Remote control driving method and system of unmanned vehicle and vehicle end system

Abstract

The invention discloses a remote control driving method and system of an unmanned vehicle and a vehicle end system. The method relates to the field of automatic driving, and comprises the following steps: under the condition that the unmanned vehicle receives a remote control driving instruction, controlling the unmanned vehicle to perform remote control driving; in the remote control driving process of the unmanned vehicle, obtaining positioning information of the unmanned vehicle and map data of a target area corresponding to the unmanned vehicle; determining a target distance between a target track point of the unmanned vehicle and a map boundary based on the positioning information and the map data; based on the type of the target area, the driving scene of the unmanned vehicle or the operation state of the unmanned vehicle, at least one distance interval is determined, and different distance intervals correspond to different safety response strategies; determining a target distance interval to which the target distance belongs from the at least one distance interval; and controlling the unmanned vehicle based on the target safety response strategy corresponding to the target distance interval.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular, to a method, a system, and a vehicle-end system for remotely controlling the driving of a driverless vehicle. Background Art

[0002] During the autonomous driving of a driverless vehicle, a remote operator can remotely control the driving and operation of the vehicle through a network. The remote operator can perform real-time control on the vehicle through a remote control device to ensure the safe and correct driving of the vehicle. Remote control driving can improve the safety and flexibility of the driverless vehicle and ensure the driving stability and accuracy of the vehicle in a complex environment.

[0003] Currently, in the related art, a remote operator usually remotely controls a driverless vehicle by means of images or videos transmitted back by the driverless vehicle. However, there are blind spots in the field of view of the images or videos collected by the driverless vehicle, and it is difficult to accurately reflect the real situation of the driverless vehicle. Or, it is more dependent on the remote driving experience of the remote operator to judge the real situation of the driverless vehicle by using images or videos. Usually, it is difficult for the remote operator to timely pay attention to the changes in the images or videos, resulting in a low timeliness of adjusting the control strategy of the driverless vehicle. In summary, there is a problem of low safety in the process of remotely controlling the driving of a driverless vehicle.

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a method, a system, and a vehicle-end system for remotely controlling the driving of a driverless vehicle to at least solve the technical problem of low safety in remotely controlling the driving of a driverless vehicle in the related art.

[0006] According to one aspect of the embodiments of the present invention, a method for remotely controlling the driving of a driverless vehicle is provided, including: when the driverless vehicle receives a remote control driving instruction, controlling the driverless vehicle to perform remote control driving; during the process of the driverless vehicle performing remote control driving, obtaining the positioning information of the driverless vehicle and the map data of the target area corresponding to the driverless vehicle; based on the positioning information and the map data, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary; based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle, determining at least one distance interval, where different distance intervals correspond to different safety response strategies; determining the target distance interval to which the target distance belongs from at least one distance interval; and controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0007] According to another aspect of the embodiments of the present invention, there is also provided a remote control driving system for a driverless vehicle, including: a remote control device, configured to send a remote control driving instruction to the driverless vehicle to control the driverless vehicle for remote control driving; a vehicle-end system, installed on the driverless vehicle, configured to obtain the positioning information of the driverless vehicle and the map data of the area where the driverless vehicle is located during the remote control driving of the driverless vehicle; based on the positioning information and the map data, determine the target distance between the target trajectory point of the driverless vehicle and the map boundary; based on the type of the target area, the driving scenario of the driverless vehicle or the operation state of the driverless vehicle, determine at least one distance interval, wherein different distance intervals correspond to different safety response strategies; determine the target distance interval to which the target distance belongs from the at least one distance interval; and control the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0008] According to another aspect of the embodiments of the present invention, there is also provided a remote control driving device for a driverless vehicle, including: a first control module, configured to control the driverless vehicle for remote control driving when the driverless vehicle receives a remote control driving instruction; an acquisition module, configured to obtain the positioning information of the driverless vehicle and the map data of the target area corresponding to the driverless vehicle during the remote control driving of the driverless vehicle; a first determination module, configured to determine the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data; a second determination module, configured to determine at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle or the operation state of the driverless vehicle, wherein different distance intervals correspond to different safety response strategies; a third determination module, configured to determine the target distance interval to which the target distance belongs from the at least one distance interval; and a second control module, configured to control the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0009] According to another aspect of the embodiments of the present invention, there is also provided a vehicle-end system, including: a memory storing an executable program; a processor, configured to run the program, wherein when the program runs, it executes the methods in the various embodiments of the present invention.

[0010] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0011] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the methods in the various embodiments of the present invention.

[0012] According to another aspect of the embodiments of the present invention, there is also provided a computer program product, including a non-volatile computer-readable storage medium storing a computer program, where the computer program, when executed by a processor, implements the methods in various embodiments of the present invention.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a computer program, where the computer program, when executed by a processor, implements the methods in various embodiments of the present invention.

[0014] In the embodiments of the present invention, when the driverless vehicle receives a remote control driving instruction, it can perform remote control driving. When the driverless vehicle performs remote control driving, it can obtain positioning information and map data of the target area. Based on this information, it determines the target distance between the target trajectory point of the driverless vehicle and the map boundary, and then determines at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle. Further, it determines the target distance interval to which the target distance belongs from at least one distance interval, and finally controls the driverless vehicle based on the target safety response strategy corresponding to the target distance interval. It is easy to note that in this application, by determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information of the driverless vehicle and the map data of the target area, and then remotely controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance. By leveraging the positioning information of the driverless vehicle and the map data of the target area, the position and target trajectory point of the driverless vehicle can be determined more accurately. By controlling the driverless vehicle through the target safety response strategy corresponding to the target distance, the distance between the driverless vehicle and the map boundary can be responded to in a timely manner, so as to dynamically take safety measures corresponding to the target distance, realize remotely controlling the driverless vehicle with a more appropriate remote control driving strategy in a timely manner based on the change of the target distance, improve the safety of remote control driving, effectively reduce the risk of accidents, improve the reliability and practicality of remote control driving, make the driverless vehicle more accurate, safe and efficient during remote control driving, and thus solve the technical problem of low safety in remotely controlling the driverless vehicle in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0016] Figure 1 is a flowchart of a method for remotely controlling a driverless vehicle according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of a control component of an optional area protection function according to an embodiment of the present invention;

[0018] Figure 3 It is a schematic diagram of a display interface of an optional remote control device according to an embodiment of the present invention;

[0019] Figure 4 It is a schematic diagram of the time sequence of the remote control driving process of an optional unmanned vehicle according to an embodiment of the present invention;

[0020] Figure 5 It is a schematic diagram of the driving real scene display of an optional remote control device according to an embodiment of the present invention;

[0021] Figure 6 It is a schematic diagram of the driving real scene display of another optional remote control device according to an embodiment of the present invention;

[0022] Figure 7 It is a schematic diagram of a remote control driving system of an unmanned vehicle according to an embodiment of the present invention;

[0023] Figure 8 It is a schematic diagram of a remote control driving device of an unmanned vehicle according to an embodiment of the present invention. Detailed implementation manners

[0024] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to one aspect of the embodiments of the present invention, a method for remotely controlling the driving of a driverless vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0027] Figure 1 is a flowchart of a method for remotely controlling the driving of a driverless vehicle according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0028] Step S102, when the driverless vehicle receives a remote control driving instruction, control the driverless vehicle to perform remote control driving.

[0029] The above-mentioned driverless vehicle may refer to an autonomous driving vehicle, which can be realized through autonomous driving technology and can complete driving tasks without the need for a driver to directly drive. The driverless vehicle can include various types, such as engineering vehicles like driverless mining trucks, etc. The driverless vehicle can be equipped with various sensors and devices, can sense the surrounding environment and make corresponding responses, and achieve autonomous navigation and control. The specific driverless vehicle can be determined according to actual needs and is not limited here.

