WO2018019141A1 - 基于车辆远程控制的应急驾驶方法、系统及车辆 - Google Patents

基于车辆远程控制的应急驾驶方法、系统及车辆 Download PDF

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Publication number
WO2018019141A1
WO2018019141A1 PCT/CN2017/093044 CN2017093044W WO2018019141A1 WO 2018019141 A1 WO2018019141 A1 WO 2018019141A1 CN 2017093044 W CN2017093044 W CN 2017093044W WO 2018019141 A1 WO2018019141 A1 WO 2018019141A1
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vehicle
controlled
remote control
controlled vehicle
same direction
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English (en)
French (fr)
Inventor
刘恩阜
尚小良
刘芳
田旭东
郑博
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BYD Co Ltd
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BYD Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers

Definitions

  • the present invention relates to the field of vehicle technology, and in particular, to an emergency driving method based on vehicle remote control, an emergency driving system based on vehicle remote control, and a vehicle.
  • auto-driving technology means that the car can complete the driving task independently without the operation.
  • the car-assisted driving is to let the electronic The system helps the driver to perform certain minor operational tasks or provide the driver with some useful driving environment parameters, while the Internet of Vehicles technology allows the vehicle to have wireless communication capabilities.
  • a remote control technology is also proposed in which a controlled vehicle can accept a driving command of a remotely controlled vehicle to complete a driving task or a control vehicle can remotely control a controlled vehicle to complete a driving task.
  • a controlled vehicle can accept a driving command of a remotely controlled vehicle to complete a driving task or a control vehicle can remotely control a controlled vehicle to complete a driving task.
  • the remote control link fails, the controlled vehicle will be out of control and may be in a dangerous situation.
  • an object of the present invention is to provide an emergency driving method based on remote control of a vehicle, which can continue to control the controlled vehicle when the remote control signal is abnormally interrupted, thereby effectively ensuring the safety of the controlled vehicle.
  • a second object of the present invention is to provide an emergency driving system based on vehicle remote control.
  • a third object of the present invention is to propose a vehicle.
  • an embodiment of the first aspect of the present invention provides an emergency driving method based on vehicle remote control, the method comprising the steps of: detecting whether a remote control signal of a controlled vehicle in a remote control mode is abnormal If the remote control signal is abnormally interrupted, it is determined whether there is a vehicle traveling in the same direction in front of the controlled vehicle; if the vehicle traveling in the same direction exists, the vehicle traveling in the same direction is selected as a target Following the vehicle and controlling the controlled vehicle to follow the vehicle with reference to the target following vehicle.
  • the emergency driving method of the vehicle remote control when it is detected that the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted, it can be determined whether there is a vehicle traveling in the same direction in front of the controlled vehicle, if If there is a vehicle traveling in the same direction, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the target following the vehicle for following travel, thereby being able to continue to carry out the controlled vehicle when the remote control signal is abnormally interrupted.
  • the control effectively ensures the safety of the controlled vehicle, and the method is easy to implement and the implementation cost is low.
  • an embodiment of the second aspect of the present invention provides an emergency driving system based on vehicle remote control, the system comprising: a signal detecting module, wherein the signal detecting module is configured to detect a controlled vehicle in a remote control mode Whether the remote control signal is abnormally interrupted or not; the determining module, configured to determine whether there is a vehicle traveling in the same direction in front of the controlled vehicle when the remote control signal is abnormally interrupted; and a control module, wherein the control module is used When the vehicle traveling in the same direction exists, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the vehicle following the target following vehicle.
  • the determining module can determine whether there is a direction in front of the controlled vehicle.
  • the control module may select the vehicle traveling in the same direction as the target following vehicle, and control the controlled vehicle to follow the target following the vehicle for following the driving, thereby being able to abnormally control the signal at the remote.
  • the controlled vehicle is continuously controlled during the interruption, which effectively ensures the safety of the controlled vehicle, and the system is easier to implement and the implementation cost is lower.
  • a third aspect of the present invention provides a vehicle including an emergency driving system based on vehicle remote control proposed by the second aspect of the present invention.
  • the vehicle according to the embodiment of the present invention can continue driving when the remote control signal is abnormally interrupted, and the safety is high.
  • FIG. 1 is a flow chart of an emergency driving method based on vehicle remote control according to an embodiment of the present invention
  • FIG. 2 is a flow chart of an emergency driving method based on vehicle remote control, in accordance with an embodiment of the present invention
  • FIG. 3 is a block diagram showing an emergency driving system based on vehicle remote control according to an embodiment of the present invention
  • FIG. 4 is a block diagram showing an emergency driving system based on vehicle remote control according to another embodiment of the present invention.
