A multi-network channel-based unmanned vehicle network remote control method

Abstract

This invention, entitled "A Network Remote Control Method for Unmanned Vehicles Based on Multiple Network Channels," belongs to the field of unmanned vehicle network remote control technology. The technical problem it aims to solve is that in existing technologies, transmission through a single gateway easily leads to the loss, delay, and out-of-order delivery of vehicle control commands. Furthermore, the TCP protocol experiences increased latency during network fluctuations, failing to guarantee the accuracy, real-time performance, and flexibility of remote control under unstable network conditions. The key technical solution is as follows: the system includes a client, a server, and a vehicle. The server exposes a UDP listening port, and the vehicle establishes multiple UDP channels with the server through dual / multiple wireless gateways. After receiving vehicle control commands periodically sent by the client, the server constructs multiple channel data packets carrying vehicle control data packets with the same sequence number and sends them out. The vehicle listens to each channel, filters valid data packets through sequence number verification, parses them, and executes the vehicle control commands.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vehicle network remote control technology, specifically relating to an unmanned vehicle network remote control method based on multiple network channels. Background Technology

[0002] Autonomous vehicles typically access the wireless internet via onboard 4G / 5G gateways to maintain connectivity with the cloud control center and fulfill business requirements. However, the quality of current 4G / 5G networks varies significantly across different regions and with different operators. Manual remote control plays a crucial role in the operation of autonomous vehicles; even slight errors can lead to losses of time or money. Therefore, ensuring the accuracy, real-time performance, and flexibility of remote control under unstable network conditions has become a critical issue that urgently needs to be addressed.

[0003] Relevant patent documents retrieved:

[0004] The document, published in China (CN116339294A) with no publication date, discloses a method for remote network control of unmanned vehicles. It focuses on innovation and improvement of the quality of remote control command transmission between mobile networks.

[0005] The document, published in China (publication number CN119946588A) with no publication date, discloses a vehicle networking method and device based on a dual-module architecture, and relies on the devices and equipment provided therein.

[0006] The prior art represented by the aforementioned documents has at least the following unresolved technical problems or defects: (1) When using a single gateway to transmit vehicle control commands during remote communication, if the channel has quality problems such as high packet loss rate and high delay rate, the command communication between the remote operation terminal and the vehicle terminal will be lost, delayed, or out of order, which will have an adverse effect on vehicle operation. The relevant evidence is that the mainstream solution of the existing technology relies on a single gateway to transmit vehicle control commands, lacks redundant link design, and channel quality fluctuations are directly transmitted to command transmission, resulting in abnormal command interaction.

[0007] (2) When using TCP technology to transmit remote vehicle control commands, the receiving end relies on TCP’s congestion control and retransmission features, which will cause command delays in the event of network quality fluctuations. The relevant evidence is that TCP’s congestion control mechanism will adjust the transmission strategy when the network fluctuates, and the retransmission mechanism needs to wait for the confirmation signal. Both of these will increase the time spent on command transmission and cannot meet the real-time requirements of remote vehicle control.

[0008] In view of this, the present invention is hereby proposed. Summary of the Invention

[0009] To address the aforementioned technical problems in the existing technology, this invention provides a network remote control method for unmanned vehicles based on multiple network channels, which solves the problem of sending and receiving vehicle control commands through dual or even multiple wireless gateways on the unmanned vehicle in scenarios where the vehicle is remotely controlled by a human.

[0010] To achieve the above objectives, the technical solution of the present invention is as follows: A network-based remote control method for unmanned vehicles based on multiple network channels includes: S1. Multi-channel establishment: The vehicle initiates UDP connections with the cloud server through multiple configured wireless gateways. The cloud server exposes a UDP listening port to receive connection requests from the vehicle. S2. Vehicle control command transmission: After receiving the vehicle control command sent by the client, the cloud server constructs multiple channel data packets corresponding to multiple wireless gateways. The multiple channel data packets carry the same sequence number. The cloud server then sends the multiple channel data packets to the vehicle through the corresponding channels. S3. Vehicle control command reception and execution: The vehicle terminal simultaneously monitors the data packet reception status of each channel, parses the received channel data packets to obtain their sequence numbers, compares the sequence numbers with the global sequence number of the vehicle terminal, and if the sequence number is greater than the global sequence number, updates the global sequence number, parses the vehicle control data packets in the channel data packets, and executes the corresponding vehicle control operation.

[0011] Furthermore, the multiple wireless gateways are dual wireless gateways, and the vehicle-side establishes two independent UDP transmission channels with the cloud server through the dual wireless gateways respectively.

[0012] Furthermore, the vehicle receives channel data packets in parallel through two independent UDP transmission channels. The session identifier in the vehicle control data packet is used to distinguish different vehicle control sessions, and the timestamp is used to identify the time when the vehicle control command was sent.

[0013] Furthermore, in step S1, the cloud server exposes the UDP listening port on the public internet through a resident program, continuously waiting for the vehicle to connect.

