Comprehensive control system and control method for remote control vehicle and vehicle

Abstract

The invention provides a remote control vehicle comprehensive control system and method and a vehicle, and the system comprises a vehicle comprehensive controller which is communicated with a comprehensive gateway controller through a chassis CAN bus; the first wheel edge steering controller, the second wheel edge steering controller, the third wheel edge steering controller and the fourth wheel edge steering controller are correspondingly communicated with the steering wheel driving assemblies; and a first CAN bus and a second CAN bus, the first CAN bus is communicated with the vehicle comprehensive controller and the remote control terminal, and the second CAN bus is communicated with the first wheel edge steering controller, the second wheel edge steering controller, the third wheel edge steering controller and the fourth wheel edge steering controller so as to transmit a turning angle instruction for coordinating and controlling each wheel according to the requirements of the vehicle speed and the steering mode. Stable transmission of remote control signals is ensured, meanwhile, all execution modules of the whole vehicle are effectively managed through the comprehensive gateway controller, and the safety and operation convenience of the vehicle are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of remote-controlled vehicle control technology, and more specifically, relates to a remote-controlled vehicle integrated control system, control method, and vehicle. Background Technology

[0002] In the current rapid development of the automotive industry, intelligentization and automation have become major trends. Especially for military vehicles, remote-controlled unmanned operation not only represents technological advancement but also signifies enhanced passability, maneuverability, and safety in complex and ever-changing battlefield environments. To meet these requirements, modern military vehicles are increasingly equipped with height-adjustable hydropneumatic suspension systems, which significantly improve off-road performance and obstacle-crossing capabilities. Furthermore, the introduction of multi-wheel distributed steering systems enables advanced functions such as all-wheel steering, center steering, and lateral movement, thereby greatly enhancing vehicle maneuverability.

[0003] However, for unmanned remote-controlled vehicles, since there is no driver or sensing system, they can only respond to driving commands through remote control signals. The driver cannot accurately control the vehicle for safety, and when the remote control signal malfunctions, comprehensive vehicle control is impossible, seriously affecting vehicle safety. Especially for vehicles equipped with multi-wheel distributed steering, a separate controller is required for coordinated distributed steering control, resulting in low system integration.

[0004] It is evident that improving the precise and comprehensive control of remote-controlled vehicles and enhancing vehicle safety are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this patent proposes an innovative integrated controller for remote-controlled vehicles. This controller not only solves the problems of lack of verification for remote control signals and lack of integrated control over various vehicle systems, but also provides effective distributed steering coordination control, particularly for multi-wheel distributed steering vehicles. By integrating multiple functions, this controller significantly improves vehicle safety and integration, making it more suitable for applications such as autonomous driving and remote control operation. Specifically, in a first aspect, this invention provides an integrated control system for remote-controlled vehicles, including an integrated gateway controller and a power CAN bus and a chassis CAN bus communicatively connected to it. The power CAN bus is connected to power domain-related controllers; the chassis CAN bus is also connected to a service brake module, a parking brake module, and a suspension system; the control system includes:

[0006] The vehicle integrated controller is connected to the integrated gateway controller via the chassis CAN bus, and is used to send remote control commands to the integrated gateway controller to control the various execution modules of the vehicle.

[0007] The first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller are connected to each steering wheel drive component.

[0008] A first CAN bus and a second CAN bus. The first CAN bus connects the vehicle integrated controller and the remote control terminal to transmit commands sent from the remote control terminal to the vehicle integrated controller. The second CAN bus connects the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to transmit commands that coordinate and control the steering angle of each wheel according to the needs of vehicle speed and steering mode.

[0009] In the first aspect, the vehicle controller includes a remote control signal processing and judgment module, a vehicle integrated control module, and a distributed steering coordination control module. The remote control signal processing and judgment module is used to receive remote control signals sent by the remote control terminal, process and judge the remote control signals, and then send them to the integrated gateway controller. The vehicle control module is used to control the driving state of the vehicle. The distributed steering coordination control module is used to control the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode.

