CN109435951A - A kind of long-distance monitoring method of automatic driving vehicle, system, terminal and storage medium - Google Patents
A kind of long-distance monitoring method of automatic driving vehicle, system, terminal and storage medium Download PDFInfo
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- CN109435951A CN109435951A CN201811072607.5A CN201811072607A CN109435951A CN 109435951 A CN109435951 A CN 109435951A CN 201811072607 A CN201811072607 A CN 201811072607A CN 109435951 A CN109435951 A CN 109435951A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000006854 communication Effects 0.000 claims abstract description 59
- 238000004891 communication Methods 0.000 claims abstract description 59
- 230000007613 environmental effect Effects 0.000 claims abstract description 58
- 230000004044 response Effects 0.000 claims description 33
- 238000012545 processing Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 claims description 20
- 235000021167 banquet Nutrition 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000007175 bidirectional communication Effects 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000003331 infrared imaging Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- 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
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
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- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides long-distance monitoring method, system, terminal and the storage medium of a kind of automatic driving vehicle, when the unmanned mode of vehicle launch, establishes vehicle and monitors the communication link on backstage；The information that the communication link is used to be perceived vehicle detecting equipment is transmitted to monitoring backstage, and the monitor by monitoring backstage judges according to the information that vehicle environmental sensing apparatus is perceived, and controls the unmanned mode of the vehicle and continues or stop.The present invention solves the problems, such as that automatic driving vehicle safety in complex scene, special scenes is short of, at the same ensure that special scenes, in complex scene vehicle scheduling and operation efficiency.Precondition is provided for shared trip, the timesharing application under special scenes of hiring a car.
Description
Technical field
The present invention relates to technical field of automotive electronics, more particularly to a kind of automatic driving vehicle long-distance monitoring method,
System, terminal and storage medium.
Background technique
Pilotless automobile is one kind of intelligent automobile, relies primarily on vehicle-mounted sensor-based system perception road environment, automatic to advise
Sliding bicycle route simultaneously controls vehicle arrival intended destination.It perceives vehicle-periphery using onboard sensor, and according to
Road, vehicle location and obstacle information obtained are perceived, the steering and speed of vehicle are controlled, to enable the vehicle to pacify
Entirely, it is reliably travelled on road.
Current automatic driving vehicle relies primarily on the operating status of passenger's Supervised Control vehicle.In danger operating condition, such as
The not high mobile object of discrimination degree is swarmed into suddenly in big corner turning, the visual field, in the parking lot of crowded downtown area or congestion
When middle, it is not able to satisfy requirement of the user for safety.And similar Vehicular intelligent key device, vehicle remote control control loop grade
In method, by issuing control signal to vehicle, vehicle is unlocked and starts dynamical system, and according to control signal to vehicle
Traveling controlled.During realization, inventor has found that at least there are the following problems: conventional remote controls method in traditional technology
It is mainly used for the vehicle being remotely controlled under parked state；And when vehicle in the process of moving when, speed, corner be it is uncertain, tradition
Remote control intervention not can guarantee the effect to vehicle control in driving process and be easy to produce danger, be easy to when vehicle travels
Beyond remote range；Therefore, conventional remote controls method can not control the vehicle in driving process.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of the remote of automatic driving vehicle
Range monitoring method, system, terminal and storage medium solve automatic driving vehicle safety in complex scene, special scenes
The problem of shortcoming, at the same ensure that special scenes, in complex scene vehicle scheduling and operation efficiency.For shared trip, timesharing
The application hired a car under special scenes provides precondition.
A kind of long-distance monitoring method of automatic driving vehicle, comprising the following steps:
When the unmanned mode of vehicle launch, establishes vehicle and monitor the communication link on backstage；
The information that the communication link is used to be perceived vehicle detecting equipment is transmitted to monitoring backstage, and by monitoring backstage
Monitor judged according to the information that vehicle environmental sensing apparatus is perceived, control the unmanned mode of the vehicle continue or
Stop.
Further, starting/stopping of the unmanned mode of the vehicle is the finger sent according to the current controller of vehicle
Enable and switch.
Further, the instruction that the current controller of the vehicle sends includes but is not limited to self-help parking, designated space position
Set converge, specified time and spatial position are converged.
Further, the vehicle environmental sensing apparatus includes but is not limited at least one camera shooting being arranged on vehicle body
Head, at least one millimetre-wave radar being arranged on vehicle body, is arranged in vehicle at least one ultrasonic radar being arranged on vehicle body
At least one laser radar with it, at least one infrared sensor being arranged on vehicle body and vehicle are currently located environment institute
One or more environment induction equipment of subordinate.
Further, the current controller of the vehicle passes through the signal projector hair in hand-held mobile terminal or car key
Control instruction is sent, the recipient of the control instruction is server or vehicle:
If recipient is server, by server foundation and vehicle communication, control instruction is transferred to vehicle, by vehicle
Backstage planning driving path simultaneously controls vehicle driving；Or plan the traveling road of the vehicle in turn by server analysis control instruction
Diameter, and program results are transmitted to vehicle, by the unmanned mode of vehicle launch and execute the planning；
If recipient is vehicle, by vehicle backstage according to control instruction planning path, the unmanned mode of starting according to
Planning path traveling.
