, steering angle, working mechanism attitude, etc. of the vehicle. The real-time obtained working parameters can help monitor various indicators of the vehicle during driving and ensure that the vehicle operates within the normal range.

[0069] In one embodiment of the present invention, the vehicle control module 150 is configured to control the vehicle body 110 to operate according to a remote control instruction, and package the surrounding environment information, vehicle position information, and working parameters into driving information.

[0070] In one embodiment of the present invention, the first communication module 160 supports communication between the vehicle terminal 100 and the main control base station 300. It can be used to send driving information to the main control base station 300 and receive remote control instructions transmitted by the main control base station 300. One or more communication technologies that the first communication module 160 can use, for example, can be one or several of 4G, 5G URLLC, and LoRa. The first communication module 160 can flexibly select or combine communication technologies such as 4G, 5G, and LoRa to meet communication requirements in different scenarios.

[0071] In one embodiment of the present invention, the intelligent driving module 170 integrates processing algorithms and logics, and is capable of making decisions based on the data provided by the above-mentioned modules and planning a safe and effective driving route. This includes, but is not limited to, functions such as path planning, behavior prediction, and decision-making, aiming to enable the vehicle to drive autonomously in a complex traffic environment. Specifically, after the intelligent driving module 170 is started, it can generate local control instructions according to the surrounding environment information collected by the environment perception module 120, the vehicle position information collected by the vehicle positioning module 130, and the working parameters collected by the parameter acquisition module 140. The vehicle control module 150 can also be used to control the vehicle body 110 to operate according to the local control instructions. In this embodiment, the priority of the remote control instruction is higher than that of the local control instruction.

[0072] In an embodiment of the present invention, the vehicle control module 150 is further configured to monitor in real time whether the communication line between the first communication module 160 and the main control base station is unobstructed, that is, to monitor whether the first communication module 160 can normally receive the heartbeat signal sent by the main control base station 300. When the communication line is unobstructed, that is, when the first communication module 160 normally receives the heartbeat signal sent by the main control base station 300, the vehicle control module 150 can control the vehicle body 110 according to the remote control instruction. When the communication line is unobstructed and the unobstructed duration is less than the preset duration, that is, there is an interruption in the first communication module 160 receiving the heartbeat signal sent by the main control base station 300, but the interruption duration does not exceed the preset duration, for example, 5 ms, the vehicle control module 150 will continue to control the vehicle body 110 according to the remote control instruction. When the communication line is unobstructed and the unobstructed duration is greater than or equal to the preset duration, that is, when the interruption of the first communication module 160 receiving the heartbeat signal sent by the main control base station 300 exceeds a certain duration, for example, when the vehicle enters a tunnel and the first communication module 160 does not receive the heartbeat signal sent by the main control base station 300 for 5 ms continuously. At this time, the vehicle control module 150 can determine that the communication between the first communication module 160 and the main control base station 300 is disconnected. At this time, it can generate and send a start instruction. The intelligent driving module 170 will be started according to this start instruction. As can be seen from the above, after the intelligent driving module 170 is started, it will generate a local control instruction according to the surrounding environment information, vehicle position information and working parameters. The vehicle control module 150 will control the vehicle body 110 according to the local control instruction.

[0073] Further, when the communication line becomes unobstructed again, for example, when the vehicle exits the tunnel and the first communication module 160 receives the heartbeat signal sent by the main control base station 300 again. The vehicle control module 150 will continue to receive and control the vehicle body 110 to work according to the remote control instruction. At the same time, the vehicle control module 150 will also generate and send a shutdown instruction, and the intelligent driving module 150 will be shut down according to the shutdown instruction. In this embodiment, the priority of the remote control instruction is higher than that of the local control instruction.

[0074] In an embodiment of the present invention, the number of the control terminals 200 can be at least one. The control terminal 200 can be a remote control terminal, which can realize the remote operation of the vehicle terminal 100. In this embodiment, the control terminal 200 can include a remote cockpit 210, a remote control module 220, a second communication module 230, a status monitoring module 240 and an alarm module 250.