[0010] In the first aspect, the remote control signal processing and judgment module includes a signal processing and transmission submodule, a remote control signal loss judgment submodule, and a remote control signal anomaly judgment submodule;

[0011] The processing and judgment of the remote control signal includes: simplifying the remote control signal through a signal processing and transmission submodule; or, comparing the remote control signal loss time with a preset signal loss time threshold through a remote control signal loss judgment submodule, and if the remote control signal loss time is greater than the preset signal loss time threshold, then determining that the remote control terminal is disconnected; or, using a loop counting method to judge the normal operation of the remote control signal through a remote control signal anomaly judgment submodule, and judging that the remote control terminal is malfunctioning when the count is abnormal.

[0012] In the first aspect, the vehicle integrated control module includes a remote start / stop submodule, an obstacle crossing mode control submodule, a remote emergency stop submodule, and a braking control submodule;

[0013] The control of the vehicle's driving status includes connecting and disconnecting the vehicle's remote control function from the remote start / stop submodule; or controlling the vehicle to enter an obstacle crossing mode through the obstacle crossing mode control submodule; or controlling the vehicle to enter an instant stop state through the remote emergency stop submodule; or automatically controlling driving and parking through the braking control submodule when no braking signal is detected.

[0014] In the first aspect, the distributed steering coordination control module includes a four-wheel steering control submodule, a center steering control submodule, a lateral steering control submodule, and a diagonal steering control submodule, which are electrically connected to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller.

[0015] The four-wheel steering control submodule, center steering control submodule, lateral steering control submodule, and diagonal steering control submodule are used to send commands to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller so that the corresponding wheels perform four-wheel steering, center steering, lateral steering, or diagonal driving actions.

[0016] In the first aspect, a remote control receiver is also included, which is connected to the first CAN bus and located between the vehicle integrated controller and the remote control terminal. The remote control receiver is wirelessly connected to the remote control terminal and is used to receive wireless signals and convert the wireless signals into CAN signals.

[0017] In the first aspect, the signal processing and transmission submodule further includes: executing instructions to simplify the remote control signal, including: receiving center turn on / off, lateral turn on / off, and diagonal turn on / off turning modes, and simplifying the above turning modes into four mutually exclusive modes: regular turn, center turn, lateral turn, and diagonal turn, and then transmitting them.

[0018] In the first aspect, the signal processing and transmission submodule further includes, when executing the instruction to simplify the remote control signal, simplifying the received gear position signal into a single byte and transmitting it when the received gear position signal consists of several different bytes.

[0019] Secondly, the present invention provides a vehicle control method based on a remote-controlled vehicle integrated control system, the method comprising:

[0020] S1. Receive and process remote control signals using the remote control signal processing and judgment module, and send signal status information to the vehicle integrated control module;

[0021] S2. The vehicle integrated control module determines the driving command based on the status information and sends the driving command to the distributed steering coordination control module;

[0022] S3. The distributed steering coordination control module realizes precise steering control of the vehicle based on driving instructions.

[0023] Thirdly, the present invention provides a remote-controlled vehicle, the remote-controlled vehicle including any of the above-described remote-controlled vehicle integrated control systems.

[0024] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0025] 1. The remote-controlled vehicle integrated control system of the present invention achieves efficient coordinated control of various vehicle execution modules by integrating the power CAN bus and the chassis CAN bus. The power CAN bus connects to the relevant controllers in the power domain, while the chassis CAN bus connects to the service brake module, parking brake module, and suspension system. This design improves the vehicle's response speed and control precision. Furthermore, by sending remote control commands from the vehicle integrated controller to the integrated gateway controller, precise control of all vehicle execution modules is achieved, thereby enhancing the vehicle's operational flexibility and safety.

[0026] 2. The system also includes a first-wheel-side steering controller, a second-wheel-side steering controller, a third-wheel-side steering controller, and a fourth-wheel-side steering controller. These controllers are connected to the drive components of each steering wheel, enabling the vehicle to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode requirements. This distributed steering coordination control not only enhances the vehicle's maneuverability but also improves its ability to pass through complex road conditions, especially in situations requiring precise steering control.

[0027] 3. Furthermore, the design of the first and second CAN buses, used respectively for transmitting commands sent from the remote control terminal to the vehicle's integrated controller and coordinating the steering angle commands of each wheel, further optimizes the system's communication efficiency and reliability. This ensures stable transmission of remote control signals, while the integrated gateway controller effectively manages all execution modules of the vehicle, significantly improving vehicle safety and ease of operation. Attached Figure Description

[0028] Figure 1 This is a system architecture diagram of the remote-controlled vehicle integrated control system in this embodiment;

[0029] Figure 2 This is a block diagram of the vehicle integrated controller in this embodiment;

[0030] Figure 3 This is a block diagram of the remote control signal processing and judgment module in this embodiment.

