A vehicle remote control method and system based on map track editing and TCP communication

Abstract

The application discloses a vehicle remote control method and system based on map track editing and TCP communication. The method comprises the following steps: receiving at least two kinds of control inputs from hard buttons, a graphic interface and a joystick, mapping to a unified control state set to generate control instructions; managing a set of map track points and saving them as executable task objects; establishing a first and a second TCP channel, the first channel transmitting task / control / state data, and the second channel transmitting auxiliary data; and displaying track progress in a map interface based on returned execution status. The application realizes track task management, unified control of multiple sources, communication decoupling and task closed-loop feedback, and improves the reliability and ease of use of vehicle remote control.

Description

Technical Field

[0001] This invention relates to the field of vehicle remote control technology, specifically to a vehicle remote control method and system based on map track editing and TCP communication. Background Technology

[0002] Vehicle remote control terminals are important devices for remotely controlling unmanned vehicles or mobile robots. Operators send control commands to the vehicle through the remote control terminal to control the vehicle's movement.

[0003] Currently, common vehicle remote control terminals primarily receive operator input via physical input devices such as buttons and joysticks, or graphical user interface input devices, and then generate control commands in real time to send to the vehicle. This type of solution has the following problems: First, the capability for task-oriented navigation is insufficient. The map module in existing remote control terminals is usually only used to display the vehicle's current position and historical trajectory. The waypoints on the map cannot be organized into editable, savable, and scalable task data. When the vehicle needs to travel along a preset route, the operator can only guide the vehicle through continuous manual control, which cannot achieve task-oriented control of the preset route.

[0004] Second, the control logic for multi-source inputs is distributed. Hard button inputs, graphical interface inputs, and joystick inputs often employ their own independent control logic, with states stored and managed in a dispersed manner. For example, parameters set through the graphical interface may not be perceived by hard button operations, leading to inconsistencies in the system's internal state, increasing maintenance difficulty and the risk of misoperation.

[0005] Third, the communication link has high coupling. Control data, task data, status data, and auxiliary service data are often transmitted together on the same communication link. When auxiliary service data (such as video streams) consumes a large amount of bandwidth, it may affect the real-time performance and reliability of control commands, and reduce the stability of system communication.

[0006] Fourth, the joystick control lacks stability. As an analog input device, the joystick's output signal exhibits zero-point drift and jitter. Without an effective signal processing mechanism, these drifts and jitters will directly translate into fluctuations in vehicle control quantities, affecting the smoothness of vehicle operation.

[0007] Fifth, the task execution lacks closed-loop feedback. After the existing system issues the track task, it lacks a vehicle-side receiving confirmation mechanism and an execution status feedback mechanism. Operators cannot promptly know whether the task has been received, whether it is being executed, and the current progress of the execution, thus failing to form an effective closed-loop monitoring of the task.

[0008] Based on the above problems, there is an urgent need in this field for a vehicle remote control scheme that can achieve task-oriented track management, unified control of multi-source inputs, hierarchical decoupling of communication, stable processing of control quantities, and closed-loop feedback of tasks. Summary of the Invention

[0009] This invention aims to solve the aforementioned problems in the prior art and provides a vehicle remote control method and system based on map track editing and TCP communication. The method and system can be applied to remote control terminals based on embedded development boards to realize hardware button control, graphical interface control, track task configuration, vehicle status interaction, and map visualization linkage control.

[0010] To achieve the above objectives, the present invention provides the following technical solution.

[0011] On one hand, the present invention provides a vehicle remote control method, comprising the following steps: S1: Receive control input from at least two different types of input devices, including hard key input devices, graphical interface input devices, and joystick input devices; S2: Map control inputs from different sources and apply them to a unified set of control states to generate control commands; S3: In response to the track editing operation on the map interface, perform management operations on the track point set and save the track point set as an executable task object; S4: Establish the first TCP communication channel and the second TCP communication channel with the vehicle; S5: Send the executable task object and / or the control command to the vehicle through the first TCP communication channel, and receive the reception confirmation information and / or execution status feedback information returned by the vehicle for the executable task object; S6: Send auxiliary service data to or receive auxiliary service data from the vehicle through the second TCP communication channel; S7: Based on the received execution status feedback information, the tracks corresponding to the set of track points are displayed separately on the map interface to visually reflect the task execution progress.

