DYNAMIC REMOTE CONTROL CONNECTION

Abstract

A system comprises network nodes, lanes, vehicles, a computer, and a remote control unit. The network nodes are distributed along the lanes. Several adjacent vehicles are located in sections of the lanes. The vehicle is configured to travel on the lanes under the control of the remote control unit. The computer is configured to access and dynamically update a connectivity map. The connectivity map identifies several available data throughputs between the network nodes and the adjacent vehicles. The computer is further configured to provide the remote control unit with a route for maneuvering the vehicle. The route maintains communication between the vehicle and the network nodes, with the data link remaining above a data quality threshold and a data rate threshold.The vehicle contains a receiver that receives driving instructions from the remote control unit. A drive system is located in the vehicle to control the vehicle in response to these driving instructions.

Description

INTRODUCTION

[0001] The present description relates to a system and a method for remotely controlling a vehicle in general and in particular for the dynamic remote control link.

[0002] Remote vehicle control doesn't always work as intended due to variables in wireless networks. In some situations, the data throughput between cell towers and vehicles is too low to ensure proper remote control. In other situations, the data quality between cell towers and vehicles is too poor to maintain remote control.

[0003] Accordingly, experts are continuing their research and development work in the field of controlled driving in areas with variable wireless connectivity. DESCRIPTION

[0004] A system is provided here. The system comprises a plurality of network nodes, a vehicle, a computer, a receiver, and a propulsion system. The plurality of network nodes are spatially distributed along a plurality of lanes. Each of the plurality of lanes comprises a plurality of segments. A plurality of adjacent vehicles are located in the plurality of segments. The vehicle is configured to be driven to an endpoint along the plurality of lanes under the control of a remote control device. The computer communicates with the plurality of network nodes, is configured to access a connectivity map, and can dynamically update the connectivity map. The connectivity map identifies a plurality of data throughputs available between the plurality of network nodes and the plurality of adjacent vehicles.The computer is further configured to provide the remote control unit with a route to maneuver the vehicle from its current location to its final destination. This route maintains communication between the vehicle and the majority of network nodes, with the data connection exceeding a data quality threshold and a data rate threshold. The receiver is located in the vehicle and receives driving instructions from the remote control unit via the majority of network nodes. The propulsion system is located in the vehicle to control the vehicle according to these driving instructions.

[0005] In one or more embodiments, the system comprises a plurality of navigation systems installed in the plurality of neighboring vehicles, which can transmit a plurality of current neighboring locations of the plurality of neighboring vehicles to the computer.

[0006] In one or more embodiments of the system, the plurality of neighboring vehicles are set up to measure the plurality of data throughputs with the plurality of network nodes at the plurality of current neighboring locations and to report the measured plurality of data throughputs to the computer.

[0007] In one or more embodiments of the system, the computer is further configured to dynamically update the connectivity map based on the majority of data throughputs reported by the majority of neighboring vehicles.

[0008] In one or more embodiments of the system, the route is recommended based on a plurality of historical data throughputs reported by the majority of neighboring vehicles.

[0009] In one or more embodiments of the system, the vehicle is further configured to measure the majority of data throughputs while driving along the route and to report the majority of data throughputs to the computer as soon as the endpoint is reached.

[0010] In one or more embodiments of the system, the computer is further configured to update the connectivity map in response to the majority of data throughputs reported by the vehicle.

[0011] In one or more embodiments of the system, the computer is further configured to represent the route based on an age of the plurality of data throughputs in one or more segments of the plurality of segments that exceeds a time threshold in order to collect fresh data for the one or more segments.

[0012] In one or more embodiments of the system, the data quality threshold and the data rate threshold are sufficient to enable teleoperation control of the vehicle.

[0013] A method for the dynamic connectivity of remote pilots is included herein. The method involves the dynamic updating of a connectivity map accessible to a computer. The computer is connected to a plurality of network nodes. The plurality of network nodes are spatially distributed along a plurality of lanes. Each of the plurality of lanes comprises a plurality of segments. A plurality of adjacent vehicles are located in the plurality of segments. The connectivity map identifies a plurality of data throughputs available between the plurality of network nodes and a plurality of adjacent vehicles. The method includes recommending a route to a vehicle's remote control device to maneuver the vehicle from its current location to a final location.The vehicle is configured to be guided to the endpoint along the majority of lanes under the control of the remote control device. The route maintains communication between the vehicle and the majority of network nodes via a data connection above a data quality threshold and a data rate threshold. The procedure further includes receiving driving instructions from the remote control device via the majority of network nodes at a receiver located in the vehicle and controlling the vehicle in response to the driving instructions.