Further, if vehicle is under unmanned mode, from establish with monitor backstage communication link to vehicle to
Until destination, the thing for stopping the unmanned mode state of the vehicle is not obtained under the monitoring of monitoring background monitoring person
Part stops unmanned mode by vehicle and response monitors backstage, LAN server, cloud then after vehicle arrives at the destination
It is one or several in the current controller of server, vehicle.
Further, after monitoring backstage, which receives vehicle, stops the response of unmanned mode, monitoring backstage cuts off the vehicle
Communication link with monitoring backstage, and attending a banquet labeled as the free time, after monitoring where the monitor of the vehicle will be monitored
Platform subsequent allocations vehicle monitoring request.
Further, the entry condition of the unmanned mode of the vehicle launch be the following conditions any one:
A receives the instruction that the current controller of vehicle sends, to acquisite approachs program results and vehicle current ambient environmental letter
Breath, whether environmental information meets opening for unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Dynamic condition:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data are written into response result, response vehicle is currently controlled
Person processed.
B receives the running scheduling instruction of LAN server, to acquisite approachs program results and vehicle current ambient environmental
Whether environmental information meets unmanned mode on the way for information, comprehensive descision vehicle current ambient environmental and/or path planning
Entry condition:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response LAN services are written into response result
Device.
C receives the running scheduling instruction of Cloud Server, to acquisite approachs program results and vehicle current ambient environmental information,
Whether environmental information meets the trip bar of unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response Cloud Server is written into response result.
D receives the running scheduling instruction on monitoring backstage, to acquisite approachs program results and vehicle current ambient environmental information,
Whether environmental information meets the trip bar of unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response monitoring backstage is written into response result.
Further, the entry condition of the unmanned mode of the vehicle launch further includes preposition initialization confirmation journey
Sequence, the initialization confirmation program include visual sensor, the radar sensor, infrared sensor, buzzing that unlocking vehicle loads
One or more of device after obtaining one or more of vehicle-periphery information, merges vehicle-periphery information and judges
The scope of activities of vehicle periphery mobile object, and mix of activities Space Elements and movement are predicted in the movable space of vehicle periphery
The scope of activities element of object could open unmanned mode to the vehicle and give a mark；
If score value of giving a mark is higher than preset value, judge that vehicle can open unmanned mode, initialization confirmation program is complete
At；
If score value of giving a mark is lower than preset value, judge that vehicle cannot open unmanned mode, initialization program failure.
Further, it includes sitting the vehicle location of stop timing that the vehicle, which stops the stop condition of unmanned mode,
Mark is sent to one or more of the current controller of vehicle, LAN server, cloud server.
Further, if vehicle receives instruction, the local area network clothes that the current controller of vehicle sends in special time period
One of the running scheduling instruction of business device, the running scheduling instruction of Cloud Server, the running scheduling instruction on monitoring backstage are several
Kind, then with the current controller of setting arrangement vehicle of current priority sequence, LAN server, Cloud Server, monitoring backstage
Instruction, choose the dispatch command of highest priority.
Further, the vehicle and the communication link on monitoring backstage are bidirectional communication link.
Further, the net load data transmitted in the bidirectional communication link are as follows:
The net load data that vehicle is sent to monitoring backstage include but is not limited to figure that vehicle loading visual sensor is captured
As at a distance from the angle of, the captured vehicle periphery object of vehicle loading radar sensor and vehicle body, vehicle periphery object and vehicle body,
One or more of the relative velocity of vehicle periphery object and vehicle body, infrared imaging of vehicle-periphery；
The net load data that monitoring backstage is sent to vehicle include but is not limited to that continuity control motor vehicle braking system starts/stops
Instruction, the unmanned mode of control vehicle and the pilot steering mould of instruction, the control unmanned mode starting/stopping of vehicle only
One or more of the instruction of formula switching.
Further, if monitoring backstage controls, the unmanned mode of the vehicle stops or control motor vehicle braking system stops
After only, in pre-set waiting communication link recovery time range, vehicle is issued to monitoring backstage at a time interval
Communication link connection request；After monitoring backstage receives communication link connection request, the monitor of selected current idle attends a banquet, and
The vehicle and the monitor are re-established into communication link.
Further, when the vehicle issues communication link connection request to monitoring backstage at a time interval, centainly
Time interval is 0.1~5 second.Preferably, the time interval is 1 second.
Further, if monitoring backstage controls, the unmanned mode of the vehicle stops or control motor vehicle braking system stops
After only, send emergency vehicle processing request from vehicle to LAN server and/or Cloud Server, by LAN server and/
Or Cloud Server dispatches the person of scooping out idle near the person of scooping out or scheduling nearest apart from the vehicle and handles the vehicle.
Further, the LAN server and/or Cloud Server scheduling the scoop out person nearest apart from the vehicle or
When the idle person of scooping out handles the vehicle near scheduling, LAN server and/or Cloud Server interval specified time should be kept
Receive the location information answer packet of vehicle.When LAN server and/or Cloud Server receive it is all in its compass of competency
When the real-time position information of emergency processing vehicle, is conducive to LAN server and/or cloud server end handles the compass of competency
The precision of the path planning request of unmanned mode vehicle in range.Because the real-time position information of emergency processing vehicle is fed back
To LAN server and/or Cloud Server, the unmanned mode road of the vehicle that subsequent time at the time point receives
After diameter planning request, LAN server and/or Cloud Server are according to the position coordinates and destination locations coordinate for requesting vehicle
When making path planning in conjunction with compass of competency map, it can will occupy in emergency processing state vehicle and exclude in path
It plans except route.
