CN107463171A - Long-range control method, system, service platform, the car-mounted terminal of automatic driving vehicle - Google Patents
Long-range control method, system, service platform, the car-mounted terminal of automatic driving vehicle Download PDFInfo
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- CN107463171A CN107463171A CN201710443055.3A CN201710443055A CN107463171A CN 107463171 A CN107463171 A CN 107463171A CN 201710443055 A CN201710443055 A CN 201710443055A CN 107463171 A CN107463171 A CN 107463171A
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- 238000009499 grossing Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004886 process control Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 6
- 238000009966 trimming Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of long-range control method and system, service platform, car-mounted terminal of automatic driving vehicle, including receives the remote control notification of automatic driving vehicle；The vehicle's surroundings image of the automatic driving vehicle is obtained from cloud server；According to the remote control notification and the vehicle's surroundings image, the control instruction for automatic driving vehicle described in remote control is generated；The control instruction is sent to the automatic driving vehicle to realize the remote control to the automatic driving vehicle.The long-range control method and system, service platform, car-mounted terminal of the automatic driving vehicle of the present invention can be based on the vehicle's surroundings images looked around camera and gathered being arranged on automatic driving vehicle, remote control automatic driving vehicle, and do not limited by time and geographical position.
Description
Technical field
The present invention relates to the technical field of remote control, more particularly to a kind of long-range control method of automatic driving vehicle
And system, service platform, car-mounted terminal.
Background technology
Since the 1970s, the developed country such as the U.S., Britain, Germany proceeds by grinding for automatic driving vehicle
Study carefully, breakthrough progress is all achieved in feasibility and practical aspect.China proceeds by nobody from the 1980s and driven
The research of vehicle is sailed, and Chinese first automatic driving vehicle truly was successfully developed in 1992.
Automatic driving vehicle is to perceive road environment by vehicle-mounted sensor-based system, and according to the obtained road of perception, car
Position and obstacle information, automatic planning travelling line and steering and the speed for controlling vehicle, and eventually arrive at predeterminated target
Intelligent automobile.
In the automatic parking scene of automatic driving vehicle, car owner sends control instruction to automatic driving vehicle, and nobody drives
Sail vehicle then automatic running to pre-position.With the rapid development of mobile communication, smart mobile phone has been deep into people's life
Every aspect living.Because smart mobile phone itself has positioning and radio communication function, therefore in the prior art, generally by with nothing
The smart mobile phone that people drives vehicle association sends control instruction to automatic driving vehicle.However, the above method only can be in short distance
It is controlled to automatic driving vehicle, the real-time control demand of automatic driving vehicle can not be met.
The content of the invention
In view of the above the shortcomings that prior art, it is an object of the invention to provide a kind of the long-range of automatic driving vehicle
Control method and system, service platform, car-mounted terminal, it can be adopted based on the camera of looking around being arranged on automatic driving vehicle
The vehicle's surroundings image of collection, remote control automatic driving vehicle, and do not limited by time and geographical position.
In order to achieve the above objects and other related objects, the present invention provides a kind of remote control method of automatic driving vehicle
Method, comprise the following steps：The image looked around acquired in camera being arranged on automatic driving vehicle is pre-processed, obtained
Vehicle's surroundings image；The vehicle's surroundings image is sent to cloud server, to make service platform according to received remote
The vehicle's surroundings image that process control is asked and obtained from the cloud server sends control instruction to described unmanned
Vehicle；Receive the control instruction that the service platform is sent, with according to the control instruction realize to it is described nobody drive
Sail the remote control of vehicle.
In one embodiment of the invention, the pretreatment includes denoising, demarcation correction, cutting and video smoothing processing.
In one embodiment of the invention, in addition to：Remote control notification is sent to the service platform, to make the service
Platform obtains the vehicle's surroundings image and according to the remote control notification and the vehicle's surroundings from the cloud server
Image sends control instruction to the automatic driving vehicle.