[0030] The above-mentioned remote control driving instruction may refer to an instruction or command for remotely controlling the driverless vehicle by sending an instruction to the driverless vehicle through a remote control device. The remote control driving instruction can include various operations, such as forward, backward, left turn, right turn, stop, acceleration, deceleration, obstacle avoidance, etc. Through these instructions, the control and operation of the driverless vehicle can be realized. The remote control driving instruction can be transmitted through wireless communication technology. The control device can be a control platform or a mobile terminal, such as a smart phone, a tablet computer, a smart watch, a smart bracelet, and a remote controller, etc. When receiving the instruction, the driverless vehicle can execute corresponding actions according to the instruction, thereby realizing remote control driving. Remote control driving technology has a relatively wide application in the field of driverless vehicles and can be used in various scenarios, such as industrial automation, logistics transportation, emergency rescue, military reconnaissance, etc. Through remote control driving, flexible control of the driverless vehicle can be achieved, work efficiency can be improved, labor costs can be reduced, and risks can be lowered.

[0031] In an alternative embodiment, during the remote teleoperation of the driverless vehicle, the remote teleoperation sends control instructions from a remote location to the driverless vehicle through wireless communication technology to achieve the control of the driverless vehicle. This allows the driverless vehicle to perform remote operations without human control and is applicable to various scenarios such as mine operations, emergency rescue, patrol monitoring, and logistics distribution. When the driverless vehicle receives a remote teleoperation instruction, the specific implementation process for controlling the driverless vehicle to perform remote teleoperation can be as follows: A communication module is installed on the driverless vehicle to establish a communication connection with the remote control terminal through wireless communication technology; The operator sends control instructions through the remote control terminal, including operations such as forward, backward, left turn, and right turn; The control instructions sent by the remote control terminal are transmitted to the control system of the driverless vehicle through the communication module; After receiving the control instructions, the control system of the driverless vehicle analyzes them and performs corresponding operations according to the instructions; According to the analyzed instructions, the driverless vehicle starts to perform corresponding actions, such as moving forward, backward, and turning; The driverless vehicle can obtain real-time surrounding environment information through devices such as sensors and feedback the real-time data to the remote control terminal so that the operator can adjust the control instructions in a timely manner. Through the above steps, the remote control of the driverless vehicle can be achieved when it receives a remote teleoperation instruction. During the above process, the driverless vehicle can operate at different locations through remote teleoperation, improving the flexibility and convenience of operation. Remote teleoperation can be applied to various scenarios such as dangerous environments and unmanned areas, expanding the application range of the driverless vehicle. Remote teleoperation can reduce the risk of personnel in dangerous environments and improve the safety of operation.

[0032] Step S104, during the remote teleoperation of the driverless vehicle, obtain the positioning information of the driverless vehicle and the map data of the target area corresponding to the driverless vehicle.

[0033] The above positioning information may refer to the current and historical position and direction information of the driverless vehicle. The driverless vehicle can obtain its own position information through various sensors, such as the Global Positioning System (GPS), Inertial Navigation System (INS), Light Detection and Ranging (LiDAR), etc. Through these sensors, the driverless vehicle can obtain real-time information such as its coordinates, speed, and orientation. During the remote teleoperation process, obtaining accurate positioning information can ensure that the driverless vehicle travels precisely within the target area and avoid accidents.

[0034] The above-mentioned target area can refer to the area within a preset range where the driverless vehicle is currently located, or it can also be the area where the user selects the driverless vehicle to drive or operate. It can be determined according to factors such as the vehicle type of the driverless vehicle, the specific operation type, the current environment or terrain, etc. For example, when determined based on the vehicle type, the target area of a mining truck can be different from that of a loader; when determined based on the specific operation type, the target area of a mining truck for transportation operations can be different from that of a mining truck for loading and unloading operations; when determined based on factors such as the current environment, the target areas in different environments such as sunny, rainy, snowy, and dusty can be different; when determined based on factors such as terrain, the target areas under a wide loading and unloading site, an uphill and downhill transportation site can also be different. The shape and scope of the target area can be determined according to actual needs and are not limited here. In actual operation, the target area can be automatically determined according to the current position or specific operation type of the driverless vehicle, or the user can select the target area through the map interface, or manually input the target coordinates to determine the target area.

[0035] The above-mentioned map data can refer to the geographical information data of the area where the driverless vehicle is located. The map data can include geographical information such as roads, greenery, rivers, tunnels, buildings, and terrain, which can help the driverless vehicle identify the surrounding environment. In remote teleoperation, the map data can be used to assist the driverless vehicle in positioning, navigation, and obstacle avoidance. The operator can view the map information of the location where the driverless vehicle is located through the map interface, understand the situation of the surrounding environment, and provide a reference basis for the driving of the driverless vehicle.

[0036] In an alternative embodiment, during the process of remotely controlling an autonomous vehicle, the positioning information of the autonomous vehicle and the map data of the target area corresponding to the autonomous vehicle can be obtained. Specifically, the acquisition of the positioning information can be achieved through a positioning system, which can include a global positioning system, an inertial navigation system, a vision sensor, etc. The global positioning system can determine the position of the autonomous vehicle through satellite signals. The inertial navigation system can obtain the acceleration and angular velocity of the vehicle through sensors such as accelerometers and gyroscopes inside the vehicle, and thus deduce the position of the vehicle. The vision sensor can obtain images of the surrounding environment through devices such as cameras, and obtain the position information of the autonomous vehicle through image processing algorithms. These positioning systems can be used alone or in combination to improve the accuracy and stability of positioning. Obtaining the map data of the target area corresponding to the autonomous vehicle can enable the remote operator to have a clearer understanding of the environment where the autonomous vehicle is located. The map data can be obtained from a map service provider or real-time map data can be obtained through sensors. The map data includes road information, building information, traffic signs, etc., which can enable the remote operator to more accurately judge the position of the autonomous vehicle and the surrounding environment. At the same time, it can also help the remote operator plan a suitable path, avoid obstacles, and ensure the safe driving of the autonomous vehicle. In practical applications, the acquisition and processing of the positioning system and map data can be carried out with the help of computer technology. Various sensors and communication devices are installed on the autonomous vehicle, and the real-time acquired data is transmitted to the control center of the remote operator. The control center processes these data through algorithms to obtain the position information of the autonomous vehicle and the map data of the surrounding environment, thereby realizing the remote control of the autonomous vehicle. In the above process, by obtaining the positioning information of the autonomous vehicle and the map data of the target area, the positioning accuracy and navigation ability of the autonomous vehicle can be improved, and the risk of accidents can be reduced. The remote operator can more intuitively understand the environment where the autonomous vehicle is located, and thus more effectively control the driving direction and speed of the autonomous vehicle. The real-time update of the map data can ensure that the information obtained by the remote operator is up-to-date, which helps to respond to emergencies and change routes, so as to improve the safety and operation efficiency of the autonomous vehicle.

[0037] Step S106, based on the positioning information and the map data, determine the target distance between the target trajectory point of the autonomous vehicle and the map boundary.

[0038] In an alternative embodiment, the above-mentioned target trajectory points may be the current positioning position of the driverless vehicle. In another alternative embodiment, the above-mentioned target trajectory points may also be one or more trajectory points obtained by predicting the driving trajectory points of the driverless vehicle. At this time, the target trajectory points may include the current positioning position and one or more trajectory points within a future period of time. The target trajectory points may also include one or more trajectory points within a future period of time. In yet another alternative embodiment, the target trajectory points may also be determined from the preset driving trajectory of the driverless vehicle, including the current positioning position and one or more trajectory points within a future period of time.

[0039] Optionally, the target distance between the target trajectory points and the map boundary may refer to the target distance between the line formed by the target trajectory points and the map boundary.