[0031] Figure 4 This is a block diagram of the vehicle integrated control module in this embodiment;

[0032] Figure 5 This is a block diagram of the distributed steering coordination control module in this embodiment;

[0033] Figure 6 This is a flowchart of the vehicle control method based on the remote-controlled vehicle integrated control system in this embodiment; Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0035] Example 1:

[0036] Please see Figure 1-5 This embodiment provides a remote-controlled vehicle integrated control system, including an integrated gateway controller and a power CAN bus and a chassis CAN bus that are communicatively connected to it. The power CAN bus is connected to a power domain related controller; the chassis CAN bus is also connected to a service brake module, a parking brake module and a suspension system; the control system includes: a vehicle integrated controller, a first CAN bus and a second CAN bus, and a first wheel-side steering controller, a second wheel-side steering controller, a third wheel-side steering controller and a fourth wheel-side steering controller that are connected to each steering wheel drive component.

[0037] The vehicle integrated controller is connected to the integrated gateway controller via the chassis CAN bus, and is used to send remote control commands to the integrated gateway controller to control the various execution modules of the vehicle. The first CAN bus connects the vehicle integrated controller and the remote control terminal to transmit commands sent by the remote control terminal to the vehicle integrated controller. The second CAN bus connects to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to transmit commands that coordinate and control the steering angle of each wheel according to the needs of vehicle speed and steering mode.

[0038] Specifically, the remote-controlled vehicle integrated control system of this invention achieves efficient coordinated control of various vehicle execution modules by integrating the power CAN bus and the chassis CAN bus. The power CAN bus connects to the power domain-related controllers, while the chassis CAN bus connects to the service brake module, parking brake module, and suspension system. This design improves the vehicle's response speed and control precision. Furthermore, by sending remote control commands from the vehicle integrated controller to the integrated gateway controller, precise control of all vehicle execution modules is achieved, thereby enhancing the vehicle's operational flexibility and safety. The system also includes a first wheel-side steering controller, a second wheel-side steering controller, a third wheel-side steering controller, and a fourth wheel-side steering controller. These controllers are connected to the drive components of each steering wheel, enabling the vehicle to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode requirements. This distributed steering coordination control not only enhances the vehicle's maneuverability but also improves its ability to pass through complex road conditions, especially in situations requiring precise steering control. In addition, the design of the first and second CAN buses, used respectively for transmitting commands sent from the remote control terminal to the vehicle integrated controller and for coordinating the steering angle commands of each wheel, further optimizes the system's communication efficiency and reliability. This design ensures stable transmission of remote control signals, while the integrated gateway controller effectively manages all execution modules of the vehicle, significantly improving vehicle safety and ease of operation.

[0039] In one specific implementation, the vehicle controller includes a remote control signal processing and judgment module, a vehicle integrated control module, and a distributed steering coordination control module, realizing comprehensive control and management of the remote-controlled vehicle. This modular design not only improves the system's flexibility and scalability but also enhances the precise control of the vehicle's driving state. The remote control signal processing and judgment module receives remote control signals sent by the remote control terminal, processes and judges the signals, and then sends them to the integrated gateway controller; the vehicle control module controls the vehicle's driving state; and the distributed steering coordination control module controls the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode.

[0040] Specifically, the remote control signal processing and judgment module is responsible for receiving remote control signals sent by the remote control terminal and performing necessary processing and judgment on these signals to ensure their accuracy and effectiveness. The processed signals are then sent to the integrated gateway controller. This process not only improves signal reliability but also provides accurate data support for the vehicle's driving status control. The vehicle integrated control module then uses the information received from the remote control signal processing and judgment module to control the vehicle's driving status in real time. This includes, but is not limited to, speed control, braking control, and other functions related to vehicle driving, thereby ensuring that the vehicle can safely and efficiently perform predetermined operations. The distributed steering coordination control module is one of the core innovations of this system. It coordinates the steering angle of each wheel according to vehicle speed and steering mode by controlling the first, second, third, and fourth wheel-side steering controllers. This distributed steering control not only improves the vehicle's maneuverability and flexibility but also enables the vehicle to adapt to more complex driving environments and operational requirements, especially in situations requiring precise steering control.

