CN109901587A - Remote collaborative control method, device, system, server and the medium of vehicle - Google Patents
Remote collaborative control method, device, system, server and the medium of vehicle Download PDFInfo
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- CN109901587A CN109901587A CN201910237496.7A CN201910237496A CN109901587A CN 109901587 A CN109901587 A CN 109901587A CN 201910237496 A CN201910237496 A CN 201910237496A CN 109901587 A CN109901587 A CN 109901587A
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Abstract
The invention discloses remote collaborative control method, device, system, server and the medium of a kind of vehicle, include the following steps: to receive the first connection request signal that target vehicle communication unit is sent in first communication channel and the time used in obtaining；Each second connection request signal that target vehicle communication unit is sent to each adjacent vehicle communication unit and is forwarded in third communication channel by each adjacent vehicle communication unit in the second communication channel is received, and obtains the time used；The shortest communication channel of call duration time between selection and target vehicle communication unit, when selecting first communication channel, vehicle control signal sends target vehicle communication unit to, and target vehicle communication unit relays to adjacent vehicle；When selecting the second communication channel and third communication channel, then vehicle control signal sends corresponding adjacent vehicle to；Target vehicle is transmitted to by the adjacent vehicle, while vehicle control signal is forwarded to other adjacent vehicles by the adjacent vehicle.
Description
Technical field
The present invention relates to vehicle remote control technology field, in particular to the remote collaborative control method of a kind of vehicle, dress
It sets, system, server and storage medium.
Background technique
It is manually manipulated currently, vehicle performance also relies primarily on.But with automatic Pilot, the hair of auxiliary driving technology
Exhibition from a security standpoint, needs vehicle remote control technology to assist when vehicle enters automatic Pilot or auxiliary driving phase
Vehicle safety is helped to drive a vehicle, especially in extreme circumstances, such as: experience can not identify situation, deviate unobvious lane etc., just need
Artificial remotely controlling drive manner is wanted to be detached from.
In associated vehicle remote control technology, remote control terminal generallys use the wireless channel and target of single fixed network
Vehicle carries out remote interaction, to carry out remote handle control to vehicle.Deficiency existing for this remote controlled manner is: 1) remote
Process control end can only control target vehicle, can not instruct relevant control and be sent to nearby vehicle, can not make target vehicle and week
Side vehicle Collaborative Control, so as to cause the safe effect decline remotely controlled；2) since network environment is influenced by factors,
Therefore, the wireless communication time delay between remote control terminal and vehicle is unstable, so as to cause remote control terminal control instruction not
Target vehicle can be passed in time, and then constrains the response operation of target vehicle, affect traffic safety.
Summary of the invention
The first object of the present invention is the shortcomings that overcoming the prior art and deficiency, provides a kind of remote collaborative control of vehicle
Method processed, this method can carry out Collaborative Control for target vehicle with its adjacent vehicle, improve the safety of vehicle driving,
And the time that target vehicle receives vehicle control signal is shortened, the timeliness of vehicle remote control is improved.
The second object of the present invention is to provide a kind of remote collaborative control device of vehicle.
The third object of the present invention is to provide a kind of remote collaborative control system of vehicle.
The fourth object of the present invention is to provide a kind of server.
The fifth object of the present invention is to provide a kind of storage medium.
The first object of the present invention is achieved through the following technical solutions: a kind of remote collaborative control method of vehicle, step
It is as follows:
Step S1, the first currently transmitted connection request signal of target vehicle communication unit is received, and obtains target carriage
The first currently transmitted connection request signal of communication unit is finally received the used time from being issued to；
It receives target vehicle communication unit and is currently sent to each adjacent vehicle communication unit and by each adjacent vehicle communication unit
Each second connection request signal of member forwarding；Obtain it is each second connection request signal be issued to from target vehicle communication unit it is each
Adjacent vehicle communication unit, which receives the used time and is issued to finally to be received from each adjacent vehicle communication unit, to be made
Time；
Wherein adjacent vehicle refers to that the vehicle within the scope of target vehicle communication radius R, R are definite value；
Step S2, according to got in step S1 first connection request signal from be issued to be received used when
Between, it is each second connection request signal from target vehicle communication unit be issued to by each adjacent vehicle communication unit receive used in
Time and each second connection request signal are issued to from each adjacent vehicle communication unit and are finally received the used time, select
The shortest communication channel of call duration time between target vehicle communication unit is selected, which is transmission the first connection request letter
Number first communication channel, or for transmit certain second connection request signal the second communication channel and third communication channel,
In communication channel of second communication channel between target vehicle communication unit and adjacent vehicle communication unit, third communication channel
It refers to that the second connection request signal is issued to from adjacent vehicle communication unit and is finally received used communication channel；
Step S3, according to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and adjacent vehicle current driving
Parameter and current driving track generate the vehicle control signal of target vehicle and adjacent vehicle respectively；When selection and target vehicle
Communication channel between communication unit is when transmitting the first communication channel of the first connection request signal, then directly by vehicle control
Signal sends target vehicle communication unit to by first communication channel, receives vehicle control letter by target vehicle communication unit
Adjacent vehicle is transmitted to after number；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, then vehicle control signal is sent to corresponding neighbour by the third communication channel first
Nearly vehicle；Target vehicle is transmitted to by the second channel channel by the adjacent vehicle, while the adjacent vehicle is by vehicle control
Signal is forwarded to other adjacent vehicles of target vehicle.
