CN107662605B - Remote control method and system of vehicle, controlled vehicle and control vehicle - Google Patents
Remote control method and system of vehicle, controlled vehicle and control vehicle Download PDFInfo
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- CN107662605B CN107662605B CN201610617276.3A CN201610617276A CN107662605B CN 107662605 B CN107662605 B CN 107662605B CN 201610617276 A CN201610617276 A CN 201610617276A CN 107662605 B CN107662605 B CN 107662605B
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- 238000004088 simulation Methods 0.000 claims abstract description 103
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- 230000003238 somatosensory effect Effects 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 238000013475 authorization Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
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- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000496 cardiotonic agent Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/089—Driver voice
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/21—Voice
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a remote control method and a remote control system for a vehicle, a controlled vehicle and a control vehicle, wherein the method comprises the following steps: establishing a remote control relationship between a control vehicle and a controlled vehicle; the control vehicle receives the driving environment and the whole vehicle state information detected by the controlled vehicle; the control vehicle simulates the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information; the control vehicle transmits the remote control instruction to the controlled vehicle to remotely control the controlled vehicle. According to the method disclosed by the invention, the convenience, the accuracy and the safety of the remote control of the vehicle can be greatly improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a remote control method for a vehicle, a remote control system for a vehicle, a controlled vehicle, and a controlled vehicle.
Background
The development of the automotive industry has been over a hundred years old and can only be counted as a short moment in the long river of human history, but the whole industry has shown a state of fatigue in innovation. With the great progress of internet and communication technologies, the innovation around the new technology of "automatic driving" has also injected a dose of cardiotonic agent into the exhausted automobile industry. The automatic driving automobile depends on the cooperative work of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can actively and safely drive without any active operation of human. In addition to automatic driving, other technologies such as "remote control driving" have been studied, and currently remote control driving is mostly short-distance remote control, mainly used for parking, etc., and remote control driving is still in a conceived stage, and such technologies can be used for long-distance driving of dangerous work vehicles, or long-distance driving of vehicles in harsh environments, etc.
No matter use the computer to control the autopilot of center or with the long-distance remote control driving of high in the clouds control, the purpose makes the user of controlled vehicle break away from in the initiative is controlled, realizes the automation of controlled end vehicle and controls to the technical difficulty says, and autopilot's the realization degree of difficulty is higher, can adapt to comparatively general operation road conditions, and the operation of realization is comparatively simple. For some driving environments with complex road conditions or dangerous scenes, automatic driving is useless, and if a driver with high experience is in the cloud in remote control driving, driving operation with high difficulty of a controlled vehicle can be realized, so that the remote control driving is applied to more complex driving road conditions than the automatic driving.
However, in the current embodiment of remote control driving, the convenience and accuracy of control are not high enough, and the safety of remote control driving is also poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a remote control method for a vehicle, which can greatly improve convenience, accuracy and safety of remote control of the vehicle.
A second object of the present invention is to provide a remote control system for a vehicle.
A third object of the invention is to propose a controlled vehicle.
A fourth object of the invention is to propose a control vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a remote control method for a vehicle, including: establishing a remote control relationship between a control vehicle and a controlled vehicle; the control vehicle receives the driving environment and the whole vehicle state information of the controlled vehicle detected by the controlled vehicle; the control vehicle simulates the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information; and the control vehicle sends the remote control instruction to the controlled vehicle so as to remotely control the controlled vehicle.
According to the remote control method of the vehicle, the controlled vehicle detects the driving environment and the whole vehicle state information of the controlled vehicle, the driving environment and the whole vehicle state information are sent to the control vehicle, the control vehicle simulates the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information, and the control vehicle sends the remote control instruction to the controlled vehicle to remotely control the controlled vehicle. Therefore, the control vehicle can receive and simulate the environment and state information of the controlled vehicle comprehensively so as to control the vehicle to perform more appropriate control operation, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a remote control system for a vehicle, where the system includes a control vehicle and a controlled vehicle that establish a remote control relationship, where the controlled vehicle is configured to detect driving environment and vehicle state information of the controlled vehicle, and send the driving environment and vehicle state information to the control vehicle; the control vehicle is used for simulating the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the control vehicle so as to obtain corresponding simulation information, so that a remote control instruction can be generated according to the simulation information, and the remote control instruction is sent to the control vehicle so as to remotely control the control vehicle.
