CN111198564B - Unmanned application system and application method thereof - Google Patents
Unmanned application system and application method thereof Download PDFInfo
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- CN111198564B CN111198564B CN202010016201.6A CN202010016201A CN111198564B CN 111198564 B CN111198564 B CN 111198564B CN 202010016201 A CN202010016201 A CN 202010016201A CN 111198564 B CN111198564 B CN 111198564B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 59
- 239000004973 liquid crystal related substance Substances 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000006399 behavior Effects 0.000 description 14
- 230000001133 acceleration Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- -1 and the like Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an unmanned application system and an application method thereof, wherein the unmanned application system comprises vehicle-mounted equipment and central control tower equipment, the vehicle-mounted equipment comprises a vehicle electronic control module and a vehicle-mounted communication module, and the central control tower equipment comprises a vision capturing module, a central analysis module, a remote control module and a tower communication module; the vehicle-mounted communication module is connected with the tower communication module, the vehicle-mounted equipment is suitable for being in communication connection with the central control tower equipment through the vehicle-mounted communication module and the tower communication module, and the vehicle-mounted equipment is used for sending driving vehicle information and driving departure request information carrying departure places and destinations to the central control tower equipment through the vehicle-mounted communication module and the tower communication module; the vision capturing module is connected with the central analysis module. The vehicle tower cooperative control driving is an unmanned novel mode with controllable cost, easy realization, safety, reliability and high efficiency in driving.
Description
Technical Field
The invention relates to an unmanned application system and an application method thereof.
Background
Currently, the current unmanned vehicles almost all use ground vehicle-mounted sensors, and realize unmanned functions according to navigation of global satellite positioning sensors, millimeter wave radars, laser ranging sensors and the like. However, the ground-mounted sensors are highly limited and suffer from inaccurate interference data due to a number of factors in measurement, and are more limited in overtaking. And the global satellite positioning sensor data is surface data and not path data, and the global satellite positioning sensor data is used alone with errors.
Meanwhile, when operation planning is performed on unmanned equipment, a large number of sampling points are generally required to be collected, a large number of possible alternative paths are generated based on preset driving rules, a target path is selected from the large number of alternative paths in a preferred mode, path planning is performed, and speed planning is further performed based on the target path. Since a large number of alternative paths are to be generated, smoothing processing is also required when generating the alternative paths, and a large amount of computing resources are also required when selecting a target path from the large number of alternative paths. Therefore, the operation planning process is complex, and the consumption of computing resources is large. Therefore, the efficiency of operation planning is reduced, the complexity of the operation planning is increased, and the accuracy of the operation planning is lower.
In addition, chinese patent publication No. CN101387522a discloses an electromagnetic tracking method based on an inductance coil, which has simple control and navigation algorithm and low cost, but navigation accuracy is affected by the number and layout of the inductance coils, and the method is large in size, inconvenient for conventional vehicle deployment, and excessively complicated for different environments because the number and layout of the coils need to be redesigned.
Furthermore, the Chinese patent with publication number of CN103048996A discloses an automatic guiding vehicle, an automatic guiding system and a guiding method based on a laser scanning range finder, although a map is constructed by adopting a laser scanning environment and then navigation is carried out, compared with the traditional guiding method based on a reflecting plate laser, the requirements on the environment are further reduced; but the positioning accuracy is seriously dependent on the coding angle, the gyroscope, the laser head and the algorithm, and more than two laser heads are needed, so that the navigation and control algorithm is complex, and the overall cost is high.
The Chinese patent with publication number of CN103777637A discloses a reflection-free laser autonomous navigation vehicle and a navigation method thereof, wherein a map is constructed by adopting a single laser scanning environment to navigate, compared with the traditional reflection-plate-based laser navigation method and multi-laser navigation, the method has the advantages that the requirements and algorithms on the field environment are further reduced, but the path planning is seriously dependent on a motor encoder and a gyroscope, the calculated amount of the navigation method is excessively large, the complexity of the navigation and control algorithm is excessively high, and the overall manufacturing cost is also higher.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an unmanned application system, and aims to realize the cooperative control driving of a vehicle tower, and is a novel unmanned mode with controllable cost, easy realization, safety, reliability and high-efficiency driving.
