Remote driving system and driving method

Abstract

A remote driving system and driving method, which can improve the real-time performance of remote operation. The remote driving system comprises: a control side (200), used for generating and sending a selection instruction on the basis of a selection operation of an operator; and a cloud side (300), used for selecting a corresponding vehicle side (100) on the basis of the received selection instruction, and generating and sending a corresponding connection instruction, wherein the control side (200) establishes a communication connection with the corresponding vehicle side (100) on the basis of the received connection instruction, the control side (200) is further used for generating and sending a remote control instruction on the basis of a control operation of the operator, and the corresponding vehicle side (100) receives the remote control instruction and performs operation on the basis of the remote control instruction.

Description

A remote driving system and driving method Technical Field

[0001] This invention relates to the field of remote driving, and in particular to a remote driving system and driving method. Background Technology

[0002] In modern industrial sectors, such as steel mills and mines, engineering vehicles are widely used for material handling and other critical operational tasks. With the development of automation and information technology, remote driving systems are gradually becoming a key means of improving operational efficiency and safety. Through remote driving, drivers can operate engineering vehicles in a safe environment, significantly reducing the risk of accidents while improving operational continuity and efficiency.

[0003] However, existing remote driving systems still face numerous challenges in these complex environments. For example, harsh environmental conditions such as high temperatures and dust affect the performance of sensor devices, and communication delays lead to insufficient real-time performance of remote operations, requiring further optimization of system stability and robustness. Therefore, there are areas for improvement. Summary of the Invention

[0004] The purpose of this invention is to provide a remote driving system and driving method that can improve the real-time performance of remote operation.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] This invention provides a remote driving system, comprising:

[0007] At least one vehicle-side component is used to generate and send vehicle authentication instructions after startup;

[0008] At least one control terminal is used to generate and send control authentication commands after startup;

[0009] The cloud-based terminal is connected to the vehicle terminal and the control terminal for receiving and parsing the vehicle authentication command and allowing the corresponding vehicle terminal to log in after successful authentication; and for receiving the control authentication command and allowing the corresponding control terminal to log in after successful authentication.

[0010] The control terminal is also used to generate and send selection instructions based on the operator's selection; the cloud terminal selects the corresponding vehicle terminal based on the received selection instructions, generates and sends the corresponding connection instructions; the control terminal and the corresponding vehicle terminal establish a communication connection based on the received connection instructions.

[0011] The control terminal is also used to generate and send remote control commands based on the operator's control operations, and the corresponding vehicle terminal receives and operates according to the remote control commands.

[0012] In one embodiment of the present invention, the vehicle end includes:

[0013] Vehicle body;

[0014] The environmental sensing module is used to collect information about the surrounding environment in real time.

[0015] The vehicle positioning module is used to obtain vehicle location information in real time.

[0016] The parameter acquisition module is used to acquire the working parameters of the vehicle body in real time.

[0017] The vehicle control module is used to control the vehicle body to work according to the remote control command, and to send the surrounding environment information, the vehicle location information and the working parameters.

[0018] In one embodiment of the present invention, the remote control commands include throttle adjustment commands, vehicle braking commands, vehicle gear shifting commands, vehicle parking commands, vehicle steering commands, and light switching commands; the vehicle body includes:

[0019] A drive-by-wire unit is used to adjust the output power of the engine or motor according to the throttle adjustment command;

[0020] A brake-by-wire unit is used to adjust the braking force according to the vehicle braking command;

[0021] A drive-by-wire gear shift unit is used to switch the vehicle's gears according to the vehicle shift command;

[0022] A drive-by-wire parking unit is used to park or release the vehicle according to the vehicle parking command.

[0023] A steer-by-wire unit is used to adjust the vehicle's steering angle according to the vehicle's steering command;

[0024] The drive-by-wire lighting unit is used to switch or change the vehicle's lights according to the lighting switching command.

[0025] In one embodiment of the present invention, the control terminal includes:

[0026] Remote cockpit; and

[0027] The remote control module is used to generate and send corresponding selection instructions and remote control instructions based on the operator's operation of the remote cockpit, and to receive the surrounding environment information, the vehicle location information and the working parameters;

[0028] The remote cockpit has a display screen for displaying information about the surrounding environment, the vehicle's location, and the operating parameters.

[0029] In one embodiment of the present invention, the control terminal further includes an audible and visual alarm module; the remote control module is used to determine the distance between obstacles in the surrounding environment and the vehicle body.

