CN114721362B

CN114721362B - Electronic device, wireless communication method, and computer-readable storage medium

Info

Publication number: CN114721362B
Application number: CN202011502832.5A
Authority: CN
Inventors: 崔焘; 孙晨
Original assignee: Sony Group Corp
Current assignee: Sony Group Corp
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2023-11-03
Anticipated expiration: 2040-12-18
Also published as: CN114721362A; WO2022127720A1; CN116635916A

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 a vehicle in a fleet or a vehicle to be joined in a fleet, comprises a processing circuit configured to: determining that a vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or the environment; and sending a remote take over request to a remote controller requesting the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet. Using the electronic device, the wireless communication method, and the computer-readable storage medium according to the present disclosure, remote take over of a vehicle in the event of a fleet of vehicles traveling may be achieved.

Description

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

Technical Field

Embodiments of the present disclosure relate generally 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 fleet driving refers to a pilot vehicle with automatic or manual driving, and then consists of a plurality of automatic driven following vehicles, and advances in a train driving mode. The vehicles in the motorcade keep a certain distance and a stable speed.

Remote take over (takeover) refers to controlling the vehicle travel by a remote control. The remote control may send control commands to the vehicle via a communication network (e.g., a 5G communication network) to maneuver the vehicle through all of the work. In prior studies, a vehicle may be remotely taken over only when the vehicle is in a bicycle autonomous state.

Therefore, a solution is necessary to implement a vehicle take-over in the event of a fleet of vehicles.

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.

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

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

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 take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

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 fleet or a vehicle to be joined to the fleet, including: determining that a vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or the environment; and sending a remote take over request to a remote controller requesting the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

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 take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

According to another aspect of the present disclosure, there is provided a computer-readable storage medium comprising executable computer instructions which, 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 the 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, the vehicle can determine that the vehicle needs to be remotely taken over according to an abnormal condition of the vehicle or the environment, thereby transmitting a remote take over request to the remote controller so that the remote controller can remotely take over the vehicle in a case where the vehicle is in a fleet or leaves a fleet. Therefore, the remote take-over of the vehicles can be realized under the condition that the vehicle team runs, and the danger of the vehicle team caused by abnormal conditions of the vehicles 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 illustration 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 device for a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a failure of the pilot vehicle in accordance with an embodiment of the present disclosure;

FIG. 3 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a failure of the pilot vehicle in accordance with an embodiment of the present disclosure;

FIG. 4 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a failure of the pilot vehicle in accordance with an embodiment of the present disclosure;

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 in accordance with an embodiment of the present disclosure;

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 in accordance with an embodiment of the present disclosure;

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 in accordance with an embodiment of the present disclosure;

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 in accordance with an embodiment of the present disclosure;

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 in accordance with an embodiment of the present disclosure;

FIG. 10 is a signaling flow diagram illustrating a process of disaggregating a fleet of vehicles in the event of a failure of multiple following vehicles to remotely take over the multiple following vehicles in accordance with an embodiment of the present disclosure;

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

FIG. 13 is a signaling flow diagram illustrating a process of disaggregating a fleet of vehicles in the event of an environmental anomaly in accordance with an embodiment of the present disclosure;

fig. 14 is a block diagram showing 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 smart phone; and

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

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 corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.

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 in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that the exemplary embodiments may be embodied in many different forms without the use of specific details, neither of which should be construed to limit the scope of the disclosure. In certain example embodiments, well-known processes, well-known structures, and well-known techniques have not been described in detail.

The description will be made in the following order:

1. configuration examples of electronic devices for vehicles;

2. configuration examples of electronic devices for remote controllers;

3. method embodiments;

4. application examples.

<1. Configuration example of electronic device for vehicle >

Fig. 1 is a block diagram showing an example of a configuration of an electronic device 100 according to an embodiment of the present disclosure. The electronic device 100 here 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 located in a fleet (including a lead vehicle and a following vehicle), or may be a vehicle that is about to join the fleet.

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, each unit of the electronic device 100 may be included in the processing circuit. Note that the electronic device 100 may include one processing circuit or 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 that units that are referred to differently may be implemented by the same physical entity.

According to an embodiment of the present disclosure, the determining 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 to be transmitted. For example, in a case where the determining unit 110 determines that the vehicle in which the electronic device 100 is located needs to be remotely taken over, the information generating unit 120 may generate remote take over request information for requesting remote take over of the vehicle from the 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 generating unit 120 to the remote controller through the communication unit 130.

According to embodiments of the present disclosure, the remote controller may be located at 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 future 6G communication networks. In addition, the remote controller can take over the vehicle remotely whether the vehicle in which the electronic device 100 is located is off the fleet or is located in the fleet.

It can be seen that the electronic device 100 according to the embodiment of the present disclosure can determine that a 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 a remote controller, so that the remote take over of the vehicle by the remote controller is achieved in a case that the vehicle is in a fleet or leaves the fleet. Therefore, the remote take-over of the vehicles can be realized under the condition that the vehicle team runs, and the danger of the vehicle team caused by abnormal conditions of the vehicles or the environment is avoided.

According to embodiments of the present disclosure, after the electronic device 100 transmits the remote take over request message to the remote controller, an acknowledgement message may be received from the remote controller indicating that the remote controller agrees and is ready to remotely control the vehicle. Further, the electronic device 100 may also send remote take over triggering information to the remote controller to trigger the remote controller to start taking over the vehicle remotely. Only after the electronic device 100 sends the remote take-over trigger information to the remote controller, the remote controller actually starts taking over the electronic device 100 remotely.

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

The abnormal condition is that the vehicle has a fault

According to an embodiment of the present disclosure, in case that a vehicle in which the electronic device 100 is located malfunctions, the determining 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 fleet, specifically a pilot vehicle in a fleet or a following vehicle in a fleet.