[0041] In summary, through the coordinated operation of the three key modules mentioned above, the vehicle controller achieves efficient and precise control of remote-controlled vehicles, significantly improving vehicle operation performance and safety, and meeting the needs of modern remote-controlled vehicles in diverse application scenarios.

[0042] In one specific implementation, the remote control signal processing and judgment module includes a signal processing and transmission submodule, a remote control signal loss judgment submodule, and a remote control signal anomaly judgment submodule. This segmented modular design allows each submodule to focus on a specific function, thereby improving the overall system efficiency and accuracy, and significantly enhancing the reliability and robustness of the remote control vehicle control system. Specifically, the remote control signal processing and judgment includes simplifying the remote control signal through the signal processing and transmission submodule. This not only reduces the complexity of data transmission but also improves the speed and accuracy of signal processing. By converting complex signals into a more easily processed form, this submodule ensures that the signal can be quickly and accurately received and parsed by the integrated gateway controller. Alternatively, the remote control signal loss judgment submodule compares the remote control signal loss time with a preset signal loss time threshold. If the remote control signal loss time exceeds the preset threshold, the remote control terminal is determined to be disconnected. Alternatively, the remote control signal anomaly judgment submodule uses a cyclic counting method to judge the normal operation of the remote control signal; when the count is abnormal, a fault in the remote control terminal can be determined. Through the collaborative work of these three sub-modules, the remote control signal processing and judgment module not only improves the reliability of the remote control signal, but also enhances the vehicle's ability to respond to abnormal situations in the remote control signal, thereby significantly improving the safety and operational reliability of the remote-controlled vehicle.

[0043] Furthermore, the signal processing and transmission submodule also includes: executing instructions to simplify the remote control signal, including: receiving center turn on / off, lateral turn on / off, and diagonal turn on / off turning modes, and simplifying the above turning modes into four mutually exclusive modes: regular turn, center turn, lateral turn, and diagonal turn, and then sending them.

[0044] Furthermore, the signal processing and transmission submodule, when executing the instruction to simplify the remote control signal, also includes: when the received gear position signal consists of several different bytes, simplifying the several different bytes of the gear position signal into a single byte and transmitting it.

[0045] In one specific implementation, the vehicle integrated control module includes a remote start / stop submodule, an obstacle crossing mode control submodule, a remote emergency stop submodule, and a braking control submodule; wherein, controlling the vehicle's driving state includes controlling the connection and disconnection of the vehicle's remote control function with the remote start / stop submodule; or, controlling the vehicle to enter an obstacle crossing mode with the obstacle crossing mode control submodule; or, controlling the vehicle to enter an instant stop state with the remote emergency stop submodule; or, automatically driving or parking when no braking signal is detected with the braking control submodule.

[0046] Specifically, the vehicle integrated control module manages the connection status between the vehicle and the remote control terminal through the remote start / stop submodule, enabling remote start and stop of the vehicle; the obstacle crossing mode control submodule is responsible for adjusting vehicle parameters when encountering obstacles to optimize vehicle passability; the remote emergency stop submodule allows the operator to immediately stop the vehicle in emergency situations to deal with potential dangers; and the braking control submodule automatically intervenes when no braking signal is detected, performing necessary driving or parking braking to prevent accidental vehicle movement and ensure vehicle safety and stability under various conditions. Through the coordinated work of these submodules, the vehicle integrated control module can effectively manage and control the vehicle's driving status, improving the ease of operation and safety of remote-controlled vehicles.

[0047] In one specific implementation, the distributed steering coordination control module includes a four-wheel steering control submodule, a center steering control submodule, a lateral steering control submodule, and a diagonal steering control submodule, which are electrically connected to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller.

[0048] The four-wheel steering control submodule, center steering control submodule, lateral steering control submodule, and diagonal steering control submodule are used to send commands to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller so that the corresponding wheels perform four-wheel steering, center steering, lateral steering, or diagonal driving actions.