[0014] In one or more embodiments, the method comprises the transmission of a plurality of current neighboring locations of the plurality of neighboring vehicles to the computer.

[0015] In one or more embodiments, the method comprises measuring the plurality of data throughputs with the plurality of network nodes at the plurality of current neighboring locations with the plurality of neighboring vehicles and reporting the plurality of measured data throughputs to the computer.

[0016] In one or more embodiments, the method includes the dynamic updating of the connectivity map based on the majority of data throughputs reported by the majority of neighboring vehicles.

[0017] In one or more embodiments of the method, the route is recommended based on a plurality of historical data throughputs reported by the majority of neighboring vehicles.

[0018] In one or more embodiments, the method comprises measuring the majority of data throughputs while the vehicle travels along the route and reporting the majority of data throughputs to the computer once the endpoint is reached.

[0019] In one or more embodiments, the method includes updating the connectivity map in response to the majority of data throughputs reported by the vehicle.

[0020] In one or more embodiments, the method comprises rendering the route based on the age of the majority of data throughputs in one or more segments of the majority of segments that exceed a time threshold in order to collect fresh data for the one or more segments.

[0021] In one or more embodiments of the method, the data quality threshold and the data rate threshold are sufficient to enable teleoperation control of the vehicle.

[0022] A vehicle is provided here. The vehicle includes a wireless connection to a computer, a receiver, and a propulsion system. The computer is configured to access and dynamically update a connectivity map. The computer is connected to a plurality of network nodes. The plurality of network nodes are spatially distributed along a plurality of lanes. Each of the plurality of lanes comprises a plurality of segments. A plurality of adjacent vehicles are located in the plurality of segments. The connectivity map identifies a plurality of data throughputs available between the plurality of network nodes and the plurality of adjacent vehicles. The computer is further configured to recommend a route to a remote control unit to maneuver the vehicle from its current location to a final location.The route maintains communication between the vehicle and the majority of network nodes, with the data connection exceeding a data quality threshold and a data rate threshold. The receiver is configured to receive driving instructions from the remote control unit via the majority of network nodes. The propulsion system is configured to control the vehicle in response to these driving instructions.

[0023] In one or more embodiments of the vehicle, the remote control device is located outside the vehicle.

[0024] The above features and advantages, as well as other features and advantages of the present description, are readily apparent from the following detailed description of the best embodiments of the disclosure in conjunction with the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES Fig. Figure 1 is a schematic representation of a system in accordance with one or more exemplary embodiments. Fig. Figure 2 is a schematic plan view of a vehicle according to one or more exemplary embodiments. Fig. Figure 3 is a flowchart of a method for operating the system according to one or more exemplary embodiments. DETAILED DESCRIPTION

[0025] Implementations of this description provide a dynamic connectivity map generated from the data network throughput of connected vehicles on a roadway. Data network throughput refers to the rate of quality data transmitted over communication channels, ensuring optimal route guidance for the vehicles, particularly for teleoperation and remotely controlled driving. The connectivity map enables the selection of routes with sufficient data network throughput to maintain a stable connection with remotely controlled vehicles. These stable connections are especially useful when fully autonomous driving is not possible or does not function correctly, as teleoperation can be performed with the assurance of a stable connection.

[0026] Fig. Figure 1 shows a schematic diagram illustrating the context of a system 100 in accordance with one or more exemplary embodiments. The system 100 generally comprises several lanes 102a-102h, several network nodes 104a-104c, a computer 106, a remote control device 108, and several vehicles 110a-110e.

[0027] Lanes 102a-102h are drivable surfaces. Lanes 102a-102h extend from at least a starting location 116 to an end location (or end position) 118. One or more of the lanes 102a-102h can be subdivided into segments 114a-114m. For example, lane 102a can be subdivided into at least one segment 114a, one segment 114b, and one segment 114c. Each segment 114a-114m is within the communication range of one or more network nodes 104a-104c. For example, segment 114c can be within the range of network node 104a. Segments 114a, 114d, 114g, 114h, and 114i can be within the range of network node 104b, and so on.