[0075] In one embodiment of the present invention, the structure of the remote cockpit 210 can be similar to that of the vehicle cockpit, and it can be internally provided with a steering wheel, an accelerator / throttle pedal, a brake, a parking button, a gear lever, function buttons, a display, etc. The driver can operate the remote cockpit 210 to achieve functions such as driving, braking, gear shifting, parking, steering, and lighting control. Specifically, the driver can control the acceleration and driving speed of the vehicle by stepping on the opening of the accelerator / throttle pedal. The driver can control the braking force of the vehicle by stepping on the brake pedal to decelerate or stop the vehicle. The driver can control the gear of the vehicle, such as the forward gear, reverse gear, neutral gear, etc., by switching the gear lever. The driver can control the parking function of the vehicle, such as pulling the handbrake or activating the electronic parking, by pressing the parking button. The driver can control the steering angle of the vehicle by turning the steering wheel to achieve precise steering operations. The driver can control the opening and closing of the vehicle's headlights, taillights, turn signals, etc. by operating the function buttons. The remote cockpit 210 can be equipped with at least one display, which can be used to display driving information such as surrounding environment information, vehicle position information, and working parameters.

[0076] In one embodiment of the present invention, the remote control module 220 is used to generate corresponding remote control instructions according to the driver's operation of the remote cockpit 210 and receive driving information. In this embodiment, the remote control instructions can include an accelerator adjustment instruction, a vehicle brake instruction, a vehicle gear shift instruction, a vehicle parking instruction, a vehicle steering instruction, a lighting switching instruction, etc.

[0077] In this embodiment, the driver can adjust the accelerator opening through the accelerator / throttle pedal of the remote cockpit 210. The position sensor of the accelerator pedal detects the opening of the pedal. The remote control module 220 generates a corresponding accelerator adjustment instruction according to the opening detected by the sensor. For example, when the driver steps on the accelerator pedal and the remote control module 220 detects that the pedal opening is 50%, it generates a control instruction "accelerator opening 50%".

[0078] In this embodiment, the driver can control the brake through the brake pedal of the remote cockpit 210. The position sensor of the brake pedal detects the stroke of the pedal. The remote control module 220 generates a corresponding vehicle brake instruction according to the stroke detected by the sensor. For example, when the driver steps on the brake pedal and the remote control module 220 detects that the stroke is 20%, it generates a control instruction "brake stroke 20%".

[0079] In this embodiment, the driver 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 gear shift instruction according to the position detected by the sensor. For example, when the driver switches the gear lever to the forward position, the remote control module 220 generates a control instruction "switch to forward gear".

[0080] In this embodiment, the driver can perform a parking operation through the parking button of the remote cockpit 210. The status 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 driver presses the parking button, the remote control module 220 generates a control instruction "start parking".

[0081] In this embodiment, the driver can perform a steering operation 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 according to the steering angle detected by the sensor. For example, when the driver turns the steering wheel to the left and the remote control module 220 detects that the steering angle of the steering wheel is 30 degrees, it generates a control instruction "turn left 30 degrees".

[0082] In this embodiment, the driver can control the vehicle lights through the function buttons of the remote cockpit 210. The status sensor of the function button detects the pressing state of the button. The remote control module 220 generates a corresponding lights on / off instruction according to the state detected by the sensor. For example, when the driver presses the headlight button, the remote control module 220 generates a control instruction "turn on the headlights".

[0083] In an embodiment of the present invention, the second communication module 230 supports the communication between the control terminal 200 and the main control base station 300, and can be used to send remote control instructions to the main control base station 300 and receive the driving information transmitted by the main control base station 300. The second communication module 230 can use wired communication or wireless communication. For example, when the second communication module 230 uses wired communication, it can be one or several of twisted pair, optical fiber, and coaxial cable. When the second communication module 230 uses wireless communication, it can be one or several of 5G URLLC and Lora.