[0030] When the distance is less than the first threshold, the remote control module generates and sends an audible and visual alarm command;

[0031] When the spacing is within a set range of multiple thresholds, the remote control module generates a corresponding alarm command based on the different threshold ranges; wherein the minimum value of the threshold range is greater than the first threshold.

[0032] The audible and visual alarm module is used to trigger audible and visual alarms based on the audible and visual alarm command, and to trigger alarms of different levels based on other alarm commands.

[0033] The vehicle control module receives and controls the brake-by-wire unit to adjust the braking force to slow down or stop the vehicle body, based on the audible and visual alarm command.

[0034] In one embodiment of the present invention, the operating terminal further includes a communication indicator light;

[0035] The remote control module is used to monitor the communication line between the vehicle and the operator in real time.

[0036] When the communication line is open, normal instructions are generated;

[0037] When the communication line is not working properly, and the duration of the downtime is less than a preset duration, an abnormal command is generated.

[0038] When the communication line is not working properly, and the duration of the downtime is greater than or equal to a preset duration, a warning command is generated.

[0039] The communication indicator light is used to enter a normal state according to the normal command, an abnormal state according to the abnormal command, and a warning state according to the warning command.

[0040] In one embodiment of the present invention, the vehicle control module is used to monitor the communication line between the vehicle and the operating terminal in real time:

[0041] When the communication line is not working properly and the duration of the disruption exceeds a preset duration, the vehicle control module generates a braking command and controls the brake-by-wire unit to adjust the braking force based on the braking command to slow down or stop the vehicle.

[0042] In one embodiment of the present invention, the remote control module is further configured to generate and send a disconnect command based on the operator's operation of the remote cockpit, and the remote control module and / or the vehicle control module disconnect the communication between the control terminal and the vehicle terminal based on the disconnect command.

[0043] In one embodiment of the present invention, the vehicle terminal and the operating terminal communicate using at least one of 4G, 5G, and LoRa.

[0044] The present invention also provides a remote driving method, comprising:

[0045] The system receives vehicle authentication commands from the vehicle terminal and control authentication commands from the control terminal via the cloud.

[0046] The cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle terminal and control terminal to log in after successful authentication;

[0047] The control terminal generates and sends selection commands based on the operator's selection.

[0048] The cloud platform selects the corresponding vehicle terminal based on the received selection instruction, and generates and sends the corresponding connection instruction.

[0049] The control terminal and the corresponding vehicle terminal establish a communication connection based on the received connection command;

[0050] The control terminal generates and sends remote control commands based on the operator's control operations, and the corresponding vehicle terminal receives and operates according to the remote control commands.

[0051] As described above, the present invention provides a remote driving system and driving method. By combining environmental perception technology and point-to-point communication technology, it achieves low-latency and high-precision remote driving. Furthermore, through multi-layered safety assurance and a flexible state switching mechanism, it significantly improves the safety and reliability of the system.

[0052] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 is a schematic diagram of a remote driving system according to an embodiment of the present invention;

[0055] Figure 2 is a flowchart of a remote driving method according to an embodiment of the present invention.

[0056] In the diagram: 100, Vehicle end; 110, Vehicle body; 120, Environmental perception module; 130, Vehicle positioning module; 140, Parameter acquisition module; 150, Vehicle control module; 160, First communication module; 200, Control end; 210, Remote cockpit; 220, Remote control module; 230, Second communication module; 240, Audible and visual alarm module; 250, Communication indicator light; 300, Cloud. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0058] Referring to Figure 1, this invention provides a remote driving system that can be applied to modern industrial fields such as steel and mining to complete on-site operations. The remote driving system may include a vehicle terminal 100, a control terminal 200, and a cloud terminal 300.

[0059] Referring to Figure 1, in one embodiment, the number of vehicle terminals 100 can be at least one. Each vehicle terminal 100 can be an engineering vehicle. Each vehicle terminal 100 may include a vehicle body 110, an environmental perception module 120, a vehicle positioning module 130, a parameter acquisition module 140, a vehicle control module 150, and a first communication module 160.

[0060] In one embodiment, the vehicle body 110 can be a major component of the vehicle, which may include the vehicle body, engine, transmission, suspension system, drive-by-wire unit, brake-by-wire unit, gear-by-wire unit, parking-by-wire unit, steering-by-wire unit, and lighting-by-wire unit. The vehicle control module 150 can control the vehicle body to operate according to remote control commands. These remote control commands may include throttle adjustment commands, vehicle braking commands, vehicle gear shifting commands, vehicle parking commands, vehicle steering commands, and lighting switching commands.