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

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

According to an embodiment of the present disclosure, the determining unit 110 may further determine that the fleet needs to be broken up before the remote controller takes over the vehicles remotely. For example, the information generating unit 120 may generate information of the disaggregation fleet. And the electronic device 100 may broadcast the information of the disaggregation 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 unbind the fleet before being remotely taken over by the remote controller, so the electronic device 100 can send information to unbind the fleet to all other vehicles in the fleet before sending a remote take over request to the remote controller. Alternatively, the electronic device 100 may also send information to break up the fleet to all other vehicles in the fleet after sending the remote take over request to the remote controller and before sending the remote take over triggered information 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 failure of the pilot vehicle according to an embodiment of the present disclosure. In fig. 2, a 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 lead vehicle transmits information to break up the fleet to all following vehicles in 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 a confirmation message to the pilot vehicle. In step S205, the pilot vehicle sends remote take over triggering information to the remote controller to trigger the remote controller to take over the pilot vehicle remotely. As described above, in fig. 2, the lead vehicle breaks up the fleet before the lead vehicle is remotely taken over.

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

According to an embodiment of the present disclosure, the determining unit 110 may determine the severity of the vehicle failure, and in case of a serious failure of the vehicle, the determining unit 110 may determine that the fleet needs to be broken and the vehicle needs to be remotely taken over. Therefore, under the condition that the piloting vehicle has serious faults, the piloting vehicle does not have piloting capability any more, and the safety of each vehicle in the vehicle team can be ensured by the vehicle team. In the present disclosure, serious faults include, but are not limited to, a tire burst, a brake failure, a steering failure, etc., which affect normal running of the vehicle.

According to an embodiment of the present disclosure, the determination unit 110 may also determine to transfer the right of the piloting fleet to the following vehicles and leave the fleet before the remote controller takes over the vehicles remotely. Preferably, the determination unit 110 may determine to transfer the right of the piloted fleet to the following vehicle immediately following the piloted vehicle, i.e. the most forward-located following vehicle of 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 device 100 may transmit the navigation right transfer information to a following vehicle to which the navigation right is to be obtained through the communication unit 130.

According to an embodiment of the present disclosure, the electronic device 100 may transmit the navigation right transfer information to the following vehicle that is about 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 that is about 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 failure of the pilot vehicle according to an embodiment of the present disclosure. In fig. 3, a pilot vehicle may include an 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 piloting vehicle transmits piloting right transfer information to the first following vehicle immediately following it. In step S304, the first following vehicle transmits confirmation information to the pilot vehicle to indicate that the pilot right transfer information is received and agrees to acquire pilot rights. In step S305, the remote controller transmits confirmation information to the pilot vehicle. In step S306, the pilot vehicle sends remote take-over triggering information to the remote controller to trigger the remote controller to take over the pilot vehicle remotely. In step S307, the following vehicle having acquired the pilot right (i.e., the new pilot vehicle) transmits the fleet establishment information to all the other following vehicles in the fleet. In step S308, all other following vehicles transmit confirmation information to the following vehicle that has acquired the piloting right. In step S309, the following vehicle having acquired the pilot right broadcasts the transmission fleet information, so that the new fleet establishment is successful. As described above, in fig. 3, the lead vehicle transfers the lead right to the following vehicle before the lead 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 ensured that the piloting right is transferred before the piloting 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 failure of the vehicle, the determination unit 110 may determine that the pilot right needs to be transferred to the following vehicle and the vehicle needs to be remotely taken over. Furthermore, in the event of a slight malfunction of the vehicle, the determination unit 110 may also determine that the pilot right needs to be transferred to the following vehicle and that the vehicle needs to be taken over remotely. In this way, the integrity of the fleet may be maximally ensured in the event that the piloted vehicle leaves the fleet and is remotely taken over. In the present disclosure, a slight failure includes, but is not limited to, a failure that does not affect the normal running of the vehicle, such as a wiper failure.

According to an embodiment of the present disclosure, the determining unit 110 may determine that the vehicle continues to pilot the fleet 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 driving behavior of the vehicle predicted 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 of a lane change of the overtaking, an entry high speed, a drive-out 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 device 100 may transmit the driving behavior prediction information to the following vehicles in the fleet, included in the fleet management information, 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 lead vehicle to all following vehicles during the lead process, including driving strategy information, such as a driving speed, a driving route, overtaking lane change information, etc., according to which the following vehicles can control the driving strategy so that the lead vehicle and the following vehicles can travel in a fleet. According to the embodiment of the present disclosure, the electronic device 100 may include driving behavior prediction information received from the remote controller in the fleet management information, that is, although the 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 embodiments of the present disclosure, the remote controller may transmit the driving behavior of the future predicted vehicle to the lead vehicle, thereby forwarding to the respective following vehicles. In this way, continued piloting of the fleet while the piloting vehicle is 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 determining unit 140 for determining whether to allow free vehicles not belonging to the fleet to join the fleet.

In the case where the vehicle in which the electronic device 100 is located is taken over remotely and the fleet is piloted, the determination unit 140 may refuse the free vehicle to join the fleet since some behavior 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 a fleet is received from a free vehicle that does not belong to the fleet, the determination unit 140 may determine to reject the request, so that the information generation unit 120 may generate reject information.