  • FIG. 5 is a block schematic diagram of a vehicle in accordance with an embodiment of the present invention.
  • FIG. 1 is a flow chart of an emergency driving method based on vehicle remote control according to an embodiment of the present invention.
  • an emergency driving method based on vehicle remote control includes the following steps:
  • the controlled vehicle of the embodiment of the present invention has a remote control function, and the controlled vehicle can receive the remote control signal and control the throttle, brake system, clutch, direction and gear position of the controlled vehicle according to the remote control signal for driving.
  • the reason for the abnormal interruption of the remote control signal may include a signal transmission end failure, a signal reception end failure, a signal forwarding end failure, or a signal transmission path abnormality.
  • the remote control signal can be received by the wireless communication module in the controlled vehicle, and when the wireless communication module is unable to receive the remote control signal, the remote control signal can be determined to be abnormally interrupted.
  • the information of the distance sensor, the motion determination sensor, and the field of view acquisition camera may be integrated to determine whether there is a vehicle traveling in the same direction in front.
  • the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the vehicle following the target.
  • the controlled vehicle is controlled to follow the vehicle by following the vehicle by controlling the throttle, brake system, clutch, direction, and gear of the controlled vehicle.
  • the distance between the controlled vehicle and the target following vehicle can be obtained, and when the controlled vehicle is controlled, the vehicle speed of the controlled vehicle is controlled to maintain the distance between the controlled vehicle and the target following vehicle as a safety vehicle. distance.
  • the controlled vehicle may travel along a planned route, and if the target following vehicle is no longer traveling in the same direction as the controlled vehicle follows the target, the target following vehicle is selected for the same direction. Until the completion of the planned route travels to the navigation destination, or the remote control signal returns to normal. Thus, when the remote control signal is abnormally interrupted, the controlled vehicle can still be controlled to complete the predetermined driving task.
  • controlling the controlled vehicle to travel at a low speed and further acquiring the current geographical location information of the controlled vehicle, Determining whether the controlled vehicle is in a no-signal area; if the controlled vehicle is in a no-signal area, continuously controlling the controlled vehicle to travel at a low speed until the unsignaled area is exited; if the controlled vehicle is not in the unsignaled area, then according to the current geography Bit Set the appropriate parking location to park to the side. After the controlled vehicle stops at the side, it can also send out a distress signal and simultaneously send the current location to find the controlled vehicle.
  • the controlled vehicle may follow the out-of-signal area when the reference target follows the vehicle for following the driving, or select a suitable parking position to stop by the side, and issue the distress signal and the controlled vehicle.
  • the current location Thereby, the safety of the controlled vehicle can be ensured to the utmost extent.
  • the emergency driving method of the vehicle remote control when it is detected that the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted, it can be determined whether there is a vehicle traveling in the same direction in front of the controlled vehicle, if If there is a vehicle traveling in the same direction, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the target following the vehicle for following travel, thereby being able to continue to carry out the controlled vehicle when the remote control signal is abnormally interrupted.
  • the control effectively ensures the safety of the controlled vehicle, and the method is easy to implement and the implementation cost is low.
  • the emergency driving method based on vehicle remote control may include the following steps:
  • step S201 Detect whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted. If yes, step S202 is performed, and if no, step S203 is performed.
  • the emergency driving system of the embodiment of the present invention can perform the following method. After the emergency driving system is activated, the emergency driving system has the highest authority for controlled vehicle control.
  • the remote control terminal or other set terminal can normally remotely control the controlled vehicle.
  • step S204 Determine whether there is a vehicle traveling in the same direction in front of the controlled vehicle.
  • the image captured by the field of view acquisition camera can be analyzed and processed by the image processing unit, and the distance information detected by the distance sensor and the motion state detected by the motion determination sensor are analyzed and processed by the distance and motion processing unit to be controlled.
  • the current driving environment of the vehicle can determine whether there is a vehicle traveling in the same direction according to the current driving environment of the controlled vehicle. If there is a vehicle traveling in the same direction, step S205 is performed; if there is no vehicle traveling in the same direction, step S208 is performed.
  • the controlled vehicle can be controlled to follow the vehicle with reference to the target traveling vehicle in the same direction.
  • step S206 determining whether the target follows the vehicle or not. If yes, go to step S207; if no, go back to step S204 to find other vehicles traveling in the same direction.
  • S208 entering a short-range low-speed autonomous driving mode.
  • autonomous driving can be performed under the condition that the minimum speed limit is satisfied according to the current driving environment of the controlled vehicle.
