CN114721362A

CN114721362A - Electronic device, wireless communication method, and computer-readable storage medium

Info

Publication number: CN114721362A
Application number: CN202011502832.5A
Authority: CN
Inventors: 崔焘; 孙晨
Original assignee: Sony Corp
Current assignee: Sony Corp
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2022-07-08
Anticipated expiration: 2040-12-18
Also published as: CN116635916A; CN114721362B; WO2022127720A1

Abstract

The present disclosure relates to an electronic device, a wireless communication method, and a computer-readable storage medium. An electronic device according to the present disclosure for use with a vehicle in a fleet of vehicles or a vehicle about to join a fleet of vehicles includes processing circuitry configured to: determining that the vehicle needs to be remotely taken over based on an abnormal condition of the vehicle or the environment; and sending a remote takeover request to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is located in the fleet of vehicles. Using the electronic device, the wireless communication method, and the computer-readable storage medium according to the present disclosure, it is possible to realize remote take-over of a vehicle in a case where a fleet of vehicles is traveling.

Description

Electronic device, wireless communication method, and computer-readable storage medium

Technical Field

Embodiments of the present disclosure generally relate to the field of wireless communications, and in particular, to electronic devices, wireless communication methods, and computer-readable storage media. More particularly, the present disclosure relates to an electronic device for a vehicle, an electronic device for a remote controller, a wireless communication method performed by an electronic device for a vehicle in a wireless communication system, a wireless communication method performed by an electronic device for a remote controller in a wireless communication system, and a computer-readable storage medium.

Background

The motorcade running refers to that the vehicle is led by a pilot vehicle which is automatically driven or manually driven, and then consists of a plurality of following vehicles which are automatically driven, and the following vehicles advance in a queue running mode. The vehicles in the fleet maintain a certain distance and a stable speed.

Remote take-over (takeover) refers to the control of the vehicle by a remote control end. The remote control end can send control instructions to the vehicle through a communication network (for example, a 5G communication network) to operate the vehicle to complete all work. In existing studies, remote take-over of a vehicle is only possible when the vehicle is in a single-vehicle autonomous driving state.

Therefore, it is necessary to provide a technical solution to take over the vehicles in the case of fleet driving.

Disclosure of Invention

This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

An object of the present disclosure is to provide an electronic device, a wireless communication method, and a computer-readable storage medium to enable taking over of a vehicle in a case of fleet driving.

According to an aspect of the present disclosure, there is provided an electronic device for a vehicle in a platoon or a vehicle about to join a platoon, comprising a processing circuit configured to: determining that the vehicle needs to be remotely taken over based on an abnormal condition of the vehicle or the environment; and sending a remote takeover request to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is located in the fleet of vehicles.

According to another aspect of the present disclosure, there is provided an electronic device comprising processing circuitry configured to: receiving a remote take-over request from a vehicle in the fleet or a vehicle about to join the fleet; and remotely taking over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is located in the fleet of vehicles.

According to another aspect of the present disclosure, there is provided a wireless communication method performed by an electronic device for a vehicle in a platoon or a vehicle about to join the platoon, comprising: determining that the vehicle needs to be remotely taken over based on an abnormal condition of the vehicle or the environment; and sending a remote takeover request to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is in the fleet of vehicles.

According to another aspect of the present disclosure, there is provided a wireless communication method performed by an electronic device, including: receiving a remote take-over request from a vehicle in the fleet or a vehicle about to join the fleet; and remotely taking over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is located in the fleet of vehicles.

According to another aspect of the present disclosure, there is provided a computer-readable storage medium comprising executable computer instructions that, when executed by a computer, cause the computer to perform a wireless communication method according to the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program which, when executed by a computer, causes the computer to perform a wireless communication method according to the present disclosure

Using the electronic device, the wireless communication method, the computer-readable storage medium, and the computer program according to the present disclosure, a vehicle may determine that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or environment, thereby transmitting a remote take-over request to a remote controller so that remote take-over of the vehicle by the remote controller is achieved in a case where the vehicle is in or out of a fleet of vehicles. Therefore, the remote taking over of the vehicle can be realized under the condition that the fleet runs, and the danger of the fleet caused by the abnormal condition of the vehicle or the environment is avoided.

Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

Drawings

The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure. In the drawings:

fig. 1 is a block diagram showing an example of a configuration of an electronic apparatus for a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a signaling flow diagram illustrating a process for remote take-over of a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the present disclosure;

FIG. 3 is a signaling flow diagram illustrating a process for remote take-over of a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the present disclosure;

FIG. 4 is a signaling flow diagram illustrating a process for remote take-over of a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the present disclosure;

FIG. 5 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle in the event of a following vehicle failure, according to an embodiment of the present disclosure;

FIG. 6 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle in the event of a following vehicle failure, according to an embodiment of the present disclosure;

FIG. 7 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle in the event of a following vehicle failure, according to an embodiment of the present disclosure;

FIG. 8 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle in the event of a following vehicle failure, according to an embodiment of the present disclosure;

FIG. 9 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle in the event of a following vehicle failure, according to an embodiment of the present disclosure;

FIG. 10 is a signaling flow diagram illustrating a process of dissembling a fleet of vehicles in the event that multiple following vehicles fail, thereby remotely taking over the multiple following vehicles, in accordance with an embodiment of the present disclosure;

FIG. 11 is a signaling flow diagram illustrating a process for remotely taking over free vehicles to join a fleet of vehicles in accordance with an embodiment of the present disclosure;

FIG. 12 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle to leave a fleet of vehicles in accordance with an embodiment of the present disclosure;

FIG. 13 is a signaling flow diagram illustrating a process for dissembling a fleet of vehicles in the event of an environmental anomaly, according to an embodiment of the present disclosure;

fig. 14 is a block diagram illustrating an example of a configuration of an electronic device for a remote controller according to an embodiment of the present disclosure;

fig. 15 is a flowchart illustrating a wireless communication method performed by an electronic device for a vehicle according to an embodiment of the present disclosure;

fig. 16 is a flowchart illustrating a wireless communication method performed by an electronic device for a remote controller according to an embodiment of the present disclosure;

FIG. 17 is a block diagram illustrating an example of a server that may implement an electronic device for a remote controller according to the present disclosure;

fig. 18 is a block diagram showing an example of a schematic configuration of a smartphone; and

fig. 19 is a block diagram showing an example of a schematic configuration of a car navigation apparatus.

While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure. It is noted that throughout the several views, corresponding reference numerals indicate corresponding parts.

Detailed Description

Examples of the present disclosure will now be described more fully with reference to the accompanying drawings. The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.

Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms, and that neither should be construed to limit the scope of the disclosure. In certain example embodiments, well-known processes, well-known structures, and well-known technologies are not described in detail.

The description will be made in the following order:

1. a configuration example of an electronic device for a vehicle;

2. a configuration example of an electronic device for a remote controller;

3. a method embodiment;

4. application examples.

<1. configuration example of electronic apparatus for vehicle >

Fig. 1 is a block diagram illustrating an example of a configuration of an electronic apparatus 100 according to an embodiment of the present disclosure. The electronic device 100 may be an electronic device for a vehicle, for example, placed in a vehicle or integrated in a vehicle. Further, the vehicle in which the electronic device 100 is located may be a vehicle (including a lead vehicle and a following vehicle) located in a fleet of vehicles, or may be a vehicle about to join a fleet of vehicles.

As shown in fig. 1, the electronic device 100 may include a determination unit 110, an information generation unit 120, and a communication unit 130.

Here, the respective units of the electronic device 100 may be included in the processing circuit. The electronic device 100 may include one processing circuit or may include a plurality of processing circuits. Further, the processing circuitry may include various discrete functional units to perform various different functions and/or operations. It should be noted that these functional units may be physical entities or logical entities, and units called differently may be implemented by the same physical entity.

According to an embodiment of the present disclosure, the determination unit 110 may determine that the vehicle in which the electronic device 100 is located needs to be remotely taken over according to an abnormal condition of the vehicle or the environment.

According to an embodiment of the present disclosure, the information generating unit 120 may generate various information that needs to be transmitted. For example, in a case where the determination unit 110 determines that a vehicle in which the electronic device 100 is located needs to be remotely taken over, the information generation unit 120 may generate remote take-over request information for requesting remote take-over of the vehicle to a remote controller.

According to an embodiment of the present disclosure, the electronic device 100 may transmit the remote takeover request information generated by the information generation unit 120 to the remote controller through the communication unit 130.

According to an embodiment of the present disclosure, the remote controller may be located in the cloud, and the electronic device 100 may communicate with the remote controller through a wireless communication network, including but not limited to a 5G communication network and a future 6G communication network. Furthermore, whether the vehicle in which the electronic device 100 is located is off the fleet or in the fleet, the remote controller can take over the vehicle remotely.

It can be seen that according to the electronic device 100 of the embodiment of the present disclosure, it may be determined that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or the environment, so as to send a remote take-over request to the remote controller, so that the remote take-over of the vehicle by the remote controller is realized in a case that the vehicle is in or out of the fleet of vehicles. Therefore, the remote control system can remotely take over the vehicle under the condition that the fleet runs, and avoids danger of the fleet due to abnormal conditions of the vehicle or the environment.