[0061] In one embodiment, the drive-by-wire unit can be used to control the vehicle's start and throttle, adjusting the engine or motor output power by receiving throttle adjustment commands to control the vehicle's acceleration and speed. The brake-by-wire unit can be used to control the vehicle's braking system, adjusting braking force by receiving braking commands to achieve deceleration and stopping. The gear-by-wire unit can be used to control the vehicle's gears, switching gears by receiving gear shift commands, such as shifting from neutral to drive or reverse. The parking-by-wire unit can be used to control the vehicle's parking system, parking and releasing the vehicle by receiving parking commands. The steering-by-wire unit can be used to control the vehicle's steering wheel angle, adjusting the steering angle by receiving steering commands to achieve precise steering. The lighting-by-wire unit can be used to control the vehicle's lights, turning on, off, or adjusting the headlights, taillights, turn signals, etc., by receiving lighting switching commands.

[0062] In one embodiment, the primary task of the environmental perception module 120 is to collect real-time information about the surrounding environment of the vehicle body 110. This surrounding environment information may include surrounding image information and obstacle information. The environmental perception module 120 may include at least one millimeter-wave radar, at least one ultrasonic radar, and at least one high-definition camera. The surrounding image information refers to the visual images of the vehicle's surroundings captured by the high-definition camera. The obstacle information refers to data such as the distance, speed, and position of obstacles around the vehicle detected by the millimeter-wave radar and ultrasonic radar, including both static and dynamic objects. The installation locations and number of the millimeter-wave radar, ultrasonic radar, and high-definition camera can be set according to actual needs.

[0063] In one embodiment, the vehicle positioning module 130 is used to acquire vehicle location information in real time. The vehicle positioning module 130 can be an RTK (Real-Time Kinematic) positioning device. RTK positioning devices can achieve positioning using differential GPS (Global Positioning System) or differential GNSS (Global Navigation Satellite System). RTK positioning devices utilize data differential between base stations and mobile stations to improve positioning accuracy.

[0064] In one embodiment, the parameter acquisition module 140 is used to acquire the vehicle's main operating parameters in real time. These operating parameters may include vehicle speed, acceleration, engine speed, battery status, throttle opening, brake pressure, gear position, steering angle, and the attitude of the working mechanism. Real-time acquisition of these operating parameters helps monitor various indicators of the vehicle during operation, ensuring that the vehicle operates within normal ranges.

[0065] In one embodiment, the vehicle control module 150 is used to control the vehicle body 110 to work according to remote control commands, and to send surrounding environment information, vehicle location information and working parameters.

[0066] In one embodiment, the first communication module 160 can be used to send information about the vehicle's surrounding environment, vehicle location, and operating parameters to the cloud 300. The first communication module 160 can use one or more communication technologies, such as 4G, 5G, and LoRa. For example, the first communication module 160 can flexibly select or combine communication technologies such as 4G, 5G, and LoRa to meet communication needs in different scenarios.

[0067] In one embodiment, the number of control terminals 200 can be at least one. Each control terminal 200 can be a remote operation terminal used to remotely operate the vehicle terminal 100. The control terminal 200 may include a remote cockpit 210, a remote control module 220, a second communication module 230, an audible and visual alarm module 240, a communication indicator light 250, etc.

[0068] In one implementation, the structure of the remote cockpit 210 can be similar to that of the main vehicle body. The operator can control functions such as drive-by-wire, brake-by-wire, gear shifting, parking assist, steering assist, and lighting by operating the remote cockpit 210. Specifically, the remote cockpit 210 may include an accelerator pedal, brake pedal, gear shift lever, parking assist button, steering wheel, and lighting control switches. The operator can control the vehicle's acceleration and speed by adjusting the accelerator pedal. The operator can control the braking force by pressing the brake pedal, achieving deceleration or stopping the vehicle. The operator can control the vehicle's gears, such as drive, reverse, and neutral, by shifting gears. The operator can control the vehicle's parking function by pressing the parking assist button, such as engaging the handbrake or activating the electronic parking brake. The operator can control the vehicle's steering angle by turning the steering wheel, achieving precise steering. The operator can control the on / off state of the vehicle's headlights, taillights, turn signals, and other lights by operating the lighting control switches. The remote cockpit 210 may be equipped with at least one display, which can be used to display information about the surrounding environment, vehicle location, and operating parameters.

