CN110083109B - Unmanned vehicle remote control system and method thereof - Google Patents
Unmanned vehicle remote control system and method thereof Download PDFInfo
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- CN110083109B CN110083109B CN201910416690.1A CN201910416690A CN110083109B CN 110083109 B CN110083109 B CN 110083109B CN 201910416690 A CN201910416690 A CN 201910416690A CN 110083109 B CN110083109 B CN 110083109B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention provides an unmanned vehicle remote control system and a method thereof, the control system comprises a vehicle display screen arranged in a simulation vehicle body and used for a driver to check the running road condition in real time, a vehicle control end comprises the running vehicle body, a camera support frame is arranged in the running vehicle body, a first camera and a second camera which are used for shooting the running road condition in real time are arranged on the support frame, the first camera and the second camera form a binocular camera, a simulation vehicle controller collects the driving parameters of the driver driving the simulation vehicle body, and the running vehicle body runs according to the received driving parameters. The invention can realize remote control of the vehicle, reduce waiting and enhance experience.
Description
Technical Field
The invention relates to the technical field of remote driving, in particular to a remote control system and a remote control method for an unmanned vehicle.
Background
At present, global computer networks, technologies, sensor technologies and electronic technologies are developed rapidly, and are applied to automobile technologies, so that automobile electronic control technologies are continuously matured and improved, and the automobile electronic control technologies are widely applied and developed in the automobile industry, so that electronic devices are more standardized, and the electronization of modern automobiles is realized. The electronic control technology of the automobile is not only beneficial to improving various performances of the automobile, such as economy, dynamic property, environmental protection, safety and comfort in the driving process, and promoting the development of the automobile industry, but also beneficial to the development of the electronic industry, so the electronic control technology of the automobile is beneficial to the rapid development of automobile electronization, and is also the key for the continuous development of the automobile industry.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides an unmanned vehicle remote control system and a method thereof.
In order to achieve the above object, the present invention provides a remote control system for an unmanned vehicle, comprising a vehicle control terminal and a remote driving control terminal;
the remote driving control end comprises a simulated vehicle body, a vehicle display screen for a driver to check the running road condition in real time is arranged in the simulated vehicle body, and a display signal input end of the vehicle display screen is connected with a display signal output end of a simulated vehicle controller;
the vehicle control end comprises a running vehicle body, a camera support frame is arranged in the running vehicle body, a first camera and a second camera which are used for shooting the running road condition in real time are arranged on the support frame, the first camera and the second camera form a binocular camera, the image signal output end of the first camera is connected with the first image signal input end of a running vehicle controller, and the image signal output end of the second camera is connected with the second image signal input end of the running vehicle controller;
the simulated vehicle controller collects driving parameters of a driver driving the simulated vehicle body, and the driving vehicle body drives according to the received driving parameters.
In a preferred embodiment of the present invention, the vehicle further includes a first wireless transceiving module and a second wireless transceiving module, which are disposed in the traveling vehicle body, wherein a time delay of the first wireless transceiving module is lower than a time delay of the second wireless transceiving module; the signal receiving and transmitting end of the wireless receiving and transmitting first module is connected with the signal first receiving and transmitting end of the running vehicle controller, and the signal receiving and transmitting end of the wireless receiving and transmitting second module is connected with the signal second receiving and transmitting end of the running vehicle controller;
for the same data information A, the moment when the first wireless transceiving module receives the data information A is T1The moment when the wireless transceiving second module receives the data information A is T2If T is2-T1If T is a preset time delay threshold, the running vehicle controller controls the running vehicle body to be automatically driven instead of remote driving, and controls the running vehicle body to stop.
In a preferred embodiment of the present invention, the vehicle further comprises one or any combination of an accelerator pedal sensor disposed in the traveling vehicle body for sensing whether an accelerator pedal is depressed, a brake pedal sensor for sensing whether a brake pedal is depressed, and a steering wheel sensor for sensing whether a steering wheel is operated;
the accelerator signal output end of the accelerator pedal sensor is connected with the accelerator signal input end of the running vehicle controller, the brake signal output end of the brake pedal sensor is connected with the brake signal input end of the running vehicle controller, and the steering wheel signal output end of the steering wheel sensor is connected with the steering wheel signal input end of the running vehicle controller; when the accelerator pedal sensor senses that a driver steps on the accelerator pedal in the running vehicle body, the brake pedal sensor senses that the driver steps on the brake pedal in the running vehicle body, and/or the steering wheel sensor senses that the driver operates the steering wheel in the running vehicle body, the running vehicle controller controls the running vehicle body to quit remote driving.
In a preferred embodiment of the present invention, the vehicle further comprises a power module disposed in the traveling vehicle body and/or in the simulated vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the charging system also comprises a voltage reduction module and/or a voltage boosting module, wherein a discharging first positive electrode of the 48V vehicle-mounted rechargeable battery is connected with an input positive electrode of the voltage reduction module, a discharging first negative electrode of the 48V vehicle-mounted rechargeable battery is connected with an input negative electrode of the voltage reduction module, an output positive electrode of the voltage reduction module is connected with a charging positive electrode of the 12V vehicle-mounted battery, and an output negative electrode of the voltage reduction module is connected with a charging negative electrode of the 12V vehicle-mounted battery; the voltage reduction module converts the 48V voltage of the 48V vehicle-mounted rechargeable battery into the 12V voltage of the 12V vehicle-mounted battery;
the discharging second positive electrode of the 48V vehicle-mounted rechargeable battery is connected with the input positive electrode of the boosting module, and the discharging second negative electrode of the 48V vehicle-mounted rechargeable battery is connected with the input negative electrode of the boosting module; the boost module converts the 48V DC voltage of the 48V vehicle-mounted rechargeable battery into 220V AC voltage. The 12V vehicle-mounted battery can supply power for the vehicle-mounted camera (such as the first camera and the second camera) and various sensors; the 48V vehicle-mounted rechargeable battery can supply power to a wireless transceiving module (for example, a wireless transceiving first module and a wireless transceiving second module, where the wireless transceiving first module is a 5GTUE module, and the wireless transceiving second module is a 4GCPE module, also called a CPE terminal); the 220V alternating voltage can supply power for a signal exchanger and an industrial Personal Computer (PC).