According to the remote control system of the vehicle, the controlled vehicle detects the driving environment and the whole vehicle state information of the controlled vehicle, the driving environment and the whole vehicle state information are sent to the control vehicle, the control vehicle simulates the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information, and the control vehicle sends the remote control instruction to the controlled vehicle to remotely control the controlled vehicle. Therefore, the control vehicle can receive and simulate the environment and state information of the controlled vehicle comprehensively so as to control the vehicle to perform more appropriate control operation, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
In order to achieve the above object, a third aspect of the present invention provides a controlled vehicle, in which a remote control relationship is established between the controlled vehicle and a control vehicle, the controlled vehicle including: the detection module is used for detecting the driving environment and the whole vehicle state information of the controlled vehicle; the first sending module is used for sending the driving environment and the whole vehicle state information to the control vehicle; the first receiving module is used for receiving the remote control instruction after the control vehicle simulates the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information and generates the remote control instruction according to the simulation information; and the execution module is used for executing the remote control instruction so as to realize the remote control of the controlled vehicle by the control vehicle.
According to the controlled vehicle provided by the embodiment of the invention, more comprehensive environment and state information can be sent to the controlled vehicle, so that the controlled vehicle can simulate the environment and state information, more appropriate control operation can be carried out, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
In order to achieve the above object, a fourth aspect of the present invention provides a control vehicle, in which a remote control relationship is established between the control vehicle and a controlled vehicle, the control vehicle including: the second receiving module is used for receiving the driving environment and the whole vehicle state information of the controlled vehicle; the simulation module is used for simulating the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information; and the second sending module is used for sending the remote control instruction to the controlled vehicle so as to remotely control the controlled vehicle.
According to the control vehicle disclosed by the embodiment of the invention, the environment and state information of the controlled vehicle can be received and simulated comprehensively so as to carry out more appropriate control operation, and therefore, the convenience, the accuracy and the safety of vehicle remote control can be greatly improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a remote control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a remote control system of a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic structural view of a controlled vehicle seat according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a structure for controlling a vehicle seat according to one embodiment of the present invention;
FIG. 5 is a flow chart of a method for remote control of a vehicle according to an embodiment of the present invention;
FIG. 6 is a block schematic diagram of a controlled vehicle according to an embodiment of the invention;
FIG. 7 is a block schematic diagram of a control vehicle according to an embodiment of the present invention;
fig. 8 is a schematic diagram of information interaction in a remote control system of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A remote control method, a system, a controlled vehicle, and a control vehicle of a vehicle according to an embodiment of the present invention will be described below with reference to the drawings.
Fig. 1 is a flowchart of a remote control method of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a remote control method of a vehicle according to an embodiment of the present invention includes the steps of:
and S1, establishing a remote control relationship between the control vehicle and the controlled vehicle.
In one embodiment of the present invention, as shown in fig. 2, wireless communication modules are built in both the control vehicle and the controlled vehicle, so as to access a wireless network for data transmission. After the control vehicle and the controlled vehicle are connected to the wireless network, the control vehicle receives a remote control request sent by the controlled vehicle, the control vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle after receiving the remote control request, or the control vehicle sends agreement request information to the controlled vehicle after receiving the remote control request, and the controlled vehicle establishes the remote control relationship between the control vehicle and the controlled vehicle.
The Wireless network may be a Wireless network system such as WIFI (Wireless Fidelity) or 3G, 4G, 5G (third to fifth generation mobile communications). The control vehicle and the controlled vehicle can have remote control and remote control functions, and have a complete set of remote control systems which can be matched with each other by adopting a unified standard.
After the remote control relationship is established and the driving destination or the driving intention of the controlled vehicle is agreed, the controlled vehicle may be driven in accordance with the driving operation of the control vehicle.
And S2, the vehicle is controlled to receive the running environment and the whole vehicle state information of the controlled vehicle.
In one embodiment of the present invention, the driving environment and the entire vehicle state information of the controlled vehicle may include visual information and somatosensory information of a driver seat of the controlled vehicle. The body sensing information may include, among others, sound information in a driver's cabin of the controlled vehicle, vibration information of the driver's seat, and acceleration information per direction of the driver's seat.