In order to solve the technical problems, the technical scheme of the invention is as follows: the unmanned application system comprises vehicle-mounted equipment and central control tower equipment, wherein the vehicle-mounted equipment comprises a vehicle electronic control module and a vehicle-mounted communication module, and the central control tower equipment comprises a vision capturing module, a central analysis module, a remote control module and a tower communication module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle-mounted communication module is connected with the tower communication module, the vehicle-mounted equipment is suitable for being in communication connection with the central control tower equipment through the vehicle-mounted communication module and the tower communication module, and the vehicle-mounted equipment is used for sending driving vehicle information and driving departure request information carrying departure places and destinations to the central control tower equipment through the vehicle-mounted communication module and the tower communication module;
the visual capturing module is connected with the central analysis module and is suitable for carrying out visual scanning capturing on all road condition information in the district of the central control tower when the central control tower equipment receives the driving departure request information, and transmitting the image information captured by scanning to the central analysis module;
the central analysis module is suitable for updating real-time road condition data in the district of the central control tower according to the scanned and captured image information, and is also suitable for obtaining an optimal driving path in the district of the central control tower for a vehicle according to driving departure request information, driving vehicle information and real-time road condition data and inherent road condition data in the district of the central control tower;
the remote control module is connected with the central analysis module and is suitable for remotely controlling the vehicle electronic control module through the tower communication module and the vehicle-mounted communication module according to the generated optimal driving path;
the vehicle electronic control module is suitable for controlling the driving behavior of the vehicle to finish driving from a departure place to a destination.
Further, the vehicle-mounted communication module and/or the tower communication module is a 5G communication module.
Further, in a central control tower apparatus involved in a travel from a departure point to a destination, one of the central control towers being a departure point central control tower, one of the central control towers being a destination central control tower and at least one of the central control towers being a travel center control tower; wherein, the liquid crystal display device comprises a liquid crystal display device,
the departure place central control tower is suitable for receiving the driving departure request information and completing behavior control when the driving of the vehicle starts;
the driving center control tower is suitable for sending corresponding data to the next driving center control tower in the process of going when the vehicle reaches the edge area of the driving center control tower; the corresponding data comprise driving departure request information, the generated optimal driving path, updating change of driving vehicle information after driving in the upper section area, and updating result of driving center control tower in the upper section area on road condition information in the district;
the destination central control tower is suitable for guiding the vehicle to the destination and completing the behavior control when the vehicle stops driving.
Further, the behavior control when the vehicle is terminated includes: and (3) carrying out normal parking or alternative path parking operation according to the actual condition of the destination, if a full parking event occurs, allowing the passengers to get off the vehicle at the destination, starting the alternative path for parking until the passengers arrive at the designated place in advance for connection when returning.
Further, the central analysis module is adapted to transmit the optimal driving path to the vehicle communication module via the tower communication module.
The invention also provides an application method of the unmanned application system, which is completed based on the central control tower equipment, and the method comprises the following steps:
transmitting driving vehicle information and driving departure request information carrying departure places and destinations to central control tower equipment;
the central control tower equipment performs visual scanning capturing on all road condition information in the jurisdiction of the central control tower, updates real-time road condition data in the jurisdiction of the central control tower according to the scanned captured image information, and obtains an optimal driving path for a vehicle according to driving departure request information, driving vehicle information, real-time road condition data in the jurisdiction of the central control tower and inherent road condition data;
the central control tower device carries out remote control on the vehicle according to the generated optimal driving path so as to control the driving behavior of the vehicle to finish driving from the departure place to the destination.
Further, it is implemented based on the above unmanned application system.
After the technical scheme is adopted, when an unmanned vehicle (target vehicle) wants to go to a destination at a departure place, driving departure request information can be sent out, central control tower equipment receives the driving departure request information, a vision capturing module carries out vision scanning capturing on all road condition information in a central control tower district, and the scanned and captured image information is transmitted to a central analysis module; the central analysis module updates real-time road condition data in the district of the central control tower according to the scanned and captured image information, and obtains an optimal driving path for a vehicle according to driving departure request information, driving vehicle information and real-time road condition data and inherent road condition data in the district of the central control tower; the remote control module carries out remote control on the vehicle electronic control module through the tower communication module and the vehicle-mounted communication module according to the generated optimal driving path, and the vehicle electronic control module controls the driving behavior of the vehicle to finish driving from the departure place to the destination.