It preferably, include receiving vehicle target list in the vehicle control signal；
When selecting the communication channel between target vehicle communication unit for first communication channel, then directly by vehicle control
Signal processed sends target vehicle communication unit to by first communication channel；Target vehicle communication unit is according to vehicle control signal
In reception vehicle target list, the vehicle control signal received is transmitted to adjacent vehicle；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, vehicle control signal is sent to by the third communication channel first corresponding neighbouring
Vehicle；By adjacent vehicle communication unit according to the reception vehicle target list in vehicle control signal, the vehicle control that will be received
Signal processed is transmitted to target vehicle and other adjacent vehicles.
Preferably, in the step S2, the concrete mode of the communication channel between selection and target vehicle communication unit is such as
Under:
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection
It is issued to time ti used in the reception of each adjacent vehicle communication unit from by target vehicle communication unit in request signal Hi,
I=1,2 ..., n and each second connection request signal Hi are finally received from being issued to by each adjacent vehicle communication unit
Time Ti, i=1,2 ..., n compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing
As a result when middle time t0 is minimum, then select to transmit the first communication channel of above-mentioned first connection request signal for target vehicle
Communication channel between communication unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit the
The second communication channel and third communication channel of two connection request signal Hi is as the communication between target vehicle communication unit
Channel.
Preferably, radius R is 70~100m.
The second object of the present invention is achieved through the following technical solutions: a kind of remote collaborative control device of vehicle, comprising:
First connection request signal receiving module is asked for receiving the first currently transmitted connection of target vehicle communication unit
Seek signal；
First delayed data obtains module, for obtaining the first currently transmitted connection request letter of target vehicle communication unit
Number from being issued to the time being received；
Second connection request signal receiving module, is currently sent to each adjacent vehicle for receiving target vehicle communication unit
Communication unit and each second connection request signal forwarded by each adjacent vehicle communication unit；Wherein, adjacent vehicle refers to mesh
Mark the vehicle within the scope of vehicle communication radius R；R is definite value；
Second delayed data obtains module, each second connection request currently issued for obtaining target vehicle communication unit
Signal is issued to from target vehicle communication unit and receives the used time by each adjacent vehicle communication unit；
Third delayed data obtains module, turns for obtaining each second connection request signal from by adjacent vehicle communication unit
It is dealt into and is finally received the used time；
Communication channel selecting module, for according to first connection request signal from be issued to be received the used time,
When each second connection request signal is issued to used in the reception of each adjacent vehicle communication unit from target vehicle communication unit
Between and each second connection request signal be issued to from each adjacent vehicle communication unit and be finally received the used time, select
The shortest communication channel of call duration time between target vehicle communication unit, the communication channel are transmission the first connection request signal
First communication channel, or for transmit certain second connection request signal the second communication channel and third communication channel, wherein
Communication channel of second communication channel between target vehicle communication unit and adjacent vehicle communication unit, third communication channel refer to
Be that the second connection request signal is issued to from adjacent vehicle communication unit and is finally received used communication channel；
Vehicle control signal generation module, for according to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle
Generate the vehicle control letter of target vehicle and adjacent vehicle respectively with adjacent vehicle current driving parameter and current driving track
Number；
Vehicle control signal send control module, when select the communication channel between target vehicle communication unit for transmit
When the first communication channel of the first connection request signal, for directly vehicle control signal to be sent to by first communication channel
Target vehicle communication unit is transmitted to adjacent vehicle after receiving vehicle control signal by target vehicle communication unit；Work as selection
Communication channel between target vehicle communication unit is to transmit certain second second communication channel and third for being connected to request signal
When communication channel, then for sending vehicle control signal to corresponding adjacent vehicle by the third communication channel；By the neighbour
Nearly vehicle is transmitted to target vehicle by the second channel channel, while vehicle control signal is forwarded to target by the adjacent vehicle
Other adjacent vehicles of vehicle.
The third object of the present invention is achieved through the following technical solutions: a kind of remote collaborative control system of vehicle, comprising:
Remote control terminal server, the remote collaborative control for vehicle described in any one of perform claim requirement 1 to 4
Method；
Target vehicle communication unit is given remote control terminal server for periodically sending the first connection request signal, is used for
The second connection request signal is periodically sent to adjacent vehicle communication unit；
Adjacent vehicle communication unit, in the second connection request signal for receiving the transmission of target vehicle communication unit
Afterwards, it is transmitted to remote control terminal server.