In one embodiment of the present invention, as shown in fig. 3, the controlled vehicle may include a sound collection module, a vibration collection module, and an acceleration collection module integrated on a seat of the controlled vehicle, so that the controlled vehicle may collect sound information in a driver's cabin through the sound collection module, collect vibration information of the driver's seat through the vibration collection module, and collect acceleration information of each direction of the driver's seat through the acceleration collection module.
And S3, the vehicle is controlled to simulate the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information.
In one embodiment of the present invention, as shown in fig. 4, the control vehicle may include a sound simulation module, a vibration simulation module, and an acceleration simulation module integrated on a seat of the control vehicle, so that the control vehicle may simulate an in-cab sound environment of the control vehicle through the noise simulation module to obtain in-cab sound simulation information of the control vehicle, simulate vibration information of a driver seat of the control vehicle through the vibration simulation module to obtain vibration simulation information of the driver seat of the control vehicle, and simulate each directional acceleration information of the driver seat of the control vehicle through the acceleration simulation module to obtain each directional acceleration simulation information of the driver seat of the control vehicle.
Specifically, the sound simulation module may be a speaker mounted on a head back of the seat, the vibration simulation module may be a vibration simulator mounted on a bottom of the seat, and the acceleration generation module may be a seat angle transducer mounted on the bottom. After receiving the sound information of the controlled vehicle, the loudspeaker can emit the same sound as that in the controlled vehicle cab to simulate all sound environments in the controlled vehicle cab. The vibration simulator, upon receiving vibration information of the controlled vehicle, may generate a vibration environment identical to that sensed by the driver of the controlled vehicle. The acceleration simulator can generate the acceleration of the seat in all directions by utilizing the weight component through the seat inclination after receiving the acceleration information of the controlled vehicle so as to simulate the acceleration environment of the controlled vehicle.
After the control vehicle obtains the simulation information, a driver of the control vehicle can operate the control vehicle according to the simulation information, so that a remote control instruction for remotely controlling the controlled vehicle is generated.
And S4, the control vehicle sends the remote control command to the controlled vehicle so as to remotely control the controlled vehicle.
And the controlled vehicle receives the remote control instruction and automatically controls according to the remote control instruction.
After the controlled vehicle reaches the destination or has reached the intended driving purpose, the control vehicle and the controlled vehicle can release the remote control relationship to complete the whole remote control driving operation.
According to the remote control method of the vehicle, the controlled vehicle detects the driving environment and the whole vehicle state information of the controlled vehicle, the driving environment and the whole vehicle state information of the controlled vehicle are sent to the control vehicle, the control vehicle simulates the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information, and the control vehicle sends the remote control instruction to the controlled vehicle to remotely control the controlled vehicle. Therefore, the control vehicle can receive and simulate the environment and state information of the controlled vehicle comprehensively so as to control the vehicle to perform more appropriate control operation, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
In one embodiment of the present invention, as shown in fig. 5, a remote control method of a vehicle may include the steps of:
s501, controlling the vehicle and the controlled vehicle to access a wireless network.
And S502, the control vehicle or the controlled vehicle authorizes to establish a remote control relationship.
Specifically, the controlling vehicle may issue a control request to the controlled vehicle, which confirms the next-key authorization without error. Or the controlled vehicle can send a control invitation to the controlled vehicle, the controlled vehicle confirms the right-free next-key authorization, and the remote control relationship between the controlled vehicle and the controlled vehicle is formally established after the one-key authorization.
And S503, the controlled vehicle driver starts the vehicle controlled button to authorize the controlled vehicle to remotely control the controlled vehicle.
S504, the driver of the controlled vehicle selects whether to stay in the vehicle according to the driving purpose or the driving situation, and the controlled vehicle sends a confirmation signal to the control vehicle after being prepared.
If the driver remains in the vehicle, the controlled vehicle may be manually authorized to be ready; if the driver leaves the controlled vehicle, the controlled vehicle may automatically signal readiness to the controlling vehicle according to a pre-set program.
And S505, the controlled vehicle sends the visual information and the somatosensory information of the driver seat of the controlled vehicle to the control vehicle in real time.