[0084] In an embodiment of the present invention, the status monitoring module 240 can be used to collect the facial features of the driver and calculate a corresponding fatigue status value according to the facial features. Specifically, the status monitoring module 240 can collect the eye features, facial expressions, or line of sight direction of the driver. For example, the status monitoring module 240 can count the blinking frequency, closed-eye duration (PERCLOS index), and pupil diameter of the driver, etc., so as to calculate the corresponding fatigue status value. The status monitoring module 240 can also count the yawning frequency, head posture (lowering the head, nodding), or the proportion of time when the driver's gaze deviates from the road, etc., to further and more accurately judge the fatigue status value of the driver.

[0085] In this embodiment, when the fatigue state value of the driver is greater than the preset fatigue threshold, it can be determined that the driver is in a fatigue state, and continuing to drive will be dangerous. Therefore, the status monitoring module 240 can generate a fatigue warning message and send it to the remote control module 220. After receiving the fatigue warning message, the remote control module 220 will generate a parking instruction and send the instruction to the vehicle terminal 100 through the main control base station 300. After receiving the parking instruction, the vehicle terminal 100, first of all, the vehicle control module 150 will respond to the parking instruction and send a start instruction and a parking planning instruction to the intelligent driving module 170. Then, the intelligent driving module 170 will start in response to the start instruction and continue to respond to the parking planning instruction after starting. Based on the current vehicle position information, it will retrieve the nearest parking lot position information and thus generate the corresponding path planning information. Next, the intelligent driving module 170 will generate the corresponding parking control instruction according to the path planning information. The vehicle control module 150 will control the vehicle body 110 to drive to the corresponding parking lot according to the parking control instruction.

[0086] In an embodiment of the present invention, the remote control module 220 is further configured to judge the distance between the obstacle in the surrounding environment information and the vehicle body 110: when the distance is within a set of multiple threshold ranges, the remote control module 220 generates corresponding-level alarm instructions according to different threshold ranges. Among them, the numerical values included in different threshold ranges are different. The alarm module 250 can be used to perform corresponding-level sound and light alarms according to different-level alarm instructions.

[0087] Furthermore, the vehicle control module 150 can also receive the alarm instruction sent by the remote control module 220 and control the vehicle body 110 to avoid according to the level of the alarm instruction.

[0088] Specifically, multiple threshold ranges can be distinguished, for example, into a range of 3 to 5 m, a range of 1.5 to 3 m, and a range of less than 1.5 m. When the spacing is in the range of 3 to 5 m, a first-level warning instruction can be generated. When the spacing is in the range of 1.5 to 3 m, a second-level warning instruction can be generated. When the spacing is less than 1.5 m, a third-level warning instruction can be generated. The alarm module 260 can issue a first-level warning according to the first-level warning instruction. The first-level warning can be represented as the alarm module 260 emitting a green reminder signal to prompt the operator to pay attention to the obstacle. When the vehicle control module 150 receives the first-level warning instruction, no measures need to be taken. The alarm module 260 can issue a second-level warning according to the second-level warning instruction. The second-level warning can be represented as the alarm module 260 emitting a yellow reminder signal. When the vehicle control module 150 receives the second-level warning instruction, a vehicle braking instruction will be generated, and the braking unit of the vehicle body 110 will respond to the vehicle braking instruction and perform braking to reduce the vehicle speed. The alarm module 260 can issue a third-level warning according to the third-level warning instruction. The third-level warning can be represented as the alarm module 260 emitting a red reminder signal and giving an audible alarm through a sound alarm to prompt the operator to take emergency measures immediately. When the vehicle control module 150 receives the third-level warning instruction, a vehicle stop instruction will be generated, and the braking unit of the vehicle body 110 will adjust the braking force to the maximum to stop the vehicle from moving. By setting multiple warning levels, the severity of the alarm is gradually increased, enabling the operator to have sufficient time and information to react, thereby improving the safety of the system.