[0012] Furthermore, the control input generated by the hard button input device is a discrete control event; the control input generated by the graphical interface input device includes parameter configuration instructions and / or task management instructions; and the control input generated by the joystick input device is a continuous analog control quantity.

[0013] Furthermore, the method further includes performing at least one of the following on the analog input: calibration processing, dead zone processing, range mapping processing, and stabilization processing, to generate a stable control quantity.

[0014] Furthermore, the management operations for the set of waypoints include at least one of the following: adding waypoints, deleting waypoints, adjusting the order of waypoints, saving the set of waypoints, and switching the loaded set of waypoints.

[0015] Furthermore, the first TCP communication channel and the second TCP communication channel are: two different ports under the same IP address; or two independent Socket connections connected to different IP addresses respectively.

[0016] Furthermore, the unified control state set includes at least the following state variables: control mode, emergency stop command, current joystick input analog quantity, parking status, power mode, power pack power, low voltage, high voltage, current speed, current remote control battery level, current gear, emergency power-down command, emergency landing command, high voltage power-on enable, gear selection, engine enable, power mode, steering mode, operating object, video switching, headlight enable, and horn enable. When any state variable in the control state set is updated, a corresponding control command is generated based on the updated complete state set.

[0017] Furthermore, the execution status feedback information includes at least: execution status of each command, land mileage, air mileage, motorcycle mileage, brake accumulator pressure, front brake pressure, rear brake pressure, high voltage status, insulation status, battery voltage, online or fault status of each component, GPS coordinates, altitude, power pack power and real-time status, point number, and anomaly code; wherein, each command execution status includes at least the current control mode, current vehicle status, current power mode, current parking status, current vehicle speed, emergency stop status, emergency power-down status, and emergency landing status. The execution status is normal and will display the status required by the command; in case of abnormality, it is compared with the control status for judgment; the online or fault status of each component will be displayed by indicator lights, with white indicating no response, green indicating normal, and red indicating a fault.

[0018] Furthermore, the track is differentiated and displayed based on the received execution status feedback information, including: displaying the completed track segments in a first display style, displaying the unexecuted track segments in a second display style, and displaying the current target point in a third display style.

[0019] On the other hand, the present invention provides a vehicle remote control system, comprising: An input module is used to receive control input from at least two of the following: a hard key input device, a graphical interface input device, and a joystick input device; The control state management module is used to map control inputs from different sources and apply them to a unified set of control states to generate control commands. The track editing module is used to manage the track point set in response to track editing operations on the map interface, and save the track point set as an executable task object; The communication module includes a first TCP communication module and a second TCP communication module. The first TCP communication module is used to send the executable task object and / or the control command to the vehicle and receive the reception confirmation information and / or execution status feedback information returned by the vehicle. The second TCP communication module is used to transmit auxiliary service data. The map display module is used to differentiate and display the tracks corresponding to the set of track points based on the received execution status feedback information, so as to visually reflect the task execution progress.

[0020] Beneficial effects Compared with the prior art, the present invention has at least the following beneficial effects: 1. To address the problem of insufficient track task capability, this invention organizes the set of track points in the map into executable task objects that can be edited, saved, switched, and distributed, so that they are no longer just map display information, thus improving the task control capability of the remote control terminal.

[0021] 2. To address the issue of dispersed control logic from multiple input sources, this invention integrates various input methods, such as hard buttons, graphical interfaces, and joysticks, into a unified control state set for management. Changes in each input source are reflected in the same state set, ensuring the consistency of control logic and the degree of system integration.

[0022] 3. To address the issue of high coupling in communication links, this invention adopts a layered architecture of a first TCP communication channel and a second TCP communication channel. The first channel carries the closed-loop transmission of task, control, and status data, while the second channel carries the transmission of auxiliary business data. This effectively decouples the control flow from the data flow and reduces the impact of link coupling on control reliability.