Preferably, the target vehicle communication unit includes the first short-haul connections unit and the first telecommunication unit；
The adjacent vehicle communication unit includes the second short-haul connections unit and the second telecommunication unit；
Wherein, target vehicle communication unit is communicated by the first telecommunication unit with remote control terminal server；
Target vehicle communication unit is carried out by the second short-haul connections unit of the first short-haul connections unit and adjacent vehicle communication unit
Communication；Adjacent vehicle communication unit is communicated by the second telecommunication unit with remote control terminal server.
Further, the first short-haul connections unit and the second short-haul connections unit are dedicated short using wifi or DSRC
Journey communication mode；
First telecommunication unit and the second telecommunication unit use 4G, 5G or satellite telecom mode.
The fourth object of the present invention is achieved through the following technical solutions: a kind of server, including processor and for depositing
The memory of processor executable program is stored up, when the processor executes the program of memory storage, realizes the first mesh of the invention
The vehicle remote collaborative control method.
The fifth object of the present invention is achieved through the following technical solutions: a kind of storage medium is stored with program, described program
When being executed by processor, the remote collaborative control method of vehicle described in an object of the present disclosure is realized.
The present invention has the following advantages and effects with respect to the prior art:
(1) in the remote collaborative control method of vehicle of the present invention, the connection request signal of target vehicle communication unit is obtained
And the connection request signal that target vehicle communication unit is sent by each adjacent vehicle communication unit, and get target carriage
Communication unit directly transmits connection request signal and by difference when adjacent vehicle communication unit forwarding connection request signal
The time of cost, to finally determine the communication channel communicated with target vehicle communication unit；The communication channel is and mesh
Mark vehicle communication unit communication time shortest communication channel；After determining communication channel, target vehicle and adjacent vehicle are generated
Vehicle control signal, and target vehicle or adjacent vehicle are first sent to by communication channel, when target vehicle first receives,
Then each adjacent vehicle is given by target vehicle forwarding, if adjacent vehicle first receives, target is transmitted to by adjacent vehicle
Vehicle and other adjacent vehicles, from the foregoing, it can be seen that, the method for the present invention can be cooperateed with for target vehicle and its adjacent vehicle
Control, substantially increases the safety of vehicle driving；Communication letter and in the method for the present invention, between selection and target vehicle
When road, the communication channel of most short call duration time has been selected, has effectively shortened the time that target vehicle receives vehicle control signal,
Improve the timeliness of vehicle remote control.
It (2) include receiving vehicle target list in vehicle control signal in the remote collaborative control method of vehicle of the present invention；
It, can be according to vehicle target list quickly and accurately when target vehicle communication unit directly receives vehicle control signal
The vehicle control signal of adjacent vehicle is transmitted to each adjacent vehicle；When adjacent vehicle communication unit directly receives vehicle control
When signal, can according to vehicle target list quickly and accurately the vehicle control signal of target vehicle is transmitted to target carriage
, and the vehicle control signal of adjacent vehicle is transmitted to adjacent vehicle, it can be seen that, the present invention passes through vehicle target list energy
Enough Collaborative Controls for more quickly realizing vehicle.
(3) in the remote collaborative control system of vehicle of the present invention, target vehicle communication unit and adjacent vehicle communication unit
Include telecommunication unit and short-haul connections unit, wherein target vehicle communication unit by short-haul connections unit with it is neighbouring
Vehicle communication unit is communicated, and target vehicle communication unit and adjacent vehicle communication unit pass through telecommunication unit and remote
Process control end server is communicated；Above-mentioned communication selection mode can guarantee to save flower needed for communication while communication quality
Pin.
Detailed description of the invention
Fig. 1 is the remote collaborative control method flow chart of vehicle of the present invention.
Fig. 2 is the remote collaborative control device structural block diagram of vehicle of the present invention.
Fig. 3 is the remote collaborative Control system architecture block diagram of vehicle of the present invention.
Fig. 4 is the remote collaborative control system architecture schematic diagram of vehicle of the present invention.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
Present embodiment discloses a kind of remote collaborative control method of vehicle, this method mainly passes through vehicle remote control
Server is held to realize, as shown in Figure 1, steps are as follows:
Step S1, the first currently transmitted connection request signal of target vehicle communication unit is received, and obtains target carriage
The first currently transmitted connection request signal of communication unit is finally received used time t0 from being issued to；
It receives target vehicle communication unit and is currently sent to each adjacent vehicle communication unit and by each adjacent vehicle communication unit
Each second connection request signal Hi, i=1,2 ..., n of member forwarding, and each second connection request signal Hi is obtained from target
Vehicle communication unit, which is issued to, receives used time ti, i=1,2 ..., n, Yi Jicong by each adjacent vehicle communication unit
Each adjacent vehicle communication unit, which is issued to, is finally received used time Ti, i=1,2 ..., n；
Wherein adjacent vehicle refers to the vehicle within the scope of target vehicle communication radius R；R is definite value, in the present embodiment R
For 70~100m.