Fig. 4 is a signaling flow diagram illustrating a process of remotely taking over a pilot vehicle in the event of a failure of the pilot vehicle according to an embodiment of the present disclosure. In fig. 4, a 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 lead vehicle sends information to all following vehicles indicating that the fleet remains but that the lead vehicle is remotely taken over. In step S404, the remote controller transmits a confirmation message to the pilot vehicle. In step S405, the pilot vehicle sends remote take over triggering information to the remote controller to trigger the remote controller to take over the pilot 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, a piloted vehicle may simultaneously pilote a fleet of vehicles with remote takeover by a remote controller. In step S409, if a free vehicle that does not belong to the fleet transmits a request to join the fleet to the lead vehicle. The lead vehicle sends a rejection message to the free vehicle in step S410.

According to an embodiment of the present disclosure, the determining unit 110 may determine the severity of the malfunction of the vehicle, and in case of a slight malfunction of the vehicle, the determining unit 110 may determine that the vehicle needs to be remotely taken over and may continue to pilot. In this way, the pilot vehicle is slightly failed and does not affect the pilot capability, and pilot can be continued under the control of the remote controller, so that the integrity of a motorcade is ensured.

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 malfunctions and may determine the severity of the malfunction. Further, the determination unit 110 may determine a policy that the vehicle is remotely taken over according to the severity of the fault. Specifically, in the event of a serious malfunction of the vehicle, the determination unit 110 may determine that the vehicle is taken over remotely and leaves the fleet, or alternatively may determine that the vehicle is taken over remotely and transfer the piloting right to the following vehicle. In case of a slight malfunction of the vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and transfer the piloting right to the following vehicle, alternatively may also determine that the vehicle is remotely taken over and continue piloting the fleet.

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, in the case where the vehicle in which the electronic apparatus 100 is located is a following vehicle in a fleet, the determination unit 110 may determine that the vehicle is malfunctioning, and thus may determine that the vehicle needs to be taken over.

According to an embodiment of the present disclosure, the determination unit 110 may determine that a departure from the fleet is required 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 leave fleet request before the vehicle is remotely taken over by the remote controller, and the electronic device 100 may transmit the leave fleet request to the lead vehicle through the communication unit 130, thereby leaving the fleet.

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 in accordance with an embodiment of the present disclosure. In fig. 5, the following vehicle may include an electronic device 100. As shown in fig. 5, in step S501, the following vehicle determines that the vehicle has failed. In step S502, the following vehicle may send a remote take over request to the remote controller. In step S503, the following vehicle transmits a leave fleet request to the lead vehicle. In step S504, the lead vehicle sends fleet update information to all following vehicles in the fleet to indicate that the failed vehicle is away from the fleet. In step S505, the remote controller transmits a confirmation message to the failed following vehicle. In step S506, the failed following vehicle sends remote take over trigger information to the remote controller to trigger the remote controller to take over the failed following vehicle remotely.

Further, 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 failed following vehicle leaves the vehicle team before being remotely taken over.

According to an embodiment 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, since the vehicle is already remotely taken over by the remote controller when leaving the fleet, it is necessary to leave the fleet under the control of the remote controller.

In accordance with an embodiment of the present disclosure, the remote take over request sent by the electronic device 100 to the remote controller may include a decision to leave the fleet, such that the remote controller sends a leave fleet request to the following vehicle, and the electronic device 100 forwards the leave fleet request to the lead vehicle via the communication unit 130, such that the fleet is left.

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 in accordance with an embodiment of the present disclosure. In fig. 6, the following vehicle may include an electronic device 100. As shown in fig. 6, in step S601, the following vehicle determines that the vehicle has failed. 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 a confirmation message to the failed following vehicle. In step S604, the failed follower vehicle sends remote take over trigger information to the remote controller to trigger the remote controller to take over the failed follower vehicle remotely. In step S605, the remote controller transmits a leave-fleet request to the failed following vehicle. In step S606, the following vehicle sends a leave fleet request to the lead vehicle. In step S607, the lead vehicle sends fleet update information to all following vehicles in the fleet to indicate that the failed vehicle left the fleet.

According to an embodiment of the present disclosure, the determining unit 110 may determine the severity of the vehicle failure, and in case of a serious failure of the vehicle, the determining unit 110 may determine that the vehicle needs to leave the fleet and the vehicle needs to be remotely taken over. Furthermore, in the event of a slight malfunction of the vehicle, the determination unit 110 may also determine that a departure from the fleet is required and that the vehicle needs to be taken over remotely.

According to an embodiment of the present disclosure, the determination unit 110 may determine that the fleet needs to be broken up before the remote controller takes over the vehicle.

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

According to embodiments of the present disclosure, in the event that a fleet breaks up due to a failure of a following vehicle being taken over remotely, other vehicles in the fleet may still be re-composed again. For example, the original lead vehicle may reorganize the fleet by sending fleet establishment 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 in accordance with an embodiment of the present disclosure. In fig. 7, the following vehicle may include an electronic device 100. As shown in fig. 7, in step S701, the following vehicle determines that the vehicle has failed. In step S702, the following vehicle may send a remote take over request to the remote controller. In step S703, the following vehicle may send a disaggregation fleet request to the lead vehicle. In step S704, the lead vehicle transmits the disaggregation fleet information to all following vehicles in the fleet. In step S705, the remote controller transmits confirmation information to the failed following vehicle. In step S706, the failed follower vehicle sends remote take over trigger information to the remote controller to trigger the remote controller to take over the failed follower vehicle remotely. Thus, the following vehicle requests a disaggregation fleet 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 in accordance with an embodiment of the present disclosure. In fig. 8, the following vehicle may include an electronic device 100. As shown in fig. 8, in step S801, the following vehicle determines that the vehicle has failed. In step S802, the following vehicle may send a remote take over request to the remote controller. In step S803, the following vehicle may send a disaggregation fleet request to the remote controller. In step S804, the remote controller transmits a disaggregation fleet request to the lead vehicle. In step S805, the lead vehicle transmits disaggregation fleet information to all following vehicles in the fleet. In step S806, the remote controller transmits confirmation information to the failed following vehicle. In step S807, the failed following vehicle transmits remote take-over trigger information to the remote controller to trigger the remote controller to take over the failed following vehicle remotely. Thus, the following vehicle requests a remote controller to unbind 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 broken up before the failed following vehicle is remotely taken over.