In a preferred embodiment of the invention, the vehicle-mounted controller further comprises a No. 1 vehicle-mounted camera arranged right in front of the head of the running vehicle body, and an image signal output end of the No. 1 vehicle-mounted camera is connected with a third image signal input end of the running vehicle controller; and/or the vehicle-mounted device also comprises a No. 2 vehicle-mounted camera arranged on the left side of the running vehicle body, wherein the image signal output end of the No. 2 vehicle-mounted camera is connected with the fourth image signal input end of the running vehicle controller; and/or the vehicle-mounted camera 3 is arranged on the right side of the running vehicle body, and the image signal output end of the vehicle-mounted camera 3 is connected with the fifth image signal input end of the running vehicle controller; and/or the vehicle-mounted camera system further comprises a No. 4 vehicle-mounted camera arranged at the tail of the running vehicle body, and the image signal output end of the No. 4 vehicle-mounted camera is connected with the image signal sixth input end of the running vehicle controller; and/or the vehicle-mounted camera system further comprises a No. 5 vehicle-mounted camera arranged in the running vehicle body, and the image signal output end of the No. 5 vehicle-mounted camera is connected with the seventh image signal input end of the running vehicle controller. The vehicle-mounted video camera system comprises a running vehicle body, 5 vehicle-mounted cameras, a camera module and a display module, wherein the 5 vehicle-mounted cameras arranged on the running vehicle body provide different visual field videos, the four vehicle-mounted cameras No. 1, No. 2, No. 3 and No. 4 respectively provide videos at the front, the left side, the right side and the rear, and the 5 vehicle-mounted camera provides an in-vehicle video; the collected video signals are combined through the switch and then sent to the base station through the 5GTUE module on the running vehicle body, and the base station receives the video signals and sends the video signals to the monitoring center large screen and the simulation vehicle body to be displayed simultaneously.
In a preferred embodiment of the invention, the device further comprises a running vehicle accelerator opening sensor arranged in the running vehicle body and used for monitoring the opening degree of an accelerator pedal and/or a running vehicle brake pedal opening sensor used for monitoring the opening degree of a brake pedal and/or a running vehicle steering wheel angle sensor used for monitoring the turning angle of a steering wheel and/or a running vehicle left steering lamp sensor used for monitoring the turning of a left steering lamp and/or a running vehicle right steering lamp sensor used for monitoring the turning of a right steering lamp and/or a speed sensor used for monitoring the running speed of a running vehicle and/or a radar sensor used for monitoring the distance from a front vehicle;
the accelerator opening signal output end of the running vehicle accelerator opening sensor is connected with the accelerator opening signal input end of the running vehicle controller, the brake opening signal output end of the running vehicle brake pedal opening sensor is connected with the brake opening signal input end of the running vehicle controller, the steering wheel angle signal output end of the running vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the running vehicle controller, the left turn light signal output end of the running vehicle left turn light sensor is connected with the left turn light signal input end of the running vehicle controller, the right turn light signal output end of the running vehicle right turn light sensor is connected with the right turn light signal input end of the running vehicle controller, the speed signal output end of the speed sensor is connected with the speed signal input end of the running vehicle controller, and the distance signal output end of the radar sensor is connected with the distance signal input end of the running vehicle controller;
the simulated vehicle accelerator opening sensor is arranged in the simulated vehicle body and used for monitoring the opening of an accelerator pedal and/or the opening of a brake pedal of the simulated vehicle and/or the angle of a steering wheel of the simulated vehicle and/or the left steering lamp sensor of the simulated vehicle and/or the right steering lamp of the simulated vehicle;
the accelerator opening signal output end of the simulated vehicle accelerator opening sensor is connected with the accelerator opening signal input end of the simulated vehicle controller, the brake opening signal output end of the simulated vehicle brake pedal opening sensor is connected with the brake opening signal input end of the simulated vehicle controller, the steering wheel angle signal output end of the simulated vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the simulated vehicle controller, the left turn light signal output end of the simulated vehicle left turn light sensor is connected with the left turn light signal input end of the simulated vehicle controller, and the right turn light signal output end of the simulated vehicle right turn light sensor is connected with the right turn light signal input end of the simulated vehicle controller.
The invention also discloses a remote control method of the unmanned vehicle, which comprises the following steps:
s1, initializing the system;
s2, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned on or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request starting command or not; and whether the delay time exceeds t1Second, said t1Is a positive number;
s3, if the controller of the running vehicle detects that the automatic driving request switch in the running vehicle body is turned on and the time delay exceeds t1Second; then the automatic driving is initialized;
s4, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned off or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request turn-off command or not;
s5, if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is not turned off, continuing the automatic driving; step S6 is executed;
if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is off, the process returns to step S1;
s6, detecting whether the running vehicle body receives a remote driving request starting command or not by the running vehicle controller;
s7, if the running vehicle controller detects that the running vehicle body receives the remote driving request starting command, starting remote driving; step S8 is executed;
if the running vehicle controller detects that the running vehicle body does not receive the remote driving request opening command, returning to the step S4;
s8, the running vehicle controller detects whether the running vehicle body receives the remote driving request closing command;
s9, if the running vehicle controller detects that the running vehicle body receives the remote driving request closing command, returning to the step S1;
if the running vehicle controller detects that the running vehicle body has not received the remote driving request close command, it returns to step S7.
In a preferred embodiment of the present invention, during remote driving, it is determined whether a difference between a time when the first wireless transceiving module receives the data message a and a time when the first wireless transceiving module transmits the data message a is less than or equal to a preset time delay threshold T:
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is smaller than or equal to a preset time delay threshold T, receiving the data information A and continuing to drive remotely;
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is greater than a preset time delay threshold value T, the data information A is abandoned and is adjusted to be automatic driving from remote driving, and a driving vehicle controller controls a driving vehicle to brake and stop; and after the running vehicle stops, the running vehicle is connected with the simulation vehicle again.