[0023] 4. To address the issue of insufficient stability in joystick control, this invention performs at least one of the following processes on the analog input of the joystick: calibration processing, dead zone processing, range mapping processing, and stabilization processing. This effectively suppresses zero-point drift and signal jitter, improving the stability of the control quantity and the smoothness of vehicle control.

[0024] 5. To address the issue of lack of closed-loop feedback in task execution, this invention establishes a task reception confirmation and execution status feedback mechanism, which is combined with the display of track progress on the map interface to enable operators to keep track of the task reception status, execution status and current progress in real time, forming a task closed loop of "issuance - confirmation - execution - feedback - visualization".

[0025] 6. By displaying the task execution progress on the map in different display styles, operators can intuitively distinguish between executed track segments, unexecuted track segments, and the current target point, which improves the intuitiveness and accuracy of remote task monitoring and reduces the risk of misjudgment by operators due to not being able to know the task progress. Attached Figure Description

[0026] Figure 1 This is a block diagram of the system structure of the present invention; Figure 2 This is a schematic diagram of the functional modules of the remote control terminal of the present invention; Figure 3 This invention provides a unified input control flowchart; Figure 4 This is a flowchart of the trajectory task editing and saving process for this invention; Figure 5 This is a flowchart of the trajectory task issuance process for this invention; Figure 6 This is a flowchart illustrating the execution control and cancellation control of the present invention; Figure 7 This is a flowchart illustrating the process of receiving confirmation and transmitting execution status feedback in this invention. Figure 8 This is a flowchart of the map linkage display process of the present invention; Figure 9 This is a schematic diagram of the first TCP channel message structure of the present invention; Figure 10 This is a schematic diagram of the second TCP channel message structure of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] System Overall Architecture See Figure 1 and Figure 2 The vehicle remote control system provided in one embodiment of the present invention includes: an input module 100, a control status management module 200, a track editing module 300, a map display module 400, a communication module 500, a status display module 600, and a parameter configuration module 700.

[0029] The input module 100 is used to acquire control inputs from different input devices. Specifically, the input module 100 includes a graphical interface input module 110, a physical key input module 120, and a joystick input module 130. The graphical interface input module 110 receives operation inputs generated by the operator through the graphical user interface; the physical key input module 120 receives discrete control signals triggered by the operator through physical keys; and the joystick input module 130 receives analog input signals generated by the operator through a joystick device.

[0030] The control state management module 200 is connected to the input module 100 and is used to map control inputs from different sources and apply them uniformly to a control state set. The control state set refers to a set of state variables that describe the current control state of the remote control terminal. Based on this state set, the control state management module 200 generates control commands to be sent to the vehicle.

[0031] The track editing module 300 is used to respond to the operator's track editing operation on the map interface and manage the track point set. The track point set refers to an ordered set of multiple track points, each containing at least latitude and longitude information. The management operations include, but are not limited to, adding track points, deleting track points, adjusting the order of track points, saving the track point set, and switching between loading track point sets. The edited track point set can be saved as an executable task object, which contains all the track information required for subsequent delivery to the vehicle.

[0032] The map display module 400 is used to display an electronic map and present visual information such as flight path lines, station markers, and mission progress on the map. The map display module 400 is also used to receive flight path editing operations from the operator on the map interface and pass the operation events to the flight path editing module 300.

[0033] The communication module 500 is used to establish a data communication connection with the vehicle terminal. The communication module 500 includes a first TCP communication module 510 and a second TCP communication module 520. The first TCP communication module 510 is used to send task data and / or control commands to the vehicle terminal, and to receive reception confirmation information and / or execution status feedback information returned by the vehicle terminal. The second TCP communication module 520 is used to send auxiliary service data to or receive auxiliary service data from the vehicle terminal, including but not limited to camera image data.

[0034] The status display module 600 is used to display the vehicle's operating status, task execution status, and abnormal alarm information, so that the operator can keep track of the overall system operation in real time.