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

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

In this case, since the vehicle is remotely taken over by the remote controller, it is controlled by the remote controller. And because the vehicles follow the fleet, the vehicles are controlled by the lead vehicle. 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 piloted vehicle through the communication unit 130. The fleet management information is information for managing a fleet, which is broadcasted and transmitted to all following vehicles by the lead vehicle during the lead process, and includes driving strategy information, such as driving speed, driving route, overtaking lane change information, etc., according to which the following vehicles can control the driving strategy so as to be able to follow the lead vehicle in the form of a fleet. Further, the electronic device 100 may forward the fleet management information to the remote controller via the communication unit 130 for the remote controller to remotely take over the vehicle in accordance with 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 lead vehicle, thereby controlling 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 in accordance with an embodiment of the present disclosure. In fig. 9, the following vehicle may include an electronic device 100. As shown in fig. 9, in step S901, the following vehicle determines that the vehicle has failed. In step S902, the following vehicle may send a remote take over 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 failed following vehicle. In step S905, the failed following vehicle transmits 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 remotely taken over following vehicle 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 a malfunction of the vehicle, and in case of a slight malfunction of the vehicle, the determination unit 110 may determine that a fleet of vehicles needs to be followed and that the vehicle needs to be remotely taken over. In this way, in the event of a slight failure of the following vehicle, it can be taken over remotely while still remaining in the fleet.

As described above, according to the embodiment of the present disclosure, if the electronic device 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 policy that the vehicle is remotely taken over according to the severity of the fault. Specifically, in the event of a serious failure of the vehicle, the determination unit 110 may determine that the vehicle is remotely taken over and leaves the fleet, or alternatively may determine that the vehicle is remotely taken over and breaks up the fleet. In case of a slight malfunction of the vehicle, the determination unit 110 may determine that the vehicle is taken over remotely and leaves the fleet, alternatively may also determine that the vehicle is taken over remotely and continues to follow the fleet.

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

According to embodiments of the present disclosure, the electronic device 100 in a piloted vehicle may determine a number of following vehicles in a fleet that are remotely taken over and follow the fleet. In the event that the number of following vehicles exceeds a predetermined threshold, the electronic device 100 in the lead vehicle may determine to break up the fleet. In this way, the complexity of remotely taking over vehicles and fleet travel may be reduced.

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

Fig. 10 is a signaling flow diagram illustrating a process of disaggregating a fleet of vehicles in the event of multiple following vehicles failing to remotely take over the multiple following vehicles in accordance with an embodiment of the present disclosure. In fig. 10, an electronic device 100 may be included in a following vehicle. In step S1001, the following vehicle a determines that a failure has occurred, and sends 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 is to be remotely taken over and the following vehicle team to the piloted vehicle. In step S1006, the following vehicle B sends information to the lead vehicle indicating that it is to be remotely taken over and the following fleet. In step S1007, the piloted vehicle determines that the fleet is taken over remotely and the number of vehicles following the fleet exceeds a predetermined threshold, a determination is made that the fleet needs to be broken up. In step S1008, the lead vehicle transmits information to break up the fleet to the respective following vehicles, thereby breaking up the fleet.

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

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

The vehicle in which the electronic device 100 is located is a free vehicle that is about to join the fleet

According to an embodiment of the present disclosure, the information generating unit 120 may generate a join fleet request to request joining of a fleet, and transmit the join fleet request to the pilot vehicle through the communication unit 130. Here, the electronic device 100 may send a join fleet request to the lead 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 lead vehicle in a fleet, the joining control information including a joining location when the vehicle joins the fleet. Preferably, the joining control information may further include information such as a speed and a 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 joining of vehicles to the fleet according to the joining control information, including determining the joining location and joining speed according to the joining control information.

Fig. 11 is a signaling flow diagram illustrating a process of remotely taking over a free vehicle to join a fleet in accordance with an embodiment of the present disclosure. In fig. 11, an electronic device 100 may be included in a free-form vehicle. As shown in fig. 11, in step S1101, the free vehicle transmits join-fleet request information to the pilot vehicle. In step S1102, the free vehicle sends 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 take over trigger information to the remote controller to trigger the remote controller to take over the free vehicle remotely. In step S1105, the lead vehicle sends fleet management information to all following vehicles in the fleet, which may include, for example, information informing that free vehicles will be added to the fleet. Preferably, the fleet management information may further include a joining location of the free vehicle to allow the existing following vehicle to avoid. In step S1106, the lead vehicle transmits the 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 according to the joining control information. In step S1109, since the free vehicle has successfully joined the fleet, the lead vehicle transmits fleet update information to all following vehicles in the fleet. Thus, the free vehicle joins the fleet while being remotely taken over.

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

According to embodiments of the present disclosure, the electronic device 100 may receive departure control information from a lead vehicle in a fleet, the departure control information including information such as a speed and time at which the vehicle left the fleet. Further, the electronic device 100 may send departure control information to the remote controller via the communication unit 130 for the remote controller to control the vehicle to leave the fleet according to the departure control information, including determining a departure speed and a 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 in accordance with an embodiment of the present disclosure. In fig. 12, an electronic device 100 may be included in the following vehicle. In step S1201, the following vehicle transmits a leave fleet request to the lead vehicle. In step S1202, the lead vehicle sends a confirmation message to the following vehicle to confirm receipt of the leave fleet request and allow leaving 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 transmits remote take-over trigger information to the remote controller to trigger the remote controller to take over the following vehicle remotely. In step S1206, the lead vehicle transmits departure control information to the following vehicle. In step S1207, the following vehicle forwards the departure control information to the remote controller. In step S1208, the remote controller controls the following vehicle to leave the vehicle group 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. Thus, the following vehicle can leave the fleet with remote take over.

