CN113093689A - 4G remote driving monitoring system based on surface mine operation area and working process thereof - Google Patents
4G remote driving monitoring system based on surface mine operation area and working process thereof Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a 4G remote driving monitoring system based on an open mine operation area and a working process thereof. The invention adopts a 360-degree panoramic camera scheme (four sub-cameras in front of a vehicle, behind the vehicle, on the left of the vehicle and on the right of the vehicle), the surrounding environment of the vehicle is completely covered, the actual measurement of the video end-to-end processing time delay is about 200ms (0.56m @10km/h), the control instruction end-to-end time delay is about 20ms (equivalent to 0.056m @10km/h), the transmission packet loss rate is less than 0.1%, the control instruction data packet has no continuous packet loss, and meanwhile, the system is compatible with a 5G network, the time delay is shorter, and the performance is better. The system supports more than one control, namely one simulation cockpit can control 10 mine vehicles in a time-sharing manner, and the total time consumption of the simulation cockpit in controlling and switching different vehicles is less than 500 ms.
Description
The technical field is as follows:
the invention relates to a 4G remote driving monitoring system based on a surface mine operation area and a working process thereof, and belongs to the technical field of intelligent driving of electric vehicles.
Background art:
in recent years, with the development of automobile intelligentization and networking technologies, automatic driving in specific areas such as transportation in open mines and the like is mature day by day, and landing operation schemes continue to appear in large mining areas in China. The general geographic position of the open-pit mining area is remote, the comprehensive coverage possibility of a 5G network is lower due to the consideration of cost and no special reason of network operators, but the current situation of a 4G network of the mining area is better, and the maximum speed of a mine truck in an operation area is not more than 10 km/h. In view of the above, the invention provides a scheme for remotely controlling vehicles in an operation area based on a 4G network, thereby solving the problems of no humanization and all-weather operation in a mining area.
The invention content is as follows:
the invention aims to solve the problems in the prior art and provides a 4G remote driving monitoring system based on a surface mine operation area and a working process thereof. In a remote mining area covered by a 4G network, unmanned loading and unloading operation under a complex working condition is realized, and a 'one-control-more' mode is supported, so that the production efficiency is improved, and the production cost is reduced.
The invention adopts the following technical scheme: A4G remote driving monitoring system based on an open mine operation area comprises a vehicle end, a cloud end and a cabin end;
the vehicle end comprises a sensing device, a VCU chassis control, a vehicle end control unit and a vehicle-mounted gateway device, wherein the vehicle end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN (controller area network) line controller;
the cabin end comprises cabin end gateway equipment, a cabin end control unit, a multi-vehicle monitoring large screen, a main driving large screen and a cabin end VCU (virtual vehicle Unit), the cabin end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN (controller area network) line controller, the cabin end gateway equipment is connected with the audio and video encoder and the control instruction processing unit through the Ethernet, the audio and video encoder is connected with the multi-vehicle monitoring large screen and the main driving large screen through the Ethernet, the main driving large screen is connected with the control instruction processing unit through the Ethernet, the CAN line controller is connected with the cabin end VCU through the CAN, and the cabin end gateway equipment realizes intercommunication between the cabin end and the outside.
The invention also adopts the following technical scheme: A4G remote driving monitoring system work flow based on a surface mine operation area comprises the following specific steps:
the processing flow of the control instruction is specifically as follows:
the method comprises the following steps: the cabin end VCU transmits information for controlling information such as forward and backward movement of the vehicle, a steering wheel, a steering lamp, a windshield wiper and the like to the cabin end control unit;
step two: the cabin end control unit is responsible for decoding audio and video, processing and forwarding CAN (controller area network) instructions and transmitting information to cabin end gateway equipment;
step three: the cabin gateway equipment transmits the information to a cloud end;
step four: the cloud distributes the data information to the vehicle-mounted gateway equipment;
step five: the vehicle end control unit is responsible for audio and video coding, CAN instruction processing and forwarding;
step six: the VCU at the vehicle end realizes the control of information such as forward, backward, course angle, acceleration and the like of the vehicle;
the processing flow of the 360 panoramic audio and video comprises the following specific steps:
the method comprises the following steps: the 360-degree around-looking camera senses information around the vehicle without dead angles in 360 degrees and transmits the information to the audio and video encoder;
step two: the audio and video encoder encodes the information and transmits the encoded information to the vehicle-mounted gateway equipment;
step three: the information is transmitted to the cloud end by the vehicle-mounted gateway equipment;
step four: the cloud distributes the data information to cabin gateway equipment;
step five: the cabin gateway equipment transmits the information to an audio and video decoder;
step six: the audio and video decoder processes and forwards the audio and video decoding and CAN command and displays the audio and video decoding and CAN command in real time through a multi-vehicle monitoring large screen.