[0049] Furthermore, for the distributed steering coordination control module, the vehicle is equipped with wheel-side distributed steering, with mechanical decoupling between the steering gears at each wheel side, allowing each wheel to be controlled to steer at the desired angle. This enables four-wheel steering, center steering, lateral steering, and diagonal driving. During four-wheel steering, different angle controls are implemented for the left and right wheels and the front and rear wheels depending on the operating conditions. At low speeds, the goal is to achieve the minimum turning diameter; at medium speeds, the goal is steady-state steering; and at high speeds, the goal is to maintain vehicle stability. The relationship between the left and right wheel angles conforms to the Ackermann definition. The rear wheel angle changes with vehicle speed. At very low speeds, the rear wheel angle is opposite to that of the front wheels and the same in magnitude. As vehicle speed increases, the rear wheel angle decreases steplessly until it reaches 0 at the preset speed. For multi-axle vehicles, wheel lifting control is required for the non-steering wheels when performing center steering, lateral steering, and diagonal driving operations. The vehicle integrated controller receives the center steering, lateral movement, and diagonal movement commands, controls each steering wheel to turn to the target angle, controls the non-steering wheels to lift, and determines whether the wheel turning and suspension wheel lifting operations are completed before forwarding the vehicle throttle signal; otherwise, the throttle signal is sent as 0.

[0050] In one specific implementation, a remote control receiver is also included. The remote control receiver is connected to the first CAN bus and located between the vehicle integrated controller and the remote control terminal. The remote control receiver is wirelessly connected to the remote control terminal and is used to receive wireless signals and convert the wireless signals into CAN signals.

[0051] Example 2:

[0052] Please see Figure 6 This second embodiment provides a vehicle control method based on a remote-controlled vehicle integrated control system, the method comprising:

[0053] S1. The remote control signal processing and judgment module receives and processes the remote control signal, and sends the processed command signal to the vehicle integrated control module.

[0054] S2. The vehicle integrated control module determines the driving command based on the command signal and sends the driving command to the distributed steering coordination control module;

[0055] S3. The distributed steering coordination control module realizes precise steering control of the vehicle based on driving instructions.

[0056] For step S1, the remote control signal processing and judgment module is used to receive the remote control command sent by the remote control terminal, and send the remote control command to the vehicle integrated controller after simplifying the format. The simplification process is as follows: the received steering modes are center steering on / off, lateral steering on / off, and diagonal steering on / off, which are simplified into four mutually exclusive modes: normal steering, center steering, lateral steering, and diagonal steering.

[0057] For step S2, after receiving the remote control command, the command needs to be judged. For example, in the absence of a braking signal, automatic driving and parking control is performed. When the vehicle speed is 0 and there is no braking or accelerator pedal signal, the vehicle integrated controller sends a braking request of 50% of the maximum braking force to the braking system to prevent the vehicle from rolling backward. When the vehicle speed is 0 and the duration is greater than a threshold, it is considered that the driver has not operated for a long time, and the vehicle is controlled to park and the remote control is disconnected. At the same time, the vehicle parking is controlled to be engaged when the vehicle is normally or abnormally powered down.

[0058] Example 3:

[0059] This invention provides a remote-controlled vehicle, comprising any one of the remote-controlled vehicle integrated control systems described above. The vehicle achieves efficient coordinated control of its various execution modules through the integrated powertrain CAN bus and chassis CAN bus of the remote-controlled vehicle integrated control system. The powertrain CAN bus connects to the powertrain domain-related controllers, while the chassis CAN bus connects to the service brake module, parking brake module, and suspension system. This design improves the vehicle's response speed and control precision. Furthermore, by sending remote control commands from the vehicle integrated controller to the integrated gateway controller, precise control of all execution modules of the vehicle is achieved, thereby enhancing the vehicle's operational flexibility and safety.

[0060] The system also includes a first-wheel-side steering controller, a second-wheel-side steering controller, a third-wheel-side steering controller, and a fourth-wheel-side steering controller. These controllers are connected to the drive components of each steering wheel, enabling the vehicle to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode requirements. This distributed steering coordination control not only enhances the vehicle's maneuverability but also improves its ability to navigate complex road conditions, especially in situations requiring precise steering control.

[0061] Furthermore, the design of the first and second CAN buses, used respectively to transmit commands sent from the remote control terminal to the vehicle's integrated controller and to coordinate the steering angle commands of each wheel, further optimizes the system's communication efficiency and reliability. This design ensures stable transmission of remote control signals, while effectively managing all execution modules of the vehicle through the integrated gateway controller, significantly improving vehicle safety and ease of operation.

