CN112965491A - Remote driving cooperative navigation method and system - Google Patents
Remote driving cooperative navigation method and system Download PDFInfo
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- CN112965491A CN112965491A CN202110175024.0A CN202110175024A CN112965491A CN 112965491 A CN112965491 A CN 112965491A CN 202110175024 A CN202110175024 A CN 202110175024A CN 112965491 A CN112965491 A CN 112965491A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000006855 networking Effects 0.000 claims abstract description 9
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Navigation (AREA)
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Abstract
The invention discloses a remote driving cooperative navigation system, which comprises: a vehicle controller, a network connection device, a camera terminal, a GPS device, a network server, a remote control terminal, the vehicle controller, the camera terminal and the GPS equipment are connected with the networking equipment, the networking equipment is wirelessly connected with the network server, the network server is wirelessly connected with the remote control terminal, and the application also discloses a remote driving cooperative navigation method, the application realizes the network connection of the unmanned vehicle and the remote operation platform by utilizing the network connection equipment and the network server, the position information and the surrounding environment information of the unmanned vehicle are obtained in real time by utilizing the remote control navigator and the video transmission interface, and a remote driver simulates the driving process by combining the steering controller with the remote control navigator and the video transmission interface, is familiar with road information, has more real driving feeling, can remotely control the unmanned vehicle in real time, and solves the problem that the unmanned vehicle is difficult to operate under complex conditions.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a remote driving cooperative navigation method and system.
Background
The unmanned vehicle is one of intelligent vehicles, is also called as a wheeled mobile robot, and mainly achieves the purpose of unmanned driving by means of an intelligent driver which is mainly a computer system in the vehicle. With the more mature unmanned vehicle and more application scenes, the unmanned technology is combined with the actual production and life, but in the actual use process, the unmanned vehicle still cannot handle highly complex traffic conditions, such as: under the conditions of traffic accidents, temporary road control and non-collection of high-precision maps, unmanned driving cannot flexibly deal with the conditions like manual driving. And to the complicated condition, generally can adopt artifical remote control to realize, and current artifical remote control vehicle, because artifical long-range is unfamiliar with to vehicle road conditions information, and also inaccurate to the location of vehicle, lead to artifical remote control comparatively difficult, drive to feel unreal, can't real-time control vehicle braking, break down easily, great restriction unmanned vehicle operation under the complicated condition.
Disclosure of Invention
The invention aims to provide a remote driving cooperative navigation method and system which can realize more real driving feeling, remotely control an unmanned vehicle in real time, facilitate a driver to remotely operate the vehicle and solve the problem that the unmanned vehicle is difficult to operate under complex conditions.
In order to solve the technical problems, the technical solution of the invention is as follows:
a remote driving collaborative navigation system, comprising:
a vehicle controller: the vehicle controller is arranged on the unmanned vehicle and used for controlling the braking of the vehicle and sending signals;
networking equipment: the vehicle-mounted networking equipment is arranged on the unmanned vehicle and is used for connecting an external network;
the camera terminal: the camera terminal is arranged on the unmanned vehicle and used for acquiring information around the unmanned vehicle;
GPS equipment: the GPS equipment is arranged on the unmanned vehicle and used for acquiring vehicle position information in real time;
a network server: the network server is arranged on a remote background and used for transferring data and information;
the remote control terminal: the remote control terminal is used for acquiring information of the unmanned vehicle and remotely controlling the unmanned vehicle, and comprises a remote control navigator, a video transmission interface, a vehicle control system and a steering controller, wherein the steering controller is connected with the vehicle control system;
the vehicle controller, the camera terminal and the GPS equipment are connected with the internet equipment, the internet equipment is in wireless connection with the network server, and the network server is in wireless connection with the remote control terminal.
Further, the vehicle controller is used for controlling the vehicle to move forwards, move backwards, turn, start, extinguish, signal lamps and lighting lamps.
Furthermore, the internet equipment is in wireless connection with the network server through a 4G/5G network or a wifi network, and the internet equipment is in wired connection or wireless connection with the remote control terminal, the camera terminal and the GPS equipment.
Furthermore, the camera terminal is composed of a plurality of groups of cameras installed on the unmanned vehicle.