The invention has the following beneficial effects: according to the invention, the whole network architecture is optimized, the video coding and decoding process is optimized, the video end-to-end processing time is actually measured for about 200ms (0.56m @10km/h), the processing process of a control instruction is optimized, the control instruction time delay is about 20ms (equivalent to 0.056m @10km/h), and a cloud brain is introduced to realize a 'one-control-more' mode, so that a remote driving technician can be ensured to operate a remote 'numerous natural objects' mine truck almost without time delay for loading and unloading operation.
Description of the drawings:
fig. 1 is a schematic diagram of a 4G remote driving monitoring system based on a surface mine operation area.
FIG. 2 is a flow chart of the processing of control instructions.
Fig. 3 is a processing flow chart of the 360-degree panoramic audio and video.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
The 4G remote driving monitoring system based on the surface mine operation area is composed of a vehicle end, a cloud end and a cabin end, full-link monitoring and control are achieved, safe and reliable remote control is achieved, and the overall architecture diagram is shown in figure 1.
The cloud serves as a core brain of the whole system and is responsible for resource coordination and allocation of the whole system, and functions of the cloud are defined as follows:
the vehicle remote control system is responsible for pairing the vehicle and the remote control cabin, realizes the matching relation of a single cabin to multiple vehicles, and improves the operation efficiency.
The remote driving system is responsible for forwarding the video information of the vehicle end and ensures that a remote driving technician can sense the information around the vehicle without dead angles in 360 degrees.
The VCU is responsible for forwarding the control instructions of the vehicle end and the cabin end, the VCU state of the vehicle end can be fed back to the cabin end, driving guide information is provided for a driver to operate the vehicle, the control instructions of the cabin end can be forwarded to the corresponding vehicle end, and the loading and unloading operations of the vehicle are commanded.
Vehicle end function definition:
as a final execution carrier for receiving and processing information, the system is suitable for various vehicle types including various wide and narrow mine trucks such as fuel vehicles and electric vehicles.
The vehicle end comprises sensing equipment, VCU chassis control, a vehicle end control unit and vehicle-mounted gateway equipment, the vehicle end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN line controller, the sensing equipment is connected with the audio and video encoder through an Ethernet, the audio and video encoder is connected with the vehicle-mounted gateway equipment through the Ethernet, the vehicle-mounted gateway equipment is connected with the control instruction processing unit through the Ethernet, and the CAN line controller is connected with the VCU chassis control through a CAN. The vehicle-mounted gateway equipment is a router and is equipment for realizing intercommunication between a vehicle end and the outside.
The sensing equipment is a 360-degree all-round looking camera, and mainly comprises a forward looking camera, a right blind-complementing camera, a left blind-complementing camera and a rear looking reversing camera, wherein a sensing controller carries out distortion removal and video splicing on four paths of cameras through a deep learning algorithm, so that the full-immersion visual sensing of a remote driving technician is ensured. The VCU chassis control is equipment for controlling information such as forward movement, backward movement, course angle, acceleration and the like of a vehicle. And the vehicle end control unit is a core device of a remote driving vehicle end and is responsible for audio and video coding, CAN instruction processing and forwarding.
Cabin end function definition: compared with a cockpit in a traditional concept, a remote cockpit and a vehicle body are separated, namely a control mechanism (the remote cockpit) and an execution mechanism (the vehicle body) for issuing instructions by a vehicle are separated, the remote cockpit and the vehicle are not located at the same geographical position locally, and control information issued by the remote cockpit is transmitted to the vehicle body in different places by means of a wireless network to execute functions of advancing, backing, braking, steering and the like.