[0028] The network nodes 104a-104c are wireless transmit-receive nodes (or towers). The network nodes 104a-104c are generally configured to communicate with the vehicles 110a-110e on sections 114a-114m of lanes 102a-102h via radio frequency signals. The network nodes 104a-104c may also be configured to communicate with the computer 106. Data received by the network nodes 104a-104c from the vehicles 110a-110e can be transmitted to the computer 106. Data received by the network nodes 104a-104c from the computer 106 can be forwarded to the vehicles 110a-110e. In various embodiments, the network nodes 104a-104c may be implemented as cellular network nodes. In other embodiments, the network nodes 104a-104c can be implemented as Wi-Fi network nodes and / or WiGig nodes (60 GHz Wi-Fi).Other types of wireless communication networks can be implemented to meet the design criteria of a particular application.

[0029] Computer 106 represents a single computer or a distributed collection of computers. In various embodiments, Computer 106 can be a cloud computing resource. Computer 106 is generally configured to maintain a connectivity map 120, store historical network data throughput values, analyze several available routes from the starting point 116 and the destination point 118 along the lanes 102a-102h, and, based on the available data throughput and data quality in the various segments 114a-114m, generate a recommendation for a long-distance driver 92 in the remote control device 108 to drive the vehicle 110a to the destination point 118. In various embodiments, Computer 106 is also configured to determine the route based on the age of the data throughput in one or more segments 114a-114m exceeding a time threshold.The intention is to route through rarely used segments 114a-114m in order to collect fresh data for these segments. The updating, analysis, and generation of recommendations can be performed by the computer in real time (e.g., in less than one second).

[0030] The remote control device 108 is a device located outside of the vehicles 110a-110e, configured to allow one or more persons to control one or more vehicles 110a-110e (hereinafter referred to as vehicle 110a) via wireless connections. The remote control device 108 uses a combination of cameras and sensors in vehicle 110a and augmented reality technology to remotely control vehicle 110a across the lanes 104a-104c. The person operating the remote control device 108 can enter the starting location 116 (typically the current location 112a of vehicle 110a) and the destination location 118, if available.

[0031] In some situations, an occupant 90 of vehicle 110a may enter the destination 118, to which occupant 90 wishes to drive vehicle 110a. In such a case, the destination 118 can be transmitted to computer 106 via the transmitter and network nodes 104a-104c. The destination 118 is then used by computer 106 to determine a route 122 for vehicle 110a to reach the destination, while maintaining data connections above a certain data quality and data rate threshold during the journey. The destination 118 can also be updated during the journey. Therefore, computer 106 can recalculate the route 122 based on the current location 112a of vehicle 110a and the new destination 118.If the data rate and / or data quality fall below the respective thresholds for the teleoperation control of vehicle 110a, control of vehicle 110a can be returned to occupant 90.

[0032] The vehicles 110a-110e are motor vehicles (or cars). In various embodiments, the vehicles 110a-110e can communicate wirelessly with the network nodes 104a-104c. The vehicles 110a-110e can also be configured to communicate wirelessly with each other via a vehicle-to-vehicle protocol. Furthermore, the vehicles 110a-110e are configured to determine their current location 112a-112e (e.g., a current vehicle location 112a and current neighboring locations 112b-112e) using an onboard navigation system (e.g., a global positioning satellite receiver). In various embodiments, the vehicles 110a-110e may include, but are not limited to, a passenger vehicle, a truck, an autonomous vehicle, a gas-powered vehicle, an electric vehicle, a hybrid vehicle, a motorcycle, a boat, an agricultural vehicle, a train and / or an aircraft.Vehicle 110a is configured to be controlled by an onboard driver and / or a person using the remote control unit 108 (e.g., steering, accelerating, braking, etc.). In some situations, the adjacent vehicles 110b-110e may or may not be remotely controlled.