A kind of remote monitoring system of automatic driving vehicle, including the unmanned module of vehicle, vehicle environmental sensing apparatus,
Communication link, monitoring backstage, monitor；
When the unmanned module of vehicle starts, pass through the intercommunication of communication link phase between the vehicle and monitoring backstage
News；
The collected information of vehicle environmental sensing apparatus is transferred to monitoring backstage, monitoring with communication link by the vehicle end
Vehicle deploying monitor is given on backstage, and the monitor judges according to the information that vehicle environmental sensing apparatus is perceived, and controls
The unmanned module of vehicle processed starts or stops.
Further, the vehicle environmental sensing apparatus includes but is not limited at least one camera shooting being arranged on vehicle body
Head, at least one millimetre-wave radar being arranged on vehicle body, is arranged in vehicle at least one ultrasonic radar being arranged on vehicle body
At least one laser radar with it, at least one infrared sensor being arranged on vehicle body and vehicle are currently located environment institute
One or more environment induction equipment of subordinate.
It further, further include server, the server is used for and vehicle communication, control instruction is transferred to vehicle,
By vehicle backstage planning driving path and control vehicle driving；Or plan the row of the vehicle in turn by server analysis control instruction
Path is sailed, and program results are transmitted to vehicle, by the unmanned mode of vehicle launch and executes the planning.
Further, the vehicle backstage is according to control instruction planning path, the unmanned mode of starting according to planning road
Diameter traveling.
It further, further include mobile terminal, the mobile terminal, which is used to be controlled, be sent by the current controller of vehicle, includes
But be not limited to self-help parking, the instruction that designated space position is converged, specified time and spatial position are converged, the vehicle nobody drive
Sail module directly receive the instruction or by LAN server and/or Cloud Server receive the instruction and/or control instruction it
Afterwards, the instruction and/or control instruction are executed by the unmanned module of vehicle.
Further, the monitoring backstage further includes monitoring operation module, and the monitoring operation module is received on monitoring backstage
After the response for stopping unmanned mode to vehicle, monitoring backstage cuts off the vehicle and monitors the communication link on backstage, and will prison
Attending a banquet labeled as the free time where the monitor of the vehicle is controlled, to monitor backstage subsequent allocations vehicle monitoring request.
Further, the monitoring backstage operation module further includes weight scheduler module, the readjustment degree module monitors backstage
If after controlling the unmanned mode stopping of the vehicle or control motor vehicle braking system stopping, in pre-set waiting communication link
In recovery time range, vehicle issues communication link connection request to monitoring backstage at a time interval；Monitoring backstage receives
To after communication link connection request, the monitor of selected current idle attends a banquet, and the vehicle is re-established with the monitor logical
Interrogate link.
Further, the monitoring backstage operation module further includes emergency processing module, and the emergency processing module is used for
If controlling the unmanned mode of the vehicle on monitoring backstage to stop or after control motor vehicle braking system stops, from vehicle to local area network
Server and/or Cloud Server send emergency vehicle processing request, should by LAN server and/or Cloud Server scheduling distance
The nearest person of scooping out of vehicle or the neighbouring idle person of scooping out of scheduling handle the vehicle.
Further, the unmanned module of the vehicle further includes starting initialization module, the starting initialization module
One or more of visual sensor, radar sensor, infrared sensor, buzzer including unlocking vehicle loading, obtain
After one or more of vehicle-periphery information, merges vehicle-periphery information and judges the movable space of vehicle periphery,
Predict the scope of activities of vehicle periphery mobile object, and the scope of activities element of mix of activities Space Elements and mobile object is to this
Vehicle could open unmanned mode and give a mark, when score value be higher than preset value when, starting initialization module complete vehicle without
The starting of people's driving module.
Further, the unmanned module of the vehicle further includes stopping modular, and the stopping modular will be for when will stop
The vehicle location coordinate at quarter is sent to one or more of the current controller of vehicle, LAN server, cloud server.
Further, the server includes Cloud Server and LAN server, and the Cloud Server and local area network take
It is engaged in device further including scheduler module, the scheduler module is used to receive the instruction that the current controller of vehicle sends, to acquisite approachs rule
Check off fruit and vehicle current ambient environmental information, comprehensive descision vehicle current ambient environmental and/or path planning environment on the way
Whether information meets the entry condition of unmanned mode.
A kind of remote monitoring terminal of automatic driving vehicle, which is characterized in that including processor and memory, the storage
Device is stored with program instruction, and the processor operation program instruction realizes the step in above-mentioned method.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in above-mentioned method is realized when execution.
As described above, of the invention has the advantages that
It solves the problems, such as that automatic driving vehicle safety in complex scene, special scenes is short of, while ensure that spy
Determine scene, in complex scene vehicle scheduling and operation efficiency.It is mentioned for shared trip, the timesharing application under special scenes of hiring a car
Precondition is supplied.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as flow chart of the invention.
Fig. 2 is shown as the flow chart in another embodiment of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to FIG. 1 to FIG. 2,
A kind of long-distance monitoring method of automatic driving vehicle, comprising the following steps:
When the unmanned mode of vehicle launch, establishes vehicle and monitor the communication link on backstage；
The information that the communication link is used to be perceived vehicle detecting equipment is transmitted to monitoring backstage, and by monitoring backstage
Monitor judged according to the information that vehicle environmental sensing apparatus is perceived, control the unmanned mode of the vehicle continue or
Stop.