[0040] Optionally, the target distance between the target trajectory points and the map boundary may refer to the target distance between the trajectory points on the target trajectory points that meet the specified requirements and the map boundary. The trajectory points on the target trajectory points that meet the specified requirements may be one trajectory point or multiple trajectory points. In the case of multiple trajectory points, the target distance refers to the average value or the minimum value of the distances between the multiple trajectory points that meet the specified requirements on the target trajectory points and the map boundary respectively.

[0041] Optionally, considering that the driverless vehicle usually travels in a certain direction, therefore, the target sub-boundary can be determined from the map boundary based on the driving direction of the driverless vehicle, and the minimum distance between the target trajectory points and the sub-boundary corresponding to this direction is used as the target distance. The above-mentioned target distance may refer to the distance between the current position of the driverless vehicle and the target trajectory points or the map boundary. The target distance can be calculated from the positioning information and the map data, which can help the control center determine how to adjust the direction and speed of the driverless vehicle so as to safely drive to the target position or avoid colliding with the map boundary. In practical applications, the control center can issue corresponding instructions according to the change of the target distance, such as adjusting the speed of the driverless vehicle, changing the driving direction or sending a warning signal. By effectively monitoring and managing the target distance, the driving safety and efficiency of the driverless vehicle can be improved, ensuring that it successfully completes the task.

[0042] In an alternative embodiment, during the remote teleoperation of the driverless vehicle, the target distance between the target trajectory point of the driverless vehicle and the map boundary can be determined, so as to ensure that the driverless vehicle can drive stably and safely during remote teleoperation and avoid colliding with or approaching the map boundary. In actual operation, the target trajectory point can be determined based on the above-mentioned various different methods, and the distance between the target trajectory point and the map boundary can be used as the target distance. For example, the minimum distance between the target trajectory point and the map boundary can be used as the target distance. Through the above steps, the driverless vehicle can accurately determine the target distance between the target trajectory point and the map boundary according to the positioning information and map data during remote teleoperation, thereby ensuring the safety and stability of driving. By calculating the target distance in real time, the driverless vehicle can maintain within an appropriate distance range during remote teleoperation, improving the driving accuracy and stability; by detecting obstacles and the map boundary, the driverless vehicle can avoid obstacles and not deviate from the map range, avoiding collisions and accidents.

[0043] Step S108, determine at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle or the operating state of the driverless vehicle, where different distance intervals correspond to different safety response strategies.

[0044] The above refers to the control measures that should be taken in different distance intervals set in advance according to the safe driving requirements of the driverless vehicle. The safety response strategy can change different types or degrees of strategies with the change of the target distance, and can also be affected by factors such as the vehicle type of the driverless vehicle, the specific operation type, the current environment or terrain, and the dynamic selection and adjustment of the user. The target safety response strategy can include, but is not limited to: emergency braking, steering avoidance, speed limit control, alarm prompt, and automatic obstacle avoidance, etc. Emergency braking can mean that when the distance between the driverless vehicle and the map boundary is too close or a collision is about to occur, the system can automatically trigger the emergency braking program to immediately stop the driving of the driverless vehicle to avoid the collision. Steering avoidance can mean that when the distance between the driverless vehicle and the map boundary gradually decreases, the system can adjust the direction of the driverless vehicle through the automatic steering avoidance program to make it away from the map boundary and avoid hitting. Speed limit control can mean that according to the distance between the target distance and the map boundary, the system can adjust the speed of the driverless vehicle in real time to limit its driving speed to ensure that it can respond faster in an emergency. Alarm prompt can mean that when the distance between the driverless vehicle and the map boundary gradually shrinks, the system can send an alarm prompt to the driver through means such as sound, light, or vibration to remind them to pay attention to the safety distance and avoid potential dangers. Automatic obstacle avoidance can mean that when the driverless vehicle encounters an obstacle during driving, the system can automatically adjust the trajectory of the driverless vehicle through the automatic obstacle avoidance program to avoid the obstacle and ensure the safe driving of the driverless vehicle. The target safety response strategy ensures the safety of the driverless vehicle and the surrounding environment during the remote control driving process through intelligent control means, and avoids potential collisions or accidents. By real-time monitoring the position, surrounding environment, and map information of the driverless vehicle, the system can flexibly apply different safety response strategies according to the specific situation, improve the safety and reliability of the driverless vehicle, and provide a more reliable guarantee for remote control driving.

[0045] In an alternative embodiment, when determining the target safety response strategy corresponding to the target distance, the type of the target area can be considered. For example, different distance intervals can correspond to the loading and unloading area and the driving area. The driving scenario or operation state of the driverless vehicle can also be considered, such as whether there are other vehicles or pedestrians and other factors. Then, at least one distance interval can be determined according to the above considerations, and different distance intervals can be corresponding to different safety response strategies. For example, a distance interval for emergency stopping and a distance interval for slow deceleration can be set. In this way, the corresponding safety response strategy can be automatically selected according to the distance between the driverless vehicle and the target.

[0046] Step S110, determine the target distance interval to which the target distance belongs from at least one distance interval.

[0047] In an alternative embodiment, the target distance interval to which the target distance belongs may be determined from at least one distance interval according to the determined target distance.

[0048] Step S112: Control the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0049] The above-mentioned target safety response strategy may refer to taking corresponding control measures during the driving of the driverless vehicle according to the distance relationship between the target distance and the map boundary to ensure the safe driving of the driverless vehicle.

[0050] In an alternative embodiment, during the remote control driving of the driverless vehicle, the driverless vehicle may be controlled based on the target safety response strategy corresponding to the target distance to achieve real-time monitoring and control of the driverless vehicle to ensure that it can make corresponding safety responses. Corresponding safety response strategies can be designed for different target distances. For example, when the driverless vehicle is at a relatively long distance from the target, it can adjust the vehicle speed by accelerating or decelerating to maintain the stability of the target distance; when the driverless vehicle is at a relatively short distance from the target, it can take braking or steering to avoid collisions or contact with the target object. These safety response strategies can be adjusted and optimized according to specific situations to ensure that the driverless vehicle can make correct responses at different distances. Then, the designed safety response strategy can be converted into actual control instructions to control the driverless vehicle. The control of various vehicle components can be carried out, including the engine, brakes, steering, etc. By using sensors to monitor the vehicle state and changes in the surrounding environment in real time, the safety response strategy is converted into corresponding control instructions and sent to the control system of the driverless vehicle to achieve precise control of the vehicle. And the safety response strategy and control algorithm can be continuously optimized and adjusted to improve the driving safety and stability of the driverless vehicle. By monitoring and analyzing the driving data of the driverless vehicle in real time, the setting of the target distance and safety response strategy is continuously optimized, and at the same time, the control algorithm and system architecture are improved to meet the driving requirements in different scenarios and complex environments. Through the specific implementation process of the above steps, precise control of the driverless vehicle based on the target safety response strategy corresponding to the target distance can be achieved, thereby improving the driving safety and stability of the driverless vehicle. By controlling the driverless vehicle based on the safety response strategy corresponding to the target distance, potential collision risks can be detected and avoided in a timely manner, ensuring the safety of the driverless vehicle and the surrounding environment, and effectively improving the driving safety, stability and efficiency of the driverless vehicle, providing technical support and guarantee for the application and popularization of the driverless vehicle.