And S506, the control vehicle simulates the visual information and the somatosensory information and transmits the simulation result to a driver of the control vehicle.
And S507, after the driver of the control vehicle senses the information of the controlled vehicle, sending a corresponding driving operation instruction according to the driving experience.
And S508, receiving and executing the driving operation instruction by the controlled vehicle in real time.
And S509, the control vehicle or the controlled vehicle finishes the remote control. After the remote control operation is finished, the control vehicle or the controlled vehicle can finish the remote control by pressing a one-key authorization/termination button.
In order to realize the vehicle remote control method of the embodiment, the invention further provides a vehicle remote control system.
Referring to fig. 2, a remote control system for a vehicle according to an embodiment of the present invention includes a control vehicle and a controlled vehicle that establish a remote control relationship.
The controlled vehicle is used for detecting the driving environment and the whole vehicle state information of the controlled vehicle and sending the driving environment and the whole vehicle state information to the control vehicle; the control vehicle is used for simulating the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the control vehicle to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information, and the remote control instruction is sent to the control vehicle to remotely control the control vehicle.
In one embodiment of the invention, wireless communication modules are arranged in the control vehicle and the controlled vehicle so as to access a wireless network for data transmission. After the control vehicle and the controlled vehicle are connected to the wireless network, the controlled vehicle sends a remote control request to the control vehicle, the control vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle after receiving the remote control request, or the control vehicle sends agreement request information to the controlled vehicle after receiving the remote control request, and the controlled vehicle establishes the remote control relationship between the control vehicle and the controlled vehicle.
The wireless network may be a wireless network system such as WIFI, 3G, 4G, 5G, etc. The control vehicle and the controlled vehicle have remote control and remote control functions, and have a complete set of remote control systems which can be matched with each other by adopting a unified standard.
After the remote control relationship is established and the driving destination or the driving intention of the controlled vehicle is agreed, the controlled vehicle may be driven in accordance with the driving operation of the control vehicle.
In one embodiment of the present invention, the driving environment and the entire vehicle state information of the controlled vehicle may include visual information and somatosensory information of a driver seat of the controlled vehicle. The body sensing information may include, among others, sound information in a driver's cabin of the controlled vehicle, vibration information of the driver's seat, and acceleration information per direction of the driver's seat.
In one embodiment of the present invention, as shown in fig. 3, the controlled vehicle may include a sound collection module, a vibration collection module, and an acceleration collection module integrated on a seat of the controlled vehicle, so that the controlled vehicle may collect sound information in a driver's cabin through the sound collection module, collect vibration information of the driver's seat through the vibration collection module, and collect acceleration information of each direction of the driver's seat through the acceleration collection module.
In one embodiment of the present invention, as shown in fig. 4, the control vehicle may include a sound simulation module, a vibration simulation module, and an acceleration simulation module integrated on a seat of the control vehicle, so that the control vehicle may simulate an in-cab sound environment of the control vehicle through the noise simulation module to obtain in-cab sound simulation information of the control vehicle, simulate vibration information of a driver seat of the control vehicle through the vibration simulation module to obtain vibration simulation information of the driver seat of the control vehicle, and simulate each directional acceleration information of the driver seat of the control vehicle through the acceleration simulation module to obtain each directional acceleration simulation information of the driver seat of the control vehicle.
Specifically, the sound simulation module may be a speaker mounted on a head back of the seat, the vibration simulation module may be a vibration simulator mounted on a bottom of the seat, and the acceleration generation module may be a seat angle transducer mounted on the bottom. After receiving the sound information of the controlled vehicle, the loudspeaker can emit the same sound as that in the controlled vehicle cab to simulate all sound environments in the controlled vehicle cab. The vibration simulator, upon receiving vibration information of the controlled vehicle, may generate a vibration environment identical to that sensed by the driver of the controlled vehicle. The acceleration simulator can generate the acceleration of the seat in all directions by utilizing the weight component through the seat inclination after receiving the acceleration information of the controlled vehicle so as to simulate the acceleration environment of the controlled vehicle.
After the control vehicle obtains the simulation information, a driver of the control vehicle can operate the control vehicle according to the simulation information, so that a remote control instruction for remotely controlling the controlled vehicle is generated.