As described above, according to the embodiment of the present disclosure, when the automatic driving level of the vehicle in which the electronic device 100 is located is lower than a predetermined threshold, the sensing capability thereof is limited, and thus it may not be possible to flexibly join and leave the fleet. In this case, control by 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 taken over remotely in the event that the vehicle's autopilot level is relatively low, it may also be taken over remotely for security or other purposes to join and leave the fleet in the event that the vehicle's autopilot level is relatively 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 environment has an abnormal condition (including but not limited to a traffic accident and extreme weather), the determining 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 pilot vehicle in a fleet or may be a following vehicle in a fleet.

Further, in the case where the vehicle in which the electronic device 100 is located is a piloted vehicle, the electronic device 100 may directly break up the fleet after sending the remote take over request. Alternatively, 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, and thus the request to disaggregate the fleet, to the lead vehicle due to the environmental anomaly. In the case where 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 that the environment is abnormal, so that the remote controller may know that the electronic device 100 sends the remote take-over request due to the environment abnormality, and thus sends a request to disaggregate the fleet to the piloted vehicle. Optionally, the remote take over request sent by the electronic device 100 may also directly include a request to break up the fleet, such that the remote controller forwards the request to break up the fleet to the lead vehicle. That is, any one of the vehicles in the fleet may request remote takeover from the remote controller after an abnormal condition of the environment is found, 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 device 100 may also transmit a cancel remote takeover request to the remote controller through the communication unit 130 to request the remote controller to cancel the remote takeover. Here, the disappearance of the abnormal condition of the environment includes, but is not limited to, a road that has passed through a traffic accident, an extreme weather has passed, and the like.

Fig. 13 is a signaling flow diagram illustrating a process of disaggregating a fleet of vehicles in the event of an environmental anomaly in accordance with an embodiment of the present disclosure. In fig. 13, an electronic device 100 may be included in both the lead vehicle and the 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 lead vehicle sends a remote take over request to the remote controller including information indicative of an environmental anomaly. In step S1303, the remote controller transmits confirmation information to the pilot vehicle. In step S1304, the lead vehicle sends remote take over triggering information to the remote controller, thereby triggering the remote controller to take over the lead vehicle remotely. In step S1305, the remote controller transmits a request to disaggregate the fleet to the lead vehicle. In step S1306, the lead vehicle transmits information of the disaggregation fleet to all the following vehicles.

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

As described above, the strategy of remotely taking over the vehicle is described in terms of the situation in which the vehicle malfunctions, the automatic driving level of the vehicle is low, the environment is abnormal, and the like. Table 1 summarizes some preferred embodiments of the present disclosure. In the following table, the complex conditions include cases where the vehicle has a serious malfunction and the automatic driving level of the vehicle is low, and the simple conditions include cases where the vehicle has a slight malfunction and the automatic driving level of the vehicle is high.

TABLE 1

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As shown in table 1, in the event that the lead vehicle is taken over remotely and in a complex situation (the lead vehicle fails severely), the fleet breaks away, the lead vehicle leaves the fleet, and no fleet cooperative remote interaction is required (the 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 the event that the lead vehicle is taken over remotely and in a simple situation (the lead vehicle is slightly out of order), the lead vehicle remains on lead, requiring the lead to cooperate with the 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 the event that the following vehicle is taken over remotely and in the event of a complex condition (the following vehicle fails severely), the fleet breaks up and the following vehicle leaves the fleet without requiring fleet system remote interaction (the embodiments shown in fig. 7 and 8). Alternatively, the fleet remains, following vehicles leave the fleet, and no remote interaction of the fleet system is required (the embodiment shown in FIG. 5). Alternatively, fleet maintenance, following vehicles leaving the fleet, requires fleet system remote interaction (embodiment shown in FIG. 6). In the event that the following vehicle is taken over remotely and in a simple condition (the following vehicle is slightly malfunctioning), the fleet remains, and 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 vehicles leave the fleet, and no remote interaction of the fleet system is required (the embodiment shown in FIG. 5). Alternatively, fleet maintenance, following vehicles leaving the fleet, requires fleet system remote interaction (embodiment shown in FIG. 6).

As shown in table 1, in cases where the free vehicles are taken over remotely and in complex situations (free vehicle autopilot level is low), the fleet remains, the free vehicles join the fleet, and remote interaction of the fleet system is required (embodiment shown in fig. 11). In the case where the free vehicles are taken over remotely and in a simple situation (free vehicle autopilot level is high), the fleet remains, the free vehicles join the fleet, and remote interaction by the fleet system is required. That is, although the level of autopilot of a free-wheeling vehicle is high, there is also a need to be taken over remotely.

Further, according to the embodiment of the present disclosure, since the vehicle can travel in the form of a fleet while being remotely taken over, the vehicle needs to periodically transmit the vehicle state information and the vehicle role information to the remote controller after the vehicle is remotely taken over. The vehicle state information includes, but is not limited to, a piloting state, a start dismissal state, a request to join a fleet state, a join in progress state, a follow-up state, a request to leave state, a leave in progress state. Vehicle role information includes, but is not limited to, piloting, following, ending, free vehicles. In addition, after the vehicle is remotely taken over, the vehicle also needs to forward fleet management information from the lead vehicle to the remote controller for the remote controller to control the vehicle in accordance with the fleet management information.