[0051] In an embodiment of the present invention, when the driverless vehicle receives a remote control driving instruction, it can perform remote control driving. When the driverless vehicle is performing remote control driving, it can obtain positioning information and map data of the target area. Based on this information, it determines the target distance between the target trajectory point of the driverless vehicle and the map boundary. Then, based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle, it determines at least one distance interval, and further determines the target distance interval to which the target distance belongs from the at least one distance interval. Finally, it controls the driverless vehicle based on the target safety response strategy corresponding to the target distance interval. It is easy to notice that by determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information of the driverless vehicle and the map data of the target area, and then performing remote control driving on the driverless vehicle based on the target safety response strategy corresponding to the target distance, by leveraging the positioning information of the driverless vehicle and the map data of the target area, the position and target trajectory point of the driverless vehicle can be determined more accurately. By controlling the driverless vehicle through the target safety response strategy corresponding to the target distance, the distance between the driverless vehicle and the map boundary can be responded to in a timely manner, so as to dynamically take safety measures corresponding to the target distance, realize remote control driving of the driverless vehicle using a more appropriate remote control driving strategy in a timely manner based on the change of the target distance, improve the safety of remote control driving, effectively reduce the risk of accidents, improve the reliability and practicality of remote control driving, and make the driverless vehicle more accurate, safe and efficient during remote control driving, thereby solving the technical problem of low safety in remote control driving of driverless vehicles in the related art.

[0052] In an embodiment of the present invention, the target trajectory point includes the current positioning position. Based on the positioning information and the map data, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary includes: determining the current positioning position based on the positioning information; determining the map boundary of the area where the driverless vehicle is located based on the map data; and determining the target distance between the current positioning position and the map boundary.

[0053] In an alternative embodiment, warning can be directly performed according to the current positioning position of the driverless vehicle, that is, the current positioning position of the driverless vehicle can be determined based on the positioning information. Then, the map boundary of the area where the driverless vehicle is located can be determined based on the map data. Through the map data, detailed map information of the area where the driverless vehicle is located can be obtained, including ground object information such as roads and buildings. Through this map data, the map boundary of the area where the driverless vehicle is located can be determined to calculate the target distance in subsequent steps. For example, the distance between the current positioning position and the map boundary can be directly used as the target distance.

[0054] In an embodiment of the present invention, based on the positioning information and map data, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary includes: predicting the driving trajectory points of the driverless vehicle based on the positioning information and map data to obtain the target trajectory point; determining the map boundary of the area where the driverless vehicle is located based on the map data; and determining the target distance between the target trajectory point and the map boundary.

[0055] In an alternative embodiment, considering that there may be delays in remote driving, such as network delays, etc., in order to avoid safety problems of the driverless vehicle, the driving trajectory points after the current positioning position of the driverless vehicle can be predicted based on the positioning information and map data, so as to obtain the target trajectory point. The prediction method here can be implemented by common trajectory prediction methods and will not be elaborated here. Then, the map boundary of the area where the driverless vehicle is located can be determined based on the map data. Through the map data, detailed map information of the area where the driverless vehicle is located can be obtained, including ground object information such as roads and buildings. Through these map data, the map boundary of the area where the driverless vehicle is located can be determined to calculate the target distance in subsequent steps. Then, the distance or the minimum distance between the target trajectory point and the map boundary can be determined as the target distance. This can ensure that the driverless vehicle always stays within the map boundary during driving and avoid deviation from the trajectory or collision. Through the specific implementation of the above steps, it can be ensured that the driverless vehicle can drive along the preset trajectory during remote control driving and can stay within the safe range of the map boundary. By determining the target distance, it can be ensured that the driverless vehicle will not deviate from the preset trajectory or exceed the map boundary range during driving, thereby improving driving safety. By determining the target distance based on the positioning information and map data, it can be ensured that the driverless vehicle drives accurately along the preset trajectory and reduces errors during driving.

[0056] In an embodiment of the present invention, based on the positioning information and map data, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary includes: determining the target trajectory point of the driverless vehicle from the preset driving trajectory based on the positioning information, where the target trajectory point is used to represent the trajectory that the driverless vehicle has not yet driven in the preset driving trajectory; determining the map boundary of the area where the driverless vehicle is located based on the map data; and determining the target distance between the target trajectory point and the map boundary.

[0057] In an alternative embodiment, the target distance between the target trajectory point of the driverless vehicle and the map boundary can be determined based on the positioning information and the map data, so as to ensure that the driverless vehicle can stay within a safe range during driving and can travel along a preset trajectory. Specifically, first, based on the positioning information, the target trajectory point of the driverless vehicle can be determined from the preset driving trajectory of the driverless vehicle. The driverless vehicle can obtain the current position information through the mounted sensors and positioning devices, and then determine the target trajectory point according to the preset driving trajectory. The target trajectory point can be used to represent the trajectory that the driverless vehicle has not traveled yet, which can help the remote operator better control the driving direction and speed of the driverless vehicle. Next, based on the map data, the map boundary of the area where the driverless vehicle is located can be determined. Through the map data, detailed map information of the area where the driverless vehicle is located can be obtained, including ground object information such as roads and buildings. Through these map data, the map boundary of the area where the driverless vehicle is located can be determined for calculating the target distance in the subsequent steps. Then, the minimum distance between the position information of at least one trajectory point in the target trajectory point and the map boundary can be determined to obtain the target distance. The distance between each trajectory point of the target trajectory point and the map boundary can be calculated, and the point closest to the map boundary can be found, and this distance can be used as the target distance. This can ensure that the driverless vehicle always stays within the map boundary during driving and avoid deviation from the trajectory or collision. Through the specific implementation of the above steps, it can be ensured that the driverless vehicle can travel along the preset trajectory during remote control driving and can stay within the safe range of the map boundary. By determining the target distance, it can be ensured that the driverless vehicle will not deviate from the preset trajectory or exceed the map boundary range during driving, thereby improving the driving safety. By determining the target distance based on the positioning information and the map data, it can be ensured that the driverless vehicle travels accurately along the preset trajectory and reduces the error during driving.

[0058] In an embodiment of the present invention, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary includes: obtaining the orientation information of the target trajectory point; determining the target sub-boundary in the map boundary according to the orientation information; determining the minimum distance between the target trajectory point and the target sub-boundary as the target distance.

[0059] In an alternative embodiment, the map boundary range is large, and the autonomous vehicle often travels in a specific direction. In this case, to reduce the computational load, the orientation information of the target trajectory point can be obtained, and based on the orientation information, the target sub-boundary in the forward direction of the autonomous vehicle can be determined from the entire map boundary, and the minimum distance between the target trajectory point and the target sub-boundary can be determined as the target distance. The orientation information of the target trajectory point can be obtained through the following steps: If the target trajectory point includes the current positioning position, then the current orientation of the autonomous vehicle can be directly used as the orientation information of the target trajectory point; if the target trajectory point is a predicted trajectory point, then the orientation of the autonomous vehicle when it travels to the target trajectory point can be predicted as the orientation information of the target trajectory point; if the target trajectory point is determined from the preset driving trajectory, then the orientation information of the target trajectory point can be directly obtained from the preset driving trajectory. However, the orientation information of the target trajectory point can also be achieved by other means, which will not be elaborated in this application.

[0060] In the embodiment of the present invention, determining the target trajectory point of the autonomous vehicle from the preset driving trajectory of the autonomous vehicle based on the positioning information includes: determining a first trajectory point corresponding to the positioning information in the preset driving trajectory; based on the first trajectory point, determining at least one second trajectory point from the preset driving trajectory, where the distance between at least one second trajectory point and the first trajectory point is less than a first preset distance, or the time difference between at least one second trajectory point and the first trajectory point is less than a preset time difference; based on the first trajectory point and at least one second trajectory point, obtaining the target trajectory point; preferably, the first preset distance or the preset time difference is determined based on the current speed of the autonomous vehicle.