The cabin end comprises cabin end gateway equipment, a cabin end control unit, a multi-vehicle monitoring large screen, a main driving large screen and a cabin end VCU, the cabin end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN line controller, the cabin end gateway equipment is connected with the audio and video encoder and the control instruction processing unit through the Ethernet, the audio and video encoder is connected with the multi-vehicle monitoring large screen and the main driving large screen through the Ethernet, the main driving large screen is connected with the control instruction processing unit through the Ethernet, and the CAN line controller is connected with the cabin end VCU through the CAN. Cabin end gateway equipment, namely a router, and equipment for realizing intercommunication between a cabin end and the outside.
The cabin end control unit is a core device of a remote control cabin end and is responsible for decoding audio and video, processing CAN instructions and forwarding. The multi-vehicle monitoring large screen monitors videos of each vehicle in front of the vehicle in real time, knows the running condition and the queuing condition of each vehicle, and judges whether remote take-over is needed or not according to the vehicle position and the operation state. The main driving large screen displays the running condition of the current vehicle and the peripheral 360-degree video presentation of the current vehicle in the remote takeover process, and guides a remote driving technician to carry out efficient and safe loading and unloading operation. The cabin end VCU is a device for controlling information of the vehicle such as forward and backward movement, a steering wheel, a steering lamp, a wiper and the like by the cabin end.
The cloud end comprises a data distribution service module, a control instruction module and a platform processing module, and the data distribution service module is used for realizing streaming media information processing (video information) and forwarding of vehicle body information feedback. The control instruction module is a module for processing the cabin end control instruction and transmitting the cabin end control instruction to the appointed vehicle. The platform process manages and binds vehicle information and cabin end information, and supports big data information analysis of vehicle end and cabin end operation, thereby guiding the remote takeover operation more efficiently.
The processing flow of the control instruction in the invention is specifically as follows:
the method comprises the following steps: the cabin end VCU transmits information for controlling information such as forward and backward movement of the vehicle, a steering wheel, a steering lamp, a windshield wiper and the like to the cabin end control unit;
step two: the cabin end control unit is responsible for decoding audio and video, processing and forwarding CAN (controller area network) instructions and transmitting information to cabin end gateway equipment;
step three: the cabin gateway equipment transmits the information to a cloud end;
step four: the cloud distributes the data information to the vehicle-mounted gateway equipment;
step five: the vehicle end control unit is responsible for audio and video coding, CAN instruction processing and forwarding;
step six: the VCU at the vehicle end realizes the control of information such as forward movement, backward movement, course angle, acceleration and the like of the vehicle.
The processing flow of the 360-degree panoramic audio and video is as follows:
the method comprises the following steps: the 360-degree around-looking camera senses information around the vehicle without dead angles in 360 degrees and transmits the information to the audio and video encoder;
step two: the audio and video encoder encodes the information and transmits the encoded information to the vehicle-mounted gateway equipment;
step three: the information is transmitted to the cloud end by the vehicle-mounted gateway equipment;
step four: the cloud distributes the data information to cabin gateway equipment;
step five: the cabin gateway equipment transmits the information to an audio and video decoder;
step six: the audio and video decoder processes and forwards the audio and video decoding and CAN command and displays the audio and video decoding and CAN command in real time through a multi-vehicle monitoring large screen.
The invention adopts a 360-degree panoramic camera scheme (consisting of four sub-cameras in front of a vehicle, behind the vehicle, on the left of the vehicle and on the right of the vehicle), the surrounding environment of the vehicle is completely covered, the actual measurement of the video end-to-end processing time delay is about 200ms (0.56m @10km/h), the control instruction end-to-end time delay is about 20ms (equivalent to 0.056m @10km/h), the transmission packet loss rate is less than 0.1%, the control instruction data packet has no continuous packet loss, and meanwhile, the system is compatible with a 5G network, the time delay is shorter, and the performance is better. The system supports 'one controls more', namely one remote control cabin can control 10 mine vehicles in a time-sharing mode, and the total time consumption of multi-vehicle switching is less than 500 ms.