Drawings
Fig. 1 is a schematic block diagram of the unmanned application system of the present invention.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 1, the unmanned application system comprises a vehicle-mounted device 1 and a central control tower device 2, wherein the vehicle-mounted device 1 comprises a vehicle electronic control module 11 and a vehicle-mounted communication module 12, and the central control tower device 2 comprises a vision capturing module 21, a central analysis module 22, a remote control module 23 and a tower communication module 24; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle-mounted communication module 12 is connected with the tower communication module 24, the vehicle-mounted equipment 1 is suitable for being in communication connection with the central control tower equipment 2 through the vehicle-mounted communication module 12 and the tower communication module 24, and the vehicle-mounted equipment 1 is used for sending driving vehicle information and driving departure request information carrying departure places and destinations to the central control tower equipment 2 through the vehicle-mounted communication module 12 and the tower communication module 24;
the visual capturing module 21 is connected with the central analysis module 22 and is suitable for performing visual scanning capturing on all road condition information in the district of the central control tower when the central control tower equipment receives the driving departure request information, and transmitting the image information captured by scanning to the central analysis module 22;
the central analysis module 22 is adapted to update real-time road condition data in the district of the central control tower according to the scanned and captured image information, and the central analysis module 22 is further adapted to obtain an optimal driving path in the district of the central control tower according to driving departure request information, driving vehicle information, real-time road condition data in the district of the central control tower and inherent road condition data;
the remote control module 23 is connected with the central analysis module 22, and the remote control module 23 is suitable for performing remote control on the vehicle electronic control module 11 through the tower communication module 24 and the vehicle-mounted communication module 12 according to the generated optimal driving path;
the vehicle electronic control module 11 is adapted to control the driving behavior of the vehicle to complete the driving from the departure place to the destination. The vehicle electronic control module 11 performs behavior control such as acceleration and deceleration, lane changing and straight running, emergency braking starting, emergency avoidance and the like on the vehicle under control, and realizes that the central control tower is responsible for driving work of the vehicle in the area.
The in-vehicle communication module 12 and the turret table communication module 24 include, but are not limited to, a 5G communication module.
In a central control tower device involved in a travel from a departure place to a destination, one of which is a departure place central control tower, one of which is a destination central control tower and at least one travel central control tower; wherein, the liquid crystal display device comprises a liquid crystal display device,
the departure place central control tower is suitable for receiving the driving departure request information and completing behavior control when the driving of the vehicle starts;
the driving center control tower is suitable for sending corresponding data to the next driving center control tower in the process of going when the vehicle reaches the edge area of the driving center control tower; the corresponding data comprise driving departure request information, the generated optimal driving path, updating change of driving vehicle information after driving in the upper section area, and updating result of driving center control tower in the upper section area on road condition information in the district; the driving center control tower is used for outputting updated information of the front driving center control tower to the driving center control tower in time after the vehicle enters the next area, so that the connection work between the two areas can be well connected, and the real-time effectiveness of the information is ensured;
the destination central control tower is suitable for guiding the vehicle to the destination and completing the behavior control when the vehicle stops driving.
At least one departure place center control tower (generally a departure place) is involved in the whole walking process, a driving center control tower, a destination center control tower (generally a destination) can be omitted or a lane change center control tower can be arranged; the whole process realizes closed-loop control, can efficiently cope with sudden road conditions at any time, and is efficient, safe and controllable.
In this embodiment, the intrinsic road condition data, such as, but not limited to, road planning, road sign prompt, signal lamp information, vehicle, pedestrian, emergency, etc., is a set of all relevant factors possibly affecting driving behavior, and the set has decisive effect on maintenance/modification of the driving plan;
in the present embodiment, the driving vehicle information includes, but is not limited to, vehicle outer dimensions such as a vehicle length, a vehicle width, a vehicle height, a wheel base, a front suspension, a rear suspension, and the like, and vehicle mobility and passing parameters such as a approach angle, a departure angle, a longitudinal passing angle, a minimum ground clearance, a turning diameter, and the like, and steering coefficient parameters such as a toe-in of a wheel, a camber of a wheel, a kingpin camber, a maximum turning angle, and the like, and quality parameters such as a trunk mass, a whole vehicle equipment mass, a maximum loading mass, and the like.
The behavior control when the vehicle is stopped comprises the following steps: and (3) carrying out normal parking or alternative path parking operation according to the actual condition of the destination, if a full parking event occurs, allowing the passengers to get off the vehicle at the destination, starting the alternative path for parking until the passengers arrive at the designated place in advance for connection when returning.
The optimal driving path in the district of the central control tower is that the central control tower in the district collects all vehicle driving and vehicle information and respective driving departure request information in the district, and sequences according to the time stamps of the respective entering areas so as to control the vehicles to drive to the next appointed area for guiding, and the driving behaviors such as straight driving, lane changing, turning, acceleration and deceleration, emergency braking and the like are comprehensively arranged.
The central analysis module 22 is adapted to communicate the optimal path of travel to the on-board communication module 12 via the turret table communication module 24.
The application method of the unmanned application system is completed based on the central control tower equipment 2 of the embodiment, and the steps of the method comprise:
transmitting driving vehicle information and driving departure request information carrying departure places and destinations to the central control tower equipment 2;
the central control tower equipment 2 performs visual scanning capturing on all road condition information in the jurisdiction of the central control tower, updates real-time road condition data in the jurisdiction of the central control tower according to the scanned captured image information, and obtains an optimal driving path for a supplied vehicle according to driving departure request information, driving vehicle information, real-time road condition data in the jurisdiction of the central control tower and inherent road condition data;
the center control tower apparatus 2 performs remote control on the vehicle according to the generated optimal travel path to perform driving behavior control on the vehicle to complete driving from the departure place to the destination.