[0035] The parameter configuration module 700 is used to manage various configuration parameters of the system, including but not limited to communication parameters (such as TCP connection IP address and port), map parameters (such as map display scale) and control parameters (such as joystick dead zone threshold).

[0036] Unified input control mechanism This embodiment provides a unified input control mechanism for uniformly mapping control inputs from different input devices and applying them to the same set of control states, thereby solving the problem of scattered control logic and inconsistent states in the prior art for multiple input methods.

[0037] In existing remote control terminals, hard buttons, graphical interfaces, and joysticks typically employ their own independent control logic. For example, hard buttons directly trigger emergency stop functions, graphical interfaces directly modify speed parameters, and joysticks directly output control quantities. These three operate on different control paths, resulting in a lack of unified state management and a tendency for inconsistencies and logical conflicts. The unified input control architecture established in this invention maps control inputs from different sources and applies them uniformly to the same set of control states. Control commands are generated solely based on this set of states and do not directly depend on the specific input source.

[0038] Specifically, the input module receives control input from the graphical interface, hard buttons, and joysticks. Based on the characteristics of the input devices, the control inputs can be divided into three types and mapped accordingly. Hard button input devices generate discrete control events, such as mode switching (e.g., switching between manual control mode and automatic tracking mode), emergency stop, task execution, task cancellation, and other control actions. This type of input is mapped to corresponding unified control events. Graphical interface input devices generate parameter configuration commands and / or task management commands, such as mode configuration, task selection, and interface operations. This type of input is converted into update operations on the corresponding state variables in the control state set. Joystick input devices generate continuous analog control quantities. After calibration, dead-zone processing, range mapping processing, and stabilization processing, this type of input generates continuous control quantities with directional and amplitude attributes, which are then written into the corresponding variables in the control state set, such as target speed and target steering angle.

[0039] The processing results of all the above-mentioned inputs collectively affect the same control state set. This control state set is the sole data source for the current remote control terminal's control state and includes at least the following state variables: current control mode (indicating manual control mode or automatic tracking mode), gear status, emergency stop status, task execution enable status, and target speed and target steering angle. When any state variable in the control state set is updated, the control state management module generates a corresponding control command based on the updated complete state set and sends it to the vehicle end through the first TCP communication channel. Because the control command generation entry point and basis are unique, regardless of the input device through which the operator issues control intent, the system responds based on the same state set, fundamentally avoiding inconsistencies in state and logical conflicts.

[0040] Taking a typical operating scenario as an example: Suppose the operator first sets the target speed to a certain value through the graphical interface, and then presses a hard button to trigger an emergency stop. In the traditional distributed control mode, the graphical interface and the emergency stop button act on different control paths. If the speed variables maintained by the two are not synchronized, an anomaly may occur where the vehicle resumes driving at the original set speed after the emergency stop is released. However, in the unified control mode of this invention, the graphical interface operation is mapped to the update of the target speed variable in the state set, and the hard button operation is mapped to the update of the emergency stop state variable. After the system detects that the emergency stop state has become active, it automatically sets the target speed variable to zero or marks it as invalid according to preset rules, and generates a control command with a speed of zero based on the updated state set. After the emergency stop is released, the system recalculates the target speed according to the current control mode and task state. The entire process is uniformly coordinated by the state set, ensuring that the control intentions generated by each input source are executed on a consistent state basis.

[0041] This unified input control mechanism also provides a collaborative foundation for the triggering and control of track tasks. After the operator selects a track task, the currently selected track index is recorded in the control state set. When the operator triggers an operation via a hard button or graphical interface, this operation is mapped to an update of the task execution enable state. When the system detects that the task execution enable state has changed to allowed and the current control mode is automatic tracking, it retrieves the currently selected executable task object from the track editing module and sends it to the vehicle end through the first TCP communication channel. Thus, the triggering of track tasks is uniformly incorporated into the control state management framework, rather than existing as an independent control path, further improving the system's integration and consistency.