In one preferred embodiment of the present invention, the running vehicle controller controls the accelerator pedal opening to be decreased when the running speed of the running vehicle main body is greater than or equal to a preset first speed threshold value during remote driving, and the accelerator pedal opening is calculated by:
wherein, P0Monitoring simulated vehicle accelerator pedal opening value, V, for a simulated vehicle accelerator opening sensor0To preset a first speed threshold, V1The running speed of the running vehicle body is defined, P is the opening value of an accelerator pedal of the running vehicle and is an accelerator opening correction factor, ∈ [0.973,1 ], and phi is the proportion of the maximum opening value of the accelerator of the simulated vehicle to the maximum opening value of the accelerator of the running vehicle;
when the running speed of the running vehicle body is smaller than a preset second speed threshold value, and the preset second speed threshold value is smaller than or equal to a preset first speed threshold value, the throttle opening value of the running vehicle is according to the simulated throttle opening value of the vehicle
And/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to a preset third speed threshold value, and the preset third speed threshold value is greater than a preset first speed threshold value, the remote driving is changed into automatic driving, the opening degree of an accelerator pedal is reduced to zero, and when the driving speed of the driving vehicle body is less than a preset fourth speed threshold value, and the preset fourth speed threshold value is less than or equal to a preset second speed threshold value, the automatic driving is changed into the remote driving;
and/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to a preset fifth speed threshold value, and the preset fifth speed threshold value is greater than or equal to a preset third speed threshold value, converting the remote driving into automatic driving, reducing the opening degree of an accelerator pedal to zero, and braking the driving vehicle; the method for calculating the speed of the brake pedal of the running vehicle comprises the following steps:
wherein K is a simulated vehicleThe braking amount before braking, K 'is the braking amount after the simulated vehicle is braked, t' is the moment before the simulated vehicle is braked, t is the moment after the simulated vehicle is braked, η is the ratio of the maximum braking amount of the brake pedal of the running vehicle to the maximum braking amount of the brake pedal of the simulated vehicle, KnThe braking amount is the braking amount of the nth braking; Δ tnThe braking time at the nth braking is;
controlling the stepping speed of a brake pedal of the running vehicle for a running vehicle controller, wherein N is the total number of times of stepping the brake pedal of a simulated driver and successfully braking the running vehicle;
when the vehicle speed is zero, the automatic driving is changed to the remote driving.
And/or in remote driving, if the distance between the driving vehicle body and the front vehicle is less than or equal to Xm, X is a positive number, the speed of the driving vehicle body is greater than or equal to a preset seventh speed threshold value, and the preset seventh speed threshold value is less than a preset first speed threshold value, the driving vehicle controller sends an alarm signal to the simulation vehicle controller;
and/or during remote driving, if the distance between the driving vehicle body and the front vehicle is less than or equal to Ym, Y is a positive number less than X, the speed of the driving vehicle body is less than or equal to a preset eighth speed threshold, the preset eighth speed threshold is less than a preset seventh speed threshold, the remote driving is changed into automatic driving, the opening degree of an accelerator pedal is reduced to zero, and the driving vehicle is emergently braked.
In a preferred embodiment of the present invention, the determination of the entering of the running vehicle into remote driving in step S2 includes one or any combination of the following conditions:
a) the automatic driving request switch is in an activated state;
b) one or the combination of the engine management system, the vehicle body electronic stabilizing system and the electric power steering system has no fault;
in step S4, the determination that the running vehicle exits remote driving includes one or any combination of the following conditions:
a) the automatic driving request switch is in an inactive state;
b) the accelerator pedal of the running vehicle is stepped on;
c) the brake pedal of the running vehicle is stepped on;
d) the running vehicle steering wheel is operated;
e) the electronic parking system is actively activated;
f) the key is turned off.
In conclusion, due to the adoption of the technical scheme, the remote control of the vehicle can be realized, the waiting is reduced, and the experience is enhanced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of the present invention.
FIG. 2 is a block diagram illustrating the flow of the present invention.
Fig. 3 is a schematic block diagram of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The invention provides a remote control system of an unmanned vehicle, which comprises a vehicle control terminal (RCU) and a remote driving control terminal (RCP) as shown in figures 1 and 3;
the remote driving control end comprises a simulated vehicle body (a driving simulator), a vehicle display screen (a driving simulator screen) for a driver to check the running road condition in real time is arranged in the simulated vehicle body, and the display signal input end of the vehicle display screen is connected with the display signal output end of a simulated vehicle controller (remote controller RCP);
the vehicle control end comprises a running vehicle body (vehicle), a camera support frame is arranged in the running vehicle body, a first camera and a second camera which are used for shooting the running road condition in real time are arranged on the support frame, the first camera and the second camera form a binocular camera, the image signal output end of the first camera is connected with the first image signal input end of a running vehicle controller (vehicle end controller RCU), and the image signal output end of the second camera is connected with the second image signal input end of the running vehicle controller;
the simulated vehicle controller collects driving parameters of a driver driving the simulated vehicle body, and the driving vehicle body drives according to the received driving parameters.
In a preferred embodiment of the present invention, the vehicle further includes a first wireless transceiving module and a second wireless transceiving module, which are disposed in the traveling vehicle body, wherein a time delay of the first wireless transceiving module is lower than a time delay of the second wireless transceiving module; the signal receiving and transmitting end of the wireless receiving and transmitting first module is connected with the signal first receiving and transmitting end of the running vehicle controller, and the signal receiving and transmitting end of the wireless receiving and transmitting second module is connected with the signal second receiving and transmitting end of the running vehicle controller;
for the same data information A, the moment when the first wireless transceiving module receives the data information A is T1The moment when the wireless transceiving second module receives the data information A is T2If T is2-T1If T is a preset time delay threshold, the running vehicle controller controls the running vehicle body to be automatically driven instead of remote driving, and controls the running vehicle body to stop.