Step S2, according to got in step S1 first connection request signal from be issued to be received used when
Between, it is each second connection request signal Hi from target vehicle communication unit be issued to by each adjacent vehicle communication unit reception use
Time ti and each second connection request signal be issued to from each adjacent vehicle communication unit when being finally received used
Between Ti, selection target vehicle communication unit between the shortest communication channel of call duration time, the communication channel be transmission first connect
The first communication channel of logical request signal, or to transmit the second communication channel and the third communication of certain the second connection request signal
Channel, wherein communication channel of second communication channel between target vehicle communication unit and adjacent vehicle communication unit, third
Communication channel refers to that the second connection request signal is issued to from adjacent vehicle communication unit and is finally received used communication
Channel；It is specific as follows:
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection
It is issued to time ti used in the reception of each adjacent vehicle communication unit from by target vehicle communication unit in request signal Hi,
I=1,2 ..., n and each second connection request signal Hi are finally received from being issued to by each adjacent vehicle communication unit
Time Ti, i=1,2 ..., n compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing
As a result when middle time t0 is minimum, then select to transmit the first communication channel of above-mentioned first connection request signal for target vehicle
Communication channel between communication unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit the
The second communication channel and third communication channel of two connection request signal Hi is as the communication between target vehicle communication unit
Channel.
Step S3, according to target vehicle and adjacent vehicle itself vehicle parameter, current driving parameter and current driving rail
Mark generates the vehicle control signal of target vehicle and adjacent vehicle respectively；It in the present embodiment, include connecing in vehicle control signal
Return the vehicle to the garage and knock off an object listing (c0, c1, c2 ... cn), and c0 refers to that target vehicle, c1 to cn refer to the neighbouring vehicle of target vehicle
?.Wherein, above-mentioned vehicle parameter includes vehicle mass, size, wheelbase, wheelspan etc., and above-mentioned driving parameters include speed, steering wheel
Corner etc.；
When selecting the communication channel between target vehicle communication unit for first communication channel, as direct delivery side
When formula, then directly vehicle control signal is sent to target vehicle communication unit by first communication channel；Target vehicle communication
Unit is transmitted to neighbouring vehicle according to the reception vehicle target list in vehicle control signal, by the vehicle control signal received
?；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, as indirect delivery method when, first by vehicle control signal pass through the third communication
Channel sends corresponding adjacent vehicle to；It is arranged by adjacent vehicle communication unit according to the reception vehicle target in vehicle control signal
The vehicle control signal received is transmitted to target vehicle and other adjacent vehicles by table.
Embodiment 2
Present embodiment discloses a kind of remote collaborative control devices of vehicle, as shown in Figure 2, comprising:
First connection request signal receiving module is asked for receiving the first currently transmitted connection of target vehicle communication unit
Seek signal；
First delayed data obtains module, for obtaining the first currently transmitted connection request letter of target vehicle communication unit
Number from being issued to the time t0 being received；
Second connection request signal receiving module, is currently sent to each adjacent vehicle for receiving target vehicle communication unit
Communication unit and each second connection the request signal Hi, i=1,2 ..., n forwarded by each adjacent vehicle communication unit；Wherein, adjacent
Nearly vehicle refers to the vehicle within the scope of target vehicle communication radius R；R is definite value, and R is 70~100m in the present embodiment.
Second delayed data obtains module, each second connection request currently issued for obtaining target vehicle communication unit
Signal is issued to from target vehicle communication unit and receives used time ti, i=1 by each adjacent vehicle communication unit,
2 ..., n；
Third delayed data obtains module, turns for obtaining each second connection request signal from by adjacent vehicle communication unit
It is dealt into time Ti, i=1,2 ..., n used in being finally received；
Communication channel selecting module, for being received the used time from being issued to according to the first connection request signal
T0, each second connection request signal Hi are issued to from target vehicle communication unit and are used by the reception of each adjacent vehicle communication unit
Time ti and it is each second connection request signal Hi from each adjacent vehicle communication unit be issued to finally be received used in
Time Ti, the shortest communication channel of call duration time between selection and target vehicle communication unit, the communication channel are transmission first
It is connected to the first communication channel of request signal, or logical to transmit the second communication channel of certain the second connection request signal and third
Believe channel, wherein communication channel of second communication channel between target vehicle communication unit and adjacent vehicle communication unit, the
Three communication channels refer to that the second connection request signal is issued to from adjacent vehicle communication unit and are finally received used lead to
Believe channel；
Specifically, exactly compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing
As a result when middle time t0 is minimum, then select to transmit the first communication channel of above-mentioned first connection request signal for target vehicle
Communication channel between communication unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit the
The second communication channel and third communication channel of two connection request signal Hi is as the communication between target vehicle communication unit
Channel.