According to the embodiment of the present disclosure, after the electronic device 100 transmits the remote takeover request message to the remote controller, an acknowledgement message transmitted by the remote controller may be received, indicating that the remote controller agrees and is ready to remotely control the vehicle. Further, the electronic device 100 may also send a remote takeover trigger message to the remote controller to trigger the remote controller to start remote takeover of the vehicle. Only after the electronic device 100 sends the remote takeover trigger information to the remote controller, the remote controller actually starts the remote takeover of the electronic device 100.

According to an embodiment of the present disclosure, the abnormal condition of the vehicle may include a vehicle malfunction and an automatic driving level of the vehicle is below a predetermined threshold, and the abnormal condition of the environment may include a traffic accident and extreme weather. Embodiments of the present disclosure will be described in detail below with respect to different exception conditions.

The abnormal condition being a malfunction of the vehicle

According to an embodiment of the present disclosure, in case of a failure of a vehicle in which the electronic device 100 is located, the determination unit 110 may determine that the vehicle needs to be remotely taken over. Here, the vehicle in which the electronic device 100 is located may be a vehicle in a platoon, and specifically may be a lead vehicle in the platoon or a following vehicle in the platoon.

The vehicle in which the electronic device 100 is located is a pilot vehicle in a fleet

According to an embodiment of the present disclosure, in case that the vehicle in which the electronic device 100 is located is a pilot vehicle in a platoon, the determination unit 110 may determine that the vehicle is malfunctioning, and may thus determine that the vehicle needs to be taken over.

According to embodiments of the present disclosure, the determination unit 110 may further determine that the fleet of vehicles needs to be disassembled before the remote controller remotely takes over the vehicles. For example, the information generating unit 120 may generate information for dissembling the fleet. And the electronic device 100 may broadcast and transmit information of the dissembled fleet to all other vehicles in the fleet through the communication unit 130.

According to embodiments of the present disclosure, the electronic device 100 needs to dissemble the fleet of vehicles before being remotely taken over by the remote controller, so the electronic device 100 may send information to all other vehicles in the fleet of vehicles before sending a remote take-over request to the remote controller. Optionally, the electronic device 100 may also send information to dissemble the fleet of vehicles to all other vehicles in the fleet after sending the remote take-over request to the remote controller and before sending the information of the remote take-over trigger to the remote controller.

Fig. 2 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the disclosure. In fig. 2, the pilot vehicle may include an electronic device 100. As shown in fig. 2, in step S201, the pilot vehicle determines a vehicle failure. In step S202, the piloted vehicle transmits information to all following vehicles in the fleet to disambiguate the fleet. In step S203, the pilot vehicle sends a remote take-over request to the remote controller. In step S204, the remote controller transmits confirmation information to the pilot vehicle. In step S205, the pilot vehicle sends remote takeover triggering information to the remote controller so as to trigger the remote controller to remotely take over the pilot vehicle. As described above, in fig. 2, the fleet is disassembled by the pilot vehicle before the pilot vehicle is remotely taken over.

Furthermore, in fig. 2, step S203 may occur before step S202, or both step S203 and step S204 may occur before step S202, as long as it is ensured that the fleet is disassembled before the pilot vehicle is remotely taken over. Further, after the fleet is disassembled, all or a portion of the following vehicles may also be reconfigured to reconstruct the fleet, i.e., determine a new lead vehicle from the following vehicles that have reconfigured the fleet by sending fleet establishment information to other following vehicles.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a serious vehicle failure, the determination unit 110 may determine that the fleet needs to be disassembled and the vehicle needs to be remotely taken over. Therefore, under the condition that serious faults occur to the piloted vehicles, the piloted vehicles do not have the piloting capability any more, and the safety of each vehicle in the fleet can be ensured by breaking away the fleet. In the present disclosure, serious faults include, but are not limited to, tire burst, brake failure, steering failure, and the like, which affect normal running of the vehicle.

According to embodiments of the present disclosure, the determination unit 110 may also determine to transfer the right to pilot the fleet of vehicles to the following vehicles and to leave the fleet of vehicles before the remote controller remotely takes over the vehicles. Preferably, the determination unit 110 may determine to transfer the right to the piloted platoon to the following vehicle immediately following the piloted vehicle, i.e. the following vehicle located foremost among all following vehicles.

According to an embodiment of the present disclosure, the information generating unit 120 may generate the navigation right transfer information, and the electronic apparatus 100 may transmit the navigation right transfer information to the following vehicle to which the navigation right is to be obtained through the communication unit 130.

According to the embodiment of the present disclosure, the electronic device 100 may transmit the navigation right transfer information to the following vehicle to obtain the navigation right before transmitting the remote takeover request to the remote controller, or may transmit the navigation right transfer information to the following vehicle to obtain the navigation right after transmitting the remote takeover request to the remote controller and before transmitting the remote takeover trigger information to the remote controller, so that the vehicle transfers the navigation right to the following vehicle before being remotely taken over.

Fig. 3 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the disclosure. In fig. 3, the pilot vehicle may include the electronic device 100. As shown in fig. 3, in step S301, the pilot vehicle determines a vehicle failure. In step S302, the pilot vehicle sends a remote take-over request to the remote controller. In step S303, the pilot vehicle transmits the pilot right transfer information to the first following vehicle immediately following. In step S304, the first following vehicle sends a confirmation message to the pilot vehicle to indicate that the pilot right transfer message is received and to agree to acquire the pilot right. In step S305, the remote controller transmits confirmation information to the pilot vehicle. In step S306, the pilot vehicle sends the remote takeover trigger information to the remote controller so as to trigger the remote controller to take over the pilot vehicle remotely. In step S307, the following vehicle (i.e., the new pilot vehicle) having acquired the pilot authority transmits the platoon establishment information to all other following vehicles in the platoon. In step S308, all the other following vehicles transmit confirmation information to the following vehicle that has acquired the right to pilot. In step S309, the following vehicle having acquired the pilot authority broadcasts and transmits the fleet information, so that the new fleet is established successfully. As described above, in fig. 3, the pilot vehicle transfers the pilot authority to the following vehicle before the pilot vehicle is remotely taken over.

Further, in fig. 3, step S303 may occur before step S302, or step S303 may occur after step S305, as long as it is guaranteed that the right to pilot is transferred before the piloted vehicle is remotely taken over.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a serious vehicle failure, the determination unit 110 may determine that the right to pilot needs to be transferred to the following vehicle and that the vehicle needs to be taken over remotely. Furthermore, in case of a minor failure of the vehicle, the determination unit 110 may also determine that the right to pilot needs to be transferred to the following vehicle and that the vehicle needs to be taken over remotely. In this way, fleet integrity may be maximized in the event that the pilot vehicle leaves the fleet and is remotely taken over. In the present disclosure, minor faults include, but are not limited to, wiper faults and the like that do not affect normal running of the vehicle.

According to an embodiment of the present disclosure, the determination unit 110 may determine that the vehicle continues to pilot the fleet of vehicles while being remotely taken over by the remote controller.

According to an embodiment of the present disclosure, the electronic device 100 may receive driving behavior prediction information including a predicted driving behavior of the vehicle when the remote controller remotely takes over the vehicle from the remote controller through the communication unit 130. For example, the driving behavior prediction information may include information on passing lane change, entering high speed, driving away high speed, and the like.

According to an embodiment of the present disclosure, after the vehicle is remotely taken over, the information generating unit 120 may generate driving behavior prediction request information, and the electronic device 100 may transmit the driving behavior prediction request information to the remote controller through the communication unit 130, so that the remote controller predicts the driving behavior of the vehicle.

According to an embodiment of the present disclosure, the electronic apparatus 100 may transmit the driving behavior prediction information included in the fleet management information to the following vehicles in the fleet so that the following vehicles may travel according to the driving behavior prediction information, thereby maintaining the form of the fleet. Here, the fleet management information is information for managing a fleet that is broadcast by the pilot vehicle to all following vehicles during the pilot process, and includes driving strategy information, such as driving speed, driving route, overtaking lane change information, and the like, and the following vehicles can control the driving strategy according to such fleet management information, so that the pilot vehicle and the following vehicles can travel in the fleet form. According to an embodiment of the present disclosure, the electronic device 100 may include driving behavior prediction information received from a remote controller in the fleet management information, that is, although a vehicle in which the electronic device 100 is located is remotely taken over, the fleet may be piloted according to the control of the remote controller.

As described above, according to an embodiment of the present disclosure, the remote controller may transmit the future predicted driving behavior of the vehicle to the lead vehicle for forwarding to the respective following vehicles. In this way, continued piloting of the fleet of vehicles while the piloting vehicles are remotely taken over can be achieved.

According to an embodiment of the present disclosure, as shown in fig. 1, the electronic device 100 may further include a determination unit 140 configured to determine whether a free vehicle not belonging to the vehicle fleet is allowed to join the vehicle fleet.

In case the vehicle in which the electronic device 100 is located is remotely taken over and the platoon is piloted, the determination unit 140 may refuse the joining of free vehicles to the platoon, since some of the behaviour of the piloted vehicle is limited at this time compared to the piloted vehicle in the normal state. That is, in the case where a request to join the platoon is received from a free vehicle that does not belong to the platoon, the determination unit 140 may determine to reject the request, so that the information generation unit 120 may generate rejection information.