In a preferred embodiment of the present invention, the vehicle further comprises one or any combination of an accelerator pedal sensor disposed in the traveling vehicle body for sensing whether an accelerator pedal is depressed, a brake pedal sensor for sensing whether a brake pedal is depressed, and a steering wheel sensor for sensing whether a steering wheel is operated;
the accelerator signal output end of the accelerator pedal sensor is connected with the accelerator signal input end of the running vehicle controller, the brake signal output end of the brake pedal sensor is connected with the brake signal input end of the running vehicle controller, and the steering wheel signal output end of the steering wheel sensor is connected with the steering wheel signal input end of the running vehicle controller; when the accelerator pedal sensor senses that a driver steps on the accelerator pedal in the running vehicle body, the brake pedal sensor senses that the driver steps on the brake pedal in the running vehicle body, and/or the steering wheel sensor senses that the driver operates the steering wheel in the running vehicle body, the running vehicle controller controls the running vehicle body to quit remote driving.
In a preferred embodiment of the present invention, the vehicle further comprises a power module disposed in the traveling vehicle body and/or in the simulated vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the charging system also comprises a voltage reduction module and/or a voltage boosting module, wherein a discharging first positive electrode of the 48V vehicle-mounted rechargeable battery is connected with an input positive electrode of the voltage reduction module, a discharging first negative electrode of the 48V vehicle-mounted rechargeable battery is connected with an input negative electrode of the voltage reduction module, an output positive electrode of the voltage reduction module is connected with a charging positive electrode of the 12V vehicle-mounted battery, and an output negative electrode of the voltage reduction module is connected with a charging negative electrode of the 12V vehicle-mounted battery; the voltage reduction module converts the 48V voltage of the 48V vehicle-mounted rechargeable battery into the 12V voltage of the 12V vehicle-mounted battery;
the discharging second positive electrode of the 48V vehicle-mounted rechargeable battery is connected with the input positive electrode of the boosting module, and the discharging second negative electrode of the 48V vehicle-mounted rechargeable battery is connected with the input negative electrode of the boosting module; the boost module converts the 48V DC voltage of the 48V vehicle-mounted rechargeable battery into 220V AC voltage.
In a preferred embodiment of the invention, the vehicle-mounted controller further comprises a No. 1 vehicle-mounted camera arranged right in front of the head of the running vehicle body, and an image signal output end of the No. 1 vehicle-mounted camera is connected with a third image signal input end of the running vehicle controller; and/or the vehicle-mounted device also comprises a No. 2 vehicle-mounted camera arranged on the left side of the running vehicle body, wherein the image signal output end of the No. 2 vehicle-mounted camera is connected with the fourth image signal input end of the running vehicle controller; and/or the vehicle-mounted camera 3 is arranged on the right side of the running vehicle body, and the image signal output end of the vehicle-mounted camera 3 is connected with the fifth image signal input end of the running vehicle controller; and/or the vehicle-mounted camera system further comprises a No. 4 vehicle-mounted camera arranged at the tail of the running vehicle body, and the image signal output end of the No. 4 vehicle-mounted camera is connected with the image signal sixth input end of the running vehicle controller; and/or the vehicle-mounted camera system further comprises a No. 5 vehicle-mounted camera arranged in the running vehicle body, and the image signal output end of the No. 5 vehicle-mounted camera is connected with the seventh image signal input end of the running vehicle controller.
In a preferred embodiment of the invention, the device further comprises a running vehicle accelerator opening sensor arranged in the running vehicle body and used for monitoring the opening degree of an accelerator pedal and/or a running vehicle brake pedal opening sensor used for monitoring the opening degree of a brake pedal and/or a running vehicle steering wheel angle sensor used for monitoring the turning angle of a steering wheel and/or a running vehicle left steering lamp sensor used for monitoring the turning of a left steering lamp and/or a running vehicle right steering lamp sensor used for monitoring the turning of a right steering lamp and/or a speed sensor used for monitoring the running speed of a running vehicle and/or a radar sensor used for monitoring the distance from a front vehicle;
the accelerator opening signal output end of the running vehicle accelerator opening sensor is connected with the accelerator opening signal input end of the running vehicle controller, the brake opening signal output end of the running vehicle brake pedal opening sensor is connected with the brake opening signal input end of the running vehicle controller, the steering wheel angle signal output end of the running vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the running vehicle controller, the left turn light signal output end of the running vehicle left turn light sensor is connected with the left turn light signal input end of the running vehicle controller, the right turn light signal output end of the running vehicle right turn light sensor is connected with the right turn light signal input end of the running vehicle controller, the speed signal output end of the speed sensor is connected with the speed signal input end of the running vehicle controller, and the distance signal output end of the radar sensor is connected with the distance signal input end of the running vehicle controller;
the simulated vehicle accelerator opening sensor is arranged in the simulated vehicle body and used for monitoring the opening of an accelerator pedal and/or the opening of a brake pedal of the simulated vehicle and/or the angle of a steering wheel of the simulated vehicle and/or the left steering lamp sensor of the simulated vehicle and/or the right steering lamp of the simulated vehicle;
the accelerator opening signal output end of the simulated vehicle accelerator opening sensor is connected with the accelerator opening signal input end of the simulated vehicle controller, the brake opening signal output end of the simulated vehicle brake pedal opening sensor is connected with the brake opening signal input end of the simulated vehicle controller, the steering wheel angle signal output end of the simulated vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the simulated vehicle controller, the left turn light signal output end of the simulated vehicle left turn light sensor is connected with the left turn light signal input end of the simulated vehicle controller, and the right turn light signal output end of the simulated vehicle right turn light sensor is connected with the right turn light signal input end of the simulated vehicle controller.