[0069] In one embodiment, the remote control module 220 is used to generate corresponding selection instructions and remote control instructions based on the operator's operation of the remote cockpit 210, and to receive surrounding environmental information, vehicle location information, and operating parameters. The remote control instructions may include throttle adjustment instructions, vehicle braking instructions, vehicle gear shifting instructions, vehicle parking instructions, vehicle steering instructions, and light switching instructions, etc.

[0070] In one embodiment, the operator can adjust the throttle opening via the accelerator pedal in the remote cockpit 210. A accelerator pedal position sensor detects the pedal opening. The remote control module 220 generates a corresponding throttle adjustment command based on the sensor-detected opening. For example, if the operator depresses the accelerator pedal, the remote control module 220 detects a pedal opening of 50% and generates the control command "Throttle opening 50%".

[0071] In one embodiment, the operator can control the brakes via the brake pedal in the remote cockpit 210. A pressure sensor on the brake pedal detects the pressure on the pedal. The remote control module 220 generates a corresponding vehicle braking command based on the pressure detected by the sensor. For example, if the operator presses the brake pedal and the remote control module 220 detects a pressure of 60%, it generates a control command "Brake force 60%".

[0072] In one embodiment, an operator can change gears via a gear lever in a remote cockpit 210. A position sensor detects the position of the gear lever. The remote control module 220 generates corresponding vehicle shift commands based on the position detected by the sensor. For example, when the operator shifts the gear lever to the reverse position, the remote control module 220 generates a control command "Shift to reverse" and can send it via the second communication module 230.

[0073] In one embodiment, the operator can park the vehicle using the parking button on the remote cockpit 210. A status sensor detects the button's pressed state. The remote control module 220 generates a corresponding vehicle parking command based on the sensor's detected state. For example, when the operator presses the parking button, the remote control module 220 generates the control command "Initiate parking".

[0074] In one embodiment, the operator can steer via the steering wheel of the remote cockpit 210. An angle sensor on the steering wheel detects the steering wheel angle. The remote control module 220 generates corresponding vehicle steering commands based on the angle detected by the sensor. For example, if the operator turns the steering wheel to the left, the remote control module 220 detects a steering wheel angle of 30 degrees and generates the control command "Turn left 30 degrees".

[0075] In one embodiment, an operator can control the vehicle's lights via a light switch in the remote cockpit 210. A status sensor for the light switch detects the pressed state of the switch. The remote control module 220 generates a corresponding light switching command based on the status detected by the sensor. For example, if the operator presses the headlight switch, the remote control module 220 generates the control command "Turn on headlights".

[0076] In one embodiment, the second communication module 230 can be used to send authentication requests. The second communication module 230 can use one or more communication technologies, such as 4G, 5G, LoRa, or several others. For example, the second communication module 230 can flexibly select or combine communication technologies such as 4G, 5G, and LoRa to meet communication needs in different scenarios.

[0077] In one embodiment, when the vehicle is started, the system of vehicle terminal 100 automatically runs. Vehicle control module 150 can automatically send a vehicle authentication command to cloud 300 via first communication module 160. The vehicle authentication command may include the identity information of vehicle terminal 100 (such as vehicle ID, key, etc.). When the operator starts remote cockpit 210, the system of control terminal 200 automatically runs. Remote control module 220 can automatically send a control authentication command to cloud 300 via second communication module 230. The control authentication command may include an authentication request for the identity information of control terminal 200 (such as operator ID, key, etc.) to cloud 300. Cloud 300 can receive the vehicle authentication command from vehicle terminal 100, parse the identity information and key in the request, and verify the legitimacy of vehicle terminal 100 based on the parsed vehicle ID and key. Cloud 300 can also receive the control authentication command from control terminal 200, parse the identity information and key in the request, and verify the legitimacy of control terminal 200 based on the parsed operator ID and key. After verifying the identities of vehicle terminal 100 and control terminal 200, cloud terminal 300 allows control terminal 200 and vehicle terminal 100 to log in.

[0078] In one embodiment, the control terminal 200 can communicate with the cloud terminal 300 via the second communication module 230 to generate and send selection commands. The cloud terminal 300 can select the corresponding vehicle terminal 100 based on the received selection commands and generate corresponding connection commands. The control terminal 200 can establish a communication connection with the corresponding vehicle terminal 100 based on the connection commands.