As a preferred embodiment, starting/stopping of the unmanned mode of the vehicle is according to the current controller's hair of vehicle
The instruction sent and switch.
As a preferred embodiment, the instruction that the current controller of the vehicle sends includes but is not limited to self-help parking, specifies
Spatial position is converged, specified time and spatial position are converged.
As a preferred embodiment, the vehicle environmental sensing apparatus includes but is not limited at least one being arranged on vehicle body
Camera, at least one ultrasonic radar being arranged on vehicle body, at least one millimetre-wave radar being arranged on vehicle body, setting
At least one laser radar on vehicle body, at least one infrared sensor being arranged on vehicle body and vehicle are currently located ring
One or more environment induction equipment of border institute subordinate.
As a preferred embodiment, the current controller of the vehicle passes through the signal hair in hand-held mobile terminal or car key
Emitter sends control instruction, and the recipient of the control instruction is server or vehicle:
If recipient is server, by server foundation and vehicle communication, control instruction is transferred to vehicle, by vehicle
Backstage planning driving path simultaneously controls vehicle driving；Or plan the traveling road of the vehicle in turn by server analysis control instruction
Diameter, and program results are transmitted to vehicle, by the unmanned mode of vehicle launch and execute the planning；
If recipient is vehicle, by vehicle backstage according to control instruction planning path, the unmanned mode of starting according to
Planning path traveling.
As a preferred embodiment, if vehicle is under unmanned mode, from establish with monitoring backstage communication link to
Until vehicle arrives at the destination, is not obtained under the monitoring of monitoring background monitoring person and stop the unmanned mode state of the vehicle
Event, then after vehicle arrives at the destination, by vehicle stop unmanned mode and response monitoring backstage, LAN services
It is one or several in the current controller of device, Cloud Server, vehicle.
As a preferred embodiment, after monitoring backstage, which receives vehicle, stops the response of unmanned mode, monitoring backstage is cut
Break and the vehicle and monitor the communication link on backstage, and attending a banquet labeled as the free time where the monitor of the vehicle will be monitored, so as to
Monitor backstage subsequent allocations vehicle monitoring request.
As a preferred embodiment, the entry condition of the unmanned mode of the vehicle launch be the following conditions any one:
A receives the instruction that the current controller of vehicle sends, to acquisite approachs program results and vehicle current ambient environmental letter
Breath, whether environmental information meets opening for unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Dynamic condition:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data are written into response result, response vehicle is currently controlled
Person processed.
B receives the running scheduling instruction of LAN server, to acquisite approachs program results and vehicle current ambient environmental
Whether environmental information meets unmanned mode on the way for information, comprehensive descision vehicle current ambient environmental and/or path planning
Entry condition:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response LAN services are written into response result
Device.
C receives the running scheduling instruction of Cloud Server, to acquisite approachs program results and vehicle current ambient environmental information,
Whether environmental information meets the trip bar of unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response Cloud Server is written into response result.
D receives the running scheduling instruction on monitoring backstage, to acquisite approachs program results and vehicle current ambient environmental information,
Whether environmental information meets the trip bar of unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response monitoring backstage is written into response result.
As a preferred embodiment, the entry condition of the unmanned mode of the vehicle launch further includes that preposition initialization is true
Recognize program, the initialization confirmation program include unlocking vehicle load visual sensor, radar sensor, infrared sensor,
One or more of buzzer, after obtaining one or more of vehicle-periphery information, fusion vehicle-periphery information is simultaneously
Judge the movable space of vehicle periphery, predict the scope of activities of vehicle periphery mobile object, and mix of activities Space Elements and
The scope of activities element of mobile object could open unmanned mode to the vehicle and give a mark；
If score value of giving a mark is higher than preset value, judge that vehicle can open unmanned mode, initialization confirmation program is complete
At；
If score value of giving a mark is lower than preset value, judge that vehicle cannot open unmanned mode, initialization program failure.
As a preferred embodiment, it includes by the vehicle of stop timing that the vehicle, which stops the stop condition of unmanned mode,
Position coordinates are sent to one or more of the current controller of vehicle, LAN server, cloud server.
As a preferred embodiment, if vehicle receives instruction, the office that the current controller of vehicle sends in special time period
One during the running scheduling instruction of domain network server, the running scheduling of Cloud Server instruct, the running scheduling on monitoring backstage instructs
Kind is several, then with the current controller of setting arrangement vehicle of current priority sequence, LAN server, Cloud Server, prison
The instruction for controlling backstage, chooses the dispatch command of highest priority.
As a preferred embodiment, the vehicle and the communication link on monitoring backstage are bidirectional communication link.
As a preferred embodiment, the net load data transmitted in the bidirectional communication link are as follows:
The net load data that vehicle is sent to monitoring backstage include but is not limited to figure that vehicle loading visual sensor is captured
As at a distance from the angle of, the captured vehicle periphery object of vehicle loading radar sensor and vehicle body, vehicle periphery object and vehicle body,
One or more of the relative velocity of vehicle periphery object and vehicle body, infrared imaging of vehicle-periphery；
The net load data that monitoring backstage is sent to vehicle include but is not limited to that continuity control motor vehicle braking system starts/stops
Instruction, the unmanned mode of control vehicle and the pilot steering mould of instruction, the control unmanned mode starting/stopping of vehicle only
One or more of the instruction of formula switching.