Fig. 4 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a pilot vehicle failure according to an embodiment of the disclosure. In fig. 4, the pilot vehicle may include an electronic device 100. As shown in fig. 4, in step S401, the pilot vehicle determines a vehicle failure. In step S402, the pilot vehicle sends a remote take-over request to the remote controller. In step S403, the pilot vehicle sends information to all following vehicles indicating fleet maintenance but that the pilot vehicle is remotely taken over. In step S404, the remote controller transmits confirmation information to the pilot vehicle. In step S405, the piloted vehicle sends remote takeover trigger information to the remote controller so as to trigger the remote controller to take over the piloted vehicle remotely. In step S406, the pilot vehicle transmits driving behavior prediction request information to the remote controller. In step S407, the remote controller transmits driving behavior prediction information to the pilot vehicle. In step S408, the lead vehicle transmits fleet control information, including driving behavior prediction information received from the remote controller, to all following vehicles. Thus, piloting vehicles may simultaneously pilot a fleet of vehicles while being remotely taken over by a remote controller. In step S409, if a free vehicle not belonging to the platoon transmits a request to join the platoon to the lead vehicle. The lead vehicle sends rejection information to the free vehicle in step S410.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a slight vehicle failure, the determination unit 110 may determine that the vehicle needs to be remotely taken over and may continue to pilot. Therefore, the pilot vehicle has slight fault, does not influence the pilot capability, and can continue to pilot under the control of the remote controller, thereby ensuring the integrity of the motorcade.

As described above, according to an embodiment of the present disclosure, if the electronic device 100 is located in a pilot vehicle, the determination unit 110 may determine whether the pilot vehicle is malfunctioning, and may determine the severity of the malfunction. Further, the determination unit 110 may determine a strategy for the vehicle to be remotely taken over according to the severity of the fault. In particular, in case of a serious failure of a vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and leaves the platoon, optionally also that the vehicle is remotely taken over and transfers the piloting authority to the following vehicle. In case of a slight failure of the vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and transfer the piloting authority to the following vehicle, optionally also that the vehicle is remotely taken over and continue piloting the fleet.

In which the electronic device 100 is locatedThe vehicles being following vehicles in a fleet

According to an embodiment of the present disclosure, in case that the vehicle in which the electronic device 100 is located is a following vehicle in a platoon, the determination unit 110 may determine that the vehicle is malfunctioning, and may thus determine that the vehicle needs to be taken over.

According to an embodiment of the present disclosure, the determination unit 110 may determine that the vehicle needs to leave the platoon before the remote controller remotely takes over the vehicle.

According to an embodiment of the present disclosure, the information generating unit 120 may generate a request to leave a fleet of vehicles before the vehicle is remotely taken over by a remote controller, and the electronic device 100 may transmit the request to leave the fleet of vehicles to a lead vehicle through the communication unit 130, thereby leaving the fleet of vehicles.

Fig. 5 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle in the event of a following vehicle failure according to an embodiment of the present disclosure. In fig. 5, the following vehicle may include the electronic device 100. As shown in fig. 5, in step S501, the following vehicle determines that the vehicle is malfunctioning. In step S502, the following vehicle may send a remote takeover request to the remote controller. In step S503, the following vehicle transmits a request to leave the fleet to the lead vehicle. In step S504, the pilot vehicle sends fleet update information to all following vehicles in the fleet to indicate that the failed vehicle leaves the fleet. In step S505, the remote controller transmits confirmation information to the following vehicle in which the failure has occurred. In step S506, the failed following vehicle sends remote takeover triggering information to the remote controller to trigger the remote controller to remotely take over the failed following vehicle.

Furthermore, in fig. 5, step S503 may occur before step S502, or both step S503 and step S504 may occur before step S502, as long as it is ensured that the following vehicle in trouble leaves the fleet before it is remotely taken over.

According to embodiments of the present disclosure, the determination unit 110 may also determine to leave the fleet after the remote controller remotely takes over the vehicles.

In this embodiment, the vehicles need to leave the fleet under the control of the remote controller, since the vehicles are already remotely taken over by the remote controller when leaving the fleet.

According to an embodiment of the present disclosure, the decision to leave the fleet may be included in the remote takeover request sent by the electronic device 100 to the remote controller, such that the remote controller sends a request to leave the fleet to the following vehicle, and the electronic device 100 forwards the request to leave the fleet to the lead vehicle through the communication unit 130, thereby leaving the fleet.

Fig. 6 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle in the event of a following vehicle failure according to an embodiment of the present disclosure. In fig. 6, the following vehicle may include the electronic apparatus 100. As shown in fig. 6, in step S601, the following vehicle determines that the vehicle is malfunctioning. In step S602, the following vehicle may send a remote take-over request to the remote controller, including a decision that the following vehicle is to leave the fleet. In step S603, the remote controller transmits confirmation information to the following vehicle in which the failure has occurred. In step S604, the failed following vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to remotely take over the failed following vehicle. In step S605, the remote controller transmits a request to leave the fleet to the following vehicle that has failed. In step S606, the following vehicle sends a request to leave the fleet to the lead vehicle. In step S607, the lead vehicle transmits fleet update information to all following vehicles in the fleet to indicate that the failed vehicle leaves the fleet.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a serious vehicle failure, the determination unit 110 may determine that the vehicle needs to leave the platoon and that the vehicle needs to be remotely taken over. Furthermore, the determination unit 110 may also determine that the vehicle needs to leave the platoon and that the vehicle needs to be remotely taken over in case of a minor failure of the vehicle.

According to embodiments of the present disclosure, the determination unit 110 may determine that the fleet of vehicles needs to be disassembled before the remote controller takes over the vehicles.

According to an embodiment of the present disclosure, before the remote controller takes over the vehicle, the information generating unit 120 may generate the dissembled fleet request information, and the electronic device 100 transmits the request for dissembled fleet to the pilot vehicle through the communication unit 130. Alternatively, the information generating unit 120 may generate the dissembled fleet request information before the remote controller takes over the vehicle, and the electronic device 100 transmits the request for dissembled fleet to the remote controller through the communication unit 130, so that the remote controller may request the piloted vehicle for dissembled fleet. In this case, the electronic device 100 may transmit a request to the remote controller to disassemble the fleet before or after transmitting the remote takeover request to the remote controller, and may also transmit a remote takeover request including the request to disassemble the fleet to the remote controller.

According to embodiments of the present disclosure, in case the fleet is disassembled due to a following vehicle failure being remotely taken over, the other vehicles in the fleet may still re-compose the fleet again. For example, the original lead vehicle may recompose the fleet by sending fleet setup information to other following vehicles.

Fig. 7 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle in the event of a following vehicle failure according to an embodiment of the present disclosure. In fig. 7, the following vehicle may include the electronic apparatus 100. As shown in fig. 7, in step S701, the following vehicle determines that the vehicle is malfunctioning. In step S702, the follower vehicle may send a remote take-over request to the remote controller. In step S703, the following vehicle may send a request to the lead vehicle to dismiss the fleet. In step S704, the pilot vehicle transmits the disassembled fleet information to all following vehicles in the fleet. In step S705, the remote controller transmits confirmation information to the following vehicle in which the failure has occurred. In step S706, the failed following vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to remotely take over the failed following vehicle. Thus, the following vehicle requests the fleet of vehicles to be decoupled from the lead vehicle before being remotely taken over.

Fig. 8 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle in the event of a following vehicle failure according to an embodiment of the present disclosure. In fig. 8, the following vehicle may include the electronic apparatus 100. As shown in fig. 8, in step S801, the following vehicle determines that the vehicle is malfunctioning. In step S802, the following vehicle may send a remote takeover request to the remote controller. In step S803, the following vehicle may send a dissolve fleet request to the remote controller. In step S804, the remote controller transmits a request to the lead vehicle to dismiss the fleet. In step S805, the pilot vehicle transmits the disassembled fleet information to all following vehicles in the fleet. In step S806, the remote controller transmits confirmation information to the following vehicle in which the failure has occurred. In step S807, the failed following vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to remotely take over the failed following vehicle. Thus, the following vehicle requests the remote controller to dissemble the fleet before being remotely taken over.

In fig. 7 and 8, step S702 may occur after step S703, or step S702 may occur after step S704. Similarly, step S802 may occur after step S803, or step S802 may occur after step S805. That is, the fleet is disassembled before the failed following vehicle is remotely taken over.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a serious vehicle failure, the determination unit 110 may determine that the fleet needs to be disassembled and the vehicle needs to be remotely taken over. In this way, the fleet of vehicles can be disassembled to ensure the safety of other vehicles in the fleet in the event that the following vehicle has a catastrophic failure and is difficult to safely leave the fleet.

According to an embodiment of the present disclosure, the determination unit 110 may determine that the vehicle continues to follow the fleet of vehicles while being remotely taken over by the remote controller.

In this case, the vehicle is remotely hosted by the remote controller and is therefore controlled by the remote controller. And is controlled by the piloted vehicle as it follows the fleet of vehicles. That is, the vehicle in which the electronic device 100 is located is controlled by both the remote controller and the pilot vehicle.