In this context, although a pilot vehicle, a following vehicle and a free vehicle are described separately, since the 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 vehicles perform the corresponding functions while assuming the different roles.

In summary, according to 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 the environment, so as to send a remote take over request to a remote controller, so that remote take over of the vehicle by the remote controller is achieved if the vehicle is in a fleet or leaves the fleet. Therefore, the remote take-over of the vehicles can be realized under the condition that the vehicle team runs, and the danger of the vehicle team caused by abnormal conditions of the vehicles or the environment is avoided.

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

Fig. 14 is a block diagram illustrating a 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, each unit of the electronic device 1400 may be included in a processing circuit. Note that the electronic device 1400 may include one processing circuit or 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 that units that are referred to 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 a fleet or a vehicle that is 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 the vehicle remotely, in case the vehicle leaves the fleet or in case the vehicle is located in the fleet.

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 a driving behavior of the vehicle when remotely taking over the vehicle in case the vehicle is a piloted vehicle in a fleet. Further, the electronic device 1400 may transmit driving behavior prediction information including driving behavior of the vehicle to the vehicle through the communication unit 1410 for the vehicle to pilot the fleet according to the driving behavior prediction information.

According to an embodiment of the present disclosure, where the vehicle is a following vehicle in a fleet, the electronic device 1400 may also receive a request from the vehicle to break up the fleet through the communication unit 1410. Further, the electronic device 1400 may send a request to the lead vehicle in the fleet via the communication unit 1410 for the lead vehicle to break up the fleet.

According to an embodiment of the present disclosure, in the case where the vehicle is a following vehicle in a fleet, the electronic device 1400 may also receive fleet management information from the vehicle through the communication unit 1410. 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 so that the following vehicle can follow the lead vehicle in the form of the following vehicle.

According to an embodiment of the present disclosure, in the case where the vehicle is a vehicle that is about to join the fleet, the electronic device 1400 may receive joining control information including a joining location when the vehicle joins the fleet from the vehicle through the communication unit 1410. 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 position, speed, and time of the joining control information.

The electronic device 1400 according to embodiments of the present disclosure may be used for a remote controller, and the portions of the foregoing description of the electronic device 100 that relate to a remote controller are all applicable thereto.

Further, 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 advances, the wireless communication system may also be a future higher-level communication system. Further, the wireless communication system may include at least a remote controller provided with the electronic device 1400, one lead vehicle and one or more following vehicles traveling in a fleet. Optionally, the wireless communication system may further comprise one or more free vehicles. An electronic device 100 may be included in each vehicle. The piloted vehicle may be autonomous or manual and the following vehicle may be autonomous. In addition, the piloted vehicles can send messages to each vehicle in the fleet in a broadcast form, the vehicles in the fleet can also interact with the messages in a V2V form, and the vehicles in the fleet can interact with the roadside facilities in a V2I form.

<3. Method example >

Next, a wireless communication method performed by the electronic device 100 for a vehicle according to an embodiment of the present disclosure will be described in detail.

Fig. 15 is a flowchart illustrating a wireless communication method performed by the electronic device 100 for a vehicle 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 the environment.

Next, in step S1520, a remote take over 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.

Preferably, the wireless communication method further comprises: the fleet is disaggregated before the remote controller takes over the vehicles remotely.

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

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 comprises: receiving driving behavior prediction information from a remote controller, the driving behavior prediction information including driving behavior of the vehicle predicted when the remote controller remotely takes over the vehicle; and transmitting the driving behavior prediction information to the following vehicles in the fleet, including the fleet management information.

Preferably, the wireless communication method further comprises: in the case where a request to join a fleet is received from a free vehicle that does not belong to the fleet, the request is denied.

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

Preferably, the wireless communication method further comprises: the fleet is left before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.

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

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

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

Preferably, the vehicle is a vehicle to be joined in a fleet, and the wireless communication method further includes: receiving joining control information from a lead vehicle in a fleet, the joining control information including a joining location at which the vehicle joined the fleet; and sending the joining control information to the remote controller for the remote controller to remotely take over the vehicle in accordance with the joining control information.

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

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

According to embodiments of the present disclosure, the subject performing the above-described method may be the electronic device 100 according to embodiments of the present disclosure, and thus all embodiments hereinbefore described with respect to the electronic device 100 apply here.

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

Fig. 16 is a flowchart illustrating a wireless communication method performed by an 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 takeover request is received from a vehicle in the fleet or a vehicle that is about to join the fleet.

Next, in step S1620, the vehicle is taken over remotely, either if the vehicle leaves the fleet or if the vehicle is located in a fleet.

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

Preferably, the vehicle is a following vehicle in a fleet, and the wireless communication method further comprises: receiving a request from a vehicle to break up a fleet of vehicles; and sending the request to the lead vehicle in the fleet for the lead vehicle to break up the fleet.

Preferably, the vehicle is a following vehicle in a fleet, 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 in a fleet, and the wireless communication method further includes: receiving joining control information from the vehicle, the joining control information including a joining location when the vehicle joins the fleet; and remotely taking over the vehicle according to the joining control information.

According to embodiments of the present disclosure, the subject performing the above-described method may be the electronic device 1400 according to embodiments of the present disclosure, and thus all embodiments hereinbefore described with respect to the electronic device 1400 apply here.

<4. Application example >

The techniques of the present disclosure can be applied to various products.

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 (such as an integrated circuit module including a single wafer, and a card or blade inserted into a slot of a blade server) that is mounted on the 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 device 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/dongle type mobile router, and a digital camera device) or an in-vehicle terminal (such as a car navigation device). Further, the terminal devices may be wireless communication modules (such as integrated circuit modules including a single wafer) mounted on each of the above-described terminal devices.