As a preferred embodiment, if monitoring backstage controls the unmanned mode of the vehicle and stops or control vehicle braking
After system stops, in pre-set waiting communication link recovery time range, vehicle is at a time interval to after monitoring
Platform issues communication link connection request；After monitoring backstage receives communication link connection request, the monitor of current idle is selected
It attends a banquet, and the vehicle and the monitor is re-established into communication link.
As a preferred embodiment, the vehicle issues communication link connection request to monitoring backstage at a time interval
When, certain time interval are 0.1~5 second.Preferably, the time interval is 1 second.
As a preferred embodiment, if monitoring backstage controls the unmanned mode of the vehicle and stops or control vehicle braking
After system stops, emergency vehicle processing request is sent from vehicle to LAN server and/or Cloud Server, by LAN services
Device and/or Cloud Server dispatch the person of scooping out idle near the person of scooping out or scheduling nearest apart from the vehicle and handle the vehicle.
As a preferred embodiment, the LAN server and/or Cloud Server scheduling are scooped out apart from the vehicle is nearest
When member or the person of scooping out for dispatching the free time nearby handle the vehicle, LAN server and/or Cloud Server interval should be kept to refer to
It fixes time and receives the location information answer packet of vehicle.When LAN server and/or Cloud Server receive in its compass of competency
When the real-time position information of all emergency processing vehicles, is conducive to LAN server and/or cloud server end handles the pipe
Have jurisdiction over the precision of the path planning request of unmanned mode vehicle in regional scope.Because the real time position of emergency processing vehicle is believed
After breath feeds back to LAN server and/or Cloud Server, the vehicle that subsequent time at the time point receives is unmanned
After pattern dictionary planning request, the position coordinates and purpose status of LAN server and/or Cloud Server according to request vehicle
When setting coordinate combination compass of competency map and making path planning, it can will occupy in emergency processing state vehicle and exclude
Except path planning route.
A kind of remote monitoring system of automatic driving vehicle, including the unmanned module of vehicle, vehicle environmental sensing apparatus,
Communication link, monitoring backstage, monitor；
When the unmanned module of vehicle starts, pass through the intercommunication of communication link phase between the vehicle and monitoring backstage
News；
The collected information of vehicle environmental sensing apparatus is transferred to monitoring backstage, monitoring with communication link by the vehicle end
Vehicle deploying monitor is given on backstage, and the monitor judges according to the information that vehicle environmental sensing apparatus is perceived, and controls
The unmanned module of vehicle processed starts or stops.
As a preferred embodiment, the vehicle environmental sensing apparatus includes but is not limited at least one being arranged on vehicle body
Camera, at least one ultrasonic radar being arranged on vehicle body, at least one millimetre-wave radar being arranged on vehicle body, setting
At least one laser radar on vehicle body, at least one infrared sensor being arranged on vehicle body and vehicle are currently located ring
One or more environment induction equipment of border institute subordinate.
It as a preferred embodiment, further include server, the server is used for and vehicle communication, and control instruction is transferred to
Vehicle by vehicle backstage planning driving path and controls vehicle driving；Or by server analysis control instruction and then plan the vehicle
Driving path, and program results are transmitted to vehicle, by the unmanned mode of vehicle launch and execute the planning.
As a preferred embodiment, vehicle backstage according to control instruction planning path, the unmanned mode of starting according to
Planning path traveling.
It as a preferred embodiment, further include mobile terminal, the mobile terminal is used for by the current controller's control of vehicle, hair
Including but not limited to self-help parking, designated space position is sent to converge, the instruction that specified time and spatial position are converged, the vehicle
Unmanned module directly receives the instruction or receives the instruction and/or control by LAN server and/or Cloud Server
After instruction, the instruction and/or control instruction are executed by the unmanned module of vehicle.
As a preferred embodiment, the monitoring backstage further includes monitoring operation module, and the monitoring operation module is monitoring
After backstage receives the response that vehicle stops unmanned mode, monitoring backstage cuts off the vehicle and monitors the communication link on backstage,
And attending a banquet labeled as the free time where the monitor of the vehicle will be monitored, to monitor backstage subsequent allocations vehicle monitoring request.
As a preferred embodiment, the monitoring backstage operation module further includes weight scheduler module, the heavy scheduler module prison
If leading to after control controls the unmanned mode stopping of the vehicle or control motor vehicle braking system stopping from the background in pre-set wait
It interrogates in link-recovery time range, vehicle issues communication link connection request to monitoring backstage at a time interval；After monitoring
After platform receives communication link connection request, the monitor of selected current idle attends a banquet, and again by the vehicle and the monitor
Establish communication link.
As a preferred embodiment, the monitoring backstage operation module further includes emergency processing module, the emergency processing mould
Stop or after control motor vehicle braking system stops if block is used to control the unmanned mode of the vehicle on monitoring backstage, from vehicle to
LAN server and/or Cloud Server send emergency vehicle processing request, are dispatched by LAN server and/or Cloud Server
The idle person of scooping out handles the vehicle near the person of scooping out or scheduling nearest apart from the vehicle.