According to an embodiment of the present disclosure, the electronic device 100 may receive fleet management information from a pilot vehicle through the communication unit 130. The fleet management information is information for managing the fleet, which is broadcast and transmitted by the pilot vehicle to all following vehicles during the pilot process, and includes driving strategy information, such as driving speed, driving route, overtaking lane change information, and the like, and the following vehicles can control the driving strategy according to the fleet management information, so that the following vehicles can drive in the form of the fleet. Further, the electronic device 100 may forward the fleet management information to the remote controller through the communication unit 130 for the remote controller to remotely take over the vehicle according to the fleet management information. In this way, the remote controller can make a corresponding driving strategy in advance according to the fleet management information from the pilot vehicle, so as to control the following vehicle.

Fig. 9 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle in the event of a following vehicle failure according to an embodiment of the present disclosure. In fig. 9, the following vehicle may include the electronic apparatus 100. As shown in fig. 9, in step S901, the following vehicle determines that the vehicle is malfunctioning. In step S902, the follower vehicle may send a remote takeover request to the remote controller. In step S903, the following vehicle may send information to the lead vehicle indicating that the vehicle is remotely taken over and still in the fleet. In step S904, the remote controller transmits confirmation information to the following vehicle in which the failure has occurred. In step S905, the failed following vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to remotely take over the failed following vehicle. In step S906, the pilot vehicle transmits fleet management information to all following vehicles in the fleet. In step S907, the following vehicle that is remotely hosted forwards the fleet management information to the remote controller. In step S908, the remote controller controls the following vehicle according to the fleet management information.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in case of a slight vehicle failure, the determination unit 110 may determine that the fleet of vehicles needs to be followed and that the vehicle needs to be remotely taken over. In this way, in case of a minor failure of the following vehicle, it may be taken over remotely while still remaining in the fleet.

As described above, according to the embodiment of the present disclosure, if the electronic apparatus 100 is located in the following vehicle, the determination unit 110 may determine whether the following vehicle is malfunctioning, and may determine the severity of the malfunction. Further, the determination unit 110 may determine a strategy for the vehicle to be remotely taken over according to the severity of the fault. In particular, in case of a critical failure of a vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and leaves the platoon, optionally also that the vehicle is remotely taken over and dismisses the platoon. In case of a slight failure of the vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and leaves the platoon, optionally also that the vehicle is remotely taken over and continues to follow the platoon.

According to an embodiment of the present disclosure, a piloted vehicle may pilot a fleet of vehicles while being remotely taken over, as shown in fig. 4. In this case, there is interaction between the remote controller and both the lead vehicle and the following vehicle in the fleet. Similarly, as shown in fig. 9, the following vehicle may continue to follow the fleet while being remotely taken over. In this case, there is interaction between the remote controller and the following vehicle in the fleet, as well as interaction between the lead vehicle and the following vehicle in the fleet. In this disclosure, such a mechanism is referred to as fleet coordinated remote interaction, which undoubtedly increases the complexity of remotely taking over vehicles and fleet travel.

According to an embodiment of the present disclosure, the electronic device 100 in the piloting vehicle may determine the number of following vehicles in the fleet that are remotely taken over and follow the fleet. In case the number of following vehicles exceeds a predetermined threshold as described above, the electronic device 100 in the lead vehicle may determine to dismiss the fleet of vehicles. In this way, the complexity of remote take-over of vehicles and fleet travel can be reduced.

According to an embodiment of the present disclosure, in case the following vehicle determines to be remotely taken over and follows the platoon, the following vehicle may send information indicating that it is remotely taken over and follows the platoon to the lead vehicle (e.g. step S903 shown in fig. 9), from which information the lead vehicle may determine the number of following vehicles in the platoon that are remotely taken over and follow the platoon.

Fig. 10 is a signaling flow diagram illustrating a process of dissembling a fleet of vehicles in the event that multiple following vehicles fail, thereby remotely taking over the multiple following vehicles, in accordance with an embodiment of the present disclosure. In fig. 10, an electronic apparatus 100 may be included in a following vehicle. In step S1001, the following vehicle a determines that a failure has occurred, and transmits a remote takeover request to the remote controller in step S1002. In step S1003, the following vehicle B determines that a failure has occurred, and transmits a remote takeover request to the remote controller in step S1004. In step S1005, the following vehicle a transmits information indicating that it will be remotely taken over and follow the fleet to the lead vehicle. In step S1006, the following vehicle B sends information to the lead vehicle indicating that it will be remotely taken over and follow the fleet. In step S1007, the pilot vehicle determines that the number of vehicles that are remotely taken over and follow the fleet exceeds a predetermined threshold, and determines that the fleet needs to be disassembled. In step S1008, the pilot vehicle transmits information of the disassembled vehicle fleet to the respective following vehicles, thereby disassembling the vehicle fleet.

The abnormal condition is that the automatic driving level of the vehicle is lower than a predetermined threshold

According to an embodiment of the present disclosure, in case the automatic driving level of the vehicle in which the electronic device 100 is located is lower than a predetermined threshold, the determination unit 110 may determine that the vehicle needs to be remotely taken over, thereby joining or leaving the platoon under the control of the remote controller.

The vehicle in which the electronic device 100 is located is a free vehicle to be joined in a fleet

According to an embodiment of the present disclosure, the information generating unit 120 may generate a join fleet request to join a fleet of vehicles and transmit the join fleet request to a pilot vehicle through the communication unit 130. Here, the electronic device 100 may send a join fleet request to the pilot vehicle before or after sending the remote take-over request to the remote controller.

According to an embodiment of the present disclosure, the electronic device 100 may receive joining control information from a pilot vehicle in a fleet of vehicles, the joining control information including a joining location of the vehicle when joining the fleet of vehicles. Preferably, the joining control information may further include information such as speed and time when the vehicle joins the fleet. Further, the electronic device 100 may transmit the joining control information to the remote controller through the communication unit 130 for the remote controller to control the vehicle to join the fleet of vehicles according to the joining control information, including determining the joining location and the joining speed according to the joining control information.

Fig. 11 is a signaling flow diagram illustrating a process of remotely taking over free vehicles to join a fleet of vehicles in accordance with an embodiment of the present disclosure. In fig. 11, the electronic apparatus 100 may be included in a free vehicle. As shown in fig. 11, in step S1101, the free vehicle transmits joining fleet request information to the lead vehicle. In step S1102, the free vehicle transmits a remote takeover request to the remote controller. In step S1103, the remote controller transmits confirmation information to the free vehicle. In step S1104, the free vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to take over the free vehicle remotely. In step S1105, the pilot vehicle sends fleet management information to all following vehicles in the fleet, which may include, for example, information informing that there will be free vehicles joining the fleet. Preferably, the fleet management information may further include the joining position of the free vehicle, so that the existing following vehicle can avoid the joining position. In step S1106, the pilot vehicle transmits joining control information to the free vehicle. In step S1107, the free vehicle forwards the joining control information to the remote controller. In step S1108, the remote controller controls the free vehicles to join the fleet of vehicles according to the joining control information. In step S1109, since the free vehicle has successfully joined the platoon, the lead vehicle transmits platoon update information to all following vehicles in the platoon. Thus, free vehicles join the fleet if they are remotely taken over.

The vehicle in which the electronic device 100 is located is a following vehicle in a fleet of vehicles

According to an embodiment of the present disclosure, the information generating unit 120 may generate a request to leave a fleet to request the departure of the fleet, and transmit the request to leave the fleet to a pilot vehicle through the communication unit 130. Here, the electronic device 100 may send a request to the lead vehicle to leave the fleet either before or after sending the remote take-over request to the remote controller.

According to an embodiment of the present disclosure, the electronic device 100 may receive departure control information from a lead vehicle in a fleet of vehicles, the departure control information including information such as speed and time when the vehicle departed from the fleet of vehicles. Further, the electronic device 100 may transmit the departure control information to the remote controller through the communication unit 130 for the remote controller to control the vehicle to depart from the fleet according to the departure control information, including determining the departure speed and the departure time according to the departure control information.

Fig. 12 is a signaling flow diagram illustrating a process of remotely taking over a following vehicle to leave a fleet of vehicles in accordance with an embodiment of the present disclosure. In fig. 12, the electronic apparatus 100 may be included in a following vehicle. In step S1201, the following vehicle transmits a request to leave the fleet to the lead vehicle. In step S1202, the lead vehicle sends a confirmation message to the following vehicles to confirm receipt of the request to leave the fleet and to allow the departure of the fleet. In step S1203, the following vehicle transmits a remote takeover request to the remote controller. In step S1204, the remote controller transmits confirmation information to the following vehicle. In step S1205, the following vehicle sends remote takeover trigger information to the remote controller to trigger the remote controller to remotely take over the following vehicle. In step S1206, the lead vehicle transmits the leaving control information to the following vehicle. In step S1207, the following vehicle forwards the leaving control information to the remote controller. In step S1208, the remote controller controls the following vehicles to leave the fleet according to the leaving control information. In step S1209, the following vehicle has successfully left the fleet, and therefore the lead vehicle needs to send fleet update information to the existing following vehicles in the fleet. Thereby, the following vehicle can leave the platoon with remote take-over.