Furthermore, the GPS equipment is a vehicle-mounted navigator or a mobile phone with a positioning function.
Furthermore, the steering controller comprises a brake controller, an accelerator controller and a steering wheel.
A remote driving cooperative navigation method comprises the following steps:
(1) establishing a remote driving collaborative navigation system, installing a vehicle controller, a network connection device, a camera terminal and a GPS device on an unmanned vehicle, and installing a remote control terminal on a remote operation platform;
(2) the vehicle controller, the camera terminal and the GPS equipment are connected with the internet equipment, the internet equipment is connected with the network server through a network, and the network server is connected with the remote control terminal through a network;
(3) starting a camera terminal, GPS equipment and a remote control terminal, establishing vehicle peripheral video transmission, transmitting vehicle peripheral environment data to a video transmission interface of the remote control terminal through the camera terminal, internet equipment and a network server, establishing real-time position information transmission, establishing vehicle position information transmission, and transmitting the vehicle position information to a remote control navigator of the remote control terminal through the GPS equipment, the internet equipment and the network server;
(4) starting a vehicle controller and a vehicle control system, planning a starting point and an end point of remote vehicle running on the vehicle control system of an operation desk by a remote driver, transmitting the starting point and the end point to a remote control navigator and a vehicle controller of an unmanned vehicle through a network, automatically planning a route by the remote control navigator, and starting to realize driving navigation;
(5) the remote control navigator receives the navigation information, starts navigation route planning according to the set starting point and the set end point, starts navigation, the vehicle controller receives a navigation instruction, and the vehicle controller acquires the GPS information in the WGS84 format from the GPS equipment;
(6) the vehicle controller submits the GPS information to a network server through the internet equipment, and the network server calls the Baidu navigation sdk after receiving the GPS information and converts the WGS84 format GPS information into a Baidu navigation coordinate system used by the navigator;
(7) the network server transmits the converted GPS information to the remote control navigator, and the remote control navigator displays the vehicle position and navigation information on a navigation interface in real time after receiving the GPS information;
(8) the remote driver determines the real-time position of the unmanned vehicle through the remote control navigator, determines the peripheral information of the current unmanned vehicle through the video transmission interface, and utilizes the steering controller to remotely control the unmanned vehicle to run according to the navigation information of the remote control navigator, and remotely controls the vehicle to run;
(9) when the unmanned vehicle reaches the destination, the remote control navigator automatically completes the navigation according to the GPS information reported by the vehicle in real time, and the remote driving cooperative navigation is completed.
Furthermore, the camera terminal is composed of four cameras respectively arranged at the front, the rear, the left end and the right end of the unmanned vehicle.
Furthermore, the video transmission interface is composed of four display screens for respectively displaying images of the camera terminal.
The invention has the beneficial effects that:
1. the system corresponding to the application realizes the network connection between the unmanned vehicle and the remote control terminal on the remote operation platform by installing the vehicle controller, the camera terminal and the GPS equipment on the unmanned vehicle and utilizing the internet connection equipment and the network server, obtains the position information and the surrounding environment information of the unmanned vehicle in real time by utilizing the remote control navigator and the video transmission interface on the remote control terminal, and displays the route information through the remote control navigator after a remote driver inputs a starting point and a terminal point through the vehicle control system during use, the current position of the unmanned vehicle is displayed, a remote driver simulates a driving process by combining a steering controller with a remote control navigator and a video transmission interface, the unmanned vehicle is familiar with road information, the driving feeling is more real, the unmanned vehicle can be remotely controlled in real time, and the problem that the unmanned vehicle is difficult to operate under complex conditions is solved.
2. The method comprises the steps that corresponding systems are installed on an unmanned vehicle and a remote operation platform, the real-time position of the unmanned vehicle is determined through a remote control navigator, the current peripheral information of the unmanned vehicle is determined through a video transmission interface, a web server is used for calling Baidu navigation sdk, WGS84 format GPS information is converted into a Baidu navigation coordinate system used by the navigator and then transmitted to the remote control navigator, (8) the remote driver determines the real-time position of the unmanned vehicle through the remote control navigator, the current peripheral information of the unmanned vehicle is determined through the video transmission interface, the unmanned vehicle is remotely controlled through a steering controller according to the navigation information of the remote control navigator, the remote driving control vehicle runs, the driving feeling is more real, and the unmanned vehicle can be remotely controlled in real time.