[0089] Please refer to Figure 2 , the present invention also provides a remote driving method. The remote driving method can be applied to the remote driving system in any of the above embodiments, and the remote driving method can include the following steps:

[0090] Step S10: The master control base station is used to receive and parse the authentication information input by the driver, and allocate a control terminal to the driver after authentication; and based on the license plate information in the authentication information, start the corresponding vehicle terminal;

[0091] Step S20: The control terminal is used to generate a remote control instruction according to the driver's control operation, and send the remote control instruction through the master control base station. The corresponding vehicle terminal receives and operates according to the remote control instruction;

[0092] Step S30: The vehicle terminal is used to collect driving information, and send the driving information through the master control base station. The corresponding control terminal receives and displays the driving information;

[0093] Step S40: Monitor the driver's fatigue status value through the control terminal. When the fatigue status value is greater than the preset fatigue threshold, generate and send a parking instruction, and the corresponding vehicle terminal receives and parks according to the parking instruction.

[0094] Step S50: Monitor the communication line between the vehicle terminal and the main control base station. When the communication line is not smooth, switch to autonomous driving.

[0095] In summary, the present invention discloses a remote driving system and a remote driving method. Through the collaborative design of software and hardware, the high efficiency, safety, and reliability of remote driving are achieved, providing an expandable and highly adaptable technical solution for autonomous driving and remote operation scenarios. Through the driver status monitoring module of the control terminal in the present invention, the fatigue status is monitored in real time and the automatic parking mechanism is triggered. Combined with the multi-level obstacle warning system, the human operation errors and sudden risks are significantly reduced. Through the intelligent driving module of the vehicle terminal in the present invention, the control right is automatically taken over when the communication is interrupted to ensure the safe operation of the vehicle. After the communication is restored, it seamlessly switches to remote control to ensure continuity. In addition, the present invention supports the dynamic allocation of multiple vehicle terminals and control terminals. Through the centralized management of the main control base station, the resource utilization rate and scheduling efficiency are improved. At the same time, the priority mechanism ensures that the remote instruction always takes the lead, taking into account the coordination of manual control and autonomous driving. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0096] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A remote driving system, characterized in that: include: At least one vehicle terminal, at least one control terminal and a master control base station, wherein the master control base station communicates with the vehicle terminal and the control terminal via an ultra-wideband low-latency network; The master control base station is used to receive and analyze the authentication information input by the driver, and allocate a control terminal to the driver after the authentication is passed; and starting the corresponding vehicle terminal based on the license plate information in the authentication information; The control terminal is used to generate a remote control instruction according to the driver's control operation, and send the remote control instruction through the main control base station, and the corresponding vehicle terminal receives and operates according to the remote control instruction; The vehicle terminal is used to collect driving information and send the driving information through the main control base station, and the corresponding control terminal receives and displays the driving information; The control end is also used to monitor the driver's fatigue state value, and when the fatigue state value is greater than a preset fatigue threshold, generate and send a parking instruction, and the corresponding vehicle end receives and stops according to the parking instruction; The vehicle end is also used to monitor the communication line between the vehicle and the main control base station, and switch to automatic driving when the communication line is blocked.

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; A vehicle control module, used to receive and control the vehicle body to work according to the remote control command, and to package the surrounding environment information, the vehicle position information and the working parameters into driving information; The first communication module is connected to the master control base station for receiving remote operation instructions sent by the master control base station and sending the driving information to the master control base station.