[0079] In one embodiment, specifically, the operator can select the vehicle terminal 100 they wish to control on the UI interface of the display screen. The display screen provides a user interface listing the selectable vehicle terminals 100. Based on the operator's selection, the remote control module 220 generates a selection instruction containing information about the selected vehicle terminal 100. After receiving the selection instruction from the second communication module 230, the cloud 300 can select the corresponding vehicle terminal 100 based on the vehicle information in the selection instruction and generate a connection instruction containing detailed information about the vehicle terminal 100 (such as IP address, port number, etc.) and authentication information (such as key, authentication code, etc.). After receiving the connection instruction through the second communication module 230, the remote control module 220 can parse the vehicle terminal 100 information and authentication information therein. After receiving the connection instruction through the first communication module 160, the vehicle control module 150 prepares to establish a communication connection with the control terminal 200.

[0080] In one embodiment, the control terminal 200 can establish a communication connection with the vehicle terminal 100 according to a connection command, using peer-to-peer (P2P) communication technology, with direct connection between nodes. Once the communication connection is established, the control terminal 200 and the vehicle terminal 100 can communicate instantly, including sending remote control commands and receiving information about the surrounding environment. Real-time monitoring images captured by the camera and other sensors on the vehicle terminal 100 can be directly transmitted to the remote control module 220 without going through the transcoding and relay of the cloud 300, effectively reducing network latency in image transmission.

[0081] In one embodiment, for example, an operator controls an unmanned engineering vehicle labeled "12345". The operator can select the vehicle labeled "12345" for connection on the UI interface of the display screen. The display screen can be used to display information about the vehicle "12345", such as the vehicle's surrounding environment, location, status, etc. The remote control module 220 can generate a selection command based on the selection, which may include: "Start vehicle 12345". The second communication module 230 can send the selection command to the cloud 300 via the network. After receiving the selection command, the cloud 300 can query the database to find the relevant information of the vehicle terminal 100 labeled "12345" (such as IP address, port number, etc.) and generate a connection command, which may include: "The IP address of vehicle 12345 is 192.168.1.100, the port number is 8080, and the authentication code is ABCD1234". The cloud 300 can send the connection command back to the second communication module 230. The remote control module 220 receives the connection command through the second communication module 230 and parses the IP address, port number, and authentication code of vehicle 12345. The first communication module 160 of vehicle 12345 is ready to receive connection requests. The control terminal 200 can use P2P technology to directly connect to the vehicle terminal 100 of vehicle 12345 with IP address 192.168.1.100 and port number 8080, and authenticate via the authentication code. The operator can generate remote control commands through the input devices of the remote cockpit 210 (such as the accelerator pedal, brake pedal, steering wheel, etc.), and the remote control commands can be directly transmitted to vehicle 12345. The real-time monitoring images collected by the cameras and sensors of vehicle 12345 are directly transmitted to the control terminal 200 and displayed on the UI interface of the screen, ensuring that the operator can see the real-time images and make accurate and timely operational decisions.

[0082] In one embodiment, point-to-point communication technology enables direct communication between the vehicle terminal 100 and the control terminal 200, bypassing the transcoding and relay of the cloud terminal 300. This effectively reduces network latency in image transmission and improves real-time performance. The connection command includes authentication information, ensuring a secure connection between the control terminal 200 and the vehicle terminal 100 and preventing unauthorized operation. The cloud terminal 300 can manage and coordinate multiple vehicle terminals 100, ensuring that each control terminal 200 establishes a connection with the correct vehicle terminal 100, improving system flexibility and management efficiency. Furthermore, a single vehicle terminal 100 can only be controlled by one control terminal 200 at a time.

[0083] In one embodiment, when the vehicle is started, the system of vehicle terminal 100 automatically runs. Vehicle control module 150 can automatically initiate an authentication request to cloud 300 via first communication module 160. The authentication request may include the identity information of vehicle terminal 100 (such as vehicle ID, key, etc.). When the operator starts remote cockpit 210, the system of control terminal 200 automatically runs. Remote control module 220 can automatically initiate an authentication request to cloud 300 via second communication module 230. The authentication request may include the identity information of control terminal 200 (such as operator ID, key, etc.) sent to cloud 300. Cloud 300 can receive login authentication requests from vehicle terminal 100, parse the identity information and key in the request, and verify the legitimacy of vehicle terminal 100 based on the parsed vehicle ID and key. Cloud 300 can also receive authentication requests from control terminal 200, parse the identity information and key in the request, and verify the legitimacy of control terminal 200 based on the parsed operator ID and key. After verifying the identities of vehicle terminal 100 and control terminal 200, cloud terminal 300 allows control terminal 200 and vehicle terminal 100 to log in.