Vehicle control signal generation module, for according to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle
Generate the vehicle control letter of target vehicle and adjacent vehicle respectively with adjacent vehicle current driving parameter and current driving track
Number；
Vehicle control signal send control module, when select the communication channel between target vehicle communication unit for transmit
When the first communication channel of the first connection request signal, for directly vehicle control signal to be sent to by first communication channel
Target vehicle communication unit is transmitted to adjacent vehicle after receiving vehicle control signal by target vehicle communication unit；Work as selection
Communication channel between target vehicle communication unit is to transmit certain second second communication channel and third for being connected to request signal
When communication channel, then for sending vehicle control signal to corresponding adjacent vehicle by the third communication channel；By the neighbour
Nearly vehicle is transmitted to target vehicle by the second channel channel, while vehicle control signal is forwarded to target by the adjacent vehicle
Other adjacent vehicles of vehicle.
Wherein, vehicle control signal includes receiving vehicle target list (c0, c1, c2 ... cn), and c0 refers to target carriage
, c1 to cn refers to the adjacent vehicle of target vehicle.When select the communication channel between target vehicle communication unit for
When one communication channel, then target vehicle communication unit receives vehicle control signal, and according to the reception in vehicle control signal
The vehicle control signal received is transmitted to adjacent vehicle by vehicle target list；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, corresponding adjacent vehicle receives vehicle control signal by the third communication channel, and
According to the reception vehicle target list in vehicle control signal, by the vehicle control signal received be transmitted to target vehicle and
Other adjacent vehicles.
It should be noted that the device of the present embodiment is only the example of the division of the above functional modules,
In practical applications, it can according to need and be completed by different functional modules above-mentioned function distribution, i.e., draw internal structure
It is divided into different functional modules, to complete all or part of the functions described above.
Embodiment 3
Present embodiment discloses a kind of remote collaborative control systems of vehicle, and as shown in Figures 3 and 4, which includes long-range
Control terminal server, target vehicle communication unit and adjacent vehicle communication unit, concrete condition are as follows:
Target vehicle communication unit is given remote control terminal server for periodically sending the first connection request signal, is used for
The second connection request signal is periodically sent to adjacent vehicle communication unit；
Adjacent vehicle communication unit, in the second connection request signal for receiving the transmission of target vehicle communication unit
Afterwards, it is transmitted to remote control terminal server；
Wherein, target vehicle communication unit and adjacent vehicle communication unit include telecommunication unit and short-haul connections list
Member, specifically: target vehicle communication unit includes the first short-haul connections unit and the first telecommunication unit, adjacent vehicle communication
Unit includes the second short-haul connections unit and the second telecommunication unit.Target vehicle communication unit passes through the first telecommunication list
Member is communicated with remote control terminal server；Target vehicle communication unit is logical by the first short-haul connections unit and adjacent vehicle
Second short-haul connections unit of letter unit is communicated；Adjacent vehicle communication unit passes through the second telecommunication unit and long-range control
End server processed is communicated.
First short-haul connections unit and the second short-haul connections unit can be using dedicated short-range communication sides such as wifi or DSRC
Formula；First telecommunication unit and the second telecommunication unit can be using telecommunications modes such as 4G, 5G or satellites.
Remote control terminal server, for executing the remote collaborative control method of vehicle described in embodiment 1, specifically such as
Under:
The first currently transmitted connection request signal of target vehicle communication unit is received, and obtains target vehicle communication unit
The currently transmitted first connection request signal of member is finally received used time t0 from being issued to；
It receives target vehicle communication unit and is currently sent to each adjacent vehicle communication unit and by each adjacent vehicle communication unit
Each second connection request signal Hi, i=1,2 ..., n of member forwarding, and each second connection request signal Hi is obtained from target
Vehicle communication unit, which is issued to, receives used time ti, i=1,2 ..., n, Yi Jicong by each adjacent vehicle communication unit
Each adjacent vehicle communication unit, which is issued to, is finally received used time Ti, i=1,2 ..., n；
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection
It is issued to time ti used in the reception of each adjacent vehicle communication unit from by target vehicle communication unit in request signal Hi,
I=1,2 ..., n and each second connection request signal Hi are finally received from being issued to by each adjacent vehicle communication unit
Time Ti, i=1,2 ..., n compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, remote control terminal clothes
The shortest communication channel of call duration time between the selection of business device and target vehicle communication unit；Wherein, if time t0 in comparison result
When for minimum, then select the first communication channel for transmitting above-mentioned first connection request signal between target vehicle communication unit
Communication channel；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } then will transmission the second connection request letter
The second communication channel and third communication channel of number Hi is as the communication channel between target vehicle communication unit.
According to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and adjacent vehicle current driving parameter and
Current driving track generates the vehicle control signal of target vehicle and adjacent vehicle respectively, includes receiving vehicle in vehicle control signal
Object listing (c0, c1, c2 ... cn), c0 refers to that target vehicle, c1 to cn refer to the adjacent vehicle of target vehicle, adjacent
Nearly vehicle refers to the vehicle within the scope of target vehicle communication radius R；R is definite value, and R is 70~100m in the present embodiment.