[0042] In summary, the unified input control mechanism provided in this embodiment effectively solves the problems of scattered multi-source input control logic and inconsistent states in the prior art through three key links: classification mapping, single state source, and decoupled output. It also provides an architectural foundation for the unified integration of trajectory mission control.

[0043] Joystick analog signal preprocessing mechanism The joystick input device outputs an analog voltage signal, which is sampled by an analog-to-digital converter (ADC) to obtain a raw digital value. Due to hardware limitations, the joystick may have a zero-point offset when stationary, and slight jitter during operation can also cause signal fluctuations. Directly using the raw sampled value for vehicle control will affect the stability and accuracy of the control.

[0044] To address the aforementioned issues, this embodiment provides a joystick analog signal preprocessing mechanism. The joystick input module 130 periodically reads the raw values ​​from multiple ADC channels, including but not limited to the right joystick forward / backward channel, the right joystick left / right channel, the left joystick forward / backward channel, and the left joystick left / right channel.

[0045] The preprocessing process includes the following steps: (1) Calibration process: Based on the minimum and maximum values ​​of each channel stored in the parameter configuration module 700, calculate the median and range of each channel.

[0046] (2) Range mapping: Convert the original sampled values ​​into directional control values ​​within the range of -100 to 100.

[0047] (3) Dead zone handling: If the absolute value of the converted control quantity is less than the preset dead zone threshold, the control quantity is set to zero to eliminate the effects of zero drift and slight jitter.

[0048] (4) Stabilization processing: The control quantity obtained from multiple consecutive sampling periods is smoothed to further filter out high-frequency jitter components in the signal. In one embodiment, a buffer queue can be used to perform sliding window mean filtering on the control quantity after range mapping.

[0049] (5) Limiting: If the control quantity exceeds the preset range, it will be limited to the boundary value of the preset range.

[0050] The control quantities generated after the above preprocessing can be used as input to the control state set or sent directly as control commands.

[0051] Track mission editing and saving mechanism See Figure 4 This embodiment provides a mechanism for editing and saving flight track tasks.

[0052] The operator can edit the track through the map interface. The track editing module 300 loads the corresponding set of track points based on the currently selected track index. If the corresponding track file does not exist, a blank set of track points is created for the operator to edit.

[0053] The editing operations supported by the track editing module 300 include: Add a new waypoint: When the operator clicks on the target location on the map interface, the system adds a new waypoint at that location; Delete waypoint: The operator selects an existing waypoint and performs the deletion operation; Adjusting the order of waypoints: The operator drags waypoints to change their order in the set of waypoints.

[0054] During the editing process, the track editing module 300 performs a validity check on the track points. The validity check includes at least a coordinate range check, that is, checking whether the latitude and longitude of the track points are within a preset valid range.

[0055] After the operator completes the editing, they can save the set of waypoints to a local configuration file to form a waypoint file. When saving, the waypoint editing module 300 assigns a waypoint index to the waypoint file and writes the coordinate information of each waypoint in the set of waypoints into the file in sequence.

[0056] The operator can switch the currently selected track index at any time to load different track files.

[0057] Map track visualization mechanism The map display module 400 uses a QML map container to carry map controls and is responsible for the visual presentation of the waypoint set.

[0058] After each change to the set of waypoints (including adding, deleting, sorting, switching loading, etc.), the map display module 400 first cleans up the old waypoint objects that already exist on the map, and then recreates the waypoint polylines and station markers based on the current set of waypoints.

[0059] Specifically, the map display module 400 generates a polyline by sequentially connecting adjacent track points according to the arrangement order of each track point in the track point set; at the same time, it generates a corresponding station mark at the coordinate position of each track point so that the operator can identify and edit it.

[0060] Track mission assignment mechanism See Figure 5 Once the operator has finished editing the trajectory, they can send the trajectory task to the vehicle by triggering the task distribution operation.

[0061] The track editing module 300 generates track task data based on the current set of track points. The track task data includes at least the number of track points and the coordinates of each track point. Preferably, it also includes a task identifier and verification information, used by the vehicle to verify the integrity and correctness of the received data.