The invention also discloses a remote control method of the unmanned vehicle, which comprises the following steps as shown in figure 2:
s1, initializing the system;
s2, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned on or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request starting command or not; and whether the delay time exceeds t1Second, said t1Is a positive number; in the present embodiment, t1It is not limited to take 1.
S3, if the controller of the running vehicle detects that the automatic driving request switch in the running vehicle body is turned on and the time delay exceeds t1Second; then the automatic driving is initialized;
s4, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned off or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request turn-off command or not;
s5, if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is not turned off, continuing the automatic driving; step S6 is executed;
if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is off, the process returns to step S1;
s6, detecting whether the running vehicle body receives a remote driving request starting command or not by the running vehicle controller;
s7, if the running vehicle controller detects that the running vehicle body receives the remote driving request starting command, starting remote driving; step S8 is executed;
if the running vehicle controller detects that the running vehicle body does not receive the remote driving request opening command, returning to the step S4;
s8, the running vehicle controller detects whether the running vehicle body receives the remote driving request closing command;
s9, if the running vehicle controller detects that the running vehicle body receives the remote driving request closing command, returning to the step S1;
if the running vehicle controller detects that the running vehicle body has not received the remote driving request close command, it returns to step S7. In the present embodiment, the method further includes step S0 of searching for a target position where the vehicle occupant is located, searching for a vehicle closest to the vehicle occupant, and regarding the vehicle as a traveling vehicle; therefore, the waiting time of the passengers can be reduced by remotely controlling the vehicle, and the experience is enhanced.
In a preferred embodiment of the present invention, during remote driving, it is determined whether a difference between a time when the first wireless transceiving module receives the data message a and a time when the first wireless transceiving module transmits the data message a is less than or equal to a preset time delay threshold T:
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is smaller than or equal to a preset time delay threshold T, receiving the data information A and continuing to drive remotely;
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is greater than a preset time delay threshold value T, the data information A is abandoned and is adjusted to be automatic driving from remote driving, and a driving vehicle controller controls a driving vehicle to brake and stop; and after the running vehicle stops, the running vehicle is connected with the simulation vehicle again.
And/or when the left turn light sensor of the running vehicle monitors that the left turn light on the running vehicle body is on, the running vehicle controller sends a signal that the left turn light is on to the simulated vehicle controller, and the left turn indicator light on the simulated vehicle body is on; when the driving vehicle right steering lamp sensor monitors that a right steering lamp on the driving vehicle body is on, the driving vehicle controller sends a signal that the right steering lamp is on to the simulation vehicle controller, and a right steering indicator lamp on the simulation vehicle body is on.
In one preferred embodiment of the present invention, the running vehicle controller controls the accelerator pedal opening to be decreased when the running speed of the running vehicle main body is greater than or equal to a preset first speed threshold value during remote driving, and the accelerator pedal opening is calculated by:
wherein, P0Monitoring simulated vehicle accelerator pedal opening value, V, for a simulated vehicle accelerator opening sensor0To preset a first speed threshold, V1The running speed of the running vehicle body is defined, P is the opening value of an accelerator pedal of the running vehicle and is an accelerator opening correction factor, ∈ [0.973,1 ], and phi is the proportion of the maximum opening value of the accelerator of the simulated vehicle to the maximum opening value of the accelerator of the running vehicle;
when the running speed of the running vehicle body is smaller than a preset second speed threshold value, and the preset second speed threshold value is smaller than or equal to a preset first speed threshold value, the throttle opening value of the running vehicle is according to the simulated throttle opening value of the vehicle
And/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to a preset third speed threshold value, and the preset third speed threshold value is greater than a preset first speed threshold value, the remote driving is changed into automatic driving, the opening degree of an accelerator pedal is reduced to zero, and when the driving speed of the driving vehicle body is less than a preset fourth speed threshold value, and the preset fourth speed threshold value is less than or equal to a preset second speed threshold value, the automatic driving is changed into the remote driving;
and/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to a preset fifth speed threshold value, and the preset fifth speed threshold value is greater than or equal to a preset third speed threshold value, converting the remote driving into automatic driving, reducing the opening degree of an accelerator pedal to zero, and braking the driving vehicle; the method for calculating the speed of the brake pedal of the running vehicle comprises the following steps:
wherein K is the braking amount before the simulated vehicle is braked, K 'is the braking amount after the simulated vehicle is braked, t' is the moment before the simulated vehicle is braked, t is the moment after the simulated vehicle is braked, η is the ratio of the maximum braking amount of the brake pedal of the running vehicle to the maximum braking amount of the brake pedal of the simulated vehicle, KnThe braking amount is the braking amount of the nth braking; Δ tnThe braking time at the nth braking is;
controlling the stepping speed of a brake pedal of the running vehicle for a running vehicle controller, wherein N is the total number of times of stepping the brake pedal of a simulated driver and successfully braking the running vehicle;
when the vehicle speed is zero, the automatic driving is changed to the remote driving. In the present embodiment, the preset first speed threshold may be 20km/h, the preset third speed threshold and the preset fifth speed threshold may be 30km/h, and the preset second speed threshold and the preset fourth speed threshold may be 5 km/h.
And/or in remote driving, if the distance between the driving vehicle body and the front vehicle is less than or equal to Xm, X is a positive number, the speed of the driving vehicle body is greater than or equal to a preset seventh speed threshold value, and the preset seventh speed threshold value is less than a preset first speed threshold value, the driving vehicle controller sends an alarm signal to the simulation vehicle controller;
and/or during remote driving, if the distance between the driving vehicle body and the front vehicle is less than or equal to Ym, Y is a positive number less than X, the speed of the driving vehicle body is less than or equal to a preset eighth speed threshold, the preset eighth speed threshold is less than a preset seventh speed threshold, the remote driving is changed into automatic driving, the opening degree of an accelerator pedal is reduced to zero, and the driving vehicle is emergently braked. In the present embodiment, Y is not limited to 1, and the preset eighth speed threshold is not limited to 2-3 km/h.