Drawings
FIG. 1 is a schematic diagram of the structure of a corresponding system of the present invention;
in the figure: 1-a vehicle controller; 2-a network connection device; 8-a camera terminal; 3-a GPS device; 9-a remote control terminal; 5-remote control navigator; 6-video transmission interface; 7-a steering controller; 4-a network server;
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be noted that the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In order to solve the problems that the driving feeling of the existing remote manual driving is not real, the unmanned vehicle cannot be remotely controlled in real time, and the unmanned vehicle is difficult to operate under complex conditions, the application discloses a remote driving collaborative navigation system, as shown in fig. 1, comprising:
the vehicle controller 1: the vehicle controller 1 is arranged on an unmanned vehicle and used for controlling the braking of the vehicle and sending signals; the vehicle controller 1 is used for controlling the vehicle to move forward, move backward, turn, start, extinguish, signal lamps and lighting lamps.
The networking device 2: the vehicle-mounted networking equipment 2 is arranged on the unmanned vehicle and is used for connecting an external network; the internet device 2 is in wireless connection with the network server 4 through a 4G/5G network or a wifi network, and the internet device 2 is in wired connection or wireless connection with the remote control terminal 9, the camera terminal 8 and the GPS device 3.
The camera terminal 8: the camera terminal 8 is arranged on the unmanned vehicle and used for acquiring information around the unmanned vehicle; the camera terminal 8 is composed of a plurality of groups of cameras installed on the unmanned vehicle.
The GPS device 3: the GPS equipment 3 is arranged on the unmanned vehicle and is used for acquiring vehicle position information in real time; the GPS equipment 3 is a vehicle-mounted navigator or a mobile phone with a positioning function.
The network server 4: the network server 4 is arranged on a remote background and used for transferring data and information; in particular for the information transmission of the networked device 2 and the remote control terminal 9.
The remote control terminal 9: the remote control terminal 9 is used for acquiring information of the unmanned vehicle and remotely controlling the unmanned vehicle, the remote control terminal 9 comprises a remote control navigator 5, a video transmission interface 6, a vehicle control system and a steering controller 7, and the steering controller 7 is connected with the vehicle control system; the steering controller 7 comprises a brake controller, an accelerator controller and a steering wheel.
The vehicle controller 1, the camera terminal 8 and the GPS equipment 3 are connected with the internet connection equipment 2, the internet connection equipment 2 is in wireless connection with the network server 4, and the network server 4 is in wireless connection with the remote control terminal 9.
The application also discloses a remote driving collaborative navigation method, which comprises the following steps:
(1) establishing a remote driving collaborative navigation system, installing a vehicle controller 1, a network connection device 2, a camera terminal 8 and a GPS device 3 on an unmanned vehicle, and installing a remote control terminal 9 on a remote operation platform;
(2) the vehicle controller 1, the camera terminal 8 and the GPS device 3 are connected with the internet equipment 2, the internet equipment 2 is connected with the network server 4, and the network server 4 is connected with the remote control terminal 9;
(3) starting a camera terminal 8, a GPS device 3 and a remote control terminal 9, establishing vehicle peripheral video transmission, transmitting vehicle peripheral environment data to a video transmission interface 6 of the remote control terminal 9 through the camera terminal 8, a network connection device 2 and a network server 4, establishing real-time position information transmission, establishing vehicle position information transmission, and transmitting the vehicle position information to a remote control navigator 5 of the remote control terminal 9 through the GPS device 3, the network connection device 2 and the network server 4;
(4) starting a vehicle controller and a vehicle control system, planning a starting point and an end point of remote vehicle running on the vehicle control system of an operation desk by a remote driver, transmitting the starting point and the end point to a remote control navigator and a vehicle controller of an unmanned vehicle through a network, automatically planning a route by the remote control navigator, and starting to realize driving navigation;
(5) the remote control navigator receives the navigation information, starts navigation route planning according to the set starting point and the set end point, starts navigation, the vehicle controller receives a navigation instruction, and the vehicle controller acquires the GPS information in the WGS84 format from the GPS equipment;
(6) the vehicle controller submits the GPS information to a network server through the internet equipment, and the network server calls the Baidu navigation sdk after receiving the GPS information and converts the WGS84 format GPS information into a Baidu navigation coordinate system used by the navigator;
(7) the network server transmits the converted GPS information to the remote control navigator, and the remote control navigator displays the vehicle position and navigation information on a navigation interface in real time after receiving the GPS information;
(8) the remote driver determines the real-time position of the unmanned vehicle through the remote control navigator, determines the peripheral information of the current unmanned vehicle through the video transmission interface, and utilizes the steering controller to remotely control the unmanned vehicle to run according to the navigation information of the remote control navigator, and remotely controls the vehicle to run;
(9) when the unmanned vehicle reaches the destination, the remote control navigator automatically completes the navigation according to the GPS information reported by the vehicle in real time, and the remote driving cooperative navigation is completed.