Correspondingly, the present invention also provides a kind of car-mounted terminal, applied to automatic driving vehicle, including looks around camera, micro-
Processing module, sending module and receiving module；
The camera of looking around is arranged on the automatic driving vehicle, for obtaining vehicle-surroundings image；
The micro treatment module is used to pre-process the vehicle-surroundings image looked around acquired in camera,
Obtain vehicle's surroundings image；
The sending module is used to send the vehicle's surroundings image to cloud server, to make service platform according to institute
The remote control notification received and the vehicle's surroundings image obtained from the cloud server send control instruction to institute
State automatic driving vehicle；
The receiving module is used to receive the control instruction that the service platform is sent, to be referred to according to the control
The remote control to the automatic driving vehicle is realized in order.
In one embodiment of the invention, the pretreatment includes denoising, demarcation correction, cutting and video smoothing processing.
In one embodiment of the invention, the sending module is additionally operable to send remote control notification to the service platform,
With make the service platform from the cloud server obtain the vehicle's surroundings image and according to the remote control notification and
The vehicle's surroundings image sends control instruction to the automatic driving vehicle.
Meanwhile the present invention also provides a kind of long-range control method of automatic driving vehicle, comprises the following steps：
Receive the remote control notification of automatic driving vehicle；
The vehicle's surroundings image of the automatic driving vehicle is obtained from cloud server；
According to the remote control notification and the vehicle's surroundings image, generate for automatic driving car described in remote control
Control instruction；
The control instruction is sent to the automatic driving vehicle to realize the remote control to the automatic driving vehicle.
In one embodiment of the invention, the remote control notification is sent out in situations where by the automatic driving vehicle
Go out：
Generation contingency；
It is slack that the front vehicles of the automatic driving vehicle exceed preset duration；
Fixed parking stall is occupied.
Correspondingly, the present invention also provides a kind of tele-control system of automatic driving vehicle, including receiving module, acquisition mould
Block, directive generation module and sending module；
The receiving module is used for the remote control notification for receiving automatic driving vehicle；
The acquisition module is used to be obtained from cloud server according to the remote control notification and the remote control notification
Take the vehicle's surroundings image of the automatic driving vehicle；
The directive generation module is used for according to the vehicle's surroundings image, generates for unmanned described in remote control
The control instruction of vehicle；
The sending module be used for send the control instruction to the automatic driving vehicle with realize to it is described nobody drive
Sail the remote control of vehicle.
In one embodiment of the invention, the remote control notification is sent out in situations where by the automatic driving vehicle
Go out：
Generation contingency；
It is slack that the front vehicles of the automatic driving vehicle exceed preset duration；
Fixed parking stall is occupied.
In addition, the present invention also provides a kind of service platform, include the remote control system of any of the above-described automatic driving vehicle
System.
Finally, the present invention also provides a kind of tele-control system of automatic driving vehicle, including any of the above-described described car
Mounted terminal, cloud server and above-mentioned service platform；
The cloud server is used to receiving and storing the vehicle's surroundings image that the car-mounted terminal is sent；And according to
Remote control notification that the service platform receives send corresponding to vehicle's surroundings image to the service platform.
As described above, the long-range control method and system, service platform, car-mounted terminal of the automatic driving vehicle of the present invention,
Have the advantages that：
(1) based on the vehicle's surroundings image looked around camera and gathered being arranged on automatic driving vehicle, remote control
The automatic parking of automatic driving vehicle；
(2) do not limited by time and geographical position, flexibility is good；
(3) Consumer's Experience is greatly improved.
Brief description of the drawings
Fig. 1 is shown as flow chart of the long-range control method of the automatic driving vehicle of the present invention in an embodiment；
Fig. 2 is shown as structural representation of the car-mounted terminal of the present invention in an embodiment；
Fig. 3 is shown as flow chart of the long-range control method of the automatic driving vehicle of the present invention in another embodiment；
Fig. 4 is shown as structural representation of the tele-control system of the automatic driving vehicle of the present invention in another embodiment
Figure；
Fig. 5 is shown as structural representation of the service platform of the present invention in an embodiment；
Fig. 6 is shown as structural representation of the tele-control system of the automatic driving vehicle of the present invention in another embodiment
Figure.
Component label instructions
1 car-mounted terminal
11 look around camera
12 micro treatment modules
13 sending modules
14 receiving modules
21 receiving modules
22 acquisition modules
23 directive generation modules
24 sending modules
2 service platforms
3 cloud servers
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, only show the component relevant with the present invention in schema then rather than according to component count, shape and the size during actual implement
Draw, kenel, quantity and the ratio of each component can be a kind of random change during its actual implementation, and its assembly layout kenel
It is likely more complexity.