[0084] In one embodiment, the remote control module 220 can be used to determine the distance between obstacles in the surrounding environment and the vehicle body: when the distance is less than a first threshold, the remote control module 220 generates an audible and visual alarm command; when the distance is within a set range of multiple thresholds, the remote control module 220 generates corresponding alarm commands according to different threshold ranges; wherein, the minimum value of the threshold range is greater than the first threshold, and the values ​​included in different threshold ranges are different; the audible and visual alarm module 240 is used to perform audible and visual alarms according to the audible and visual alarm commands, and to perform alarms of different levels according to other alarm commands.

[0085] In one embodiment, the multiple threshold ranges can be specifically divided into a range of 3-5m and a range of 1.5-3m, with the first threshold being 1.5m. When the spacing is within the 3-5m range, a Level 1 warning command can be generated. When the spacing is within the 1.5-3m range, a Level 2 warning command can be generated. When the spacing is less than 1.5m, a Level 3 warning command can be generated. The audible and visual alarm module 240 can issue a Level 1 warning based on the Level 1 warning command. A Level 1 warning can be represented by the audible and visual alarm module 240 issuing a green alert signal, prompting the operator to pay attention to the obstacle, but without requiring immediate action. The audible and visual alarm module 240 can issue a Level 2 warning based on the Level 2 warning command. A Level 2 warning can be represented by the audible and visual alarm module 240 issuing a yellow alert signal. Simultaneously, the remote control module 220 generates a vehicle braking command and sends it to the vehicle control module 150. The vehicle control module 150 can then brake the vehicle and reduce its speed based on the vehicle braking command. The audible and visual alarm module 240 can issue three levels of warnings based on a three-level warning command. A level three warning can be indicated by the audible and visual alarm module 240 issuing a red alert signal and emitting an audible alarm, prompting the operator to take immediate emergency measures or automatically stop the system. By setting multiple warning levels, the severity of the alarm is gradually increased, giving the operator sufficient time and information to react, thus improving the system's safety.

[0086] In one embodiment, the remote control module 220 is also used to send audible and visual alarm commands. The vehicle control module 150 can receive and, based on the audible and visual alarm commands, perform braking operations on the vehicle body 110. At this time, it can control the brake-by-wire unit to adjust the braking force to decelerate or stop the vehicle body 110. For example, the braking force can be adjusted to the maximum until the vehicle body 110 completes braking. Through the cooperation of the remote control module 220 and the vehicle control module 150, the audible and visual alarm commands can be quickly sent from the control terminal 200 to the vehicle terminal 100, ensuring the system's immediate response capability. Based on the received audible and visual alarm commands, the vehicle control module 150 can automatically execute braking operations, improving the system's active safety and reducing the risks associated with operator reaction time.

[0087] In one embodiment, the remote control module 220 can be used to monitor the communication line between the vehicle terminal 100 and the control terminal 200 in real time: when the communication line is unobstructed, it can generate and send normal commands; when the communication line is obstructed and the obstruction duration is less than a preset duration, it can generate and send abnormal commands; when the communication line is obstructed and the obstruction duration is greater than or equal to a preset duration, it can generate and send warning commands. The communication indicator light 250 can enter a normal state based on a normal command, an abnormal state based on an abnormal command, and a warning state based on a warning command. The normal state indicates normal communication, at which time the communication indicator light 250 emits a green light. The abnormal state indicates communication failure, which may pose a risk, at which time the communication indicator light 250 emits a yellow or red light. The warning state indicates communication failure, which poses a risk, at which time the communication indicator light 250 emits a flashing red light.

[0088] In one embodiment, the vehicle control module 150 can be used to monitor the communication line between the vehicle terminal 100 and the control terminal 200 in real time. When the communication line is blocked and the duration of the blockage exceeds a preset duration, the vehicle control module 150 generates a braking command and controls the braking unit to adjust the braking force based on the braking command to decelerate or stop the vehicle body 110. For example, the braking force can be adjusted to the maximum to make the vehicle body 110 perform a braking operation; otherwise, the vehicle control module 150 enters a waiting state or an operating state.