[0014] Furthermore, the channel data packet includes: frame header, version, The data includes fields for serial number, data length, data, and checksum. The data field carries the vehicle control data packet.

[0015] Furthermore, The field is used to identify the functional status of the channel data packet, which includes whether it is encrypted and whether it is compressed.

[0016] Furthermore, the client periodically sends vehicle control commands to the cloud server at pre-agreed time intervals between the vehicle and the client.

[0017] Furthermore, the vehicle control data packet includes: a session identifier, a timestamp, and a vehicle control command field, wherein the vehicle control command field includes: speed, angle, and lighting control related information.

[0018] Furthermore, in step S2, the cloud server initializes and generates a global initial sequence number. Each time a vehicle control command is received, the global initial sequence number is incremented and used as the sequence number of the channel data packet corresponding to the current vehicle control command.

[0019] Furthermore, in step S3, if the sequence number obtained through parsing is less than or equal to the global sequence number, the corresponding channel data packet is discarded.

[0020] The beneficial effects of this invention are as follows: The quality of remote unmanned vehicle control has been significantly improved. By switching to UDP connections for transmitting vehicle control commands, packet delays caused by network congestion have been reduced, resulting in a significant improvement in the continuity of vehicle control. At the same time, thanks to the multi-channel transmission mechanism provided by different wireless gateways, the network packet loss rate of vehicle control commands has been greatly reduced, effectively improving the stability of remote vehicle control. In addition, the periodic sending of vehicle control commands from the client to the server makes this period a priori information about network quality. The vehicle can use the actual interval between received commands and the expected interval as the basis for actually executing vehicle control commands, further improving the smoothness and stability of vehicle remote control. Attached Figure Description

[0021] Figure 1 A flowchart of the unmanned vehicle network remote control method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a multi-channel architecture connection provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structural hierarchy and composition provided for embodiments of the present invention. Detailed Implementation

[0022] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0023] It should be noted that, unless otherwise specifically stated, the relative arrangement and numerical expressions of the components and steps described in these embodiments should not be construed as limiting the scope of the invention.

[0024] The following description of exemplary embodiments is merely illustrative and is not intended to limit the invention or its application or use in any way. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail herein, but where applicable, such techniques, methods, and apparatus should be considered part of this specification.

[0025] Terminology Explanation: Network quality: the timeliness and accuracy of data transmission over the internet; Vehicle control command data packet: contains binary data that controls the vehicle's steering angle, throttle opening, brake opening, lighting control, and other information.

[0026] Example See Figure 1 , Figure 1 This invention proposes a network remote control method for unmanned vehicles based on multiple network channels, comprising a client, a cloud server, and a vehicle terminal; The vehicle-side is equipped with a wireless gateway, supporting 4G / 5G wireless communication and capable of independently initiating network connections; the server-side deploys a resident program with public network communication permissions, allowing it to expose a UDP listening port; the client and vehicle-side pre-agree on the periodic interval for sending vehicle control commands, and all three parties—client, server, and vehicle-side—support the parsing and generation of the data packet structure defined in this solution; both the server and vehicle-side have a pre-set global sequence number management module for generating, updating, and verifying command sequence numbers; specific steps may include: S1. Multi-channel establishment: The vehicle initiates UDP connections with the cloud server through multiple configured wireless gateways. The cloud server exposes a UDP listening port to receive connection requests from the vehicle. (See also...) Figure 2 Multiple wireless gateways are dual wireless gateways (Gateway 1, Gateway 2), and the vehicle-mounted device establishes two independent UDP transmission channels (Channel 1, Channel 2) with the cloud server through the dual wireless gateways respectively; specifically including: S11. After the server starts, its deployed resident program will expose a preset UDP listening port on the public Internet. This port will be in a continuous waiting state to receive connection requests from the vehicle and vehicle control commands sent by the client. S12. After the autonomous vehicle starts, the vehicle-side program will automatically detect the dual wireless gateways currently configured in the vehicle, and then initiate UDP connection requests to the server through gateway 1 and gateway 2 respectively. After the server receives the connection requests from the two gateways and completes the establishment of a stable UDP communication link, two independent transmission channels are formed, with channel 1 corresponding to gateway 1 and channel 2 corresponding to gateway 2. At this point, the multi-channel establishment is completed, and both the server and the vehicle-side enter the command transmission ready state.

[0027] S2. Vehicle Control Command Transmission: After receiving the vehicle control command sent by the client, the cloud server constructs multiple channel data packets corresponding to the multiple wireless gateways. These multiple channel data packets carry the same sequence number. The cloud server then transmits these multiple channel data packets to the vehicle terminal through their respective channels. Specifically, this includes: S21. Data packet construction: See [link / reference] Figure 3 Channel packets, as payload data transmitted via UDP, consist of a frame header, version number, and... The sequence number, data length, data, and checksum are arranged in that order. The frame header is used by the vehicle-end for data packet parsing and location after reception. The version field identifies the communication protocol version used in this scheme. The fields are used to identify the functional status of the data packet (such as whether it is encrypted or compressed), the sequence number serves as the basis for multi-channel distribution and aggregation of vehicle control command data packets, and the checksum is used to determine the correctness of the entire data packet. The vehicle control data packet consists of several parts: session identifies different vehicle control sessions, timestamp indicates the time the instruction was sent, and fields such as speed and angle identify the specific vehicle control instruction.