[0061] In an alternative embodiment, first, the first trajectory point corresponding to the positioning information in the preset driving trajectory can be determined. According to the current positioning information, the position of the driverless vehicle on the preset driving trajectory, that is, the first trajectory point, can be determined. The first trajectory point can be the current position of the driverless vehicle or the next position calculated based on the current speed and direction. After determining the first trajectory point, at least one second trajectory point can be selected according to the set conditions. The distance between the second trajectory point and the first trajectory point is less than the set preset distance, or the time difference is less than the preset time difference. This can ensure that the driverless vehicle can smoothly turn or change speed during driving without sharp turns or sudden brakes. Then, based on the first trajectory point and at least one second trajectory point, target trajectory points can be generated. The target trajectory points can be a curve or a broken line, and this trajectory can guide how the driverless vehicle adjusts its direction and speed during driving. This can ensure that the driverless vehicle drives safely according to the preset trajectory. Preferably, the first preset distance or the preset time difference can be determined according to the current speed of the driverless vehicle. This can adjust the target trajectory points according to the actual situation, making the driverless vehicle more stable and safe during driving. In the above process, by determining the target trajectory points according to the positioning information, it can be ensured that the driverless vehicle does not have sharp turns or sudden brakes during driving, improving the smoothness of driving, reducing unnecessary vibrations and frictions. By setting the preset distance or time difference to determine the second trajectory point, it can be ensured that the driverless vehicle has enough reaction time to adjust its direction and speed during driving, avoiding collisions or other dangerous situations, and by reasonably setting the preset distance and time difference and adjusting the target trajectory points according to the actual situation, the driving stability, safety and efficiency of the driverless vehicle can be improved.

[0062] In an embodiment of the present invention, controlling a driverless vehicle based on a target safety response strategy corresponding to a target distance includes: determining at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle, or the operating state of the driverless vehicle, where different distance intervals correspond to different safety response strategies; determining the target distance interval to which the target distance belongs from the at least one distance interval; and controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0063] In an alternative embodiment, the driverless vehicle can be controlled based on a target safety response strategy corresponding to the target distance. The target safety response strategy can adjust the speed, direction, and other operations of the driverless vehicle according to the distance between the driverless vehicle and the target to ensure the safety of the driverless vehicle during the interaction with the target. First, when determining the target safety response strategy corresponding to the target distance, the type of the target area can be considered. For example, different distance intervals can correspond to the loading and unloading area and the driving area. The driving scenario or operation state of the driverless vehicle can also be considered. For example, factors such as whether there are other vehicles or pedestrians can be taken into account. Then, at least one distance interval can be determined based on the above considerations, and different distance intervals can be corresponded to different safety response strategies. For example, a distance interval for emergency stopping and a distance interval for slow deceleration can be set. In this way, the corresponding safety response strategy can be automatically selected according to the distance between the driverless vehicle and the target. Then, the target distance interval to which the target distance belongs can be determined according to the distance between the driverless vehicle and the target. The position and distance of the target can be monitored in real time through the sensors or cameras of the driverless vehicle and then mapped to the set distance interval. Finally, the driverless vehicle can be controlled according to the target safety response strategy corresponding to the target distance interval. When the distance between the driverless vehicle and the target is within a certain specific interval, the system will automatically execute the corresponding safety response strategy to ensure the safe driving of the driverless vehicle. In the above process, by automatically selecting the corresponding safety response strategy according to the target distance, the accident risk caused by human operation errors can be reduced, and the safety of the driverless vehicle can be improved. Different safety response strategies can be set for different target area types and driving scenarios, enabling the driverless vehicle to better adapt to various complex environments, and improving the safety, intelligence, and adaptability of the driverless vehicle.

[0064] In an embodiment of the present invention, the target safety response strategy includes: a prompting strategy and a control strategy. Controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval includes: sending target prompt information to a remote control device through a server, where the target prompt information is output by the remote control device, and the server is connected to the vehicle-end system through a Transmission Control Protocol; controlling the driving parameters of the driverless vehicle based on the control strategy.

[0065] In an optional embodiment, the target safety response strategy may include a prompt strategy and a control strategy to control the driving of the unmanned vehicle according to the safety response strategy corresponding to the target distance interval, thereby ensuring that the unmanned vehicle can drive safely under remote control. The situation of using the prompt strategy can be that when the unmanned vehicle detects a target object or obstacle, the server will send corresponding target prompt information to the remote control device according to the distance interval of the target. These prompt information may include information such as the distance, direction and possible risks of the target object. The remote control device can receive and display this information to remind and help the operator to better understand the status of the unmanned vehicle, so as to adjust the driving decision in time. The situation of using the control strategy may include that based on the control strategy, the remote control device can control the driving parameters of the unmanned vehicle, such as speed, steering angle, etc. When encountering an emergency, control measures can be taken in time through the control device to avoid collision or other dangerous situations. The server is connected to the vehicle-side system through the transmission control protocol, and the control instructions are transmitted to the unmanned vehicle to achieve remote control. The above process can also be combined with artificial intelligence technology to develop intelligent decision-making algorithms so that the unmanned vehicle can make more flexible and intelligent driving decisions based on real-time environmental data. This can improve the adaptability and resilience of the unmanned vehicle and better cope with complex driving scenarios. In the above process, timely target prompts and remote control can help unmanned vehicles avoid potential risks and dangers, reduce the probability of accidents, and ensure driving safety. Target prompt information can remind operators to adjust driving decisions in time. Control strategies can more directly and timely control the driving conditions of unmanned vehicles, improve the efficiency and flexibility of remote control, enhance the autonomous driving capabilities of unmanned vehicles, enhance their adaptability and resilience to complex environments, effectively improve the safety and reliability of unmanned vehicles, and achieve a more intelligent and safe remote control driving experience.

[0066] In an embodiment of the present invention, obtaining the positioning information of the unmanned vehicle includes: collecting the positioning information of the unmanned vehicle through a positioning system installed on the unmanned vehicle.

[0067] In an alternative embodiment, the positioning information of the driverless vehicle can be obtained. This process can be achieved through the positioning system installed on the driverless vehicle. These devices can collect information such as the position, direction, and speed of the driverless vehicle in real time, and then transmit this information to the remote operator. The information of these positioning systems can be transmitted to the remote operator in real time. The operator can view the position, operating status, and other information of the driverless vehicle through a map interface or other visualization tools, so as to achieve remote control of the driverless vehicle. By obtaining the positioning information of the driverless vehicle in a timely manner, the operator can more accurately control the driving direction and speed of the driverless vehicle, ensuring that the driverless vehicle safely reaches the destination. Remote real-time monitoring and control of the driverless vehicle can be realized, improving the operation efficiency and safety. In addition, a large amount of data collected by the positioning system can also be used for research and application in fields such as driverless vehicle path planning and intelligent decision-making, further enhancing the intelligent level of the driverless vehicle.

[0068] In the embodiment of the present invention, obtaining the map data of the target area corresponding to the driverless vehicle includes: receiving the initial map data of the operation area sent by the server, where the server is connected to the vehicle-end system through the Transmission Control Protocol; determining the driving authority of the driverless vehicle based on the driving scenario of the driverless vehicle or the operation status of the driverless vehicle, where the driving authority is used to represent that the driverless vehicle is allowed to drive in the target area; and obtaining the map data from the initial map data based on the driving authority.