[0033] The connectivity map 120 stores the current data quality and data throughput available between network nodes 104a-104c and vehicles 110a-110e traversing the various segments 114a-114m. The connectivity map 120 can also store historical data quality and data throughput between network nodes 104a-104c and vehicles 110a-110e. To measure the data throughput between vehicles 110a-110e and computer 106 (backend), each vehicle 110a-110e can upload a fixed data block from its current location 112a-112e to computer 106, and the upload duration can be measured. In the opposite direction, each vehicle 110a-110e can download a different data block from computer 106 and measure the time for the download as well as the current self-positioning 112a-112e.Another possible technique involves measuring the uploading and downloading of fixed data blocks between vehicles 110a-110e and network nodes 104a-104c. In various embodiments, delays between network nodes 104a-104c and computer 106 can be added to the measurements.

[0034] Fig. Figure 2 shows a schematic representation of an exemplary embodiment of a vehicle 110x according to one or more exemplary embodiments. The vehicle 110x can be representative of the vehicle 110a and optionally of one or more of the vehicles 110b-110e. The vehicle 110x generally comprises an electronic control unit 130, a communication bus 132, a drive system 134, a navigation system 136, a transmitter 138, and a receiver 140.

[0035] The electronic control unit 130 incorporates one or more processing circuits. The electronic control unit 130 is configured to display a current location (e.g., the current location 112a of the vehicle 110a) and to report data quality and data rate for communication with the network nodes 104a-104c via the transmitter 138 and the network nodes 104a-104c to the computer 106. The electronic control unit 130 can receive driving instructions from the remote control device 108 via the network nodes 104a-104c and the receiver 140. The driving instructions can be forwarded to the drive system 134 via the communication bus 132.

[0036] In various embodiments, the electronic control unit 130 generally comprises at least one microcontroller. The at least one microcontroller may include one or more processors, each of which may be implemented as a separate processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a dedicated electronic control unit. The at least one microcontroller may be an electronic processor (implemented in hardware, software running on hardware, or a combination of both). The at least one microcontroller may also include tangible, non-transferable memory (e.g., read-only memory in the form of optical, magnetic, and / or flash memory).For example, the at least one microcontroller may include application-appropriate amounts of random access memory, solid-state memory, flash memory and other types of electrically erasable, programmable solid-state memory, as well as accompanying hardware in the form of a high-speed clock or timer, analog-to-digital and digital-to-analog circuits and input / output circuits and devices, as well as suitable signal conditioning and buffer circuits.

[0037] Computer-readable and executable instructions embodying this method can be recorded (or stored) in memory and executed as described herein. The executable instructions can be a set of instructions used to run applications on the at least one microcontroller (either in the foreground or background). The at least one microcontroller can receive commands and information in the form of one or more input signals from various control units or components and transmit instructions to the other electronic components.

[0038] The communication bus 132 is a bidirectional digital multi-node bus. The communication bus 132 is designed for data exchange between the electronic control unit 130, the navigation system 136, the transmitter 138, and the receiver 140.

[0039] The drive system 134 implements a semi-autonomous drive system. The drive system 134 is configured to control the steering, acceleration, braking, and gear shifting of the vehicle 110x based on driving commands received via the communication bus 132.

[0040] The navigation system 136 has an inertial navigation system and / or a satellite navigation system (e.g., a Global Positioning System receiver). The navigation system 136 is configured to determine the current location (e.g., the current location 112a of the vehicle 110a). The current location can be transmitted to the computer 106 via the transmitter 138 and the network nodes 104a-104c.

[0041] Transmitter 138 is configured to send outgoing signals 139 to network nodes 104a-104c. The data in the outgoing signals 139 are received at transmitter 138 via the communication bus 132. In some embodiments, the outgoing signals 139 may be intended for other vehicles 110a-110e.

[0042] The receiver 140 is configured to receive incoming signals 141 from the network nodes 104a-104n. The data in the incoming signals 141 are transmitted via the communication bus 132 to the electronic control unit 130 and / or the drive system 134. In various embodiments, the input signals 141 can be received from other vehicles 110a-110e. The transmitter 138 and the receiver 140 generally establish a wireless connection between the vehicle 110x and the computer 106.

[0043] Additional circuitry can be installed in the vehicle 110x. For example, the additional circuitry can be configured to assist the driver of the vehicle 110x with regard to speed and / or direction, based on images received from the camera. In some embodiments, the additional circuitry can implement automatic braking functions that react to obstacles appearing in the images in front of the vehicle 110x, thereby slowing down and / or stopping the vehicle 110x. In other embodiments, the additional circuitry can implement steering assistance functions that help keep the vehicle 110x centered in its lane. In still other embodiments, the additional circuitry can implement semi-automatic and / or autonomous driving functions.Other functions such as perception, localization and / or mapping can be implemented in the additional circuitry to meet the design criteria of a specific application.