  • Step S209 Determine whether the current location is a specific unsignaled area. For example, a controlled vehicle is located in a tunnel or a short-range mountain When the road is in progress, the remote control signal may not be received in a short time. Whether the current location is a specific no-signal area may be determined according to the navigation positioning and the map information, and if yes, step S210 is performed; if not, step S211 is performed.
  • the specific unsignaled area is generally small, and the controlled vehicle can receive the remote control signal again after exiting the unsignaled area, so that the controlled vehicle can be remotely controlled normally.
  • S211 select a suitable parking position to park on the side. If the controlled vehicle is not in the no-signal area, the transmission of the remote control signal is likely to encounter a fault that is temporarily difficult to remove, and cannot be recovered in a short time, so it is reliable to stop and send the current to the control terminal or other set terminal. Geographic location information and distress signals.
  • the present invention also proposes an emergency driving system based on vehicle remote control.
  • an emergency driving system based on vehicle remote control includes: a signal detecting module 10, a judging module 20, and a control module 30.
  • the signal detecting module 10 is configured to detect whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted; and the determining module 20 is configured to determine whether there is a co-directional traveling in front of the controlled vehicle when the remote control signal is abnormally interrupted.
  • the vehicle control module 30 is configured to select a vehicle traveling in the same direction as a target following vehicle when there is a vehicle traveling in the same direction, and control the controlled vehicle to follow the vehicle following the target following vehicle.
  • the controlled vehicle of the embodiment of the present invention has a remote control function, and the controlled vehicle can receive the remote control signal and control the throttle, brake system, clutch, direction and gear position of the controlled vehicle according to the remote control signal for driving.
  • the reason for the abnormal interruption of the remote control signal may include a signal transmission end failure, a signal reception end failure, a signal forwarding end failure, or a signal transmission path abnormality.
  • the signal detecting module 10, the judging module 20, and the control module 30 may be integrated in a vehicle controller, and the emergency driving system based on vehicle remote control may further include a wireless communication module. 40.
  • the remote control signal can be received by the wireless communication module 40. When the wireless communication module 40 cannot receive the remote control signal, the remote control signal can be determined to be abnormally interrupted.
  • the emergency driving system based on vehicle remote control may further include a driving environment detecting module 50.
  • the driving environment detecting module 50 may include a field of view capturing camera, a distance sensor, a motion determining sensor, an image processing unit, and a distance and motion processing unit, wherein the image captured by the image capturing unit may be analyzed and processed by the image processing unit, and
  • the distance and motion processing unit analyzes the distance information detected by the distance sensor and the motion state detected by the motion determination sensor to obtain a current driving environment of the controlled vehicle, so that the determining module 20 can be according to the current driving environment of the controlled vehicle. It is judged whether there is a vehicle traveling in the same direction in front of it.
  • follow-up travel can be performed by controlling the controlled vehicle's execution module 60 to control the controlled vehicle to follow the target following the vehicle.
  • the execution module 60 may include an accelerator pedal, a brake pedal, Clutch pedal, steering wheel and shift lever.
  • the vehicle distance between the controlled vehicle and the target following vehicle may be acquired by the driving environment detecting module 50, and the control module 30 controls the controlled vehicle to control the vehicle speed of the controlled vehicle to control the vehicle and the target following vehicle when controlling the controlled vehicle to travel. The distance between the vehicles is maintained as a safe distance.
  • the vehicle remote control based emergency driving system of the embodiment of the present invention may further include a navigation module 70, and the controlled vehicle travels along the planned route of the navigation module 70, if the controlled vehicle follows the target following the vehicle, if The target following vehicle no longer travels in the same direction, then the control module 30 selects another target traveling vehicle that travels in the same direction until the travel of the planned route reaches the navigation destination, or the remote control signal returns to normal.
  • the remote control signal is abnormally interrupted, the controlled vehicle can still be controlled to complete the predetermined driving task.
  • control module 30 is further configured to control the controlled vehicle to travel at a low speed when the vehicle in the same direction does not exist in front of the controlled vehicle, or when the target follows the vehicle disappears, and obtain the navigation module 70 according to the navigation module 70.
  • the current geographical location information of the controlled vehicle determines whether the controlled vehicle is in the no-signal area, and continuously controls the controlled vehicle to drive at a low speed until the controlled vehicle is in the no-signal area until the controlled vehicle is not in the no-signal area.
  • the appropriate parking position is selected according to the current geographical location information acquired by the navigation module 70 to park sideways. After the controlled vehicle is parked on the side, the help signal can also be sent through the wireless communication module, and the current location is simultaneously transmitted to conveniently find the controlled vehicle.