[0069] In an alternative embodiment, the server connects to the vehicle system via the Transmission Control Protocol and can send the initial map data of the operation area to the vehicle system. This initial map data can include information such as roads, buildings, and traffic signs in the target area, which is the basis for the autonomous vehicle to navigate and drive. Then, according to the driving scenario or operation status of the autonomous vehicle, the system determines the driving permissions of the autonomous vehicle in the target area. These driving permissions can be adjusted according to the actual situation, such as restricting the autonomous vehicle from driving in certain areas and specifying the maximum speed of the autonomous vehicle. Then, according to the determined driving permissions, the system retrieves specific map data from the initial map data. This map data can include real-time traffic information, road condition changes, obstacle positions, etc. The system continuously updates this map data to ensure that the autonomous vehicle can obtain the latest information in a timely manner during driving. The above process can also introduce cloud computing and big data technologies to upload the obtained map data to the cloud for processing and storage, so as to achieve data sharing and collaboration among multiple autonomous vehicles. This can greatly improve the overall efficiency and performance of the system, enabling the autonomous vehicle to drive more safely and efficiently during remote teleoperation. By connecting to the server to obtain real-time map data and combining artificial intelligence algorithms for processing, the autonomous vehicle can respond more intelligently to complex driving environments and improve its autonomous decision-making ability. By setting driving permissions, the driving range and speed of the autonomous vehicle in the target area can be restricted, avoiding the autonomous vehicle from crossing boundaries or speeding, and ensuring driving safety. According to the driving permissions, the autonomous vehicle can optimize the path planning, avoid prohibited areas, improve driving efficiency, reduce time and energy consumption, and ensure that the autonomous vehicle drives along the specified route in the target area to achieve the expected operation effect and improve the operation quality and efficiency.

[0070] In an embodiment of the present invention, based on the positioning information and map data, determining the target distance between the target trajectory point of the autonomous vehicle and the map boundary includes: determining whether the area protection function of the vehicle system is in an enabled state; and based on the positioning information and map data, determining the target distance when the area protection function is in an enabled state.

[0071] In an alternative embodiment, during the remote control driving of the driverless vehicle, the area guard function can help ensure the safe driving of the driverless vehicle within a specific area and avoid accidents. When the area guard function is enabled, the driverless vehicle can be restricted according to a pre-set geographical area range, and an alarm can be triggered or the vehicle can be stopped from moving forward when it exceeds this range. It is possible to determine whether the area guard function of the vehicle-end system is in an enabled state. Corresponding parameters and logical judgments can be set in the vehicle-mounted system, and can be configured through the control interface of the vehicle-mounted system or the remote control platform. When the area guard function is enabled, the system can monitor based on the current position and the pre-set geographical area range. Next, determining the target distance based on the positioning information and map data means obtaining the position information of the current vehicle through the positioning module in the vehicle-mounted system, and then analyzing it in combination with the pre-loaded map data to determine the distance between the vehicle and the target. Through the implementation of the above steps, it can be ensured that the driverless vehicle can perform intelligent control based on the area guard function and the target distance information during remote control driving, avoid accidents or exceeding the predetermined range, improve the safety and reliability of the driverless vehicle, and at the same time reduce the driving risk and difficulty of the operator and enhance the overall driving experience.

[0072] In an embodiment of the present invention, the method further includes one of the following: in response to receiving a function operation instruction sent by a remote control device, determining the current state of the area guard function based on the function operation instruction, where the current state includes one of the following: an enabled state and a disabled state; determining the current state of the area guard function based on the type of the target area, the driving scenario of the driverless vehicle, or the working state of the driverless vehicle.

[0073] In an alternative embodiment, the area guard function can assist the autonomous vehicle in driving or operating safely within a specific area. This function can determine the current status, including the on state and the off state, based on the function operation instructions received from the remote control device. On the basis of determining the current status, the specific settings of the area guard function are further determined according to the type of the target area, the driving scenario or the operating status of the autonomous vehicle. Specifically, first, the autonomous vehicle can receive the function operation instructions sent by the remote control device, which can include turning on the area guard function, turning off the area guard function, or adjusting the setting parameters of the area guard function, etc. According to the received function operation instructions, the autonomous vehicle can determine the current status of the area guard function, that is, whether it is in the on state or the off state. On the basis of determining the current status, according to the type of the target area, the driving scenario or the operating status of the autonomous vehicle, the specific setting parameters of the area guard function are further determined. For example, when driving on a highway, the area guard function can be set to a larger range to ensure the safe driving of the autonomous vehicle within the lane; while when operating in a narrow construction area, the area guard function can be set to a smaller range to avoid collisions with surrounding obstacles. When the area guard function is set up, the autonomous vehicle can monitor the surrounding environment in real time to ensure that there are no obstacles or dangerous situations within the set area. When a potential danger is detected, the autonomous vehicle can take corresponding measures in a timely manner, such as decelerating, stopping or avoiding obstacles, etc. Through the specific implementation of the above steps, the autonomous vehicle can dynamically adjust the settings of the area guard function according to different scenarios and requirements, improving the safety and reliability of the autonomous vehicle in complex environments. Through the setting of the area guard function, the autonomous vehicle can achieve safe driving or operation within a specific area, avoiding collisions or dangerous situations with the surrounding environment. Dynamically adjusting the settings of the area guard function according to different scenarios and requirements can enable the autonomous vehicle to complete tasks more efficiently, reduce unnecessary pauses or interferences, and the autonomous vehicle can flexibly adjust the settings of the area guard function according to the received function operation instructions and the real-time monitoring of the surrounding environment to adapt to different driving scenarios and operating statuses.

[0074] The technical solution proposed in this application will be described below in conjunction with an alternative embodiment. This application proposes a safety assistance method and system for a remote control driving area. The remote control driving system is an important function for assisting the operation of autonomous vehicles. The autonomous vehicle can be determined according to actual needs, which is not limited here. The following will be described by taking an autonomous truck as an example.

[0075] When a fault occurs or the driverless system is trapped, an artificial remote intervention method can be provided to help the driverless truck resume normal operation. When performing artificial remote intervention, to ensure the overall safety of the vehicle, some auxiliary systems can be used to provide safety guarantees for manual operation. The remote control driving system can provide videos for reference. Considering the importance of vehicle safety, it is not solely and completely dependent on videos. It can also ensure that the area where the vehicle travels during remote control driving is safe and authorized, and a more efficient safety auxiliary system can be set up. To solve the problem of the safety of the area of manual remote operation, this application uses a truck positioning system and a high-precision map to provide regional safety guarantees and effective prompts to remote operators through vehicle automatic control. The driverless truck positioning system and the high-precision map can be used to detect in real time whether the area where the vehicle is remotely controlled and driving is safe and authorized. The regional safety guard can be controlled on the client side to be turned on or off. The vehicle-end system can combine the vehicle positioning system with the map to calculate in real time whether the planned trajectory of the vehicle exceeds the safety distance threshold of the map boundary and give a pre-warning in advance. When the activation of the regional safety guard is triggered, the client can give a prominent prompt through a central control computer similar to a cockpit and automatically stop the vehicle urgently to ensure the safety of the driver's operation, and the entire response time does not exceed 100 ms. The regional safety guard can be turned off according to the needs of the business scenario and the vehicle can drive out of the operation area.

[0076] The implementation process of this application may include the following steps: First, dispatchers use the map production platform to create high-precision maps based on automatically collected data, and send the map data to the vehicle-end system in the form of a Transmission Control Protocol (TCP) long connection through the front-end service. When a remote operator controls the vehicle, they can activate area protection according to the actual scenario requirements. The front-end service sends the area protection activation instruction to the vehicle-end system in the form of a TCP long connection. The vehicle-end system performs real-time calculation and processing by obtaining the vehicle's positioning information and real-time updated map data. For different areas of the vehicle, such as the waste dump, loading area, road, parking area, refueling area, or different scenarios, such as maintenance, inspection, servicing, blast avoidance, refueling, charging, changing the working face, or different vehicle states, such as empty or loaded, the safety distance threshold from the map boundary can be configured. If the planned driving trajectory of the vehicle is within the safety distance threshold from the map boundary, the vehicle can give a stepped pre-alarm according to the safety distance threshold from the map boundary during driving, providing some processing measures for the remote operator to give an early warning. Finally, an emergency stop can be issued to the vehicle when it reaches the safety distance threshold of the boundary, and an area protection activation notification is sent through the TCP channel connected to the front-end machine. The remote control driving client can subscribe to the area protection activation notification message in real time for reminder. The latency of the entire remote control driving client link process does not exceed 100 ms. For example, at a distance of 10 meters from the boundary, the vehicle is controlled to decelerate, and at a distance of 2 meters from the boundary, the vehicle is controlled to stop. If the remote operator already knows the area risk, they can turn off the area protection during the pre-alarm or actual stop, allowing the vehicle to safely drive out of the working area to perform the scenario task.