In a preferred embodiment of the present invention, the determination of the entering of the running vehicle into remote driving in step S2 includes one or any combination of the following conditions:
a) an automatic driving (ACC) request switch is in an activated state;
b) one or a combination of an Engine Management System (EMS), a vehicle body electronic stability system (ESP) and an electric power steering system (EPS) is fault-free;
in step S4, the determination that the running vehicle exits remote driving includes one or any combination of the following conditions:
a) the automatic driving request switch is in an inactive state;
b) the accelerator pedal of the running vehicle is stepped on;
c) the brake pedal of the running vehicle is stepped on;
d) the running vehicle steering wheel is operated;
e) the electronic parking system (EPB) is actively activated;
f) the key is turned off.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (34)
1. A remote control method for an unmanned vehicle is characterized by comprising the following steps:
s1, initializing the system;
s2, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned on or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request starting command or not; and whether the delay time exceeds t1Second, said t1Is a positive number;
s3, if the controller of the running vehicle detects that the automatic driving request switch in the running vehicle body is turned on and the time delay exceeds t1Second; then the automatic driving is initialized;
s4, the running vehicle controller detects whether an automatic driving request switch in the running vehicle body is turned off or not, and/or the running vehicle controller detects whether the running vehicle body receives a remote driving request turn-off command or not;
s5, if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is not turned off, continuing the automatic driving; step S6 is executed;
if the running vehicle controller detects that the automatic driving request switch in the running vehicle body is off, the process returns to step S1;
s6, detecting whether the running vehicle body receives a remote driving request starting command or not by the running vehicle controller;
s7, if the running vehicle controller detects that the running vehicle body receives the remote driving request starting command, starting remote driving; step S8 is executed;
when the remote driving is carried out, if the running speed of a running vehicle body is greater than or equal to a preset first speed threshold value, a running vehicle controller controls the opening degree of an accelerator pedal to be reduced, and the calculation method of the opening degree of the accelerator pedal comprises the following steps:
wherein, P0Monitoring simulated vehicle accelerator pedal opening value, V, for a simulated vehicle accelerator opening sensor0To preset a first speed threshold, V1The running speed of the running vehicle body is defined, P is the opening value of an accelerator pedal of the running vehicle and is an accelerator opening correction factor, ∈ [0.973,1 ], and phi is the proportion of the maximum opening value of the accelerator of the simulated vehicle to the maximum opening value of the accelerator of the running vehicle;
when the running speed of the running vehicle body is smaller than a preset second speed threshold value, and the preset second speed threshold value is smaller than or equal to a preset first speed threshold value, the throttle opening value of the running vehicle is according to the simulated throttle opening value of the vehicle
If the running vehicle controller detects that the running vehicle body does not receive the remote driving request opening command, returning to the step S4;
s8, the running vehicle controller detects whether the running vehicle body receives the remote driving request closing command;
s9, if the running vehicle controller detects that the running vehicle body receives the remote driving request closing command, returning to the step S1;
if the running vehicle controller detects that the running vehicle body has not received the remote driving request close command, it returns to step S7.
2. The unmanned vehicle remote control method according to claim 1, wherein in the remote driving, it is determined whether a difference between a time when the first wireless transceiving module receives the data message a and a time when the data message a is transmitted is less than or equal to a preset delay threshold T:
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is smaller than or equal to a preset time delay threshold T, receiving the data information A and continuing to drive remotely;
if the difference between the moment when the first wireless transceiving module receives the data information A and the moment when the first wireless transceiving module sends the data information A is greater than a preset time delay threshold value T, the data information A is abandoned and is adjusted to be automatic driving from remote driving, and a driving vehicle controller controls a driving vehicle to brake and stop; and after the running vehicle stops, the running vehicle is connected with the simulation vehicle again.
3. The unmanned vehicle remote control method according to claim 1, wherein in the remote driving, if the traveling speed of the traveling vehicle body is greater than or equal to a preset third speed threshold value which is greater than a preset first speed threshold value, the remote driving is changed to the automatic driving, the accelerator pedal opening is reduced to zero, and when the traveling speed of the traveling vehicle body is less than a preset fourth speed threshold value which is less than or equal to a preset second speed threshold value, the automatic driving is changed to the remote driving.
4. The unmanned vehicle remote control method according to claim 1, wherein in the remote driving, if the driving speed of the driving vehicle body is greater than or equal to a preset fifth speed threshold value, and the preset fifth speed threshold value is greater than or equal to a preset third speed threshold value, the remote driving is changed to the automatic driving, the opening degree of the accelerator pedal is reduced to zero, and the driving vehicle is braked; the method for calculating the speed of the brake pedal of the running vehicle comprises the following steps:
wherein K is the braking amount before the simulated vehicle is braked, K 'is the braking amount after the simulated vehicle is braked, t' is the moment before the simulated vehicle is braked, t is the moment after the simulated vehicle is braked, η is the ratio of the maximum braking amount of the brake pedal of the running vehicle to the maximum braking amount of the brake pedal of the simulated vehicle, KnThe braking amount is the braking amount of the nth braking; Δ tnThe braking time at the nth braking is;
controlling the stepping speed of a brake pedal of the running vehicle for a running vehicle controller, wherein N is the total number of times of stepping the brake pedal of a simulated driver and successfully braking the running vehicle; when the vehicle speed is zero, the automatic driving is changed to the remote driving.
5. The unmanned vehicle remote control method according to claim 1, wherein in the remote driving, if the distance between the running vehicle body and the vehicle ahead is less than or equal to Xm, X is a positive number, the speed of the running vehicle body is greater than or equal to a preset seventh speed threshold value, and the preset seventh speed threshold value is less than a preset first speed threshold value, the running vehicle controller sends an alarm signal to the simulated vehicle controller.