Preferably, the camera terminal 8 is composed of four cameras respectively installed at the front, rear, left and right ends of the unmanned vehicle.
Preferably, the video transmission interface 6 is composed of four display screens for respectively displaying the camera images of the camera terminal 8.
The remote manual driving problem of the unmanned vehicle is solved, the position information, the surrounding environment, the road condition and the like of the vehicle can be sent to a remote operation desk in real time by adding a camera terminal 8 and a GPS device 3 on the vehicle, when a remote driver needs to remotely control and drive, the remote driver obtains a route by inputting a starting point and a destination, then the vehicle position navigation is realized according to a remote control navigator 5 of a remote control terminal 9, then the road information is obtained through a video transmission interface 6, a web server is used for calling a Baidu navigation sdk, the WGS84 format GPS information is converted into a Baidu navigation coordinate system used by the navigator and then is transmitted to the remote control navigator, (8) the remote driver determines the real-time position of the unmanned vehicle through the remote control navigator, the current surrounding information of the unmanned vehicle is determined through the video transmission interface, according to the navigation information of the remote control navigator, the steering controller is used for remotely controlling the unmanned vehicle to run and remotely controlling the vehicle to run, the accelerator controller and the steering wheel are used for really realizing remote control of the vehicle, the unmanned vehicle can be remotely controlled in real time to feel more real, and the problem that the unmanned vehicle is difficult to run under complex conditions is solved.
The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention, so that the changes and modifications made by the claims and the specification of the present invention should fall within the scope of the present invention.
Claims (9)
1. A remote driving cooperative navigation system is characterized in that: the method comprises the following steps:
a vehicle controller: the vehicle controller is arranged on the unmanned vehicle and used for controlling the braking of the vehicle and sending signals;
networking equipment: the vehicle-mounted networking equipment is arranged on the unmanned vehicle and is used for connecting an external network;
the camera terminal: the camera terminal is arranged on the unmanned vehicle and used for acquiring information around the unmanned vehicle;
GPS equipment: the GPS equipment is arranged on the unmanned vehicle and used for acquiring vehicle position information in real time;
a network server: the network server is arranged on a remote background and used for transferring data and information;
the remote control terminal: the remote control terminal is used for acquiring information of the unmanned vehicle and remotely controlling the unmanned vehicle, and comprises a remote control navigator, a video transmission interface, a vehicle control system and a steering controller, wherein the steering controller is connected with the vehicle control system;
the vehicle controller, the camera terminal and the GPS equipment are connected with the internet equipment, the internet equipment is in wireless connection with the network server, and the network server is in wireless connection with the remote control terminal.
2. The remote driving cooperative navigation system according to claim 1, wherein: the vehicle controller is used for controlling the vehicle to move forwards, move backwards, turn, start, extinguish, signal lamps and lighting lamps.
3. The remote driving cooperative navigation system according to claim 1, wherein: the internet equipment is in wireless connection with the network server through a 4G/5G network or a wifi network, and the internet equipment is in wired connection or wireless connection with the remote control terminal, the camera terminal and the GPS equipment.
4. The remote driving cooperative navigation system according to claim 1, wherein: the camera terminal consists of a plurality of groups of cameras arranged on the unmanned vehicle.