The present invention automatic driving vehicle long-range control method and system, service platform, car-mounted terminal break through and
The limitation in geographical position, based on the vehicle's surroundings image looked around camera and gathered being arranged on automatic driving vehicle, in real time
The automatic parking of remote control automatic driving vehicle.
As shown in figure 1, in an embodiment, the long-range control method of automatic driving vehicle of the invention includes following step
Suddenly：
Step S11, the image looked around acquired in camera being arranged on automatic driving vehicle is pre-processed, obtained
Vehicle's surroundings image.
Look around camera comprise at least be arranged on headstock, the tailstock, four cameras of the left and right sides (under the rearview mirror of left and right).
By handling the vehicle-surroundings image acquired in four cameras, the panoramic picture of 360 ° of vehicle's surroundings can be obtained.
Specifically, the pretreatment includes denoising, demarcation correction, cutting and video smoothing processing.
Due to being referred to as containing with influence, the images that camera directly obtains such as external environmental noise interference in itself by camera
Image or noise image make an uproar, it is necessary to carry out denoising.Normally, denoising can use mean filter, adaptive dimension
Receiving wave filter, median filter or morphology scratch filter is filtered denoising, wavelet analysis can also be used to carry out denoising.
To looking around before the image acquired in camera is applied, it is necessary to establish between image coordinate and physical coordinates
Corresponding relation.The process of establishing of the corresponding relation is demarcation trimming process.
Cutting refers to according to preset standard to image is carried out into trimming operation, to obtain image after the cutting for meeting to require.
For example, for the image being arranged on acquired in the camera of headstock and the left and right sides, crop and partially overlap according to preset standard
Image.For another example for the image being arranged on acquired in the camera of the tailstock and the left and right sides, cropped according to preset standard
The image to partially overlap, so as to provide required vehicle-surroundings image for follow-up image procossing.
Video smoothing is handled for reducing the jitter phenomenon between consecutive image, so as to be to realize follow-up automatic driving car
Remote control provide basis.
Step S12, the vehicle's surroundings image is sent to cloud server, to make service platform according to received
Remote control notification and from the cloud server obtain the vehicle's surroundings image send control instruction to it is described nobody drive
Sail vehicle.
Preferably, the vehicle's surroundings image is sent to cloud server by way of radio communication.Specifically, lead to
WiFi, 3G or 4G network is crossed to send the vehicle's surroundings image to cloud server.
Step S13, the control instruction that the service platform is sent is received, with according to control instruction realization pair
The remote control of the automatic driving vehicle.
Preferably, the control instruction that the service platform is sent is received by way of radio communication.Specifically,
The control instruction sent by WiFi, 3G or 4G network reception service platform.Wherein, the control instruction is used for
To the parking of the automatic driving vehicle, each side such as travel and be controlled.
Preferably, in addition to：Remote control notification is sent to the service platform, to make the service platform from the cloud
Hold server to obtain the vehicle's surroundings image and control is sent according to the remote control notification and the vehicle's surroundings image
Instruct to the automatic driving vehicle.
It should be noted that the remote control notification in the present invention can be sent by automatic driving vehicle, can also be by car
Master is sent by equipment such as mobile terminals actively to check vehicle-state.Generally, the automatic driving vehicle is in following urgent feelings
Remote control notification is sent under shape：
(a) contingency occurs；
(b) it is slack to exceed preset duration for the front vehicles of the automatic driving vehicle；
(c) fixed parking stall is occupied.
As shown in Fig. 2 in an embodiment, car-mounted terminal 1 of the invention is applied to automatic driving vehicle, including is arranged on
Camera 11, micro treatment module 12, sending module 13 and receiving module 14 are looked around on automatic driving vehicle.
Camera 11 is looked around to be used to obtain vehicle-surroundings image.
Specifically, look around camera 11 comprise at least be arranged on headstock, the tailstock, the four of the left and right sides (under the rearview mirror of left and right)
Individual camera.By handling looking around the vehicle-surroundings image acquired in camera, vehicle's surroundings image can be obtained.
Micro treatment module 12 is connected with looking around camera 11, for entering to looking around the vehicle-surroundings image acquired in camera
Row pretreatment, obtains vehicle's surroundings image.