< example of application regarding Server >

Fig. 17 is a block diagram illustrating an example of a server 1700 that may implement an electronic device 1400 according to the present disclosure. 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 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 the 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 1703, and the network interface 1704 to each other. Bus 1706 may include two or more buses (such as a high-speed bus and a low-speed bus) each having different speeds.

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

< example of application regarding electronic device for vehicle >

(first application example)

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

The processor 1801 may be, for example, a CPU or a system on a chip (SoC) and controls the functions of the application layer and further layers of the smartphone 1800. The memory 1802 includes a RAM and a ROM, and stores data and programs executed by the processor 1801. The storage 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 external devices such as a memory card and a Universal Serial Bus (USB) device to the smart phone 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 sensor 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 smart phone 1800 into an audio signal. The input device 1809 includes, for example, a touch sensor, keypad, keyboard, buttons, or switches configured to detect touches on the screen of the display device 1810, and receives operations 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 smartphone 1800. The speaker 1811 converts audio signals output from the smart phone 1800 into sound.

The wireless communication interface 1812 supports any cellular communication schemes (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 wireless signals via the antenna 1816. The wireless communication interface 1812 may be one chip module with the BB processor 1813 and the RF circuitry 1814 integrated thereon. 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 other types of wireless communication schemes, such as a short-range wireless communication scheme, a near-field communication scheme, and a wireless Local Area Network (LAN) scheme, in addition to a cellular communication scheme. In this case, the wireless communication interface 1812 may include a BB processor 1813 and RF circuitry 1814 for each wireless communication scheme.

Each of the antenna switches 1815 switches the 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 transmitting and receiving wireless signals by the wireless communication interface 1812. As shown in fig. 18, the smartphone 1800 may include a plurality of 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 sub-controller 1819 to each other. The battery 1818 provides power to the various blocks of the smartphone 1800 shown in fig. 18 via a feeder line, which is partially shown as a dashed line in the figure. The secondary controller 1819 operates the minimal necessary functions of the smartphone 1800, for example, in a sleep mode.

In the smart phone 1800 shown in fig. 18, by using the determination unit 110, the information generation unit 120, and the judgment unit 140 described in fig. 1, it can be realized 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 the secondary controller 1819. For example, the processor 1801 or the auxiliary controller 1819 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 free vehicles to join the fleet by executing instructions stored in the memory 1802 or the storage 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 technology of the present disclosure can be applied. The car navigation device 1920 includes a processor 1921, a memory 1922, a Global Positioning System (GPS) module 1924, a sensor 1925, a data interface 1926, a content player 1927, a storage medium interface 1928, an input device 1929, a display device 1930, a speaker 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 SoC, and controls the navigation functions and additional functions of the car navigation device 1920. The memory 1922 includes RAM and ROM, and stores data and programs executed by the processor 1921.

The GPS module 1924 uses GPS signals received from GPS satellites to measure the position (such as latitude, longitude, and altitude) of the car navigation device 1920. The sensor 1925 may include a set of sensors such as a gyroscopic 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 the 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 images of navigation functions or reproduced content. The speaker 1931 outputs sound of a navigation function or 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 performs 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 wireless signals via an antenna 1937. The wireless communication interface 1933 may also be one chip module on which the BB processor 1934 and the RF circuit 1935 are integrated. 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 a plurality of BB processors 1934 and a plurality of 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 an RF circuit 1935 for each wireless communication scheme.

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

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 wireless communication interface 1933 to transmit and receive wireless signals. As shown in fig. 19, the car navigation device 1920 can include a plurality of antennas 1937. Although fig. 19 shows an example in which the car navigation device 1920 includes a plurality of antennas 1937, the car navigation device 1920 may also include a single antenna 1937.

Further, the car navigation device 1920 can 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 provides power to the various blocks of the car navigation device 1920 shown in fig. 19 via a feeder line, which is partially shown as a dashed line in the figure. The battery 1938 accumulates electric power supplied from the vehicle.

In the car navigation device 1920 shown in fig. 19, by using the determination unit 110, the information generation unit 120, and the judgment unit 140 described in fig. 1, it is possible to realize 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 functions of determining an abnormal condition of a vehicle or environment, determining whether to leave a fleet, generating information, and determining whether to allow free vehicles 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 an in-vehicle navigation device 1920, an in-vehicle network 1941, and one or more blocks in a vehicle module 1942. The vehicle module 1942 generates vehicle data (such as vehicle speed, engine speed, and fault information) and outputs the generated data to the on-vehicle network 1941.

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

For example, elements shown in a functional block diagram shown in the figures and indicated by dashed boxes each represent a functional element that is optional in the corresponding apparatus, and the individual optional functional elements may be combined in a suitable manner to achieve the desired functionality.

For example, a plurality of functions included in one unit in the above embodiments may be implemented by separate devices. Alternatively, the functions realized by the plurality of units in the above embodiments may be realized 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 processes performed in time series in the order described, but also processes performed in parallel or individually, not necessarily in time series. Further, even in the steps of time-series processing, needless to say, the order may be appropriately changed.

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

1. An electronic device for a vehicle in a fleet or a vehicle to be joined in a fleet, comprising a processing circuit configured to:

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

A remote take over request is sent to a remote controller requesting the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

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

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

the fleet is disaggregated before the remote controller remotely takes over the vehicle.

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

the method further includes transferring rights to pilot the fleet to following vehicles in the fleet and leaving the fleet before the remote controller remotely takes over the vehicles.

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

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

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 driving behavior of the vehicle predicted when the remote controller remotely takes over the vehicle; and

The driving behavior prediction information is included in fleet management information to be transmitted to following vehicles in the fleet.