[0089] In one embodiment, the preset duration specifically refers to a pre-set time threshold used to determine whether a communication line problem is severe enough to require safety measures. For example, the preset duration could be 1 second. When the vehicle control module 150 detects a communication line disruption between the vehicle terminal 100 and the control terminal 200, such as high latency or packet loss exceeding a certain threshold, the vehicle control module 150 can further detect that the disruption duration exceeds the preset duration, confirming the severity of the communication problem. After the disruption duration exceeds the preset duration, the vehicle control module 150 can generate a braking command to ensure that the vehicle can stop in time when remote control is lost, avoiding danger. By monitoring the communication line status in real time, the vehicle control module 150 can promptly detect communication problems and take emergency braking measures when necessary, avoiding safety accidents caused by communication interruptions. The preset value of the communication line disruption duration ensures that the system will not mistakenly trigger braking operations due to brief communication problems, improving the reliability and stability of the system.

[0090] In one embodiment, the remote control module 220 is further configured to generate and send a disconnect command based on the operator's operation of the remote cockpit 210, and the remote control module 220 and / or the vehicle control module 150 disconnect the communication between the control terminal 200 and the vehicle terminal 100 based on the disconnect command.

[0091] In one embodiment, specifically, after completing a remote driving task, the operator can disconnect via the remote cockpit 210, for example, by pressing the disconnect button to end the remote driving task. Upon detecting the operator's disconnection operation, the remote control module 220 generates a disconnection command. The remote control module 220 can then send the generated disconnection command to the vehicle terminal 100 via the network. Specifically, the remote control module 220 can disconnect the communication between the control terminal 200 and the vehicle terminal 100 based on the disconnection command; the vehicle control module 150 can also disconnect the communication between the control terminal 200 and the vehicle terminal 100 based on the disconnection command. Disconnecting communication promptly after task completion prevents unnecessary remote control signal interference and improves system security.

[0092] As can be seen, the above solution achieves low-latency, high-precision remote driving through the combination of environmental perception technology and point-to-point communication technology. Furthermore, it significantly improves system safety and reliability through multi-layered safety safeguards and flexible state switching mechanisms. Specifically, by acquiring and processing environmental information around the vehicle in real time, such as obstacle distances and road conditions, the remote driving system can react quickly and accurately. Point-to-point communication technology reduces intermediate data transmission links, improves real-time communication, and allows control commands to be rapidly transmitted from the operator to the vehicle with extremely low latency. In complex environments, the system response time is significantly shortened, improving operator control and driving safety. When the communication line is interrupted for more than a preset duration, the vehicle control module automatically generates and executes braking commands to ensure the vehicle stops in time to avoid potential dangers. Through multi-layered safety safeguards, the safety of remote driving is significantly improved, reducing the risk of accidents. These technical effects make this invention particularly suitable for remote driving applications in complex environments such as mining areas and steel mills.

[0093] Referring to Figure 2, the present invention also provides a remote driving method. This remote driving method can be applied to the aforementioned remote driving system and may include the following steps:

[0094] Step S10: Receive vehicle authentication instructions from the vehicle terminal and control authentication instructions from the control terminal via the cloud.

[0095] Step S20: The cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle terminal and control terminal to log in after the authentication is successful;

[0096] Step S30: The control terminal generates and sends a selection command based on the operator's selection.

[0097] Step S40: The cloud selects the corresponding vehicle terminal based on the received selection instruction, generates and sends the corresponding connection instruction;

[0098] Step S50: The control terminal and the corresponding vehicle terminal establish a communication connection based on the received connection command;

[0099] Step S60: The control terminal generates and sends remote control commands based on the operator's control operations, and the corresponding vehicle terminal receives and operates according to the remote control commands.

[0100] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A remote driving system, characterized in that, include: At least one vehicle-side component is used to generate and send vehicle authentication instructions after startup; At least one control terminal is used to generate and send control authentication commands after startup; The cloud-based terminal is connected to the vehicle terminal and the control terminal for receiving and parsing the vehicle authentication command and allowing the corresponding vehicle terminal to log in after successful authentication; and for receiving the control authentication command and allowing the corresponding control terminal to log in after successful authentication. The control terminal is also used to generate and send selection instructions based on the operator's selection; the cloud terminal selects the corresponding vehicle terminal based on the received selection instructions, generates and sends the corresponding connection instructions; the control terminal and the corresponding vehicle terminal establish a communication connection based on the received connection instructions. The control terminal is also used to generate and send remote control commands based on the operator's control operations, and the corresponding vehicle terminal receives and operates according to the remote control commands.