According to the invention, the whole network architecture is optimized, the video coding and decoding process is optimized, the processing process of a control instruction is optimized, and the cloud brain is introduced to realize a one-control-more mode, so that a remote driving technician can be ensured to perceive and operate a remote 'natural object' -mine truck to carry out loading and unloading operation almost without time delay, the efficient operation of a mine is realized, and the fully unmanned operation of the mine is ensured.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (2)
1. The utility model provides a 4G remote driving monitored control system based on open mine operation district which characterized in that: the system consists of a vehicle end, a cloud end and a cabin end;
the vehicle end comprises a sensing device, a VCU chassis control, a vehicle end control unit and a vehicle-mounted gateway device, wherein the vehicle end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN (controller area network) line controller;
the cabin end comprises cabin end gateway equipment, a cabin end control unit, a multi-vehicle monitoring large screen, a main driving large screen and a cabin end VCU (virtual vehicle Unit), the cabin end control unit comprises an audio and video encoder, a control instruction processing unit and a CAN (controller area network) line controller, the cabin end gateway equipment is connected with the audio and video encoder and the control instruction processing unit through the Ethernet, the audio and video encoder is connected with the multi-vehicle monitoring large screen and the main driving large screen through the Ethernet, the main driving large screen is connected with the control instruction processing unit through the Ethernet, the CAN line controller is connected with the cabin end VCU through the CAN, and the cabin end gateway equipment realizes intercommunication between the cabin end and the outside.
2. The utility model provides a 4G remote driving monitored control system's work flow based on open mine operation district which characterized in that: the method comprises the following specific steps:
the processing flow of the control instruction is specifically as follows:
the method comprises the following steps: the cabin end VCU transmits information for controlling information such as forward and backward movement of the vehicle, a steering wheel, a steering lamp, a windshield wiper and the like to the cabin end control unit;
step two: the cabin end control unit is responsible for decoding audio and video, processing and forwarding CAN (controller area network) instructions and transmitting information to cabin end gateway equipment;
step three: the cabin gateway equipment transmits the information to a cloud end;
step four: the cloud distributes the data information to the vehicle-mounted gateway equipment;
step five: the vehicle end control unit is responsible for audio and video coding, CAN instruction processing and forwarding;
step six: the VCU at the vehicle end realizes the control of information such as forward, backward, course angle, acceleration and the like of the vehicle;
the processing flow of the 360 panoramic audio and video comprises the following specific steps:
the method comprises the following steps: the 360-degree around-looking camera senses information around the vehicle without dead angles in 360 degrees and transmits the information to the audio and video encoder;
step two: the audio and video encoder encodes the information and transmits the encoded information to the vehicle-mounted gateway equipment;
step three: the information is transmitted to the cloud end by the vehicle-mounted gateway equipment;
step four: the cloud distributes the data information to cabin gateway equipment;
step five: the cabin gateway equipment transmits the information to an audio and video decoder;
step six: the audio and video decoder processes and forwards the audio and video decoding and CAN command and displays the audio and video decoding and CAN command in real time through a multi-vehicle monitoring large screen.
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| CN112073683A (en) * | 2020-08-14 | 2020-12-11 | 开沃新能源汽车集团股份有限公司 | Remote driving device based on 5G |
| CN112286166A (en) * | 2020-10-12 | 2021-01-29 | 上海交通大学 | Vehicle remote driving control system and method based on 5G network |
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- 2021-02-25 CN CN202110212225.3A patent/CN113093689A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106896847A (en) * | 2017-03-03 | 2017-06-27 | 合肥工业大学 | Far control unmanned storage conveyor system |
| CN111634234A (en) * | 2020-05-26 | 2020-09-08 | 东风汽车股份有限公司 | Remote driving vehicle end scene information acquisition and information display method based on combination of multiple cameras and radar and remote driving method |
| CN112068527A (en) * | 2020-08-14 | 2020-12-11 | 开沃新能源汽车集团股份有限公司 | Remote driving system and method |
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