[0077] Figure 2 It is a schematic diagram of a control component of an optional area protection function according to an embodiment of the present invention. As Figure 2 shown, the remote operator can turn on or off the area protection function based on the "Area Protection" switch control on the remote control device.

[0078] Figure 3 It is a schematic diagram of a display interface of an optional remote control device according to an embodiment of the present invention. As Figure 3 shown, the display interface of the remote control device can simulate and display the driving instrument panel of the driverless vehicle. The virtual driving instrument panel can display the engine speed (x1000 rpm) of the driverless vehicle, the current speed of the driverless vehicle (km / h), the on / off state of the area protection function, which shows "Area Restriction Activated" in the figure, and the gear information of the driverless vehicle, including the parking gear (P), reverse gear (R), neutral gear (N), forward gear (D), and climbing gear (L). The information displayed on the display interface of the remote control device can be determined according to actual needs and is not limited here.

[0079] Figure 4 is a schematic diagram of the time sequence of the remote control driving process of an unmanned vehicle according to an embodiment of the present invention. As Figure 4 shown, the dispatcher can manually or automatically collect maps based on the client <1>. The client can send map data to the front-end machine <2>. The front-end machine can <3> send the map data to the vehicle system through V2X. The vehicle system can feedback <4> the successful sending information to the front-end machine. Then, the remote operator can perform remote control driving based on the client <5>. The client can <6> send the activation of area protection to the front-end machine. The front-end machine can <7> send control data to the vehicle system through V2X. The vehicle system can feedback <4> the successful sending information to the front-end machine. Then, the vehicle can obtain vehicle positioning information from the vehicle system <9>. The vehicle system can <10> perform real-time calculation of the vehicle's planned trajectory. The vehicle system can activate area protection and perform emergency stop on the vehicle <11>. Finally, the vehicle can feedback <12> the successful sending information to the vehicle system. The vehicle system can feedback <13> the area protection activation notice to the front-end machine. The front-end machine can <14> send real-time display to the client.

[0080] Figure 5 is a schematic diagram of the driving real-scene display of a remote control device according to an embodiment of the present invention. As Figure 5 shown, it shows the real-scene image of the side of the unmanned vehicle displayed on the display page of the remote control device, that is Figure 5 the left picture, and the real-time correspondence between the current position of the unmanned vehicle and the map data of the target area, that is Figure 5 the right picture.

[0081] Figure 6 is another schematic diagram of the driving real-scene display of a remote control device according to an embodiment of the present invention. As Figure 6 shown, it shows the real-scene image of the front or rear of the unmanned vehicle displayed on the display page of the remote control device, that is Figure 6 the upper picture, and the simulated driving instrument panel of the unmanned vehicle and various function controls for driving control of the unmanned vehicle, that is Figure 6 the lower picture. The content displayed on the display page of the remote control device can be determined according to actual needs and is not limited here.

[0082] On the other hand, according to an embodiment of the present invention, a remote control driving system for an unmanned vehicle is also provided. This system can execute the remote control driving method of the unmanned vehicle in the above embodiment. The specific implementation method and preferred application scenario are the same as those in the above embodiment and will not be elaborated here.

[0083] Figure 7It is a schematic diagram of a remote control driving system for a driverless vehicle according to an embodiment of the present application. As Figure 7 shown, the system includes the following: a remote control device 702 and a vehicle-end system 704.

[0084] Among them, the remote control device is used to send remote control driving instructions to the driverless vehicle to control the driverless vehicle for remote control driving; the vehicle-end system is installed on the driverless vehicle and is used to obtain the positioning information of the driverless vehicle and the map data of the area where the driverless vehicle is located during the process of remote control driving of the driverless vehicle; based on the positioning information and the map data, determine the target distance between the target trajectory point of the driverless vehicle and the map boundary; based on the type of the target area, the driving scenario of the driverless vehicle or the working state of the driverless vehicle, determine at least one distance interval, where different distance intervals correspond to different safety response strategies; determine the target distance interval to which the target distance belongs from at least one distance interval; control the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0085] Among them, the system further includes: a positioning system installed on the vehicle and used to collect the positioning information of the vehicle.

[0086] Among them, the system further includes: a server connected to the vehicle-end system through the Transmission Control Protocol (TCP), and is used to send the initial map data of the working area to the vehicle-end system, where the server is connected to the vehicle-end system through the TCP; the vehicle-end system is connected to the server and is further used to determine the driving authority of the vehicle based on the driving scenario or the working state of the vehicle, and obtain the map data from the initial map data based on the driving authority, where the driving authority is used to represent that the vehicle is allowed to drive in the target area.

[0087] According to another aspect of the embodiments of the present invention, there is also provided a remote control driving device for a driverless vehicle. This device can execute the remote control driving method for a driverless vehicle in the above embodiments. The specific implementation method and preferred application scenarios are the same as those in the above embodiments and will not be elaborated here.

[0088] Figure 8 It is a schematic diagram of a remote control driving device for a driverless vehicle according to an embodiment of the present application. As Figure 8 shown, the device includes the following: a first control module 802, an acquisition module 804, a first determination module 806, a second determination module 808, a third determination module 810, and a second control module 812.

[0089] Among them, the first control module is used to control the driverless vehicle to perform remote teleoperation when the driverless vehicle receives a remote teleoperation instruction; the acquisition module is used to acquire the positioning information of the driverless vehicle and the map data of the target area corresponding to the driverless vehicle during the remote teleoperation of the driverless vehicle; the first determination module is used to determine the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data; the second determination module is used to determine at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle, where different distance intervals correspond to different safety response strategies; the third determination module is used to determine the target distance interval to which the target distance belongs from at least one distance interval; the second control module is used to control the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

[0090] Among them, the target trajectory point includes the current positioning position. The first determination module is further used to determine the current positioning position based on the positioning information; determine the map boundary of the area where the driverless vehicle is located based on the map data; and determine the target distance between the current positioning position and the map boundary.

[0091] Among them, the first determination module is further used to predict the driving trajectory point of the driverless vehicle based on the positioning information and the map data to obtain the target trajectory point; determine the map boundary of the area where the driverless vehicle is located based on the map data; and determine the target distance between the target trajectory point and the map boundary.

[0092] Among them, the first determination module is further used to determine the target trajectory point of the driverless vehicle from the preset driving trajectory of the driverless vehicle based on the positioning information, where the target trajectory point is used to represent the trajectory that the driverless vehicle has not traveled in the preset driving trajectory; determine the map boundary of the area where the driverless vehicle is located based on the map data; and determine the target distance between the target trajectory point and the map boundary.

[0093] Among them, the first determination module is further used to obtain the orientation information of the target trajectory point; determine the target sub-boundary in the map boundary according to the orientation information; and determine the minimum distance between the target trajectory point and the target sub-boundary as the target distance.

[0094] Among them, the first determination module is further used to determine the first trajectory point corresponding to the positioning information in the preset driving trajectory; determine at least one second trajectory point from the preset driving trajectory based on the first trajectory point, where the distance between at least one second trajectory point and the first trajectory point is less than the first preset distance, or the time difference between at least one second trajectory point and the first trajectory point is less than the preset time difference; and obtain the target trajectory point based on the first trajectory point and at least one second trajectory point. Preferably, the first preset distance or the preset time difference is determined based on the current speed of the driverless vehicle.

[0095] Among them, the target security response policies include: a prompt policy and a control policy. The device further includes: a fourth determination module, configured to send target prompt information to a remote control device through a server, where the target prompt information is output by the remote control device, and the server is connected to the vehicle terminal system through a Transmission Control Protocol; a third control module, configured to control the driving parameters of the driverless vehicle based on the control policy.