As described above, according to an embodiment of the present disclosure, in a case where an automatic driving level of a vehicle in which the electronic device 100 is located is lower than a predetermined threshold, its perception capability is limited, and thus it may not be possible to flexibly join and leave a fleet of vehicles. In this case, control of the remote controller is required so that vehicles can be controlled to safely join and leave the fleet. Furthermore, while the foregoing describes the need to be remotely hosted if the vehicle's autopilot rating is low, it may also be remotely hosted to join and leave the fleet for safety or other purposes if the vehicle's autopilot rating is high.

The abnormal condition is an abnormal condition of the environment

According to an embodiment of the present disclosure, in case the electronic device 100 finds that an abnormal condition (including but not limited to a traffic accident and extreme weather) occurs in the environment, the determination unit 110 may determine that the vehicle needs to be remotely taken over. Here, the vehicle in which the electronic device 100 is located may be a leading vehicle in a platoon, or may be a following vehicle in the platoon.

Further, in the case where the vehicle in which the electronic device 100 is located is a pilot vehicle, the electronic device 100 may directly dissemble the fleet after sending the remote takeover request. Optionally, the remote take-over request sent by the electronic device 100 may include information indicative of an environmental anomaly, such that the remote controller may be aware that the electronic device 100 sent the remote take-over request due to the environmental anomaly, and further send a request to the lead vehicle to dissemble the fleet. In the case that the vehicle in which the electronic device 100 is located is a following vehicle, the remote take-over request sent by the electronic device 100 may include information indicating an environmental abnormality, so that the remote controller may know that the electronic device 100 sends the remote take-over request due to the environmental abnormality, and then send a request to the piloting vehicle to break up the fleet. Alternatively, the remote take-over request sent by the electronic device 100 may also directly include a request to dissemble the fleet, such that the remote controller forwards the request to the lead vehicle to dissemble the fleet. That is, any one vehicle in the fleet may request a remote take-over from the remote controller after an abnormal condition of the environment is discovered, and the fleet is disassembled, thereby securing the vehicles in the fleet.

According to an embodiment of the present disclosure, after the abnormal condition of the environment disappears, the electronic apparatus 100 may further transmit a cancel remote takeover request to the remote controller through the communication unit 130 to request the remote controller to cancel remote takeover. Here, the disappearance of the abnormal condition of the environment includes, but is not limited to, the case where the road having passed through the traffic accident, the extreme weather has passed, and the like.

Fig. 13 is a signaling flow diagram illustrating a process for dissembling a fleet of vehicles in the event of an environmental anomaly, according to an embodiment of the present disclosure. In fig. 13, the electronic device 100 may be included in both a pilot vehicle and a following vehicle. As shown in fig. 13, in step S1301, the pilot vehicle determines that an abnormal condition occurs in the environment. In step S1302, the pilot vehicle transmits a remote takeover request including information indicating an environmental abnormality to the remote controller. In step S1303, the remote controller transmits confirmation information to the pilot vehicle. In step S1304, the pilot vehicle sends remote takeover trigger information to the remote controller, so as to trigger the remote controller to take over the pilot vehicle remotely. In step S1305, the remote controller transmits a request to the lead vehicle to dissemble the fleet. In step S1306, the pilot vehicle transmits information of the raveling fleet to all the following vehicles.

Here, fig. 13 shows only an example in which the environmental abnormality is determined by the pilot vehicle and the remote take-over is requested. In fact, the following vehicle may also determine an environmental anomaly and request a remote take-over.

As described above, the strategy for remotely taking over the vehicle is described according to situations such as a malfunction of the vehicle, a low level of automatic driving of the vehicle, an environmental abnormality, etc. Table 1 summarizes some preferred embodiments of the present disclosure. In the following table, the complex conditions include a case where the vehicle has a serious malfunction and the automatic driving level of the vehicle is low, etc., and the simple conditions include a case where the vehicle has a slight malfunction and the automatic driving level of the vehicle is high, etc.

TABLE 1

As shown in table 1, in case the pilot vehicle is taken over remotely and in a complex situation (critical failure of the pilot vehicle), the fleet is disassembled, the pilot vehicle leaves the fleet and no fleet coordinated remote interaction is required (embodiment shown in fig. 2). Alternatively, the fleet remains, the lead vehicle leaves the fleet, and no fleet system remote interaction is required (embodiment shown in fig. 3). In case the pilot vehicle is taken over remotely and in a simple situation (slight malfunction of the pilot vehicle) the fleet remains, the pilot vehicle continues to pilot, requiring fleet coordinated remote interaction (embodiment shown in fig. 4). Alternatively, the fleet remains, the lead vehicle leaves the fleet, and no fleet system remote interaction is required (embodiment shown in fig. 3).

As shown in table 1, in case the following vehicle is taken over remotely and in a complex situation (following vehicle has a major failure), the fleet is disassembled and the following vehicle leaves the fleet without the need for fleet system remote interaction (embodiments shown in fig. 7 and 8). Alternatively, the fleet remains, following the vehicle away from the fleet, without the need for fleet system remote interaction (embodiment shown in FIG. 5). Alternatively, fleet maintenance, following vehicle departure from the fleet, requires fleet system remote interaction (embodiment shown in FIG. 6). In the case where the following vehicle is taken over remotely and in a simple situation (slight failure of the following vehicle), the fleet remains, the following vehicle continues to follow the lead vehicle within the fleet, requiring fleet system remote interaction (embodiment shown in fig. 9). Alternatively, the fleet remains, following the vehicle away from the fleet, without the need for fleet system remote interaction (embodiment shown in FIG. 5). Alternatively, fleet maintenance, following vehicle departure from the fleet, requires fleet system remote interaction (embodiment shown in FIG. 6).

As shown in table 1, in the case where a free vehicle is remotely taken over and under complex conditions (free vehicle autopilot level is low), the fleet maintains, free vehicles join the fleet, and fleet system remote interaction is required (embodiment shown in fig. 11). In the case where the free vehicle is taken over remotely and in simple conditions (high free vehicle autodrive level), fleet maintenance, free vehicle joining fleet, requires fleet system remote interaction. That is, although the automatic driving level of the free vehicle is high, there is also a demand to be remotely taken over.

Further, according to an embodiment of the present disclosure, since the vehicle may travel in the form of a fleet while being remotely taken over, the vehicle needs to periodically transmit vehicle status information and vehicle role information to the remote controller after the vehicle is remotely taken over. Vehicle status information includes, but is not limited to, a piloting status, a start break status, a request to join a fleet status, a joining status, a following status, a request to leave status, and a leaving status. Vehicle role information includes, but is not limited to, pilot, follow, end, free vehicle. Furthermore, after the vehicle is remotely taken over, the vehicle also needs to forward fleet management information from the pilot vehicle to the remote controller for the remote controller to control the vehicle according to the fleet management information.

Herein, although the pilot vehicle, the following vehicle, and the free vehicle are described separately, since roles of the vehicles may be changed in time, the electronic devices 100 provided in the respective vehicles are not distinguished, that is, the structures and functions of the electronic devices 100 in the respective vehicles are the same, but the respective functions are implemented when the vehicles assume different roles.

In summary, according to the embodiments of the present disclosure, a vehicle may determine that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or environment, so as to send a remote take-over request to a remote controller, so that the remote take-over of the vehicle by the remote controller is realized in a case that the vehicle is in or out of a fleet of vehicles. Therefore, the remote control system can remotely take over the vehicle under the condition that the fleet runs, and avoids danger of the fleet due to abnormal conditions of the vehicle or the environment.

<2. configuration example of electronic device for remote controller >

Fig. 14 is a block diagram illustrating the structure of an electronic device 1400 serving as a remote controller in a wireless communication system according to an embodiment of the present disclosure. Here, the remote controller may be located in a server in the cloud for remotely taking over the vehicle.

As shown in fig. 14, the electronic device 1400 may include a communication unit 1410 and a control unit 1420.

Here, various units of the electronic device 1400 may be included in the processing circuit. It should be noted that the electronic device 1400 may include one processing circuit or may include a plurality of processing circuits. Further, the processing circuitry may include various discrete functional units to perform various different functions and/or operations. It should be noted that these functional units may be physical entities or logical entities, and units called differently may be implemented by the same physical entity.

According to an embodiment of the present disclosure, the electronic device 1400 may receive a remote take-over request from a vehicle in the fleet or a vehicle about to join the fleet through the communication unit 1410.

According to an embodiment of the present disclosure, the control unit 1420 may take over vehicles remotely in case they leave the platoon or in case they are located in the platoon.

According to an embodiment of the present disclosure, as shown in fig. 14, the electronic device 1400 may further include a prediction unit 1430 for predicting driving behavior of the vehicle when taking over remotely for the vehicle, in case the vehicle is a lead vehicle in a platoon. Further, the electronic device 1400 may transmit driving behavior prediction information including driving behaviors of the vehicle to the vehicle through the communication unit 1410 for the vehicle to pilot the fleet of vehicles according to the driving behavior prediction information.

According to an embodiment of the present disclosure, the electronic device 1400 may also receive a request to dissemble the fleet of vehicles from the vehicles through the communication unit 1410, in case the vehicles are following vehicles in the fleet of vehicles. Further, the electronic device 1400 may send a request to a pilot vehicle in the fleet through the communication unit 1410 for the pilot vehicle to break up the fleet.