[0062] The communication module 500 sends the trajectory mission data to the vehicle end in the form of trajectory mission messages through the first TCP communication module 510. Figure 9An exemplary structure of a message in the first TCP channel is shown. The message may include a task type field, a number of points field, a coordinate data area, and a check field.

[0063] After receiving the trajectory task message, the vehicle terminal parses and verifies the message, caches the trajectory task in the vehicle terminal's memory, and waits for the execution instruction.

[0064] Task execution and cancellation control mechanism After the terminal completes the distribution of the track task message, when the operator triggers the execution operation, it sends an execution control message to the vehicle. The execution control message includes at least a task identifier and an execution flag. After receiving the execution control message, the vehicle starts executing the track task corresponding to the current task identifier.

[0065] When the operator triggers a cancellation operation, the terminal sends a cancellation control message to the vehicle. The cancellation control message includes at least a task identifier and a cancellation flag. After receiving the cancellation control message, the vehicle terminates the execution of the current track task.

[0066] Confirmation and execution status feedback mechanism To form a closed-loop control, this embodiment preferably sets up two types of feedback messages.

[0067] The first type is the reception confirmation message. After receiving the track task message, the vehicle terminal returns a reception confirmation message. The reception confirmation message includes at least: task identifier, reception result, reception point count, and exception code. The reception result is used to indicate whether the current track task has been correctly received and cached by the vehicle terminal.

[0068] The second category is execution status feedback messages. During the trajectory execution process, the vehicle-mounted device periodically returns execution status feedback messages. These messages include: task identifier, execution status, current point number, total number of points, current latitude, current longitude, current speed, and error code. Preferably, the execution status includes: idle, received, pending execution, executing, completed, canceled, paused, and abnormal termination. Preferably, the error codes include: task identifier mismatch, illegal number of points, coordinate out of bounds, execution not allowed in the current mode, execution prohibited in emergency stop state, communication timeout, vehicle-mounted device cache failure, and current task cannot be overwritten.

[0069] Map progress linkage display mechanism In this embodiment, after receiving the execution status feedback message, the terminal updates the track display status on the map according to the current point number. Preferably: Completed track segments are displayed using the first display style; The unexecuted track segment uses the second display style; The current target point is highlighted. When the execution status is "completed", the entire track is displayed as "completed". When the execution status is canceled or abnormally terminated, the terminal stops refreshing the current task progress and displays the corresponding prompt in the alarm area. In this way, the operator can intuitively understand the current stage of the task and the relationship between the current location and the target point.

[0070] Dual-channel TCP communication mechanism In this embodiment, the system is equipped with a first TCP communication module and a second TCP communication module.

[0071] The first TCP communication module is mainly used for transmitting control data, task data, and status data; the second TCP communication module is mainly used for transmitting camera, video, or other auxiliary service data. Preferably, the task data and status information are transmitted using structured messages. The messages may include task identifiers, data areas, and checksum fields.

[0072] Preferably, the task data and status information are transmitted using structured messages. The messages may include a task identifier, a data area, and a checksum field.

[0073] Preferably, the verification field is used to improve the reliability of data transmission.

[0074] Through the aforementioned dual-channel architecture, control data, task data, and status data are effectively separated from auxiliary business data at the transmission layer. The first TCP communication channel is dedicated to carrying core data closely related to vehicle control and task execution. Its real-time performance and reliability are not affected by the auxiliary business data transmission in the second TCP communication channel, thus ensuring the communication quality of key links such as task issuance, reception confirmation, execution control, and status feedback. Figure 9 An exemplary structure of a message in the first TCP channel is shown. Figure 10 An exemplary structure of a message in a second TCP channel is shown.

[0075] In a specific implementation, the first TCP communication channel and the second TCP communication channel can be two different ports under the same IP address, or they can be two independent Socket connections connected to different IP addresses. This embodiment does not make specific limitations on this.