3. The remote driving system according to claim 2, characterized in that: The vehicle end also includes: An intelligent driving module, for generating local control instructions according to the surrounding environment information, the vehicle position information and the working parameters after startup; The vehicle control module is also used to monitor the communication line between the first communication module and the main control base station in real time: When the communication line is unobstructed, the vehicle body is controlled to work according to the remote control instruction; When the communication line is blocked and the duration of the blockage is less than a preset duration, the vehicle body is controlled according to the remote control instruction; When the communication line is blocked and the duration of the blockage is greater than or equal to a preset duration, a start instruction is generated and sent, the intelligent driving module is started according to the start instruction, and the vehicle control module controls the vehicle body according to the local control instruction.

4. The remote driving system according to claim 3, characterized in that: The vehicle control module is also used to receive and control the vehicle body according to the remote control instruction after the communication line is restored, and to generate and send a shutdown instruction; the intelligent driving module is shut down according to the shutdown instruction.

5. The remote driving system according to claim 3, characterized in that: The control terminal includes: Remote cockpit; and A remote control module, used to generate and send corresponding remote control instructions according to the driver's operation on the remote cockpit, and receive the driving information; Wherein, the remote cockpit has a display screen, and the display screen is used to display the driving information.

6. The remote driving system according to claim 5, characterized in that: The control terminal further includes a state monitoring module, which is used to collect facial features of the driver to calculate and generate a corresponding fatigue state value, and generate fatigue warning information when the fatigue state value is greater than a preset fatigue threshold; The remote control module is also used to generate a parking instruction according to the fatigue warning information; The vehicle control module sends a start instruction and a parking planning instruction to the intelligent driving module in response to the parking instruction; The intelligent driving module is started in response to the start instruction, and after starting, according to the parking planning instruction, based on the vehicle position information, retrieves and obtains parking lot position information to generate corresponding path planning information; and generating corresponding parking control instructions according to the path planning information; The vehicle control module controls the vehicle body to travel to a corresponding parking lot according to the parking control instruction.

7. The remote driving system according to claim 5, characterized in that: The control terminal also includes an alarm module; The remote control module is also used to determine the distance between the obstacle in the surrounding environment information and the vehicle body: When the distance is within a plurality of set threshold ranges, the remote control module generates an alarm instruction of a corresponding level according to different threshold ranges; Wherein, the alarm module is used to perform sound and light alarms of corresponding levels according to the alarm instructions of different levels.

8. The remote driving system according to claim 7, characterized in that: The vehicle control module receives and controls the vehicle body to perform avoidance according to the alarm instructions of different levels.

9. 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: Vehicle body; A drive unit, configured to adjust the output power of the engine or the motor in response to the throttle adjustment instruction; A braking unit, configured to adjust the braking force in response to the vehicle braking command; a gear unit, configured to switch the gear of the vehicle in response to the vehicle gear shift instruction; A parking unit, configured to implement parking and unparking operations of the vehicle in response to the vehicle parking instruction; A steering unit, configured to adjust a steering angle of the vehicle in response to the vehicle steering instruction; The lighting unit is used to turn on, off or adjust the vehicle's headlights, taillights and turn signals in response to the lighting switching instruction.

10. A remote driving method, characterized in that: Applied in the remote driving system according to any one of claims 1 to 9, the remote driving method comprises: The master control base station is used to receive and analyze the authentication information input by the driver, and allocate a control terminal to the driver after the authentication is passed; and based on the license plate information in the authentication information, the corresponding vehicle terminal is activated; The control terminal is used to generate a remote control instruction according to the driver's control operation, and the remote control instruction is sent through the main control base station, and the corresponding vehicle terminal receives and operates according to the remote control instruction; The vehicle terminal is used to collect driving information, and the driving information is sent through the main control base station, and the corresponding control terminal receives and displays the driving information; The control terminal monitors the driver's fatigue state value, and when the fatigue state value is greater than a preset fatigue threshold, generates and sends a parking instruction, and the corresponding vehicle terminal receives and stops according to the parking instruction; The vehicle monitors the communication line between the vehicle and the main control base station, and switches to automatic driving when the communication line is blocked.

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