When selecting the communication channel between target vehicle communication unit for first communication channel, then directly by vehicle control
Signal processed sends target vehicle communication unit to by first communication channel；Target vehicle communication unit is according to vehicle control signal
In reception vehicle target list, the vehicle control signal received is transmitted to adjacent vehicle；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, vehicle control signal is sent to by the third communication channel first corresponding neighbouring
Vehicle；By adjacent vehicle communication unit according to the reception vehicle target list in vehicle control signal, the vehicle control that will be received
Signal processed is transmitted to target vehicle and other adjacent vehicles.
Embodiment 4
Present embodiment discloses a kind of servers, including processor and for the storage of storage processor executable program
Device when the processor executes the program of memory storage, realizes following operation:
For the first currently transmitted connection request signal of target vehicle communication unit, receives and obtain target vehicle and lead to
The first currently transmitted connection request signal of letter unit is finally received the used time from being issued to；
Each adjacent vehicle communication unit is currently sent to for target vehicle communication unit and by each adjacent vehicle communication unit
Each second connection request signal of member forwarding receives and obtains each second connection request signal from the sending of target vehicle communication unit
It is finally connect to being received the used time by each adjacent vehicle communication unit and being issued to from each adjacent vehicle communication unit
Time used in receiving；
Wherein adjacent vehicle refers to that the vehicle within the scope of target vehicle communication radius R, R are definite value, in the present embodiment R
For 70~100m.
According to as above get first connection request signal from be issued to be received the used time, it is each second connection
Request signal from target vehicle communication unit be issued to by each adjacent vehicle communication unit receive used in the time and each the
Two connection request signals are issued to from each adjacent vehicle communication unit is finally received the used time, selection and target vehicle
The shortest communication channel of call duration time between communication unit, the communication channel are to transmit the first communication of the first connection request signal
Channel, or to transmit the second communication channel and third communication channel of certain the second connection request signal, wherein the second communication letter
Communication channel of the road between target vehicle communication unit and adjacent vehicle communication unit, third communication channel refer to the second company
Logical request signal is issued to from adjacent vehicle communication unit is finally received used communication channel；Specifically:
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection
It is issued to time ti used in the reception of each adjacent vehicle communication unit from by target vehicle communication unit in request signal Hi,
I=1,2 ..., n and each second connection request signal Hi are finally received from being issued to by each adjacent vehicle communication unit
Time Ti, i=1,2 ..., n compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing
As a result when middle time t0 is minimum, then select to transmit the first communication channel of above-mentioned first connection request signal for target vehicle
Communication channel between communication unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit the
The second communication channel and third communication channel of two connection request signal Hi is as the communication between target vehicle communication unit
Channel.
According to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and adjacent vehicle current driving parameter and
Current driving track generates the vehicle control signal of target vehicle and adjacent vehicle respectively；When selection and target vehicle communication unit
Between communication channel be transmit first connection request signal first communication channel when, then directly vehicle control signal is passed through
First communication channel sends target vehicle communication unit to, forwards after receiving vehicle control signal by target vehicle communication unit
To adjacent vehicle；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, then vehicle control signal is sent to corresponding neighbour by the third communication channel first
Nearly vehicle；Target vehicle is transmitted to by the second channel channel by the adjacent vehicle, while the adjacent vehicle is by vehicle control
Signal is forwarded to other adjacent vehicles of target vehicle.
Embodiment 5
Present embodiment discloses a kind of storage mediums, are stored with program, when described program is executed by processor, realize as follows
Operation:
For the first currently transmitted connection request signal of target vehicle communication unit, receives and obtain target vehicle and lead to
The first currently transmitted connection request signal of letter unit is finally received the used time from being issued to；
Each adjacent vehicle communication unit is currently sent to for target vehicle communication unit and by each adjacent vehicle communication unit
Each second connection request signal of member forwarding receives and obtains each second connection request signal from the sending of target vehicle communication unit
It is finally connect to being received the used time by each adjacent vehicle communication unit and being issued to from each adjacent vehicle communication unit
Time used in receiving；
Wherein adjacent vehicle refers to that the vehicle within the scope of target vehicle communication radius R, R are definite value, in the present embodiment R
For 70~100m.
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection
It is issued to time ti used in the reception of each adjacent vehicle communication unit from by target vehicle communication unit in request signal Hi,
I=1,2 ..., n and each second connection request signal Hi are finally received from being issued to by each adjacent vehicle communication unit
Time Ti, i=1,2 ..., n compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing
As a result when middle time t0 is minimum, then select to transmit the first communication channel of above-mentioned first connection request signal for target vehicle
Communication channel between communication unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit the
The second communication channel and third communication channel of two connection request signal Hi is as the communication between target vehicle communication unit
Channel.