2. The remote driving system according to claim 1, characterized in that, The vehicle end includes: Vehicle body; The environmental sensing module is used to collect information about the surrounding environment in real time. The vehicle positioning module is used to obtain vehicle location information in real time. The parameter acquisition module is used to acquire the working parameters of the vehicle body in real time. The vehicle control module is used to control the vehicle body to work according to the remote control command, and to send the surrounding environment information, the vehicle location information and the working parameters.

3. The remote driving system according to claim 2, characterized in that, The remote control commands include throttle adjustment commands, vehicle braking commands, vehicle gear shifting commands, vehicle parking commands, vehicle steering commands, and light switching commands; the vehicle body includes: A drive-by-wire unit is used to adjust the output power of the engine or motor according to the throttle adjustment command; A brake-by-wire unit is used to adjust the braking force according to the vehicle braking command; A drive-by-wire gear shift unit is used to switch the vehicle's gears according to the vehicle shift command; A drive-by-wire parking unit is used to park or release the vehicle according to the vehicle parking command. A steer-by-wire unit is used to adjust the vehicle's steering angle according to the vehicle's steering command; The drive-by-wire lighting unit is used to switch or change the vehicle's lights according to the lighting switching command.

4. The remote driving system according to claim 3, characterized in that, The control terminal includes: A remote cockpit; and a remote control module, used to generate and send corresponding selection instructions and remote control instructions based on the operator's operation of the remote cockpit, and to receive the surrounding environment information, the vehicle location information and the operating parameters; The remote cockpit has a display screen for displaying information about the surrounding environment, the vehicle's location, and the operating parameters.

5. The remote driving system according to claim 4, characterized in that, The control terminal also includes an audible and visual alarm module; the remote control module is used to determine the distance between obstacles in the surrounding environment and the vehicle body. When the distance is less than the first threshold, the remote control module generates and sends an audible and visual alarm command; When the spacing is within a set range of multiple thresholds, the remote control module generates a corresponding alarm command based on the different threshold ranges; wherein the minimum value of the threshold range is greater than the first threshold. The audible and visual alarm module is used to trigger audible and visual alarms based on the audible and visual alarm command, and to trigger alarms of different levels based on other alarm commands. The vehicle control module receives and controls the brake-by-wire unit to adjust the braking force to slow down or stop the vehicle body, based on the audible and visual alarm command.

6. The remote driving system according to claim 4, characterized in that, The operating terminal also includes a communication indicator light; The remote control module is used to monitor the communication line between the vehicle and the operator in real time. When the communication line is open, normal instructions are generated; When the communication line is not working properly, and the duration of the downtime is less than a preset duration, an abnormal command is generated. When the communication line is not working properly, and the duration of the downtime is greater than or equal to a preset duration, a warning command is generated. The communication indicator light is used to enter a normal state according to the normal command, an abnormal state according to the abnormal command, and a warning state according to the warning command.

7. The remote driving system according to claim 6, characterized in that, The vehicle control module is used to monitor the communication line between the vehicle and the operator in real time. When the communication line is not working properly and the duration of the disruption exceeds a preset duration, the vehicle control module generates a braking command and controls the brake-by-wire unit to adjust the braking force based on the braking command to slow down or stop the vehicle.

8. The remote driving system according to claim 6, characterized in that, The remote control module is also used to generate and send a disconnect command based on the operator's operation of the remote cockpit, and the remote control module and / or the vehicle control module disconnect the communication between the control terminal and the vehicle terminal based on the disconnect command.

9. The remote driving system according to claim 6, characterized in that, The vehicle terminal and the operating terminal communicate using at least one of 4G, 5G, and LoRa.

10. A remote driving method, characterized in that, include: The system receives vehicle authentication commands from the vehicle terminal and control authentication commands from the control terminal via the cloud. The cloud parses the vehicle authentication command and the control authentication command, and allows the corresponding vehicle terminal and control terminal to log in after successful authentication; The control terminal generates and sends selection commands based on the operator's selection. The cloud platform selects the corresponding vehicle terminal based on the received selection instruction, and generates and sends the corresponding connection instruction. The control terminal and the corresponding vehicle terminal establish a communication connection based on the received connection command; The control terminal generates and sends remote control commands based on the operator's control operations, and the corresponding vehicle terminal receives and operates according to the remote control commands.

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