5. The remote driving cooperative navigation system according to claim 1, wherein: the GPS equipment is a vehicle-mounted navigator or a mobile phone with a positioning function.
6. The remote driving cooperative navigation system according to claim 1, wherein: the steering controller comprises a brake controller, an accelerator controller and a steering wheel.
7. A remote driving cooperative navigation method is characterized by comprising the following steps:
(1) establishing a remote driving collaborative navigation system, installing a vehicle controller, a network connection device, a camera terminal and a GPS device on an unmanned vehicle, and installing a remote control terminal on a remote operation platform;
(2) the vehicle controller, the camera terminal and the GPS equipment are connected with the internet equipment, the internet equipment is connected with the network server through a network, and the network server is connected with the remote control terminal through a network;
(3) starting the camera terminal, the GPS equipment and the remote control terminal, establishing video transmission around the vehicle,
transmitting the data of the surrounding environment of the vehicle to a video transmission interface of a remote control terminal through a camera terminal, a network connection device and a network server, establishing real-time position information transmission, establishing vehicle position information transmission,
the position information of the vehicle is transmitted to a remote control navigator of a remote control terminal through GPS equipment, networking equipment and a network server;
(4) starting a vehicle controller and a vehicle control system, planning a starting point and an end point of remote vehicle running on the vehicle control system of an operation desk by a remote driver, transmitting the starting point and the end point to a remote control navigator and a vehicle controller of an unmanned vehicle through a network, automatically planning a route by the remote control navigator, and starting to realize driving navigation;
(5) the remote control navigator receives the navigation information, starts navigation route planning according to the set starting point and the set end point, starts navigation, the vehicle controller receives a navigation instruction, and the vehicle controller acquires the GPS information in the WGS84 format from the GPS equipment;
(6) the vehicle controller submits the GPS information to a network server through the internet equipment, and the network server calls the Baidu navigation sdk after receiving the GPS information and converts the WGS84 format GPS information into a Baidu navigation coordinate system used by the navigator;
(7) the network server transmits the converted GPS information to the remote control navigator, and the remote control navigator displays the vehicle position and navigation information on a navigation interface in real time after receiving the GPS information;
(8) the remote driver determines the real-time position of the unmanned vehicle through the remote control navigator, determines the peripheral information of the current unmanned vehicle through the video transmission interface, and utilizes the steering controller to remotely control the unmanned vehicle to run according to the navigation information of the remote control navigator, and remotely controls the vehicle to run;
(9) when the unmanned vehicle reaches the destination, the remote control navigator automatically completes the navigation according to the GPS information reported by the vehicle in real time, and the remote driving cooperative navigation is completed.
8. The method according to claim 7, wherein the camera terminal comprises four cameras respectively mounted at the front, rear, left and right ends of the unmanned vehicle.
9. The remote driving cooperative navigation method according to claim 8, wherein the video transmission interface is composed of four display screens respectively displaying images of cameras of the camera terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110175024.0A CN112965491A (en) | 2021-02-07 | 2021-02-07 | Remote driving cooperative navigation method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110175024.0A CN112965491A (en) | 2021-02-07 | 2021-02-07 | Remote driving cooperative navigation method and system |
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| CN112965491A true CN112965491A (en) | 2021-06-15 |
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| CN202110175024.0A Withdrawn CN112965491A (en) | 2021-02-07 | 2021-02-07 | Remote driving cooperative navigation method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113660148A (en) * | 2021-06-30 | 2021-11-16 | 华人运通(上海)自动驾驶科技有限公司 | Real-time remote driving system and method |
| CN114265336A (en) * | 2021-10-26 | 2022-04-01 | 浙江零跑科技股份有限公司 | Intelligent unmanned remote driving system for automobile |
-
2021
- 2021-02-07 CN CN202110175024.0A patent/CN112965491A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113660148A (en) * | 2021-06-30 | 2021-11-16 | 华人运通(上海)自动驾驶科技有限公司 | Real-time remote driving system and method |
| CN114265336A (en) * | 2021-10-26 | 2022-04-01 | 浙江零跑科技股份有限公司 | Intelligent unmanned remote driving system for automobile |
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