6. The unmanned vehicle remote control method according to claim 1, wherein in the remote driving, if the distance between the traveling vehicle body and the vehicle ahead is smaller than or equal to Ym, Y is a positive number smaller than X, X is a positive number, the speed of the traveling vehicle body is smaller than or equal to a preset eighth speed threshold value, and the preset eighth speed threshold value is smaller than a preset seventh speed threshold value, the remote driving is changed to the automatic driving, the opening degree of the accelerator pedal is reduced to zero, and the traveling vehicle is braked suddenly.
7. The unmanned vehicle remote control method of claim 1, wherein in step S2, the determination that the traveling vehicle enters remote driving includes one or any combination of the following conditions:
a) the automatic driving request switch is in an activated state;
b) and one or the combination of the engine management system, the electronic vehicle body stabilizing system and the electric power steering system has no fault.
8. The unmanned vehicle remote control method of claim 1, wherein in step S4, the determination that the traveling vehicle exits remote driving includes one or any combination of the following conditions:
a) the automatic driving request switch is in an inactive state;
b) the accelerator pedal of the running vehicle is stepped on;
c) the brake pedal of the running vehicle is stepped on;
d) the running vehicle steering wheel is operated;
e) the electronic parking system is actively activated;
f) the key is turned off.
9. The unmanned vehicle remote control method according to any one of claims 1 to 8, wherein a control system to which the unmanned vehicle remote control method is applied comprises a vehicle control terminal and a remote driving control terminal;
the remote driving control end comprises a simulated vehicle body, a vehicle display screen for a driver to check the running road condition in real time is arranged in the simulated vehicle body, and a display signal input end of the vehicle display screen is connected with a display signal output end of a simulated vehicle controller;
the vehicle control end comprises a running vehicle body, a camera support frame is arranged in the running vehicle body, a first camera and a second camera which are used for shooting the running road condition in real time are arranged on the support frame, the first camera and the second camera form a binocular camera, the image signal output end of the first camera is connected with the first image signal input end of a running vehicle controller, and the image signal output end of the second camera is connected with the second image signal input end of the running vehicle controller;
the simulated vehicle controller collects driving parameters of a driver driving the simulated vehicle body, and the driving vehicle body drives according to the received driving parameters.
10. The unmanned vehicle remote control method according to claim 9, further comprising a first wireless transceiving module and a second wireless transceiving module disposed in the traveling vehicle body, wherein a time delay of the first wireless transceiving module is lower than a time delay of the second wireless transceiving module; the signal receiving and transmitting end of the wireless receiving and transmitting first module is connected with the signal first receiving and transmitting end of the running vehicle controller, and the signal receiving and transmitting end of the wireless receiving and transmitting second module is connected with the signal second receiving and transmitting end of the running vehicle controller;
for the same data information A, the moment when the first wireless transceiving module receives the data information A is T1Wireless receiving and transmittingThe moment when the two modules receive the data information A is T2If T is2-T1If T is a preset time delay threshold, the running vehicle controller controls the running vehicle body to be automatically driven instead of remote driving, and controls the running vehicle body to stop.
11. The unmanned vehicle remote control method of claim 9, further comprising an accelerator pedal sensor disposed in the traveling vehicle body for sensing whether the accelerator pedal is depressed;
the accelerator signal output end of the accelerator pedal sensor is connected with the accelerator signal input end of the running vehicle controller, and when the accelerator pedal sensor senses that a driver steps on the accelerator pedal in the running vehicle body, the running vehicle controller controls the running vehicle body to quit remote driving.
12. The unmanned vehicle remote control method of claim 9, further comprising a brake pedal sensor disposed in the traveling vehicle body for sensing whether the brake pedal is depressed;
and when the brake pedal sensor senses that a driver steps on the brake pedal in the running vehicle body, the running vehicle controller controls the running vehicle body to quit remote driving.
13. The unmanned vehicle remote control method according to claim 9, further comprising a steering wheel sensor provided in the traveling vehicle body for sensing whether or not to operate the steering wheel;
the steering wheel signal output end of the steering wheel sensor is connected with the steering wheel signal input end of the running vehicle controller; when the accelerator pedal sensor senses that a driver steps on the accelerator pedal in the running vehicle body, the running vehicle controller controls the running vehicle body to quit remote driving.
14. The unmanned vehicle remote control method of claim 9, further comprising a power module disposed within the traveling vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the vehicle-mounted charging battery voltage reduction device comprises a voltage reduction module arranged in a running vehicle body, wherein a first discharging positive electrode of a 48V vehicle-mounted charging battery is connected with an input positive electrode of the voltage reduction module, a first discharging negative electrode of the 48V vehicle-mounted charging battery is connected with an input negative electrode of the voltage reduction module, an output positive electrode of the voltage reduction module is connected with a charging positive electrode of a 12V vehicle-mounted battery, and an output negative electrode of the voltage reduction module is connected with a charging negative electrode of the 12V vehicle-mounted battery; the voltage reduction module converts the 48V voltage of the 48V on-vehicle rechargeable battery to a 12V voltage of the 12V on-vehicle battery.
15. The unmanned vehicle remote control method of claim 9, further comprising a power module disposed within the traveling vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the vehicle-mounted charging battery system further comprises a boosting module arranged in the running vehicle body, a discharging second positive electrode of the 48V vehicle-mounted charging battery is connected with an input positive electrode of the boosting module, and a discharging second negative electrode of the 48V vehicle-mounted charging battery is connected with an input negative electrode of the boosting module; the boost module converts the 48V DC voltage of the 48V vehicle-mounted rechargeable battery into 220V AC voltage.
16. The unmanned vehicle remote control method of claim 9, further comprising a power module disposed within the simulated vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the vehicle-mounted charging system further comprises a voltage reduction module arranged in the simulated vehicle body, a first discharging positive electrode of the 48V vehicle-mounted charging battery is connected with an input positive electrode of the voltage reduction module, a first discharging negative electrode of the 48V vehicle-mounted charging battery is connected with an input negative electrode of the voltage reduction module, an output positive electrode of the voltage reduction module is connected with a charging positive electrode of the 12V vehicle-mounted battery, and an output negative electrode of the voltage reduction module is connected with a charging negative electrode of the 12V vehicle-mounted battery; the voltage reduction module converts the 48V voltage of the 48V on-vehicle rechargeable battery to a 12V voltage of the 12V on-vehicle battery.