As a preferred embodiment, the unmanned module of the vehicle further includes starting initialization module, and the starting is initial
Change one of visual sensor, radar sensor, infrared sensor, buzzer that module includes unlocking vehicle loading or several
Kind, after obtaining one or more of vehicle-periphery information, merges vehicle-periphery information and judge living for vehicle periphery
The scope of activities of vehicle periphery mobile object, and the scope of activities of mix of activities Space Elements and mobile object are predicted in dynamic space
Element could open unmanned mode to the vehicle and give a mark, and when score value is higher than preset value, starting initialization module is complete
At the starting of the unmanned module of vehicle.
As a preferred embodiment, the unmanned module of the vehicle further includes stopping modular, and the stopping modular is used for will
The vehicle location coordinate of stop timing be sent to one of the current controller of vehicle, LAN server, cloud server or
It is several.
As a preferred embodiment, the server includes Cloud Server and LAN server, the Cloud Server drawn game
It further include scheduler module in the network server of domain, the scheduler module is used to receive the instruction that the current controller of vehicle sends, and obtains
Route programming result and vehicle current ambient environmental information, comprehensive descision vehicle current ambient environmental and/or path planning edge
Whether way environmental information meets the entry condition of unmanned mode.
A kind of remote monitoring terminal of automatic driving vehicle, which is characterized in that including processor and memory, the storage
Device is stored with program instruction, and the processor operation program instruction realizes the step in above-mentioned method.
As a preferred embodiment, the present embodiment also provides a kind of remote monitoring terminal unit of automatic driving vehicle, such as may be used
To execute smart phone, tablet computer, laptop, desktop computer, the rack-mount server, blade type service of program
Device, tower server or Cabinet-type server (including server set composed by independent server or multiple servers
Group) etc..The terminal device of the present embodiment include, but is not limited to: can be in communication with each other by system bus the memory of connection,
Processor.It should be pointed out that the terminal device with assembly storage, processor, it should be understood that being not required for reality
Apply all components shown, the implementation that can be substituted is more or less component.
As a preferred embodiment, memory (i.e. readable storage medium storing program for executing) includes flash memory, hard disk, multimedia card, card-type storage
Device (for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only storage
Device (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD etc..In some embodiments, memory can be the internal storage unit of computer equipment, such as the computer is set
Standby 20 hard disk or memory.In further embodiments, memory is also possible to the External memory equipment of computer equipment, such as
The plug-in type hard disk being equipped in the computer equipment, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Certainly, memory can also both include computer equipment
Internal storage unit also include its External memory equipment.In the present embodiment, memory is installed on computer commonly used in storage
Operating system and types of applications software, such as the remote supervisor code of automatic driving vehicle in embodiment of equipment etc..
In addition, memory can be also used for temporarily storing the Various types of data that has exported or will export.
Processor can be central processing unit (Central Processing Unit, CPU), control in some embodiments
Device, microcontroller, microprocessor or other data processing chips processed.The processor is total commonly used in control computer equipment
Gymnastics is made.In the present embodiment, program code or processing data of the processor for being stored in run memory, such as operation nothing
People drives the remote supervisor of vehicle, to realize the function of the remote monitoring system of automatic driving vehicle in embodiment.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in above-mentioned method is realized when execution.
The present embodiment also provides a kind of computer readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory
(for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only memory
(ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD, server, App are stored thereon with computer program, phase are realized when program is executed by processor using store etc.
Answer function.The computer readable storage medium of the present embodiment is used to store the remote supervisor of automatic driving vehicle, processed
The long-distance monitoring method of the automatic driving vehicle in embodiment is realized when device executes.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (22)
1. a kind of long-distance monitoring method of automatic driving vehicle, which comprises the following steps:
When the unmanned mode of vehicle launch, establishes vehicle and monitor the communication link on backstage；
The information that the communication link is used to be perceived vehicle detecting equipment is transmitted to monitoring backstage, and the prison by monitoring backstage
Control person judges according to the information that vehicle environmental sensing apparatus is perceived, and controls the unmanned mode of the vehicle and continues or stop
Only.
2. the long-distance monitoring method of automatic driving vehicle according to claim 1, which is characterized in that the vehicle nobody drive
Starting/the stopping for sailing mode is switched according to the instruction that the current controller of vehicle sends.
3. the long-distance monitoring method of automatic driving vehicle according to claim 2, which is characterized in that the vehicle is currently controlled
The instruction that person processed sends includes but is not limited to self-help parking, designated space position is converged, specified time and spatial position are converged.
4. the long-distance monitoring method of automatic driving vehicle according to claim 3, which is characterized in that the vehicle environmental sense
Answering equipment includes but is not limited at least one camera being arranged on vehicle body, at least one the ultrasonic wave thunder being arranged on vehicle body
At least one millimetre-wave radar for reach, being arranged on vehicle body, is arranged in vehicle body at least one laser radar being arranged on vehicle body
On at least one infrared sensor and vehicle be currently located one or more environment induction equipment of environment institute subordinate.
5. the long-distance monitoring method of automatic driving vehicle according to claim 4, which is characterized in that the vehicle is currently controlled
Person processed sends control instruction by the signal projector in hand-held mobile terminal or car key, and the recipient of the control instruction is
Server or vehicle:
If recipient is server, by server foundation and vehicle communication, control instruction is transferred to vehicle, by vehicle backstage
Planning driving path simultaneously controls vehicle driving；Or plan the driving path of the vehicle in turn by server analysis control instruction, and
Program results are transmitted to vehicle, by the unmanned mode of vehicle launch and execute the planning；
If recipient is vehicle, by vehicle backstage according to control instruction planning path, the unmanned mode of starting according to planning
Route.