[0062] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A remote-controlled vehicle integrated control system, comprising an integrated gateway controller, and a power CAN bus and a chassis CAN bus communicatively connected thereto, wherein the power CAN bus is connected to a power domain-related controller; the chassis CAN bus is further connected to a service brake module, a parking brake module, and a suspension system; characterized in that, The control system includes: The vehicle integrated controller is connected to the integrated gateway controller via the chassis CAN bus, and is used to send remote control commands to the integrated gateway controller to control the various execution modules of the vehicle. The first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller are connected to each steering wheel drive component. A first CAN bus and a second CAN bus. The first CAN bus connects the vehicle integrated controller and the remote control terminal to transmit commands sent from the remote control terminal to the vehicle integrated controller. The second CAN bus connects the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to transmit commands that coordinate and control the steering angle of each wheel according to the needs of vehicle speed and steering mode.

2. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The vehicle controller includes a remote control signal processing and judgment module, a vehicle integrated control module, and a distributed steering coordination control module. The remote control signal processing and judgment module is used to receive remote control signals sent by the remote control terminal, process and judge the remote control signals, and then send them to the integrated gateway controller. The vehicle control module is used to control the driving state of the vehicle. The distributed steering coordination control module is used to control the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller to coordinate and control the steering angle of each wheel according to the vehicle speed and steering mode.

3. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The remote control signal processing and judgment module includes a signal processing and transmission submodule, a remote control signal loss judgment submodule, and a remote control signal abnormality judgment submodule; The processing and judgment of the remote control signal includes: simplifying the remote control signal through a signal processing and transmission submodule; or, comparing the remote control signal loss time with a preset signal loss time threshold through a remote control signal loss judgment submodule, and if the remote control signal loss time is greater than the preset signal loss time threshold, then determining that the remote control terminal is disconnected; or, using a loop counting method to judge the normal operation of the remote control signal through a remote control signal anomaly judgment submodule, and judging that the remote control terminal is malfunctioning when the count is abnormal.

4. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The vehicle integrated control module includes a remote start / stop submodule, an obstacle crossing mode control submodule, a remote emergency stop submodule, and a braking control submodule; The control of the vehicle's driving status includes connecting and disconnecting the vehicle's remote control function from the remote start / stop submodule; or controlling the vehicle to enter an obstacle crossing mode through the obstacle crossing mode control submodule; or controlling the vehicle to enter an instant stop state through the remote emergency stop submodule; or automatically controlling driving and parking through the braking control submodule when no braking signal is detected.

5. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The distributed steering coordination control module includes a four-wheel steering control submodule, a center steering control submodule, a lateral steering control submodule, and a diagonal steering control submodule, which are electrically connected to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller. The four-wheel steering control submodule, center steering control submodule, lateral steering control submodule, and diagonal steering control submodule are used to send commands to the first wheel-side steering controller, the second wheel-side steering controller, the third wheel-side steering controller, and the fourth wheel-side steering controller so that the corresponding wheels perform four-wheel steering, center steering, lateral steering, or diagonal driving actions.

6. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: It also includes a remote control receiver, which is connected to the first CAN bus and located between the vehicle integrated controller and the remote control terminal. The remote control receiver is wirelessly connected to the remote control terminal to receive wireless signals and convert the wireless signals into CAN signals.

7. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The signal processing and transmission submodule further includes: executing instructions to simplify the remote control signal, including: receiving center turn on / off, lateral turn on / off, and diagonal turn on / off turning modes, and simplifying the above turning modes into four mutually exclusive modes: regular turn, center turn, lateral turn, and diagonal turn, and then sending them.

8. The integrated remote-controlled vehicle control system according to claim 1, characterized in that: The signal processing and transmission submodule further includes, when executing the instruction to simplify the remote control signal, simplifying the received gear position signal into a single byte and transmitting it when the received gear position signal consists of several different bytes.

9. A vehicle control method based on a remote-controlled vehicle integrated control system, characterized in that, The control method includes: S1. The remote control signal processing and judgment module receives and processes the remote control signal, and sends the processed command signal to the vehicle integrated control module. S2. The vehicle integrated control module determines the driving command based on the command signal and sends the driving command to the distributed steering coordination control module; S3. The distributed steering coordination control module realizes precise steering control of the vehicle based on driving instructions.

10. A remote-controlled vehicle, characterized in that: The remote-controlled vehicle includes the remote-controlled vehicle integrated control system as described in any one of claims 1-8.

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