[0096] Among them, the acquisition module is further configured to collect the positioning information of the driverless vehicle through a positioning system installed on the driverless vehicle.

[0097] Among them, the acquisition module is further configured to receive initial map data of an operation area sent by a server, where the server is connected to the vehicle terminal system through a Transmission Control Protocol; determine the driving authority of the driverless vehicle based on the driving scenario of the driverless vehicle or the operation state of the driverless vehicle, where the driving authority is used to represent that the driverless vehicle is allowed to drive within a target area; and obtain map data from the initial map data based on the driving authority.

[0098] Among them, the first determination module is further configured to determine whether the area guarding function of the vehicle terminal system is in an enabled state; and based on the positioning information and the map data to determine a target distance when the area guarding function is in an enabled state.

[0099] Among them, the first determination module is further configured to, in response to receiving a function operation instruction sent by the remote control device, determine the current state of the area guarding function based on the function operation instruction, where the current state includes one of the following: an enabled state and a disabled state; or determine the current state of the area guarding function based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle.

[0100] An embodiment of the present application further provides a vehicle terminal system, including: a memory storing an executable program; a processor configured to run the program, where when the program runs, it executes the methods in the various embodiments of the present invention.

[0101] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include a memory, a hard disk, etc. Among them, the memory may be used for temporarily storing running programs and data, the hard disk may be used for long-term storing programs and data, the memory may be used to enable a computer to read and write data, and execute programs; the above-mentioned processor may be responsible for executing instructions in a computer program and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0102] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0103] The above computer storage medium may refer to a medium in a computer memory for storing a certain discontinuous physical quantity. The main computer storage media include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc.; the computer-readable storage medium includes a stored program, which can be a set of instructions that a computer can recognize and execute, running on an electronic computer and serving as an information tool to meet people's certain needs.

[0104] The embodiments of the present application further provide a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0105] The above computer program product may refer to a software program that has been written, tested, and released, and can run on a computer or other devices. The computer program product may include application programs, operating systems, tool software, etc., and is used to implement specific functions or solve specific problems.

[0106] The embodiments of the present application further provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0107] The above non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can retain data without loss when power is off and can be used to store data for long-term preservation, such as operating systems, application programs, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical discs, and flash storage devices, etc.

[0108] The embodiments of the present application further provide a computer program, which implements the methods in the above various embodiments of the present invention when executed by a processor.

[0109] The above computer program may refer to a set of instructions for telling a computer to perform specific tasks or operations. The computer program can be written by a programmer using a specific programming language and may include content such as algorithms, data structures, logic, and control flows. The computer program can be used for various purposes, including application software, operating systems, etc.

[0110] In the above embodiments of the present invention, the descriptions of each embodiment have their own focuses. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0112] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0114] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical disks and other various media that can store program codes.

[0115] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A remote control driving method for a driverless vehicle, characterized in that, Including: When the driverless vehicle receives a remote control driving instruction, controlling the driverless vehicle to perform remote control driving; During the process of the driverless vehicle performing remote control driving, obtaining the positioning information of the driverless vehicle and the map data of the target area corresponding to the driverless vehicle; Based on the positioning information and the map data, determining the target distance between the target trajectory point of the driverless vehicle and the map boundary; Based on the type of the target area, the driving scenario of the driverless vehicle or the operation state of the driverless vehicle, determining at least one distance interval, wherein different distance intervals correspond to different safety response strategies; Determining the target distance interval to which the target distance belongs from the at least one distance interval; Controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

2. The method according to claim 1, wherein The target trajectory point includes the current positioning position. The determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data includes: Based on the positioning information, determining the current positioning position; Based on the map data, determining the map boundary of the area where the driverless vehicle is located; Determining the target distance between the current positioning position and the map boundary.

3. The method according to claim 1, wherein The determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data includes: Based on the positioning information and the map data, predicting the driving trajectory point of the driverless vehicle to obtain the target trajectory point; Based on the map data, determining the map boundary of the area where the driverless vehicle is located; Determining the target distance between the target trajectory point and the map boundary.

4. The method according to claim 1, wherein The determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data includes: Based on the positioning information, determining the target trajectory point of the driverless vehicle from the preset driving trajectory of the driverless vehicle; Based on the map data, determining the map boundary of the area where the driverless vehicle is located; Determining the target distance between the target trajectory point and the map boundary.

5. The method according to any one of claims 2-4, characterized in that, Determining the target distance between the target trajectory point of the driverless vehicle and the map boundary includes: Obtaining the orientation information of the target trajectory point; According to the orientation information, determining the target sub-boundary in the map boundary; Determining the minimum distance between the target trajectory point and the target sub-boundary as the target distance.

6. The method according to claim 4, wherein The determining the target trajectory point of the driverless vehicle from the preset driving trajectory of the driverless vehicle based on the positioning information includes: Determining the first trajectory point corresponding to the positioning information in the preset driving trajectory; Based on the first trajectory point, determining at least one second trajectory point from the preset driving trajectory, wherein the distance between the at least one second trajectory point and the first trajectory point is less than a first preset distance, or the time difference between the at least one second trajectory point and the first trajectory point is less than a preset time difference; Based on the first trajectory point and the at least one second trajectory point, obtaining the target trajectory point; Preferably, the first preset distance or the preset time difference is determined based on the current speed of the driverless vehicle.

7. The method according to any one of claims 1 to 6, characterized in that, The target safety response strategy includes: a prompting strategy and a control strategy. Controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval includes: Sending target prompting information to a remote control device through a server, where the target prompting information is output by the remote control device, and the server is connected to the vehicle terminal system through a Transmission Control Protocol; Controlling the driving parameters of the driverless vehicle based on the control strategy.

8. The method according to any one of claims 1 to 7, characterized in that Obtaining map data of a target area corresponding to the driverless vehicle, including: Receiving initial map data of an operation area sent by a server, where the server is connected to the vehicle terminal system through a Transmission Control Protocol; Determining the driving authority of the driverless vehicle based on the driving scenario of the driverless vehicle or the operation state of the driverless vehicle, where the driving authority is used to represent that the driverless vehicle is allowed to drive in the target area; Obtaining the map data from the initial map data based on the driving authority.

9. The method according to any one of claims 1 to 8, characterized in that Determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data, including: Determining whether the area guarding function of the vehicle terminal system is in an enabled state; When the area guarding function is in the enabled state, determining the target distance based on the positioning information and the map data.

10. The method according to claim 9, wherein The method further includes one of the following: In response to receiving a function operation instruction sent by a remote control device, determining the current state of the area guarding function based on the function operation instruction, where the current state includes one of the following: an enabled state and a disabled state; Determining the current state of the area guarding function based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle.

11. A remote control driving system for an autonomous vehicle, characterized in that, Including: A remote control device for sending a remote teleoperation instruction to a driverless vehicle to control the driverless vehicle for remote teleoperation; A vehicle terminal system installed on the driverless vehicle for obtaining the positioning information of the driverless vehicle and the map data of the area where the driverless vehicle is located during the remote teleoperation of the driverless vehicle; determining the target distance between the target trajectory point of the driverless vehicle and the map boundary based on the positioning information and the map data; determining at least one distance interval based on the type of the target area, the driving scenario of the driverless vehicle, or the operation state of the driverless vehicle, where different distance intervals correspond to different safety response strategies; determining the target distance interval to which the target distance belongs from the at least one distance interval; and controlling the driverless vehicle based on the target safety response strategy corresponding to the target distance interval.

12. A car end system, characterized in that, Including: A memory storing an executable program; A processor for running the program, where when the program runs, it executes the method according to any one of claims 1 to 8.

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