That is, the shortest communication channel of call duration time between selection and target vehicle communication unit, the communication channel
It is connected to the first communication channel of request signal, or for transmission first to transmit the second communication letter of certain the second connection request signal
Road and third communication channel, wherein the second communication channel is logical between target vehicle communication unit and adjacent vehicle communication unit
Believe that channel, third communication channel refer to that the second connection request signal is issued to from adjacent vehicle communication unit and be finally received institute
The communication channel used.
According to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and adjacent vehicle current driving parameter and
Current driving track generates the vehicle control signal of target vehicle and adjacent vehicle respectively；When selection and target vehicle communication unit
Between communication channel be transmit first connection request signal first communication channel when, then directly vehicle control signal is passed through
First communication channel sends target vehicle communication unit to, forwards after receiving vehicle control signal by target vehicle communication unit
To adjacent vehicle；
When selecting the communication channel between target vehicle communication unit second to be connected to the second of request signal to transmit certain
When communication channel and third communication channel, then vehicle control signal is sent to corresponding neighbour by the third communication channel first
Nearly vehicle；Target vehicle is transmitted to by the second channel channel by the adjacent vehicle, while the adjacent vehicle is by vehicle control
Signal is forwarded to other adjacent vehicles of target vehicle.
Storage medium in the present embodiment can be disk, CD, computer storage, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), USB flash disk, the media such as mobile hard disk.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of remote collaborative control method of vehicle, which is characterized in that steps are as follows:
Step S1, the first currently transmitted connection request signal of target vehicle communication unit is received, and it is logical to obtain target vehicle
The first currently transmitted connection request signal of letter unit is finally received the used time from being issued to；
Target vehicle communication unit is received to be currently sent to each adjacent vehicle communication unit and turned by each adjacent vehicle communication unit
Each second connection request signal of hair；Each second connection request signal is obtained to be issued to from target vehicle communication unit by each neighbouring
Vehicle communication unit receives the used time and is issued to used in final be received from each adjacent vehicle communication unit
Time；
Wherein adjacent vehicle refers to that the vehicle within the scope of target vehicle communication radius R, R are definite value；
Step S2, used time, each is received from being issued to according to the first connection request signal got in step S1
Second connection request signal is issued to from target vehicle communication unit and receives the used time by each adjacent vehicle communication unit
And each second connection request signal is issued to from each adjacent vehicle communication unit and is finally received the used time, selection with
The shortest communication channel of call duration time between target vehicle communication unit, the communication channel are transmission the first connection request signal
First communication channel, or to transmit the second communication channel and third communication channel of certain the second connection request signal, wherein the
Communication channel of two communication channels between target vehicle communication unit and adjacent vehicle communication unit, third communication channel refer to
It is that the second connection request signal is issued to from adjacent vehicle communication unit and is finally received used communication channel；
Step S3, according to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and adjacent vehicle current driving parameter
And current driving track generates the vehicle control signal of target vehicle and adjacent vehicle respectively；When selection is communicated with target vehicle
Communication channel between unit is when transmitting the first communication channel of the first connection request signal, then directly by vehicle control signal
Target vehicle communication unit is sent to by first communication channel, after receiving vehicle control signal by target vehicle communication unit
It is transmitted to adjacent vehicle；
When selecting the communication channel between target vehicle communication unit to transmit second communicating for certain the second connection request signal
When channel and third communication channel, then vehicle control signal is sent to corresponding neighbouring vehicle by the third communication channel first
?；Target vehicle is transmitted to by the second channel channel by the adjacent vehicle, while the adjacent vehicle is by vehicle control signal
It is forwarded to other adjacent vehicles of target vehicle.
2. the remote collaborative control method of vehicle according to claim 1, which is characterized in that in the vehicle control signal
Including receiving vehicle target list；
When selecting the communication channel between target vehicle communication unit for first communication channel, then directly vehicle control is believed
Number target vehicle communication unit is sent to by first communication channel；Target vehicle communication unit is according in vehicle control signal
Vehicle target list is received, the vehicle control signal received is transmitted to adjacent vehicle；
When selecting the communication channel between target vehicle communication unit to transmit second communicating for certain the second connection request signal
When channel and third communication channel, vehicle control signal is sent to corresponding neighbouring vehicle by the third communication channel first
?；By adjacent vehicle communication unit according to the reception vehicle target list in vehicle control signal, the vehicle control that will be received
Signal is transmitted to target vehicle and other adjacent vehicles.