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

in the event that a request to join the fleet is received from a free vehicle that does not belong to the fleet, the request is denied.

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

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

leaving the fleet before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.

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

a request to unbind a fleet is sent to a lead vehicle in the fleet or the remote controller before the remote controller remotely takes over the vehicle.

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

the fleet continues to be followed while being remotely taken over by the remote controller.

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

Receiving fleet management information from a pilot vehicle in the fleet; and

and sending the fleet management information to the remote controller for the remote controller to remotely take over the vehicle according to the fleet management information.

13. The electronic device of claim 1, wherein the vehicle is a vehicle to be joined in a fleet, and the processing circuit is further configured to:

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

and sending the joining control information to the remote controller for the remote controller to remotely take over the vehicle according to the joining control information.

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

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

15. The electronic device of claim 1, wherein the abnormal condition of the vehicle comprises a malfunction of the vehicle and an automatic driving level of the vehicle is below a predetermined threshold, and the abnormal condition of the environment comprises 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 take over the vehicle if the vehicle leaves the fleet or if the vehicle is located in the fleet.

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

predicting driving behavior of the vehicle when remotely taking over the vehicle; and

and sending driving behavior prediction information comprising driving behaviors of the vehicle to the vehicle, wherein the driving behavior prediction information is used for the vehicle to pilot the motorcade 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 break up a fleet of vehicles; and

the request is sent to a lead vehicle in the fleet for the lead vehicle to break up 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 to be joined in a fleet, and the processing circuit is further configured to:

receiving join control information from the vehicle, the join control information including a join location at which the vehicle joins the fleet; and

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

21. A wireless communication method performed by an electronic device for a vehicle in a fleet or a vehicle to be joined to the fleet, comprising:

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

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.

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 a pilot vehicle in the fleet; and

33. The wireless communication method according to claim 21, wherein the vehicle is a vehicle to be joined to a fleet of vehicles, and the wireless communication method further comprises:

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

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

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

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

receiving a request from the vehicle to break up 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 the wireless communication method further comprises:

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 the wireless communication method further comprises:

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

Although the embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, it should be understood that the above-described embodiments are merely illustrative of the present disclosure and not limiting thereof. Various modifications and alterations to the above described embodiments may be made by those skilled in the art without departing from the spirit and scope of the disclosure. The scope of the disclosure is, therefore, indicated only by the appended claims and their equivalents.

Claims

1. An electronic device for a vehicle, comprising processing circuitry configured to:

sending a remote take over request to a remote controller requesting the remote controller to remotely take over the vehicle if the vehicle leaves a fleet or if the vehicle is located in the fleet,

Wherein the vehicles in the fleet comprise lead vehicles and following vehicles, the vehicles that need to be remotely taken over are following vehicles in the fleet, and

wherein the processing circuit is further configured to: the vehicle is controlled to leave the fleet of vehicles that remain without disassembly either before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.

2. The electronic device of claim 1, wherein the processing circuit is further configured to: the fleet continues to be followed while being remotely taken over by the remote controller, and the vehicle is controlled to leave the fleet that remains without disassembly after the remote controller remotely takes over the vehicle.

3. The electronic device of claim 1, wherein the processing circuit is further configured to: receiving fleet management information from a pilot vehicle in the fleet; and sending the fleet management information to the remote controller for the remote controller to remotely take over the vehicle that needs to be remotely taken over according to the fleet management information.

4. The electronic device of claim 1, wherein the processing circuit is further configured to: in case the following vehicle needs to be taken over remotely in a complex situation, it is not interacted with the remote controller to control the following vehicle to leave the fleet by itself.

5. The electronic device of claim 4, wherein the complex condition comprises a severe failure of the vehicle.

6. The electronic device of claim 1, wherein the processing circuit is further configured to send a cancel remote take over request to a remote controller to request the remote controller to cancel remote take over after an abnormal condition of an environment has disappeared.

7. The electronic device of claim 1, wherein the abnormal condition of the vehicle comprises a malfunction of the vehicle and/or an automatic driving level of the vehicle is below a predetermined threshold, the abnormal condition of the environment comprising a traffic accident and/or extreme weather.

8. A wireless communication method performed by an electronic device for a vehicle, comprising:

Wherein the wireless communication method further comprises: the vehicle is controlled to leave the fleet of vehicles that remain without disassembly either before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.

9. The wireless communication method of claim 8, wherein the wireless communication method comprises: continuing to follow the fleet while remotely taken over by the remote controller, and controlling the vehicle to leave the fleet remaining without disassembly after the remote controller remotely takes over the vehicle.

10. The wireless communication method of claim 8, wherein the wireless communication method further comprises: receiving fleet management information from a pilot vehicle in the fleet; and sending the fleet management information to the remote controller for the remote controller to remotely take over the vehicle that needs to be remotely taken over according to the fleet management information.

11. The wireless communication method of claim 8, wherein the wireless communication method comprises: in case the following vehicle needs to be taken over remotely in a complex situation, it is not interacted with the remote controller to control the following vehicle to leave the fleet by itself.

12. The wireless communication method of claim 11, wherein the complex condition comprises a severe failure of the vehicle.

13. The wireless communication method according to claim 8, wherein 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.

14. The wireless communication method of claim 8, wherein the abnormal condition of the vehicle comprises a malfunction of the vehicle and/or an automatic driving level of the vehicle is below a predetermined threshold, and the abnormal condition of the environment comprises a traffic accident and/or extreme weather.

15. A computer readable storage medium comprising executable computer instructions which, when executed by a computer, cause the computer to perform the wireless communication method according to any of claims 8-14.