According to an embodiment of the present disclosure, the electronic device 1400 may also receive fleet management information from the vehicle through the communication unit 1410 in case the vehicle is a following vehicle in a fleet. Further, the control unit 1420 may remotely take over the vehicle according to the fleet management information. That is, the control unit 1420 may control the following vehicle according to the fleet management information from the lead vehicle forwarded by the following vehicle to enable the following vehicle to follow the lead vehicle in the form of the following vehicle.

According to an embodiment of the present disclosure, in case that the vehicle is a vehicle about to join the platoon, the electronic device 1400 may receive joining control information from the vehicle through the communication unit 1410, the joining control information including a joining location when the vehicle joins the platoon. Optionally, the joining control information may also include the time and speed at which the vehicle joined the fleet. Further, the control unit 1420 may remotely take over the vehicle according to the joining control information, thereby controlling the vehicle to join the fleet according to the joining location, speed, and time of the joining control information.

The electronic device 1400 according to an embodiment of the present disclosure may be used for a remote controller, to which all the parts referred to in the foregoing description of the electronic device 100 apply.

Furthermore, both the electronic device 100 and the electronic device 1400 according to embodiments of the present disclosure may be located in a wireless communication system. The wireless communication system may be, for example, a 5G communication system, and as technology develops, the wireless communication system may also be a future higher-level communication system. Further, the wireless communication system may comprise at least a remote controller provided with the electronic device 1400 and one lead vehicle and one or more following vehicles traveling in a platoon. Optionally, the wireless communication system may also include one or more free vehicles. The electronic apparatus 100 may be included in each vehicle. The pilot vehicle may be autonomous or manually driven and the follower vehicle may be autonomous. In addition, the pilot vehicle may send messages in the form of broadcasts to the individual vehicles in the fleet, the vehicles in the fleet may also interact with messages in the form of V2V, and the vehicles in the fleet may interact with roadside facilities in the form of V2I.

<3. method example >

The wireless communication method performed by the electronic apparatus 100 for a vehicle according to the embodiment of the present disclosure will be described next in detail.

Fig. 15 is a flowchart illustrating a wireless communication method performed by the electronic apparatus for a vehicle 100 according to an embodiment of the present disclosure.

As shown in fig. 15, in step S1510, it is determined that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or environment.

Next, in step S1520, a remote takeover request is sent to the remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

Preferably, the vehicle is a pilot vehicle in a fleet of vehicles.

Preferably, the wireless communication method further includes: the fleet is disassembled before the remote controller takes over the vehicle remotely.

Preferably, the wireless communication method further comprises: the right to navigate the fleet is transferred to following vehicles in the fleet and departs from the fleet before the remote controller remotely takes over the vehicles.

Preferably, the wireless communication method further comprises: the fleet continues to be piloted while being remotely taken over by the remote controller.

Preferably, the wireless communication method further includes: receiving driving behavior prediction information from the remote controller, the driving behavior prediction information including predicted driving behavior of the vehicle when the remote controller takes over the vehicle remotely; and including the driving behavior prediction information in the fleet management information to the following vehicles in the fleet.

Preferably, the wireless communication method further includes: in case a request to join the platoon is received from a free vehicle not belonging to the platoon, the request is denied.

Preferably, the vehicle is a following vehicle in a platoon.

Preferably, the wireless communication method further includes: leaving the fleet of vehicles before the remote controller remotely takes over the vehicles or after the remote controller remotely takes over the vehicles.

Preferably, the wireless communication method further includes: a request to dissemble the fleet is sent to a lead vehicle or a remote controller in the fleet before the remote controller remotely takes over the vehicle.

Preferably, the wireless communication method further includes: continue to follow the fleet while being remotely taken over by the remote controller.

Preferably, the wireless communication method further comprises: receiving fleet management information from a lead vehicle in a fleet; and sending the fleet management information to a remote controller for the remote controller to remotely take over the vehicle according to the fleet management information.

Preferably, the vehicle is a vehicle to be joined to a fleet of vehicles, and the wireless communication method further comprises: receiving joining control information from a pilot vehicle in the fleet, wherein the joining control information comprises joining positions of the vehicles when the vehicles join the fleet; and sending the joining control information to a remote controller so that the remote controller can remotely take over the vehicle according to the joining control information.

Preferably, the wireless communication method further includes: after the abnormal condition of the environment disappears, a cancel remote takeover request is sent to the remote controller to request the remote controller to cancel the remote takeover.

Preferably, the abnormal conditions of the vehicle include a malfunction of the vehicle and an automatic driving level of the vehicle being below a predetermined threshold, and the abnormal conditions of the environment include a traffic accident and extreme weather.

According to an embodiment of the present disclosure, the main body performing the above method may be the electronic device 100 according to an embodiment of the present disclosure, and thus all the embodiments regarding the electronic device 100 in the foregoing are applicable thereto.

The wireless communication method performed by the electronic device 1400 for a remote controller according to an embodiment of the present disclosure will be described next in detail.

Fig. 16 is a flowchart illustrating a wireless communication method performed by the electronic device 1400 for a remote controller according to an embodiment of the present disclosure.

As shown in fig. 16, in step S1610, a remote take-over request is received from a vehicle in the platoon or a vehicle about to join the platoon.

Next, in step S1620, the vehicle is remotely taken over in case the vehicle leaves the platoon or in case the vehicle is located in the platoon.

Preferably, the vehicle is a pilot vehicle in a platoon, and the wireless communication method further comprises: predicting driving behavior of a vehicle when the vehicle is remotely taken over; and transmitting driving behavior prediction information including driving behaviors of the vehicles to the vehicles for the vehicles to pilot the fleet of vehicles according to the driving behavior prediction information.

Preferably, the vehicle is a following vehicle in a platoon, and the wireless communication method further comprises: receiving a request from a vehicle to dissemble a fleet of vehicles; and sending the request to a piloting vehicle in the fleet for use in dissembling the fleet by the piloting vehicle.

Preferably, the vehicle is a following vehicle in a platoon, and the wireless communication method further comprises: receiving fleet management information from a vehicle; and remotely taking over the vehicle according to the fleet management information.

Preferably, the vehicle is a vehicle to be joined to a fleet of vehicles, and the wireless communication method further comprises: receiving joining control information from the vehicle, wherein the joining control information comprises joining positions of the vehicle when joining the fleet; and remotely taking over the vehicle according to the joining control information.

According to an embodiment of the present disclosure, the main body performing the above method may be the electronic device 1400 according to an embodiment of the present disclosure, and thus all the embodiments regarding the electronic device 1400 in the foregoing are applicable thereto.

<4. application example >

The techniques of this disclosure can be applied to a variety of products.

The electronic device 1400 may be implemented as any type of server, such as a tower server, a rack server, and a blade server. The electronic device 1400 may be a control module mounted on a server, such as an integrated circuit module comprising a single die, and a card or blade (blade) inserted into a slot of a blade server.

The electronic device 100 may be implemented as an electronic device for a vehicle, such as a terminal device placed in or integrated in the vehicle. The terminal apparatus may be implemented as a mobile terminal such as a smart phone, a tablet Personal Computer (PC), a notebook PC, a portable game terminal, a portable/cryptographic dog-type mobile router, and a digital camera, or a vehicle-mounted terminal such as a car navigation apparatus. Further, the terminal device may be a wireless communication module (such as an integrated circuit module including a single chip) mounted on each of the above-described terminal devices.

< application example with respect to Server >

Fig. 17 is a block diagram illustrating an example of a server 1700 in which an electronic device 1400 according to the present disclosure may be implemented. The server 1700 includes a processor 1701, memory 1702, storage 1703, a network interface 1704, and a bus 1706.

The processor 1701 may be, for example, a Central Processing Unit (CPU) or a Digital Signal Processor (DSP), and controls the functions of the server 1700. The memory 1702 includes a Random Access Memory (RAM) and a Read Only Memory (ROM), and stores data and programs executed by the processor 1701. The storage 1703 may include a storage medium such as a semiconductor memory and a hard disk.

The network interface 1704 is a wired communication interface for connecting the server 1700 to a wired communication network 1705. The wired communication network 1705 may be a core network such as an Evolved Packet Core (EPC) or a Packet Data Network (PDN) such as the internet.

The bus 1706 connects the processor 1701, the memory 1702, the storage device 1703, and the network interface 1704 to each other. The bus 1706 may include two or more buses each having a different speed (such as a high speed bus and a low speed bus).

In the server 1700 shown in fig. 17, the control unit 1420 and the prediction unit 1730 described by using fig. 14 may be implemented by the processor 1701, and the communication unit 1410 described by using fig. 14 may be implemented by the network interface 1704. For example, the processor 1701 may perform functions of remotely controlling the vehicle and predicting the driving behavior of the vehicle by executing instructions stored in the memory 1702 or the storage device 1703.

< application example with respect to electronic apparatus for vehicle >

(first application example)

Fig. 18 is a block diagram illustrating an example of a schematic configuration of a smartphone 1800 to which the techniques of this disclosure may be applied. The smart phone 1800 includes a processor 1801, memory 1802, storage 1803, external connection interfaces 1804, camera devices 1806, sensors 1807, microphone 1808, input devices 1809, display devices 1810, speaker 1811, wireless communication interface 1812, one or more antenna switches 1815, one or more antennas 1816, bus 1817, battery 1818, and auxiliary controller 1819.