3. the remote collaborative control method of vehicle according to claim 1, which is characterized in that in the step S2, selection
The concrete mode of communication channel between target vehicle communication unit is as follows:
Be directed to get first connection request signal from be issued to be received used time t0, it is each second connection request
Time ti used in the reception of each adjacent vehicle communication unit, i=are issued to from by target vehicle communication unit in signal Hi
1,2 ..., n and it is each second connection request signal Hi from be issued to by each adjacent vehicle communication unit be finally received when
Between Ti, i=1,2 ..., n, compare the size relation of time t0 and time ti+Ti, i=1,2 ..., n, wherein if comparing knot
When time t0 is minimum in fruit, then it is logical with target vehicle for selecting the first communication channel for transmitting above-mentioned first connection request signal
Believe the communication channel between unit；If time ti+Ti is minimum in comparison result, i ∈ { 1,2 ..., n } will then transmit second
The second communication channel and third communication channel for being connected to request signal Hi are as the communication letter between target vehicle communication unit
Road.
4. the remote collaborative control method of vehicle according to claim 1, which is characterized in that radius R is 70~100m.
5. a kind of remote collaborative control device of vehicle characterized by comprising
First connection request signal receiving module, for receiving the first currently transmitted connection request letter of target vehicle communication unit
Number；
First delayed data obtain module, for obtain target vehicle communication unit it is currently transmitted first connection request signal from
It is issued to the time being received；
Second connection request signal receiving module is currently sent to each adjacent vehicle communication for receiving target vehicle communication unit
Unit and each second connection request signal forwarded by each adjacent vehicle communication unit；Wherein, adjacent vehicle refers to target carriage
Vehicle within the scope of communication radius R；R is definite value；
Second delayed data obtains module, each second connection request signal currently issued for obtaining target vehicle communication unit
It is issued to from target vehicle communication unit and the used time is received by each adjacent vehicle communication unit；
Third delayed data obtains module, is forwarded to for obtaining each second connection request signal from by adjacent vehicle communication unit
Finally it is received the used time；
Communication channel selecting module, for being received used time, each the from being issued to according to the first connection request signal
Two connection request signals from target vehicle communication unit be issued to by each adjacent vehicle communication unit receive used in the time with
And each second connection request signal is issued to from each adjacent vehicle communication unit and is finally received the used time, selection and mesh
Mark the shortest communication channel of call duration time between vehicle communication unit, the communication channel be transmit first be connected to request signal the
One communication channel, or to transmit the second communication channel and third communication channel of certain the second connection request signal, wherein second
Communication channel of the communication channel between target vehicle communication unit and adjacent vehicle communication unit, third communication channel refer to
Second connection request signal is issued to from adjacent vehicle communication unit is finally received used communication channel；
Vehicle control signal generation module, for according to target vehicle and adjacent vehicle itself vehicle parameter, target vehicle and neighbour
Nearly vehicle current driving parameter and current driving track generate the vehicle control signal of target vehicle and adjacent vehicle respectively；
Vehicle control signal send control module, when select the communication channel between target vehicle communication unit for transmit first
When being connected to the first communication channel of request signal, for directly sending vehicle control signal to target by first communication channel
Vehicle communication unit is transmitted to adjacent vehicle after receiving vehicle control signal by target vehicle communication unit；When selection and mesh
Communication channel between mark vehicle communication unit is to transmit the second communication channel and the third communication of certain the second connection request signal
When channel, then for sending vehicle control signal to corresponding adjacent vehicle by the third communication channel；By this adjacent to vehicle
Target vehicle is transmitted to by the second channel channel, while vehicle control signal is forwarded to target vehicle by the adjacent vehicle
Other adjacent vehicles.
6. a kind of remote collaborative control system of vehicle characterized by comprising
Remote control terminal server, the remote collaborative controlling party for vehicle described in any one of perform claim requirement 1 to 4
Method；
Target vehicle communication unit gives remote control terminal server for periodically sending the first connection request signal, for regular
The second connection request signal is sent to adjacent vehicle communication unit；
Adjacent vehicle communication unit, for turning after receiving the second connection request signal of target vehicle communication unit transmission
Issue remote control terminal server.
7. the remote collaborative control system of vehicle according to claim 6, which is characterized in that the target vehicle communication unit
Member includes the first short-haul connections unit and the first telecommunication unit；
The adjacent vehicle communication unit includes the second short-haul connections unit and the second telecommunication unit；
Wherein, target vehicle communication unit is communicated by the first telecommunication unit with remote control terminal server；Target
Vehicle communication unit is communicated by the second short-haul connections unit of the first short-haul connections unit and adjacent vehicle communication unit；
Adjacent vehicle communication unit is communicated by the second telecommunication unit with remote control terminal server.
8. the remote collaborative control system of vehicle according to claim 7, which is characterized in that the first short-haul connections list
Member and the second short-haul connections unit use wifi or DSRC dedicated short-range communication mode；
First telecommunication unit and the second telecommunication unit use 4G, 5G or satellite telecom mode.
9. a kind of server, including processor and for the memory of storage processor executable program, which is characterized in that institute
When stating the program of processor execution memory storage, the remote collaborative control of vehicle described in any one of Claims 1-4 is realized
Method processed.
10. a kind of storage medium, is stored with program, which is characterized in that when described program is executed by processor, realize claim
The remote collaborative control method of vehicle described in any one of 1 to 4.
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