And the controlled vehicle receives the remote control instruction and automatically controls according to the remote control instruction.
After the controlled vehicle reaches the destination or has reached the intended driving purpose, the control vehicle and the controlled vehicle can release the remote control relationship to complete the whole remote control driving operation.
According to the remote control system of the vehicle, the controlled vehicle detects the driving environment and the whole vehicle state information of the controlled vehicle, the driving environment and the whole vehicle state information of the controlled vehicle are sent to the control vehicle, the control vehicle simulates the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information to obtain corresponding simulation information, so that a remote control instruction is generated according to the simulation information, and the control vehicle sends the remote control instruction to the controlled vehicle to remotely control the controlled vehicle. Therefore, the control vehicle can receive and simulate the environment and state information of the controlled vehicle comprehensively so as to control the vehicle to perform more appropriate control operation, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
The invention further provides a controlled vehicle corresponding to the embodiment.
Wherein a remote control relationship is established between the controlled vehicle and the control vehicle.
As shown in fig. 6, the controlled vehicle 10 of the embodiment of the present invention includes a detection module 11, a first transmission module 12, a first reception module 13, and an execution module 14.
The detection module 11 is used for detecting the driving environment and the whole vehicle state information of the controlled vehicle 10; the first sending module 12 is used for sending the driving environment and the whole vehicle state information to the control vehicle; after the control vehicle simulates the driving environment and the vehicle state of the control vehicle according to the driving environment and the vehicle state information of the controlled vehicle 10 to obtain corresponding simulation information and generates a remote control instruction according to the simulation information, the first receiving module 13 receives the remote control instruction; the execution module 14 is used for executing remote control instructions to realize remote control of the controlled vehicle 10 by the control vehicle.
In one embodiment of the present invention, the driving environment and the entire vehicle state information of the controlled vehicle 10 may include visual information and somatosensory information of the driver seat of the controlled vehicle 10. The body-sensory information may include, among others, cabin sound information of the controlled vehicle 10, vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
In one embodiment of the present invention, the detection module 11 may include a sound collection module, a vibration collection module, and an acceleration collection module integrated on the seat of the controlled vehicle 10, so that the detection module 11 may collect the sound information in the driver's cabin through the sound collection module, collect the vibration information of the driver's seat through the vibration collection module, and collect the acceleration information of each direction of the driver's seat through the acceleration collection module.
According to the controlled vehicle provided by the embodiment of the invention, more comprehensive environment and state information can be sent to the controlled vehicle, so that the controlled vehicle can simulate the environment and state information, more appropriate control operation can be carried out, and the convenience, accuracy and safety of vehicle remote control can be greatly improved.
The invention further provides a control vehicle corresponding to the embodiment.
Wherein a remote control relationship is established between the control vehicle and the controlled vehicle.
As shown in fig. 7, the control vehicle 20 of the embodiment of the invention includes a second receiving module 21, a simulation module 22, and a second transmitting module 23.
The second receiving module 21 is configured to receive driving environment and vehicle state information of the controlled vehicle; the simulation module 22 is configured to simulate the driving environment and the vehicle state of the controlled vehicle according to the driving environment and the vehicle state information of the controlled vehicle to obtain corresponding simulation information, so as to generate a remote control instruction according to the simulation information; the second sending module 23 is configured to send a remote control instruction to the controlled vehicle so as to remotely control the controlled vehicle.
In one embodiment of the present invention, the driving environment and the entire vehicle state information of the controlled vehicle may include visual information and somatosensory information of a driver seat of the controlled vehicle. The body sensing information may include, among others, sound information in a driver's cabin of the controlled vehicle, vibration information of the driver's seat, and acceleration information per direction of the driver's seat.
In one embodiment of the present invention, as shown in fig. 4, the simulation module 22 may include a sound simulation module for simulating an in-cab sound environment of the controlled vehicle to obtain in-cab sound simulation information of the controlled vehicle 20, a vibration simulation module for simulating vibration information of a driver seat of the controlled vehicle to obtain vibration simulation information of the driver seat of the controlled vehicle 20, and an acceleration simulation module for simulating each directional acceleration information of the driver seat of the controlled vehicle to obtain each directional acceleration simulation information of the driver seat of the controlled vehicle 20, which are integrated on the seat of the controlled vehicle 20.