The technical problems, technical solutions and advantageous effects solved by the present invention have been further described in detail in the above-described embodiments, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of protection of the present invention.
In the description of the present invention, it should be understood that the terms "orientation" or "positional relationship" are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the present invention, unless expressly stated or limited otherwise, a first feature may include first and second features directly contacting each other, either above or below a second feature, or through additional features contacting each other, rather than directly contacting each other. Moreover, the first feature being above, over, and on the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being below, beneath, and beneath the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is less level than the second feature.
Claims (4)
1. The unmanned application system is characterized by comprising vehicle-mounted equipment (1) and central control tower equipment (2), wherein the vehicle-mounted equipment (1) comprises a vehicle electronic control module (11) and a vehicle communication module (12), and the central control tower equipment (2) comprises a vision capturing module (21), a central analysis module (22), a remote control module (23) and a tower communication module (24); wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle-mounted communication module (12) is connected with the tower communication module (24), the vehicle-mounted equipment (1) is suitable for being in communication connection with the central control tower equipment (2) through the vehicle-mounted communication module (12) and the tower communication module (24), and the vehicle-mounted equipment (1) is used for sending driving vehicle information and driving departure request information carrying departure places and destinations to the central control tower equipment (2) through the vehicle-mounted communication module (12) and the tower communication module (24);
the visual capturing module (21) is connected with the central analysis module (22) and is suitable for carrying out visual scanning capturing on all road condition information in the district of the central control tower when the central control tower equipment receives the driving departure request information, and transmitting the image information captured by scanning to the central analysis module (22);
the central analysis module (22) is suitable for updating real-time road condition data in the district of the central control tower according to the scanned and captured image information, and the central analysis module (22) is also suitable for obtaining an optimal driving path in the district of the central control tower for the supplied vehicle according to driving departure request information, driving vehicle information, real-time road condition data in the district of the central control tower and inherent road condition data;
the remote control module (23) is connected with the central analysis module (22), and the remote control module (23) is suitable for remotely controlling the vehicle electronic control module (11) through the tower communication module (24) and the vehicle-mounted communication module (12) according to the generated optimal driving path;
the vehicle electronic control module (11) is suitable for controlling the driving behavior of the vehicle to finish driving from a departure place to a destination;
in a central control tower device involved in a travel from a departure place to a destination, one of which is a departure place central control tower, one of which is a destination central control tower and at least one travel central control tower; wherein, the liquid crystal display device comprises a liquid crystal display device,
the departure place central control tower is suitable for receiving the driving departure request information and completing behavior control when the driving of the vehicle starts;
the driving center control tower is suitable for sending corresponding data to the next driving center control tower in the process of going when the vehicle reaches the edge area of the driving center control tower; the corresponding data comprise driving departure request information, the generated optimal driving path, updating change of driving vehicle information after driving in the upper section area, and updating result of driving center control tower in the upper section area on road condition information in the district;
the destination central control tower is suitable for guiding the vehicle to reach the destination and completing behavior control when the vehicle is stopped;
the behavior control when the vehicle is stopped comprises the following steps: and (3) carrying out normal parking or alternative path parking operation according to the actual condition of the destination, if a full parking event occurs, allowing the passengers to get off the vehicle at the destination, starting the alternative path for parking until the passengers arrive at the designated place in advance for connection when returning.
2. The unmanned application system of claim 1, wherein,
the vehicle-mounted communication module (12) and/or the tower communication module (24) are/is 5G communication modules.
3. The unmanned application system of claim 1, wherein,
the central analysis module (22) is adapted to communicate the optimal path of travel to the on-board communication module (12) via a turret communication module (24).
4. A method of application of an unmanned application system, which is implemented on the basis of an unmanned application system according to any one of claims 1 to 3, the method comprising the steps of:
transmitting driving vehicle information and driving departure request information carrying departure places and destinations to a central control tower device (2);
the central control tower equipment (2) performs visual scanning capturing on all road condition information in the jurisdiction of the central control tower, updates real-time road condition data in the jurisdiction of the central control tower according to the image information captured by scanning, and obtains an optimal driving path for a vehicle according to driving departure request information, driving vehicle information, real-time road condition data in the jurisdiction of the central control tower and inherent road condition data;
the central control tower device (2) carries out remote control on the vehicle according to the generated optimal driving path so as to control the driving behavior of the vehicle to finish driving from a departure place to a destination.
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