Specifically, the pretreatment includes denoising, demarcation correction, cutting and video smoothing processing.
Due to being referred to as containing with influence, the images that camera directly obtains such as external environmental noise interference in itself by camera
Image or noise image make an uproar, it is necessary to carry out denoising.Normally, denoising can use mean filter, adaptive dimension
Receiving wave filter, median filter or morphology scratch filter is filtered denoising, wavelet analysis can also be used to carry out denoising.
To looking around before the image acquired in camera is applied, it is necessary to establish between image coordinate and physical coordinates
Corresponding relation.The process of establishing of the corresponding relation is demarcation trimming process.
Cutting refers to according to preset standard to image is carried out into trimming operation, to obtain image after the cutting for meeting to require.
For example, for the image being arranged on acquired in the camera of headstock and the left and right sides, crop and partially overlap according to preset standard
Image.For another example for the image being arranged on acquired in the camera of the tailstock and the left and right sides, cropped according to preset standard
The image to partially overlap, so as to provide required vehicle-surroundings image for follow-up image procossing.
Video smoothing is handled for reducing the jitter phenomenon between consecutive image, so as to be to realize follow-up automatic driving car
Remote control provide basis.
Sending module 13 is connected with micro treatment module 12, for the vehicle's surroundings image to be sent to cloud server,
To make service platform according to received remote control notification and the vehicle's surroundings figure obtained from the cloud server
As sending control instruction to the automatic driving vehicle.
Preferably, sending module 13 includes one or more combinations in WiFi module, 3G module, 4G modules.
Receiving module 14 is used to receive the control instruction that the service platform is sent, with according to the control instruction
Realize the remote control to the automatic driving vehicle.
Preferably, receiving module 14 includes one or more combinations in WiFi module, 3G module, 4G modules.Wherein, institute
Control instruction is stated to be used for the parking of the automatic driving vehicle, each side such as travel and be controlled.
Preferably, the sending module 13 is additionally operable to：Remote control notification is sent to the service platform, to make the clothes
Platform be engaged in from the cloud server acquisition vehicle's surroundings image and according to the remote control notification and the vehicle four
All images send control instruction to the automatic driving vehicle.
It should be noted that the remote control notification in the present invention can be sent by automatic driving vehicle, can also be by car
Master is sent by equipment such as mobile terminals actively to check vehicle-state.Generally, the automatic driving vehicle is in following urgent feelings
Remote control notification is sent under shape：
(a) contingency occurs；
(b) it is slack to exceed preset duration for the front vehicles of the automatic driving vehicle；
(c) fixed parking stall is occupied.
As shown in figure 3, in an embodiment, the long-range control method of automatic driving vehicle of the invention includes following step
Suddenly：
Step S21, the remote control notification of automatic driving vehicle is received.
Preferably, the remote control notification of automatic driving vehicle is received by way of radio communication.Specifically, pass through
WiFi, 3G or 4G network receive the remote control notification of automatic driving vehicle.
Step S22, the vehicle's surroundings image of the automatic driving vehicle is obtained from cloud server.
Preferably, the vehicle's surroundings figure of the automatic driving vehicle is obtained from cloud server by way of radio communication
Picture.Specifically, the vehicle's surroundings image of the automatic driving vehicle is obtained from cloud server by WiFi, 3G or 4G network.
Step S23, according to the remote control notification and the vehicle's surroundings image, generate for nothing described in remote control
People drives the control instruction of vehicle.
Specifically, the control instruction is by manually generated or passed through according to the vehicle's surroundings image by the service platform
Intellectual analysis automatically generates.For example, when parking control, according to the vehicle's surroundings image, look for whether that presence can use parking
Position.When available parking places be present, according to the position relationship between automatic driving vehicle and available parking places, via artificial or intelligence
Energy analysis system obtains suitable parking path, generates control instruction corresponding with the parking path.
Wherein, the control instruction is used for the parking of the automatic driving vehicle, each side such as travels and be controlled.
Step S24, the control instruction is sent to the automatic driving vehicle to realize to the automatic driving vehicle
Remote control.
Preferably, the control instruction is sent by way of radio communication to automatic driving vehicle.Specifically, pass through
WiFi, 3G or 4G network send the control instruction to automatic driving vehicle.