[0044] In Fig. Figure 3 shows a flowchart of an exemplary procedure 160 for the operation of the system 100 according to one or more embodiments. The procedure 160 generally comprises steps 162 to 194. The sequence of steps is shown as a representative example. Other step sequences can be implemented to meet the criteria of a particular application. The procedure 160 is executed by the system 100.

[0045] In step 162, occupant 90 of vehicle 110a can start vehicle 110a. The starting position 116 / current position 112a of vehicle 110a is determined by the navigation system 136. The end position 118 (or desired position) is entered by occupant 90 in vehicle 110a, or alternatively, the end position 118 is entered by the truck driver in the remote control unit 108 in step 164. In step 166, computer 106 accesses the connectivity map 120. Computer 106 uses the data in the connectivity map 120, the current location 112a of vehicle 110a, and the previously entered end location 118 to determine an initial route.

[0046] In step 168, computer 106 scans and monitors vehicles 110a-110e in the area based on the highest data network throughput. In step 170, computer 106 searches historical data and compares it with the real-time data network throughput. Vehicles 110a-110e with strong connectivity and optimal positioning along lanes 102a-102h are identified in step 172.

[0047] In step 174, the computer gathers feedback from vehicles 110a-110e and reads the historical data to create an optimal route 122 for the current operation. Route 122 generally maintains the data throughput rate at or above the data throughput threshold and the data quality at or above the data quality threshold to ensure reliable removal of control over vehicle 110a. If multiple routes 122 meet the threshold criteria, the route with the highest data throughput can be selected.

[0048] The route 122 created by the computer is transmitted to the remote control unit 108 for display to the (remote) driver in step 176. The computer 106 can modify route 122 while vehicle 110a is driving in step 178 if higher network throughput becomes available for the specific area around vehicle 110a. Furthermore, vehicle 110a can download driving instructions based on the modified route in step 180. While vehicles 110a-110e are on lanes 102a-102h, they can measure and upload their respective data throughput rates and data quality values ​​to computer 106 in step 182, based on their respective geolocations. The network throughput and data quality ensure the takeover of teleoperation in step 184.

[0049] In step 186, vehicle 110a reaches the final location 118 (e.g., the intended destination) and reports its current location 112a to computer 106. In step 188, computer 106 recognizes that vehicle 110a has arrived at the final location 118 and stops sending driving instructions to vehicle 110a. Vehicle 110a then creates a historical report of the trip in step 190 and uploads this report to computer 106 in step 192. Vehicle 110a can be switched off in step 194.

[0050] The dynamic generation of the connectivity map 120 is typically based on real-time sensor data from vehicles 110a-110e and is used for route planning. This real-time sensor data enables predictive adjustments for network mediation to ensure continuous optimal data network throughput and data quality for the remotely controlled vehicle 110a. Furthermore, the route 122 can be dynamically modified in real time while vehicle 110a is in motion. Vehicles 110a-110e also proactively report upload and download data based on their geolocation. Historical information on network throughput and data quality is also stored. Therefore, a level of confidence for a specific time of day and location can be established based on the aggregated data.The dynamic update of the connectivity map 120 for route planning is therefore based on the results of the historical and / or current data network throughput, which clearly determines the performance of the vehicle.

[0051] Implementations of the description generally provide a system for the dynamic remote communication of pilots. The system comprises multiple network nodes, multiple lanes, multiple vehicles, a computer, and a remote control device. The network nodes are spatially distributed along the lanes. Each lane comprises multiple segments. Several adjacent vehicles are located within the segments. The vehicle is configured to be driven along the lanes to an endpoint under the control of the remote control device. The computer communicates with the network nodes and is configured to access and dynamically update a connectivity map. The connectivity map identifies several data throughput rates available between the network nodes and the adjacent vehicles.The computer is further configured to provide the remote control unit with a route to maneuver the vehicle from its current location to its destination. The route maintains communication between the vehicle and the network nodes, with the data connection exceeding a data quality threshold and a data rate threshold. A receiver is installed in the vehicle that receives driving instructions from the remote control unit via the network nodes. A drive system is installed in the vehicle and controls the vehicle according to these driving instructions.