17. The unmanned vehicle remote control method of claim 9, further comprising a power module disposed within the simulated vehicle body, the power module comprising a first power module and a second power module; the first power supply module is a 12V vehicle-mounted battery, and the second power supply module is a 48V vehicle-mounted rechargeable battery;
the vehicle-mounted 48V charging battery is connected with the input anode of the boosting module, and the discharge second cathode of the 48V vehicle-mounted charging battery is connected with the input cathode of the boosting module; the boost module converts the 48V DC voltage of the 48V vehicle-mounted rechargeable battery into 220V AC voltage.
18. The unmanned vehicle remote control method according to claim 9, further comprising a No. 1 vehicle-mounted camera arranged right in front of the head of the traveling vehicle body, wherein an image signal output end of the No. 1 vehicle-mounted camera is connected with a third image signal input end of the traveling vehicle controller.
19. The unmanned vehicle remote control method according to claim 9, further comprising a No. 2 vehicle-mounted camera provided on the left side of the body of the traveling vehicle body, wherein an image signal output terminal of the No. 2 vehicle-mounted camera is connected to a fourth input terminal of an image signal of the traveling vehicle controller.
20. The unmanned vehicle remote control method according to claim 9, further comprising a number 3 vehicle-mounted camera provided on a right side of the body of the traveling vehicle, wherein an image signal output terminal of the number 3 vehicle-mounted camera is connected to a fifth input terminal of an image signal of the traveling vehicle controller.
21. The unmanned vehicle remote control method according to claim 9, further comprising a number 4 vehicle-mounted camera provided at a rear end of the traveling vehicle body, wherein an image signal output terminal of the number 4 vehicle-mounted camera is connected to a sixth image signal input terminal of the traveling vehicle controller.
22. The unmanned vehicle remote control method according to claim 9, further comprising a number 5 vehicle-mounted camera provided in the traveling vehicle body vehicle, wherein an image signal output terminal of the number 5 vehicle-mounted camera is connected to a seventh image signal input terminal of the traveling vehicle controller.
23. The unmanned vehicle remote control method of claim 9, further comprising a driving vehicle accelerator opening sensor disposed in the driving vehicle body for monitoring the magnitude of the accelerator pedal opening;
an accelerator opening signal output end of the running vehicle accelerator opening sensor is connected with an accelerator opening signal input end of a running vehicle controller.
24. The unmanned vehicle remote control method of claim 9, further comprising a traveling vehicle brake pedal opening sensor disposed within the traveling vehicle body for monitoring a magnitude of brake pedal opening;
and a brake opening degree signal output end of the running vehicle brake pedal opening degree sensor is connected with a brake opening degree signal input end of a running vehicle controller.
25. The unmanned vehicle remote control method of claim 9, further comprising a driving vehicle steering wheel angle sensor disposed within the driving vehicle body for monitoring steering wheel rotation angle;
the steering wheel angle signal output end of the driving vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the driving vehicle controller.
26. The unmanned vehicle remote control method of claim 9, further comprising a left turn light sensor of the traveling vehicle disposed within the traveling vehicle body for monitoring the turning on of the left turn light;
and the left turn light signal output end of the running vehicle left turn light sensor is connected with the left turn light signal input end of the running vehicle controller.
27. The unmanned vehicle remote control method of claim 9, further comprising a running vehicle right turn light sensor disposed within the running vehicle body for monitoring the lighting of the right turn light;
and the right turn light signal output end of the right turn light sensor of the running vehicle is connected with the right turn light signal input end of the controller of the running vehicle.
28. The unmanned vehicle remote control method of claim 9, further comprising a speed sensor disposed within the traveling vehicle body for monitoring a traveling speed of the traveling vehicle;
the speed signal output end of the speed sensor is connected with the speed signal input end of the running vehicle controller.
29. The unmanned vehicle remote control method of claim 9, further comprising a radar sensor disposed within the traveling vehicle body for monitoring a distance to a vehicle in front;
the distance signal output end of the radar sensor is connected with the distance signal input end of the running vehicle controller.
30. The unmanned vehicle remote control method of claim 9, further comprising a simulated vehicle accelerator opening sensor disposed within the simulated vehicle body for monitoring the magnitude of accelerator pedal opening;
and an accelerator opening signal output end of the simulated vehicle accelerator opening sensor is connected with an accelerator opening signal input end of the simulated vehicle controller.
31. The unmanned vehicle remote control method of claim 9, further comprising a simulated vehicle brake pedal opening sensor disposed within the simulated vehicle body for monitoring a magnitude of brake pedal opening;
and the brake opening degree signal output end of the simulated vehicle brake pedal opening degree sensor is connected with the brake opening degree signal input end of the simulated vehicle controller.
32. The unmanned vehicle remote control method of claim 9, further comprising a simulated vehicle steering wheel angle sensor disposed within the simulated vehicle body for monitoring steering wheel rotation angle;
the steering wheel angle signal output end of the simulated vehicle steering wheel angle sensor is connected with the steering wheel angle signal input end of the simulated vehicle controller.
33. The unmanned vehicle remote control method of claim 9, further comprising a simulated vehicle left turn light sensor disposed within the simulated vehicle body for monitoring illumination of the left turn light;
and the left turn light signal output end of the simulated vehicle left turn light sensor is connected with the left turn light signal input end of the simulated vehicle controller.
34. The unmanned vehicle remote control method of claim 9, further comprising a simulated vehicle right turn light sensor disposed within the simulated vehicle body for monitoring the lighting of the right turn light;
and the right turn light signal output end of the right turn light sensor of the simulated vehicle is connected with the right turn light signal input end of the simulated vehicle controller.
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