Claims

1. A vehicle remote control method based on map track editing and TCP communication, characterized in that, include: It can receive control input from at least two different types of input devices, including hard key input devices, graphical interface input devices, and joystick input devices; Control inputs from different sources are mapped and applied to a unified set of control states to generate control commands; In response to the track editing operation on the map interface, the track point set is managed and saved as an executable task object; Establish a first TCP communication channel and a second TCP communication channel with the vehicle; The executable task object and / or the control command are sent to the vehicle through the first TCP communication channel, and the vehicle returns the reception confirmation information and / or execution status feedback information for the executable task object. Auxiliary service data is sent to or received from the vehicle via the second TCP communication channel. Based on the received execution status feedback information, the tracks corresponding to the set of track points are displayed separately on the map interface to visually reflect the task execution progress.

2. The method according to claim 1, characterized in that, The control input generated by the hard button input device is a discrete control event; the control input generated by the graphical interface input device includes parameter configuration instructions or task management instructions; the control input generated by the joystick input device is a continuous analog control quantity.

3. The method according to claim 1, characterized in that, The method further includes preprocessing the analog input, the preprocessing including at least one of calibration processing, dead zone processing, range mapping processing, and stabilization processing.

4. The method according to claim 1, characterized in that, Management operations for a set of waypoints include at least one of the following: adding a waypoint, deleting a waypoint, adjusting the order of waypoints, saving the set of waypoints, and switching the loaded set of waypoints.

5. The method according to claim 1, characterized in that, The first TCP communication channel and the second TCP communication channel are: two different ports under the same IP address; or two independent Socket connections connected to different IP addresses respectively.

6. The method according to claim 1, characterized in that, The unified control state set includes at least the following state variables: control mode, emergency stop command, current analog joystick input, parking status, power mode, power pack power, low voltage, high voltage, current speed, current remote control battery level, current gear, emergency power-down command, emergency landing command, high voltage power-on enable, gear selection, engine enable, power mode, steering mode, operating object, video switching, headlight enable, and horn enable. When any state variable in the control state set is updated, a corresponding control command is generated based on the updated complete state set.

7. The method according to claim 1, characterized in that, The execution status feedback information includes at least: execution status of each command, land mileage, air mileage, motorcycle mileage, brake accumulator pressure, front brake pressure, rear brake pressure, high voltage status, insulation status, battery voltage, online or fault status of each component, GPS coordinates, altitude, power pack power and real-time status, point number, and anomaly code; wherein, each command execution status includes at least the current control mode, current vehicle status, current power mode, current parking status, current vehicle speed, emergency stop status, emergency power-down status, and emergency landing status. The execution status is displayed when it is normal, and the abnormal status is compared with the control status; the online or fault status of each component is displayed by indicator lights, with white indicating no response, green indicating normal, and red indicating a fault.

8. The method according to any one of claims 1-7, characterized in that, Based on the received execution status feedback information, the flight path is displayed separately on the map interface, including: Display the completed track segments in the first display style; Unexecuted track segments will be displayed in the second display style; Display the current target point in the third display style.

9. A vehicle remote control system based on map track editing and TCP communication, characterized in that, include: An input module is used to receive control input from at least two of the following: a hard key input device, a graphical interface input device, and a joystick input device; The control state management module is used to map control inputs from different sources and apply them to a unified set of control states to generate control commands. The track editing module is used to manage the track point set in response to track editing operations on the map interface, and save the track point set as an executable task object; The communication module includes a first TCP communication module and a second TCP communication module. The first TCP communication module is used to send the executable task object and / or the control command to the vehicle, and to receive the reception confirmation information and / or execution status feedback information returned by the vehicle. The second TCP communication module is used to transmit auxiliary service data. The map display module is used to differentiate and display the tracks corresponding to the set of track points based on the received execution status feedback information, so as to visually reflect the task execution progress.

10. The system according to claim 9, characterized in that, The input module further includes a joystick preprocessing unit, which is used to perform at least one of the following on the analog input provided by the joystick input device: calibration processing, dead zone processing, range mapping processing, and stabilization processing.

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