6. the long-distance monitoring method of automatic driving vehicle according to claim 5, which is characterized in that if vehicle is driven at nobody
It sails under mode, from the communication link for establishing and monitoring backstage until vehicle arrives at the destination, monitoring background monitoring person's
The event for obtaining the stopping unmanned mode state of the vehicle under monitoring is stopped then after vehicle arrives at the destination by vehicle
Only unmanned mode and response monitoring backstage, LAN server, Cloud Server, one or several in the current controller of vehicle
It is a.
7. the long-distance monitoring method of automatic driving vehicle according to claim 6, which is characterized in that when monitoring backstage receives
After vehicle stops the response of unmanned mode, monitoring backstage cuts off the vehicle and monitors the communication link on backstage, and will monitoring
Attending a banquet labeled as the free time where the monitor of the vehicle, to monitor backstage subsequent allocations vehicle monitoring request.
8. the long-distance monitoring method of automatic driving vehicle according to claim 1, which is characterized in that the vehicle launch without
The entry condition of people's driving mode be the following conditions any one:
A receives the instruction that the current controller of vehicle sends, to acquisite approachs program results and vehicle current ambient environmental information, comprehensive
It closes and judges whether environmental information meets the trip bar of unmanned mode on the way for vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, the current controller of response vehicle is written into response result.
B receives the running scheduling instruction of LAN server, to acquisite approachs program results and vehicle current ambient environmental information,
Whether environmental information meets the trip bar of unmanned mode on the way for comprehensive descision vehicle current ambient environmental and/or path planning
Part:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response LAN server is written into response result.
C receives the running scheduling instruction of Cloud Server, to acquisite approachs program results and vehicle current ambient environmental information, comprehensive
Judge whether environmental information meets the entry condition of unmanned mode on the way for vehicle current ambient environmental and/or path planning:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response Cloud Server is written into response result.
D receives the running scheduling instruction on monitoring backstage, to acquisite approachs program results and vehicle current ambient environmental information, comprehensive
Judge whether environmental information meets the entry condition of unmanned mode on the way for vehicle current ambient environmental and/or path planning:
If meeting the entry condition of unmanned mode, the unmanned mode of vehicle launch；
If not meeting the entry condition of unmanned mode, net load data, response monitoring backstage is written into response result.
9. the long-distance monitoring method of automatic driving vehicle according to claim 8, which is characterized in that the vehicle launch without
The entry condition of people's driving mode further includes preposition initialization confirmation program, and the initialization confirmation program includes unlocking vehicle
One or more of the visual sensor of loading, radar sensor, infrared sensor, buzzer obtain one or more of vehicles
After ambient condition information, merges vehicle-periphery information and judge the movable space of vehicle periphery, predict vehicle periphery
The scope of activities of mobile object, and the scope of activities element of mix of activities Space Elements and mobile object could open the vehicle
Unmanned mode is given a mark；
If score value of giving a mark is higher than preset value, judge that vehicle can open unmanned mode, initialization confirmation program is completed；
If score value of giving a mark is lower than preset value, judge that vehicle cannot open unmanned mode, initialization program failure.
10. the long-distance monitoring method of automatic driving vehicle according to claim 9, which is characterized in that if vehicle is specific
The running scheduling instruction of instruction, LAN server that the current controller of vehicle sends, Cloud Server are received in period
One or more of running scheduling instruction, the running scheduling instruction on monitoring backstage, then arranged with the setting of current priority sequence
The current controller of train of vehicles, LAN server, Cloud Server, the instruction for monitoring backstage, the scheduling for choosing highest priority refer to
It enables.
11. the long-distance monitoring method of automatic driving vehicle according to claim 1, which is characterized in that the vehicle and prison
The communication link for controlling backstage is bidirectional communication link, the net load data transmitted in the bidirectional communication link are as follows:
The net load data that vehicle is sent to monitoring backstage include but is not limited to vehicle loading visual sensor institute captured image, vehicle
It loads at a distance from angle, vehicle periphery object and the vehicle body of the captured vehicle periphery object of radar sensor and vehicle body, vehicle
One or more of the relative velocity of surrounding objects and vehicle body, infrared imaging of vehicle-periphery；
The net load data that monitoring backstage is sent to vehicle include but is not limited to continuity control motor vehicle braking system starting/stopping
Instruction, the instruction of the control unmanned mode starting/stopping of vehicle, the unmanned mode of control vehicle and pilot steering mode are cut
One or more of instruction changed.
12. the long-distance monitoring method of automatic driving vehicle according to claim 1, which is characterized in that the monitoring backstage
If after controlling the unmanned mode stopping of the vehicle or control motor vehicle braking system stopping, in pre-set waiting communication link
In recovery time range, vehicle issues communication link connection request to monitoring backstage at a time interval；Monitoring backstage receives
To after communication link connection request, the monitor of selected current idle attends a banquet, and the vehicle is re-established with the monitor logical
Interrogate link.