It should be noted that the long-range control method of the automatic driving vehicle is not limited by time and geographical position, can
With 24 hours remote controls realized to the automatic driving vehicle of any position, therefore flexibility was good, and Consumer's Experience is good.
It should be noted that the remote control notification in the present invention can be sent by automatic driving vehicle, can also be by car
Master is sent by equipment such as mobile terminals actively to check vehicle-state.Generally, the automatic driving vehicle is in following urgent feelings
Remote control notification is sent under shape：
(a) contingency occurs；
(b) it is slack to exceed preset duration for the front vehicles of the automatic driving vehicle；
(c) fixed parking stall is occupied.
As shown in figure 4, in an embodiment, the tele-control system of automatic driving vehicle of the invention includes receiving module
21st, acquisition module 22, directive generation module 23 and sending module 24.
Receiving module 21 is used for the remote control notification for receiving automatic driving vehicle.
Preferably, receiving module 21 includes one or more combinations in WiFi module, 3G module, 4G modules.
Acquisition module 22 is connected with receiving module 21, for obtaining the vehicle of the automatic driving vehicle from cloud server
Circumferential images.
Directive generation module 23 is connected with receiving module 21 and acquisition module 22, for according to the remote control notification and
The vehicle's surroundings image, generates the control instruction for automatic driving vehicle described in remote control.
Specifically, the control instruction is by manually generated or passed through according to the vehicle's surroundings image by the service platform
Intellectual analysis automatically generates.For example, when parking control, according to the vehicle's surroundings image, look for whether that presence can use parking
Position.When available parking places be present, according to the position relationship between automatic driving vehicle and available parking places, via artificial or intelligence
Energy analysis system obtains suitable parking path, generates control instruction corresponding with the parking path.
Wherein, the control instruction is used for the parking of the automatic driving vehicle, each side such as travels and be controlled.
Sending module 24 is connected with directive generation module 23, for sending the control instruction to the automatic driving vehicle
To realize the remote control to the automatic driving vehicle.
Preferably, sending module 24 includes one or more combinations in WiFi module, 3G module, 4G modules.
It should be noted that the long-range control method of the automatic driving vehicle is not limited by time and geographical position, can
With 24 hours remote controls realized to the automatic driving vehicle of any position, therefore flexibility was good, and Consumer's Experience is good.
It should be noted that the remote control notification in the present invention can be sent by automatic driving vehicle, can also be by car
Master is sent by equipment such as mobile terminals actively to check vehicle-state.Generally, the automatic driving vehicle is in following urgent feelings
Remote control notification is sent under shape：
(a) contingency occurs；
(b) it is slack to exceed preset duration for the front vehicles of the automatic driving vehicle；
(c) fixed parking stall is occupied.
As shown in figure 5, in an embodiment, service platform 2 of the invention includes the long-range control of above-mentioned automatic driving vehicle
System processed, its concrete principle and structure are as described above, therefore will not be repeated here.
As shown in fig. 6, in an embodiment, the tele-control system of automatic driving vehicle of the invention includes above-mentioned car
Mounted terminal 1, above-mentioned service platform 2 and cloud server 3.
Cloud server 3 is used to receiving and storing the vehicle's surroundings image that the car-mounted terminal is sent；And according to institute
Vehicle's surroundings image corresponding to the remote control notification transmission that service platform receives is stated to the service platform.
In summary, the long-range control method of automatic driving vehicle of the invention and system, service platform, car-mounted terminal base
In the vehicle's surroundings image looked around camera and gathered being arranged on automatic driving vehicle, remote control automatic driving vehicle；
Do not limited by time and geographical position, flexibility is good；Greatly improve Consumer's Experience.So the present invention effectively overcomes
Various shortcoming of the prior art and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (12)
- A kind of 1. long-range control method of automatic driving vehicle, it is characterised in that：Comprise the following steps：The image looked around acquired in camera being arranged on automatic driving vehicle is pre-processed, obtains vehicle's surroundings figure Picture；The vehicle's surroundings image is sent to cloud server, to make service platform according to received remote control notification Control instruction is sent with the vehicle's surroundings image obtained from the cloud server to the automatic driving vehicle；The control instruction that the service platform is sent is received, to be realized according to the control instruction to described unmanned The remote control of vehicle.