[0052] Numerical values ​​of parameters (e.g., of quantities or conditions) in this specification, including the appended claims, are to be understood as being modified in every case by the term "approximately," regardless of whether "approximately" actually precedes the numerical value or not. "Approximately" means that the stated numerical value permits a slight inaccuracy (with some approximation to the accuracy of the value; approximately or reasonably close to the value; almost). Unless the inaccuracy indicated by "approximately" is otherwise understood in the field, "approximately," as used here, means at least deviations that may arise from ordinary methods of measuring and using such parameters. Furthermore, the description of ranges includes the description of values ​​and further subdivided ranges within the overall range.Each value within a range and the endpoints of a range are disclosed here as separate embodiments.

[0053] While the preferred embodiments for carrying out the description have been described in detail, those who are familiar with the prior art to which this description refers will recognize various alternative designs and embodiments for carrying out the description within the scope of the attached claims.

Claims

[1] A system that has the following features: a plurality of network nodes spatially distributed along a plurality of roadways, wherein: Each of the multiple lanes comprises a multiple segments; and a multiple of adjacent vehicles are located in the multiple segments; a vehicle designed to be driven under the control of a remote control device along the majority of lanes to a destination; and a computer that communicates with the majority of network nodes and is configured to access a connectivity map and is configured to dynamically update the connectivity map, wherein: The connectivity map identifies a plurality of data throughputs available between the plurality of network nodes and the plurality of neighboring vehicles; and the computer is further configured to provide the remote control device with a route to maneuver the vehicle from its current location to its final location; and the route maintains communication between the vehicle and the majority of network nodes with a data connection above a data quality threshold and a data rate threshold; a receiver located in the vehicle, configured to receive driving instructions from the remote control device via the majority of network nodes; and a drive system that is installed in the vehicle and controls the vehicle depending on the driving instructions. [2] The system according to claim 1, which further comprises: a plurality of navigation systems arranged and set up in the plurality of adjacent vehicles to transmit a plurality of current adjacent locations of the plurality of adjacent vehicles to the computer. [3] The system according to claim 2, wherein: the majority of neighboring vehicles are set up to measure the majority of data throughputs with the majority of network nodes at the majority of current neighboring locations; and report the majority of the measured data throughputs to the computer. [4] The system according to claim 3, wherein: The computer is further configured to dynamically update the connectivity map based on the majority of data throughputs reported by the majority of neighboring vehicles. [5] The system according to claim 1, wherein: The route is recommended based on a plurality of historical data throughputs reported by the majority of neighboring vehicles. [6] The system according to claim 1, wherein: the vehicle is further equipped to measure the majority of data throughputs while driving along the route; and Report the majority of data throughputs to the computer as soon as the endpoint is reached. [7] The system according to claim 6, wherein: The computer is further configured to update the connectivity map in response to the majority of data throughputs reported by the vehicle. [8] The system according to claim 1, wherein: The computer is further configured to represent the route based on the age of the majority of data throughputs in one or more segments of the majority of segments that exceed a time threshold, in order to collect fresh data for the one or more segments. [9] The system according to claim 1, wherein: The data quality threshold and the data rate threshold are sufficient to control the vehicle's teleoperation. [10] Having a method for dynamic remote pilot linking: dynamically updating a connectivity map accessible to a computer, wherein: the computer is connected to a plurality of network nodes; the majority of network nodes are spatially distributed along a majority of roadways; Each of the multiple lanes comprises a multiple of segments; a majority of adjacent vehicles are located in the majority of segments; The connectivity map identifies a plurality of data throughputs available between the plurality of network nodes and a plurality of neighboring vehicles; Recommending a route to a vehicle's remote control device to maneuver the vehicle from its current location to a final location, wherein: the vehicle is configured so that, under the control of the remote control device, it is guided to the endpoint along the majority of lanes; and the route maintains communication between the vehicle and the majority of network nodes with a data connection above a data quality threshold and a data rate threshold; Receiving driving instructions from the remote control device via multiple network nodes at a receiver located in the vehicle; and Steering the vehicle in response to driving instructions.

Images