According to the control vehicle disclosed by the embodiment of the invention, the environment and state information of the controlled vehicle can be received and simulated comprehensively so as to carry out more appropriate control operation, and therefore, the convenience, the accuracy and the safety of vehicle remote control can be greatly improved.
Further, in the remote control system including the control vehicle 20 and the controlled vehicle 10, the transmission of information, instructions, and the like may refer to fig. 8, and the direction of the arrow in the figure may indicate the transmission direction of information, instructions, and the like. For the specific information and instruction transmission manners, reference may be made to the above embodiments, and details are not repeated herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A remote control method of a vehicle, characterized by comprising the steps of:
establishing a remote control relationship between a control vehicle and a controlled vehicle;
the control vehicle receives the driving environment and the whole vehicle state information of the controlled vehicle detected by the controlled vehicle;
the control vehicle simulates the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information;
the control vehicle sends the remote control instruction to the controlled vehicle so as to remotely control the controlled vehicle;
the driving environment and the whole vehicle state information of the controlled vehicle comprise visual information and somatosensory information of a driver seat of the controlled vehicle;
the somatosensory information comprises sound information in a cab of the controlled vehicle, vibration information of a driver seat and acceleration information of each direction of the driver seat;
the control vehicle simulates an in-cab sound environment of the controlled vehicle through a noise simulation module to obtain in-cab sound simulation information of the control vehicle, simulates vibration information of a driver seat of the controlled vehicle through a vibration simulation module to obtain vibration simulation information of the driver seat of the control vehicle, and simulates each directional acceleration information of the driver seat of the controlled vehicle through an acceleration simulation module to obtain each directional acceleration simulation information of the driver seat of the control vehicle.
2. The remote control method of a vehicle according to claim 1, wherein the establishing of the remote control relationship between the control vehicle and the controlled vehicle includes:
after the control vehicle and the controlled vehicle are accessed to the wireless network, the control vehicle receives a remote control request sent by the controlled vehicle;
the control vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle after receiving the remote control request, or the control vehicle sends agreement request information to the controlled vehicle after receiving the remote control request, and the controlled vehicle establishes the remote control relationship between the control vehicle and the controlled vehicle.
3. A remote control system for a vehicle, comprising a control vehicle and a controlled vehicle that establish a remote control relationship, wherein,
the controlled vehicle is used for detecting the driving environment and the whole vehicle state information of the controlled vehicle and sending the driving environment and the whole vehicle state information to the controlled vehicle;
the control vehicle is used for simulating the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the control vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information and send the remote control instruction to the control vehicle to remotely control the control vehicle;
the driving environment and the whole vehicle state information of the controlled vehicle comprise visual information and somatosensory information of a driver seat of the controlled vehicle;
the somatosensory information comprises sound information in a cab of the controlled vehicle, vibration information of a driver seat and acceleration information of each direction of the driver seat;
the control vehicle comprises a noise simulation module, a vibration simulation module and an acceleration simulation module, wherein the control vehicle simulates the sound environment in the driver's cabin of the controlled vehicle through the noise simulation module to obtain the sound simulation information in the driver's cabin of the control vehicle, simulates the vibration information of the driver's seat of the controlled vehicle through the vibration simulation module to obtain the vibration simulation information of the driver's seat of the control vehicle, and simulates the acceleration information of each direction of the driver's seat of the controlled vehicle through the acceleration simulation module to obtain the acceleration simulation information of each direction of the driver's seat of the control vehicle.
4. The vehicle remote control system according to claim 3, wherein after the control vehicle and the controlled vehicle access the wireless network, the controlled vehicle sends a remote control request to the control vehicle, the control vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle after receiving the remote control request, or the control vehicle sends an agreement request message to the controlled vehicle after receiving the remote control request, and the controlled vehicle establishes the remote control relationship between the control vehicle and the controlled vehicle.