[0028] S22. Server-side command processing and distribution: During server initialization, a global initial sequence number is generated through the global sequence number management module (the initial value can be preset). The client continuously sends vehicle control commands to the server at pre-agreed intervals with the vehicle. Each time the server receives a vehicle control command, it first increments the global initial sequence number to obtain the unique sequence number corresponding to the current command. The server then constructs a vehicle control data packet based on the vehicle control command, and then constructs two channel data packets with identical structures and sequence numbers using the vehicle control data packet as the data part; finally, the server sends these two channel data packets to the vehicle in parallel through channel 1 and channel 2 respectively.

[0029] S3. Vehicle Control Command Reception and Execution: The vehicle terminal simultaneously monitors the data packet reception status of each channel, parses the received channel data packets to obtain their sequence numbers, compares the sequence numbers with the vehicle terminal's global sequence number, and if the sequence number is greater than the global sequence number, updates the global sequence number, parses the vehicle control data packets in the channel data packets, and executes the corresponding vehicle control operation; specifically including: S31. The vehicle-side program simultaneously monitors the data packet reception status of both channel 1 and channel 2. Once a data packet is detected arriving on either channel, the parsing process is immediately initiated. The vehicle-side program first parses the sequence number field in the channel data packet to obtain the sequence number of the current data packet. S32. Compare the obtained sequence number with the local global sequence number. If the sequence number is less than or equal to the local global sequence number, the data packet is determined to be a duplicate instruction or a delayed instruction and is discarded directly without further processing. If the sequence number is greater than the local global sequence number, the data packet is determined to be a valid instruction and the local global sequence number is immediately updated to the sequence number. S33. The vehicle terminal verifies the valid channel data packet with a checksum. After confirming that the data packet transmission is error-free, it parses the data portion and extracts the vehicle control data packet. Finally, the vehicle terminal parses the session identifier, timestamp, and vehicle control command field in the vehicle control data packet. Based on the speed, steering angle, and other information in the vehicle control command field, it executes the corresponding vehicle control action.

[0030] The above specific embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A network remote control method for unmanned vehicles based on multiple network channels, characterized in that, include: S1. Multi-channel establishment: The vehicle initiates UDP connections with the cloud server through multiple configured wireless gateways. The cloud server exposes a UDP listening port to receive connection requests from the vehicle. S2. Vehicle control command transmission: After receiving the vehicle control command sent by the client, the cloud server constructs multiple channel data packets corresponding to multiple wireless gateways. The multiple channel data packets carry the same sequence number. The cloud server then sends the multiple channel data packets to the vehicle through the corresponding channels. S3. Vehicle control command reception and execution: The vehicle terminal simultaneously monitors the data packet reception status of each channel, parses the received channel data packets to obtain their sequence numbers, compares the sequence numbers with the global sequence number of the vehicle terminal, and if the sequence number is greater than the global sequence number, updates the global sequence number, parses the vehicle control data packets in the channel data packets, and executes the corresponding vehicle control operation.

2. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, The multiple wireless gateways are dual wireless gateways, and the vehicle-side establishes two independent UDP transmission channels with the cloud server through the dual wireless gateways.

3. The unmanned vehicle network remote control method based on multiple network channels according to claim 2, characterized in that, The vehicle receives channel data packets in parallel through two independent UDP transmission channels. The session identifier in the vehicle control data packet is used to distinguish different vehicle control sessions, and the timestamp is used to identify the time when the vehicle control command was sent.

4. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, In step S1, the cloud server exposes the UDP listening port on the public network through a resident program and continuously waits for the vehicle to connect.

5. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, The channel data packet includes: frame header, version, The data includes fields for serial number, data length, data, and checksum. The data field carries the vehicle control data packet.

6. The unmanned vehicle network remote control method based on multiple network channels according to claim 5, characterized in that, The flags field is used to identify the functional status of the channel data packet, which includes whether it is encrypted and whether it is compressed.

7. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, The client periodically sends vehicle control commands to the cloud server at pre-agreed time intervals between the vehicle and the client.

8. The unmanned vehicle network remote control method based on multiple network channels according to claim 7, characterized in that, The vehicle control data packet includes: a session identifier, a timestamp, and a vehicle control command field. The vehicle control command field includes: speed, angle, and lighting control related information.

9. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, In step S2, the cloud server initializes and generates a global initial sequence number. Each time a vehicle control command is received, the global initial sequence number is incremented and used as the sequence number of the channel data packet corresponding to the current vehicle control command.

10. The unmanned vehicle network remote control method based on multiple network channels according to claim 1, characterized in that, In step S3, if the sequence number obtained through parsing is less than or equal to the global sequence number, the corresponding channel data packet is discarded.

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