The processor 1801 may be, for example, a CPU or a system on a chip (SoC), and controls functions of an application layer and another layer of the smart phone 1800. The memory 1802 includes a RAM and a ROM, and stores data and programs executed by the processor 1801. The storage device 1803 may include a storage medium such as a semiconductor memory and a hard disk. The external connection interface 1804 is an interface for connecting an external device such as a memory card and a Universal Serial Bus (USB) device to the smartphone 1800.

The image pickup device 1806 includes an image sensor such as a Charge Coupled Device (CCD) and a Complementary Metal Oxide Semiconductor (CMOS), and generates a captured image. The sensors 1807 may include a set of sensors such as a measurement sensor, a gyro sensor, a geomagnetic sensor, and an acceleration sensor. The microphone 1808 converts sound input to the smartphone 1800 into an audio signal. The input device 1809 includes, for example, a touch sensor, a keypad, a keyboard, a button, or a switch configured to detect a touch on the screen of the display device 1810, and receives an operation or information input from a user. The display device 1810 includes a screen, such as a Liquid Crystal Display (LCD) and an Organic Light Emitting Diode (OLED) display, and displays an output image of the smart phone 1800. The speaker 1811 converts an audio signal output from the smart phone 1800 into sound.

The wireless communication interface 1812 supports any cellular communication scheme (such as LTE and LTE-advanced), and performs wireless communication. The wireless communication interface 1812 may generally include, for example, a BB processor 1813 and RF circuitry 1814. The BB processor 1813 may perform, for example, encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and perform various types of signal processing for wireless communication. Meanwhile, the RF circuit 1814 may include, for example, a mixer, a filter, and an amplifier, and transmit and receive a wireless signal via the antenna 1816. The wireless communication interface 1812 may be one chip module on which the BB processor 1813 and the RF circuit 1814 are integrated. As shown in fig. 18, the wireless communication interface 1812 may include a plurality of BB processors 1813 and a plurality of RF circuits 1814. Although fig. 18 shows an example in which the wireless communication interface 1812 includes a plurality of BB processors 1813 and a plurality of RF circuits 1814, the wireless communication interface 1812 may also include a single BB processor 1813 or a single RF circuit 1814.

Further, the wireless communication interface 1812 may support another type of wireless communication scheme, such as a short-range wireless communication scheme, a near field communication scheme, and a wireless Local Area Network (LAN) scheme, in addition to the cellular communication scheme. In this case, the wireless communication interface 1812 may include a BB processor 1813 and RF circuits 1814 for each wireless communication scheme.

Each of the antenna switches 1815 switches a connection destination of the antenna 1816 between a plurality of circuits (e.g., circuits for different wireless communication schemes) included in the wireless communication interface 1812.

Each of the antennas 1816 includes a single or multiple antenna elements (such as multiple antenna elements included in a MIMO antenna), and is used for the wireless communication interface 1812 to transmit and receive wireless signals. As shown in fig. 18, the smartphone 1800 may include multiple antennas 1816. Although fig. 18 shows an example in which the smartphone 1800 includes multiple antennas 1816, the smartphone 1800 may also include a single antenna 1816.

Further, the smartphone 1800 may include an antenna 1816 for each wireless communication scheme. In this case, the antenna switch 1815 may be omitted from the configuration of the smartphone 1800.

The bus 1817 connects the processor 1801, the memory 1802, the storage device 1803, the external connection interface 1804, the image pickup device 1806, the sensor 1807, the microphone 1808, the input device 1809, the display device 1810, the speaker 1811, the wireless communication interface 1812, and the auxiliary controller 1819 to each other. The battery 1818 provides power to the various blocks of the smartphone 1800 shown in fig. 18 via a feed line, which is partially shown as a dashed line in the figure. The auxiliary controller 1819 operates the minimum necessary functions of the smartphone 1800, for example, in a sleep mode.

In the smartphone 1800 shown in fig. 18, the determination unit 110, the information generation unit 120, and the determination unit 140 described by using fig. 1 may be implemented by the processor 1801 or the auxiliary controller 2019. At least a portion of the functionality may also be implemented by the processor 1801 or secondary controller 1819. For example, the processor 1801 or auxiliary controller 1819 may perform the functions of determining an abnormal condition of a vehicle or environment, determining whether to leave a fleet of vehicles, generating information, and determining whether to allow free vehicles to join a fleet of vehicles by executing instructions stored in the memory 1802 or in the storage device 1803.

(second application example)

Fig. 19 is a block diagram showing an example of a schematic configuration of a car navigation device 1920 to which the technique of the present disclosure can be applied. The car navigation device 1920 includes a processor 1921, memory 1922, a Global Positioning System (GPS) module 1924, sensors 1925, a data interface 1926, a content player 1927, a storage medium interface 1928, an input device 1929, a display device 1930, speakers 1931, a wireless communication interface 1933, one or more antenna switches 1936, one or more antennas 1937, and a battery 1938.

The processor 1921 may be, for example, a CPU or a SoC, and controls the navigation function and another function of the car navigation device 1920. The memory 1922 includes a RAM and a ROM, and stores data and programs executed by the processor 1921.

The GPS module 1924 measures the position (such as latitude, longitude, and altitude) of the car navigation device 1920 using a GPS signal received from a GPS satellite. The sensors 1925 may include a set of sensors, such as a gyroscope sensor, a geomagnetic sensor, and an air pressure sensor. The data interface 1926 is connected to, for example, the in-vehicle network 1941 via a terminal not shown, and acquires data generated by the vehicle (such as vehicle speed data).

The content player 1927 reproduces content stored in a storage medium (such as a CD and a DVD) inserted into the storage medium interface 1928. The input device 1929 includes, for example, a touch sensor, a button, or a switch configured to detect a touch on a screen of the display device 1930, and receives an operation or information input from a user. The display device 1930 includes a screen such as an LCD or OLED display, and displays an image of a navigation function or reproduced content. The speaker 1931 outputs the sound of the navigation function or the reproduced content.

The wireless communication interface 1933 supports any cellular communication scheme (such as LTE and LTE-advanced) and performs wireless communication. The wireless communication interface 1933 may generally include, for example, a BB processor 1934 and RF circuitry 1935. The BB processor 1934 can perform, for example, encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and perform various types of signal processing for wireless communication. Meanwhile, the RF circuit 1935 may include, for example, a mixer, a filter, and an amplifier, and transmit and receive a wireless signal via the antenna 1937. The wireless communication interface 1933 may also be one chip module with the BB processor 1934 and the RF circuitry 1935 integrated thereon. As shown in fig. 19, the wireless communication interface 1933 may include a plurality of BB processors 1934 and a plurality of RF circuits 1935. Although fig. 19 shows an example in which the wireless communication interface 1933 includes multiple BB processors 1934 and multiple RF circuits 1935, the wireless communication interface 1933 may also include a single BB processor 1934 or a single RF circuit 1935.

Further, the wireless communication interface 1933 may support another type of wireless communication scheme, such as a short-range wireless communication scheme, a near field communication scheme, and a wireless LAN scheme, in addition to the cellular communication scheme. In this case, the wireless communication interface 1933 may include a BB processor 1934 and RF circuitry 1935 for each wireless communication scheme.

Each of the antenna switches 1936 switches a connection destination of the antenna 1937 among a plurality of circuits (such as circuits for different wireless communication schemes) included in the wireless communication interface 1933.

Each of the antennas 1937 includes a single or multiple antenna elements (such as multiple antenna elements included in a MIMO antenna), and is used for the wireless communication interface 1933 to transmit and receive wireless signals. As shown in fig. 19, a car navigation device 1920 may include a plurality of antennas 1937. Although fig. 19 shows an example in which the car navigation apparatus 1920 includes a plurality of antennas 1937, the car navigation apparatus 1920 may include a single antenna 1937.

Further, the car navigation device 1920 may include an antenna 1937 for each wireless communication scheme. In this case, the antenna switch 1936 may be omitted from the configuration of the car navigation device 1920.

The battery 1938 supplies power to the respective blocks of the car navigation device 1920 shown in fig. 19 via a feeder line, which is partially shown as a broken line in the drawing. The battery 1938 accumulates electric power supplied from the vehicle.

In the car navigation device 1920 shown in fig. 19, the determination unit 110, the information generation unit 120, and the judgment unit 140 described by using fig. 1 may be realized by the processor 1921. At least a portion of the functionality may also be implemented by the processor 1921. For example, the processor 1921 may perform the functions of determining an abnormal condition of the vehicle or environment, determining whether to leave the fleet, generating information, and determining whether to allow a free vehicle to join the fleet by executing instructions stored in the memory 1922.

The techniques of this disclosure may also be implemented as an in-vehicle system (or vehicle) 1940 that includes one or more blocks of a car navigation device 1920, an in-vehicle network 1941, and a vehicle module 1942. The vehicle module 1942 generates vehicle data (such as vehicle speed, engine speed, and failure information), and outputs the generated data to the on-board network 1941.