- 2. the long-range control method of automatic driving vehicle according to claim 1, it is characterised in that：The pretreatment includes Denoising, demarcation correction, cutting and video smoothing processing.
- 3. the long-range control method of automatic driving vehicle according to claim 1, it is characterised in that：Also include：Send remote Process control is asked to the service platform, to make the service platform obtain the vehicle's surroundings image from the cloud server And control instruction is sent to the automatic driving vehicle according to the remote control notification and the vehicle's surroundings image.
- A kind of 4. car-mounted terminal, applied to automatic driving vehicle, it is characterised in that：Including looking around camera, micro treatment module, hair Send module and receiving module；The camera of looking around is arranged on the automatic driving vehicle, for obtaining vehicle-surroundings image；The micro treatment module is used to pre-process the vehicle-surroundings image looked around acquired in camera, obtains Vehicle's surroundings image；The sending module is used to send the vehicle's surroundings image to cloud server, to make service platform according to being received The remote control notification arrived and the vehicle's surroundings image obtained from the cloud server send control instruction to the nothing People drives vehicle；The receiving module is used to receive the control instruction that the service platform is sent, with real according to the control instruction Now to the remote control of the automatic driving vehicle.
- 5. car-mounted terminal according to claim 4, it is characterised in that：The pretreatment includes denoising, demarcation correction, cut And video smoothing processing.
- 6. car-mounted terminal according to claim 4, it is characterised in that：The sending module is additionally operable to transmission remote control please Ask to the service platform, to make the service platform obtain the vehicle's surroundings image and according to institute from the cloud server State remote control notification and the vehicle's surroundings image sends control instruction to the automatic driving vehicle.
- A kind of 7. long-range control method of automatic driving vehicle, it is characterised in that：Comprise the following steps：Receive the remote control notification of automatic driving vehicle；The vehicle's surroundings image of the automatic driving vehicle is obtained from cloud server；According to the remote control notification and the vehicle's surroundings image, generate for automatic driving vehicle described in remote control Control instruction；The control instruction is sent to the automatic driving vehicle to realize the remote control to the automatic driving vehicle.
- 8. the long-range control method of automatic driving vehicle according to claim 7, it is characterised in that：The remote control please Ask and sent in situations where by the automatic driving vehicle：Generation contingency；It is slack that the front vehicles of the automatic driving vehicle exceed preset duration；Fixed parking stall is occupied.
- A kind of 9. tele-control system of automatic driving vehicle, it is characterised in that：Including receiving module, acquisition module, instruction life Into module and sending module；The receiving module is used for the remote control notification for receiving automatic driving vehicle；The acquisition module is used for the car for obtaining the automatic driving vehicle from cloud server according to the remote control notification Circumferential images；The directive generation module is used for according to the remote control notification and the vehicle's surroundings image, generates for remotely controlling Make the control instruction of the automatic driving vehicle；The sending module is used to send the control instruction to the automatic driving vehicle to realize to the automatic driving car Remote control.
- 10. the tele-control system of automatic driving vehicle according to claim 9, it is characterised in that：The remote control Request is sent in situations where by the automatic driving vehicle：Generation contingency；It is slack that the front vehicles of the automatic driving vehicle exceed preset duration；Fixed parking stall is occupied.
- A kind of 11. service platform, it is characterised in that：Include the remote control of the automatic driving vehicle described in claim 9 or 10 System.
- A kind of 12. tele-control system of automatic driving vehicle, it is characterised in that：Including the car described in one of claim 4-6 Service platform described in mounted terminal, cloud server and claim 11；The cloud server is used to receiving and storing the vehicle's surroundings image that the car-mounted terminal is sent；And according to described Remote control notification that service platform receives send corresponding to vehicle's surroundings image to the service platform.
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| CN108428357A (en) * | 2018-03-22 | 2018-08-21 | 青岛慧拓智能机器有限公司 | A kind of parallel remote driving system for intelligent network connection vehicle |
| CN108873902A (en) * | 2018-07-04 | 2018-11-23 | 北京踏歌智行科技有限公司 | A kind of long-range control method and device of unmanned mine vehicle |
| CN108897326A (en) * | 2018-07-25 | 2018-11-27 | 合肥市智信汽车科技有限公司 | A kind of electric car automatic Pilot control method |
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