5. A controlled vehicle having a remote control relationship established between the controlled vehicle and a control vehicle, the controlled vehicle comprising:
the detection module is used for detecting the driving environment and the whole vehicle state information of the controlled vehicle;
the first sending module is used for sending the driving environment and the whole vehicle state information to the control vehicle;
the first receiving module is used for receiving the remote control instruction after the control vehicle simulates the driving environment and the whole vehicle state of the control vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information and generates the remote control instruction according to the simulation information;
the execution module is used for executing the remote control instruction so as to realize the remote control of the controlled vehicle by the control vehicle;
the driving environment and the whole vehicle state information of the controlled vehicle comprise visual information and somatosensory information of a driver seat of the controlled vehicle;
the somatosensory information comprises sound information in a cab of the controlled vehicle, vibration information of a driver seat and acceleration information of each direction of the driver seat;
the control vehicle simulates an in-cab sound environment of the controlled vehicle through a noise simulation module to obtain in-cab sound simulation information of the control vehicle, simulates vibration information of a driver seat of the controlled vehicle through a vibration simulation module to obtain vibration simulation information of the driver seat of the control vehicle, and simulates each directional acceleration information of the driver seat of the controlled vehicle through an acceleration simulation module to obtain each directional acceleration simulation information of the driver seat of the control vehicle.
6. A control vehicle having a remote control relationship established between the control vehicle and a controlled vehicle, the control vehicle comprising:
the second receiving module is used for receiving the driving environment and the whole vehicle state information of the controlled vehicle;
the simulation module is used for simulating the driving environment and the whole vehicle state of the controlled vehicle according to the driving environment and the whole vehicle state information of the controlled vehicle to obtain corresponding simulation information so as to generate a remote control instruction according to the simulation information;
the second sending module is used for sending the remote control instruction to the controlled vehicle so as to remotely control the controlled vehicle;
the driving environment and the whole vehicle state information of the controlled vehicle comprise visual information and somatosensory information of a driver seat of the controlled vehicle;
the simulation module comprises a noise simulation module, a vibration simulation module and an acceleration simulation module, wherein,
the somatosensory information comprises sound information in a cab of the controlled vehicle, vibration information of a driver seat and acceleration information of each direction of the driver seat;
the noise simulation module is used for simulating an in-cab sound environment of the controlled vehicle to obtain in-cab sound simulation information of the controlled vehicle, the vibration simulation module is used for simulating vibration information of a driver seat of the controlled vehicle to obtain vibration simulation information of the driver seat of the controlled vehicle, and the acceleration simulation module is used for simulating each direction acceleration information of the driver seat of the controlled vehicle to obtain each direction acceleration simulation information of the driver seat of the controlled vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617276.3A CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
| PCT/CN2017/093045 WO2018019142A1 (en) | 2016-07-28 | 2017-07-14 | Vehicle remote control method and system, controlled vehicle and control vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610617276.3A CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
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| CN107662605A CN107662605A (en) | 2018-02-06 |
| CN107662605B true CN107662605B (en) | 2020-07-10 |
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| CN201610617276.3A Active CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
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| WO (1) | WO2018019142A1 (en) |
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| CN112118989B (en) * | 2019-03-28 | 2024-04-05 | 深圳市大疆创新科技有限公司 | Driving device, control method, device and storage medium |
| JP7302360B2 (en) * | 2019-07-30 | 2023-07-04 | トヨタ自動車株式会社 | remote driving system |
| CN112415904B (en) * | 2019-08-23 | 2023-07-25 | 宇通客车股份有限公司 | Remote control method, device and system for automatic driving vehicle |
| CN110712647A (en) * | 2019-09-23 | 2020-01-21 | 上海理工大学 | Remote vehicle control system |
| CN110716481A (en) * | 2019-11-15 | 2020-01-21 | 徐州合卓机械科技有限公司 | Lorry-mounted crane remote control system based on 5g network |
| CN111016905A (en) * | 2019-12-06 | 2020-04-17 | 中国科学院自动化研究所 | Interaction method and system for automatic driving vehicle and driving remote control terminal |
| CN111688719A (en) * | 2020-06-28 | 2020-09-22 | 广州小鹏汽车科技有限公司 | Driving method and device |
| CN113660148B (en) * | 2021-06-30 | 2023-06-02 | 华人运通(上海)自动驾驶科技有限公司 | Real-time remote driving system and method |
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| CN107662605A (en) | 2018-02-06 |
| WO2018019142A1 (en) | 2018-02-01 |
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