  • the controlled vehicle may follow the out-of-signal area when the reference target follows the vehicle for following the driving, or select a suitable parking position to stop by the side, and issue the distress signal and the controlled vehicle.
  • the current location Thereby, the safety of the controlled vehicle can be ensured to the utmost extent.
  • the determining module can determine whether there is a direction in front of the controlled vehicle.
  • the control module may select the vehicle traveling in the same direction as the target following vehicle, and control the controlled vehicle to follow the target following the vehicle for following the driving, thereby being able to abnormally control the signal at the remote.
  • the controlled vehicle is continuously controlled during the interruption, which effectively ensures the safety of the controlled vehicle, and the system is easier to implement and the implementation cost is lower.
  • the present invention also proposes a vehicle.
  • the vehicle of the embodiment of the present invention is a controlled vehicle in a remote control mode.
  • the vehicle 200 of the embodiment of the present invention includes the emergency driving system 100 based on the vehicle remote control proposed by the above embodiment of the present invention.
  • the emergency driving system 100 based on the vehicle remote control proposed by the above embodiment of the present invention.
  • the vehicle according to the embodiment of the present invention can continue driving when the remote control signal is abnormally interrupted, and the safety is high.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements.
  • installation can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract

基于车辆远程控制的应急驾驶方法、系统及车辆，其中，该方法包括以下步骤：检测处于远程控制模式的受控车辆的远程控制信号是否异常中断（S1）；如果远程控制信号异常中断，则判断受控车辆的前方是否存在同向行驶的车辆（S2）；如果存在同向行驶的车辆，则选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶（S3）。能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全。

Description

基于车辆远程控制的应急驾驶方法、系统及车辆
相关申请的交叉引用
本申请要求比亚迪股份有限公司于2016年7月28日提交的、发明名称为“基于车辆远程控制的应急驾驶方法、系统及车辆”的、中国专利申请号“201610613098.7”的优先权。
技术领域
本发明涉及车辆技术领域，特别涉及一种基于车辆远程控制的应急驾驶方法、一种基于车辆远程控制的应急驾驶系统以及一种车辆。
背景技术
伴随着互联网及电子科技行业的蓬勃发展，当今社会已从机械时代逐渐进入了智能化时代。汽车作为传统制造业的典型代表，迫切的需要转型以便更好的融入当前互联网的大潮流，为传统制造业开拓一片新的发展天地，为此汽车智能化应运而生。
目前常见的汽车智能化技术主要有汽车自动驾驶技术，汽车辅助驾驶技术和车联网技术等，汽车自动驾驶技术顾名思义就是汽车可以在无人操作的情况下自主完成驾驶任务，汽车辅助驾驶就是让电子系统帮助驾驶员完成某些次要的操作任务或者为驾驶员提供一些有用汽车行驶环境参数，而车联网技术就是让汽车具备无线通信功能。
基于上述的汽车智能化技术，还提出一种让受控车辆可以接受远程控制车辆的驾驶命令完成驾驶任务或者让控制车辆可以远程控制受控车辆完成驾驶任务的远程控制技术。然而在远程控制的环节出现故障时，受控车辆会脱离控制，因此可能处于危险的境地。
发明内容
本发明旨在至少在一定程度上解决上述技术中的技术问题之一。为此，本发明的一个目的在于提出一种基于车辆远程控制的应急驾驶方法，能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全。