13. the long-distance monitoring method of automatic driving vehicle according to claim 12, which is characterized in that the monitoring backstage
If controlling the unmanned mode of the vehicle to stop or after control motor vehicle braking system stops, from vehicle to LAN server and/
Or Cloud Server sends emergency vehicle processing request, it is nearest apart from the vehicle by LAN server and/or Cloud Server scheduling
The person of scooping out or scheduling nearby the idle person of scooping out handles the vehicle.
14. the long-distance monitoring method of automatic driving vehicle according to claim 13, which is characterized in that the local area network clothes
Business device and/or Cloud Server dispatch the person of scooping out idle near the person of scooping out or scheduling nearest apart from the vehicle and handle the vehicle
When, LAN server and/or Cloud Server interval specified time should be kept to receive the location information answer packet of vehicle.
15. a kind of remote monitoring system of automatic driving vehicle, which is characterized in that including the unmanned module of vehicle, vehicle ring
Border sensing apparatus, communication link, monitoring backstage, monitor；
When the unmanned module of vehicle starts, mutually communicated between the vehicle and monitoring backstage by communication link；
The collected information of vehicle environmental sensing apparatus is transferred to monitoring backstage, monitoring backstage with communication link by the vehicle end
Vehicle deploying monitor is given, the monitor judges according to the information that vehicle environmental sensing apparatus is perceived, and controls vehicle
Unmanned module starts or stops.
16. the remote monitoring system of automatic driving vehicle according to claim 15, which is characterized in that further include service
Device, the server is used for and vehicle communication, and control instruction is transferred to vehicle, by vehicle backstage planning driving path and controls
Vehicle driving；Or by server analysis control instruction and then plan the driving path of the vehicle, and program results are transmitted to vehicle
, by the unmanned mode of vehicle launch and execute the planning.
17. the remote monitoring system of automatic driving vehicle according to claim 16, which is characterized in that further include mobile whole
End, the mobile terminal are used for by the current controller's control of vehicle, send including but not limited to self-help parking, designated space position
Converge, the instruction that specified time and spatial position are converged, the unmanned module of vehicle directly receives the instruction or passes through office
After domain network server and/or Cloud Server receive the instruction and/or control instruction, this is executed by the unmanned module of vehicle and is referred to
Order and/or control instruction.
18. the remote monitoring system of automatic driving vehicle according to claim 17, which is characterized in that the monitoring backstage
It further include monitoring operation module, the monitoring operation module receives the response that vehicle stops unmanned mode on monitoring backstage
Afterwards, monitoring backstage cuts off the vehicle and monitors the communication link on backstage, and will monitor the mark of attending a banquet where the monitor of the vehicle
It is denoted as the free time, to monitor backstage subsequent allocations vehicle monitoring request.
19. the remote monitoring system of automatic driving vehicle according to claim 18, which is characterized in that the monitoring backstage
Operation module further includes weight scheduler module, if readjustments degree module monitors backstage control the stopping of the vehicle unmanned mode or
After controlling motor vehicle braking system stopping, in pre-set waiting communication link recovery time range, vehicle is with certain time
It is spaced to monitoring backstage and issues communication link connection request；After monitoring backstage receives communication link connection request, select current
Idle monitor attends a banquet, and the vehicle and the monitor are re-established communication link；The monitoring backstage operation module is also
Including emergency processing module, if the emergency processing module be used for monitoring backstage control the unmanned mode of the vehicle stop or
After controlling motor vehicle braking system stopping, emergency vehicle processing request is sent from vehicle to LAN server and/or Cloud Server,
By the person of scooping out idle near LAN server and/or Cloud Server the scheduling person of scooping out or scheduling nearest apart from the vehicle
Handle the vehicle.
20. the remote monitoring system of automatic driving vehicle according to claim 19, which is characterized in that the vehicle nobody
Drive module further include starting initialization module, it is described starting initialization module include unlocking vehicle load visual sensor,
One or more of radar sensor, infrared sensor, buzzer, after obtaining one or more of vehicle-periphery information,
The movable model of vehicle periphery mobile object is predicted in fusion vehicle-periphery information and the movable space for judging vehicle periphery
It encloses, and the scope of activities element of mix of activities Space Elements and mobile object could open unmanned mode to the vehicle and carry out
Marking, when score value is higher than preset value, starting initialization module completes the starting of the unmanned module of vehicle；The vehicle nobody
Driving module further includes stopping modular, and the stopping modular is used to the vehicle location coordinate of stop timing being sent to vehicle current
One or more of controller, LAN server, cloud server.
21. a kind of remote monitoring terminal of automatic driving vehicle, which is characterized in that including processor and memory, the storage
Device is stored with program instruction, and the processor operation program instruction realizes the step in above-mentioned method.
22. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 1 to 14 any claim is realized when execution.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811072607.5A CN109435951B (en) | 2018-09-14 | 2018-09-14 | Remote monitoring method, system, terminal and storage medium for unmanned vehicle |
| CN202210374911.5A CN114750780A (en) | 2018-09-14 | 2018-09-14 | Remote monitoring method, system, terminal and storage medium for unmanned vehicle |
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| CN201811072607.5A CN109435951B (en) | 2018-09-14 | 2018-09-14 | Remote monitoring method, system, terminal and storage medium for unmanned vehicle |
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Also Published As
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| CN109435951B (en) | 2022-03-29 |
| CN114750780A (en) | 2022-07-15 |
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