The preferred embodiments of the present disclosure are described above with reference to the drawings, but the present disclosure is of course not limited to the above examples. Various changes and modifications within the scope of the appended claims may be made by those skilled in the art, and it should be understood that these changes and modifications naturally will fall within the technical scope of the present disclosure.

For example, the elements shown in the functional block diagrams illustrated in the drawings as dashed lines each indicate that the functional element is optional in the respective apparatuses, and the respective optional functional elements may be combined in an appropriate manner to realize the required functions.

For example, a plurality of functions included in one unit may be implemented by separate devices in the above embodiments. Alternatively, a plurality of functions implemented by a plurality of units in the above embodiments may be implemented by separate devices, respectively. In addition, one of the above functions may be implemented by a plurality of units. Needless to say, such a configuration is included in the technical scope of the present disclosure.

In this specification, the steps described in the flowcharts include not only the processing performed in time series in the described order but also the processing performed in parallel or individually without necessarily being performed in time series. Further, even in the steps processed in time series, needless to say, the order can be changed as appropriate.

Further, the present disclosure may have a configuration as described below.

1. An electronic device for a vehicle in a fleet of vehicles or a vehicle about to join a fleet of vehicles, comprising a processing circuit configured to:

determining that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or the environment; and

sending a remote takeover request to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is in the fleet of vehicles.

2. The electronic device of 1, wherein the vehicle is a pilot vehicle in the fleet of vehicles.

3. The electronic device of claim 2, wherein the processing circuitry is further configured to:

dissembling the fleet of vehicles before the remote controller remotely takes over the vehicles.

4. The electronic device of claim 2, wherein the processing circuitry is further configured to:

transferring an entitlement to navigate the fleet of vehicles to a following vehicle in the fleet of vehicles and exiting the fleet of vehicles before the remote controller remotely takes over the vehicles.

5. The electronic device of claim 2, wherein the processing circuitry is further configured to:

continuing to pilot the fleet while being remotely taken over by the remote controller.

6. The electronic device of claim 5, wherein the processing circuitry is further configured to:

receiving driving behavior prediction information from the remote controller, the driving behavior prediction information including a predicted driving behavior of the vehicle when the remote controller remotely takes over the vehicle; and

the driving behavior prediction information is included in fleet management information and sent to following vehicles in the fleet.

7. The electronic device of claim 5, wherein the processing circuit is further configured to:

in case a request to join the fleet is received from a free vehicle not belonging to the fleet, the request is rejected.

8. The electronic device of 1, wherein the vehicle is a following vehicle in the fleet.

9. The electronic device of 8, wherein the processing circuitry is further configured to:

leaving the fleet of vehicles either before the remote controller remotely takes over the vehicles or after the remote controller remotely takes over the vehicles.

10. The electronic device of 8, wherein the processing circuitry is further configured to:

sending a request to a lead vehicle in the fleet or the remote controller to dissemble the fleet prior to the remote controller remotely taking over the vehicle.

11. The electronic device of 8, wherein the processing circuitry is further configured to:

continuing to follow the fleet while being remotely hosted by the remote controller.

12. The electronic device of claim 11, wherein the processing circuitry is further configured to:

receiving fleet management information from pilot vehicles in the fleet; and

and sending the fleet management information to the remote controller so that the remote controller can remotely take over the vehicle according to the fleet management information.

13. The electronic device of 1, wherein the vehicle is a vehicle that is about to join a fleet of vehicles, and the processing circuit is further configured to:

receiving joining control information from a pilot vehicle in the fleet of vehicles, the joining control information including a joining location at which the vehicle joins the fleet of vehicles; and

and sending the joining control information to the remote controller so that the remote controller can remotely take over the vehicle according to the joining control information.

14. The electronic device of 1, wherein the processing circuitry is further configured to:

after the abnormal condition of the environment disappears, a cancel remote takeover request is sent to a remote controller to request the remote controller to cancel remote takeover.

15. The electronic device according to 1, wherein the abnormal condition of the vehicle includes that the vehicle is out of order and the automatic driving level of the vehicle is lower than a predetermined threshold, and the abnormal condition of the environment includes a traffic accident and extreme weather.

16. An electronic device comprising processing circuitry configured to:

receiving a remote take-over request from a vehicle in the fleet or a vehicle about to join the fleet; and

remotely taking over the vehicle if the vehicle leaves the fleet of vehicles or if the vehicle is located in the fleet of vehicles.

17. The electronic device of claim 16, wherein the vehicle is a pilot vehicle in a fleet of vehicles, and the processing circuit is further configured to:

predicting driving behavior of the vehicle when the vehicle is remotely taken over; and

and sending driving behavior prediction information comprising the driving behavior of the vehicle to the vehicle, so that the vehicle can pilot the fleet according to the driving behavior prediction information.

18. The electronic device of claim 16, wherein the vehicle is a following vehicle in a fleet of vehicles, and the processing circuit is further configured to:

receiving a request from the vehicle to dissemble a fleet of vehicles; and

sending the request to a pilot vehicle in the fleet for the pilot vehicle to dissemble the fleet.

19. The electronic device of claim 16, wherein the vehicle is a following vehicle in a fleet of vehicles, and the processing circuit is further configured to:

receiving fleet management information from the vehicle; and

and remotely taking over the vehicle according to the fleet management information.

20. The electronic device of claim 16, wherein the vehicle is a vehicle that is about to join a fleet of vehicles, and the processing circuit is further configured to:

receiving joining control information from the vehicle, the joining control information including a joining location at which the vehicle joined the fleet; and

and taking over the vehicle remotely according to the joining control information.

21. A wireless communication method performed by an electronic device for a vehicle in a fleet of vehicles or a vehicle about to join a fleet of vehicles, comprising:

determining that the vehicle needs to be remotely taken over based on an abnormal condition of the vehicle or the environment; and

22. The wireless communication method of claim 21, wherein the vehicle is a pilot vehicle in the fleet of vehicles.

23. The wireless communication method of claim 22, wherein the wireless communication method further comprises:

24. The wireless communication method of claim 22, wherein the wireless communication method further comprises:

25. The wireless communication method of claim 22, wherein the wireless communication method further comprises:

26. The wireless communication method of claim 25, wherein the wireless communication method further comprises:

27. The wireless communication method of claim 25, wherein the wireless communication method further comprises:

28. The wireless communication method of claim 21, wherein the vehicle is a following vehicle in the fleet of vehicles.

29. The wireless communication method of claim 28, wherein the wireless communication method further comprises:

30. The wireless communication method of claim 28, wherein the wireless communication method further comprises:

31. The wireless communication method of claim 28, wherein the wireless communication method further comprises:

32. The wireless communication method of claim 31, wherein the wireless communication method further comprises:

receiving fleet management information from pilot vehicles in the fleet; and

33. The wireless communication method of claim 21, wherein the vehicle is a vehicle that is about to join a fleet of vehicles, and further comprising:

34. The wireless communication method of claim 21, wherein the wireless communication method further comprises:

35. The wireless communication method of claim 21, wherein the abnormal conditions of the vehicle include a malfunction of the vehicle and an automatic driving level of the vehicle being below a predetermined threshold, and the abnormal conditions of the environment include a traffic accident and extreme weather.

36. A wireless communication method performed by an electronic device, comprising:

37. The wireless communication method of claim 36, wherein the vehicle is a pilot vehicle in a fleet of vehicles, and further comprising:

38. The wireless communication method of claim 36, wherein the vehicle is a following vehicle in a fleet of vehicles, and further comprising:

receiving a request from the vehicle to dissemble a fleet of vehicles; and

39. The wireless communication method of claim 36, wherein the vehicle is a following vehicle in a fleet of vehicles, and further comprising:

receiving fleet management information from the vehicle; and

40. The wireless communication method of claim 36, wherein the vehicle is a vehicle that is about to join a fleet of vehicles, and further comprising:

41. A computer readable storage medium comprising executable computer instructions that when executed by a computer cause the computer to perform a wireless communication method according to any one of claims 21-40.

Although the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, it should be understood that the above-described embodiments are merely illustrative of the present disclosure and do not constitute a limitation of the present disclosure. It will be apparent to those skilled in the art that various modifications and variations can be made in the above-described embodiments without departing from the spirit and scope of the disclosure. Accordingly, the scope of the disclosure is to be defined only by the claims appended hereto, and by their equivalents.

Claims

2. The electronic device of claim 1, wherein the vehicle is a pilot vehicle in the fleet of vehicles.

3. The electronic device of claim 2, wherein the processing circuit is further configured to:

4. The electronic device of claim 2, wherein the processing circuit is further configured to:

5. The electronic device of claim 2, wherein the processing circuit is further configured to:

6. The electronic device of claim 5, wherein the processing circuit is further configured to:

receiving driving behavior prediction information from the remote controller, the driving behavior prediction information including predicted driving behavior of the vehicle when the remote controller remotely takes over the vehicle; and

7. An electronic device comprising processing circuitry configured to:

8. A wireless communication method performed by an electronic device for a vehicle in a fleet or a vehicle about to join a fleet, comprising:

9. A wireless communication method performed by an electronic device, comprising:

10. A computer-readable storage medium comprising executable computer instructions that, when executed by a computer, cause the computer to perform the wireless communication method of claim 8 or 9.