本发明的第二个目的在于提出一种基于车辆远程控制的应急驾驶系统。
本发明的第三个目的在于提出一种车辆。
为达到上述目的，本发明第一方面实施例提出了一种基于车辆远程控制的应急驾驶方法，该方法包括以下步骤：检测处于远程控制模式的受控车辆的远程控制信号是否异常中 断；如果所述远程控制信号异常中断，则判断所述受控车辆的前方是否存在同向行驶的车辆；如果存在所述同向行驶的车辆，则选定所述同向行驶的车辆作为目标跟随车辆，并控制所述受控车辆参照所述目标跟随车辆进行跟随行驶。
根据本发明实施例的基于车辆远程控制的应急驾驶方法，在检测到处于远程控制模式的受控车辆的远程控制信号异常中断时，可判断受控车辆的前方是否存在同向行驶的车辆，如果存在同向行驶的车辆，则选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶，由此，能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全，并且该方法较易实现，实现成本也较低。
为达到上述目的，本发明第二方面实施例提出了一种基于车辆远程控制的应急驾驶系统，该系统包括：信号检测模块，所述信号检测模块用于检测处于远程控制模式的受控车辆的远程控制信号是否异常中断；判断模块，所述判断模块用于在所述远程控制信号异常中断时，判断所述受控车辆的前方是否存在同向行驶的车辆；控制模块，所述控制模块用于在存在所述同向行驶的车辆时，选定所述同向行驶的车辆作为目标跟随车辆，并控制所述受控车辆参照所述目标跟随车辆进行跟随行驶。
根据本发明实施例的基于车辆远程控制的应急驾驶系统，在信号检测模块检测到处于远程控制模式的受控车辆的远程控制信号异常中断时，判断模块可判断受控车辆的前方是否存在同向行驶的车辆，如果存在同向行驶的车辆，则控制模块可选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶，由此，能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全，并且该系统较易实现，实现成本也较低。
为达到上述目的，本发明第三方面实施例提出了一种车辆，该车辆包括本发明第二方面实施例提出的基于车辆远程控制的应急驾驶系统。
根据本发明实施例的车辆，能够在远程控制信号异常中断时继续行驶，安全性较高。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
图1为根据本发明实施例的基于车辆远程控制的应急驾驶方法的流程图；
图2为根据本发明一个具体实施例的基于车辆远程控制的应急驾驶方法的流程图；
图3为根据本发明实施例的基于车辆远程控制的应急驾驶系统的方框示意图；
图4为根据本发明另一个实施例的基于车辆远程控制的应急驾驶系统的方框示意图；
图5为根据本发明实施例的车辆的方框示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
下面结合附图来描述本发明实施例的基于车辆远程控制的应急驾驶方法、系统及车辆。
图1为根据本发明实施例的基于车辆远程控制的应急驾驶方法的流程图。
如图1所示，本发明实施例的基于车辆远程控制的应急驾驶方法，包括以下步骤：
S1，检测处于远程控制模式的受控车辆的远程控制信号是否异常中断。
本发明实施例的受控车辆具有远程控制的功能，受控车辆可接收远程控制信号，并根据远程控制信号控制受控车辆的油门、制动系统、离合器、方向和档位等以进行驾驶。
远程控制信号异常中断的原因可包括信号发送端故障、信号接收端故障、信号转发端故障或者信号传输路径异常等。在本发明的一个实施例中，可由受控车辆中的无线通信模块接收远程控制信号，当无线通信模块无法接收到远程控制信号时，可判断远程控制信号异常中断。
S2，如果远程控制信号异常中断，则判断受控车辆的前方是否存在同向行驶的车辆。
在本发明的一个实施例中，如果远程控制信号异常中断，则可综合距离传感器、运动判断传感器和视野采集摄像头的信息判断前方是否存在同向行驶的车辆。
S3，如果存在同向行驶的车辆，则选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶。
在选定了目标跟随车辆后，通过控制受控车辆的油门、制动系统、离合器、方向和档位以控制受控车辆参照目标跟随车辆进行跟随行驶。同时，可获取受控车辆与目标跟随车辆之间的车距，在控制受控车辆行驶时，通过控制受控车辆的车速以将受控车辆与目标跟随车辆之间的车距维持为安全车距。
在本发明的一个实施例中，受控车辆可沿规划路线行驶，在受控车辆跟随目标跟随车辆行驶时，如果目标跟随车辆不再同向行驶，则选定另一同向行驶的目标跟随车辆，直到完成规划线路的行驶到达导航目的地，或者远程控制信号恢复正常。由此，在远程控制信号异常中断时，仍可控制受控车辆完成预定的驾驶任务。
在本发明的一个实施例中，如果受控车辆的前方不存在同向行驶的车辆，或者目标跟随车辆消失，则控制受控车辆低速行驶，并进一步获取受控车辆当前的地理位置信息，以判断受控车辆是否处于无信号区域；如果受控车辆处于无信号区域，则持续控制受控车辆低速行驶，直至驶出无信号区域；如果受控车辆未处于无信号区域，则根据当前的地理位 置信息选择合适的停车位置以靠边停车。受控车辆在靠边停车后，还可发出求救信号，并同时发送当前所处的位置，以方便找到该受控车辆。
在本发明的一个实施例中，受控车辆在参照目标跟随车辆进行跟随行驶时，可跟随驶出无信号区域，或者选择合适的停车位置以靠边停车即可，同时发出求救信号和受控车辆当前所处的位置。由此，能够最大程度地保证受控车辆的安全性。
根据本发明实施例的基于车辆远程控制的应急驾驶方法，在检测到处于远程控制模式的受控车辆的远程控制信号异常中断时，可判断受控车辆的前方是否存在同向行驶的车辆，如果存在同向行驶的车辆，则选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶，由此，能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全，并且该方法较易实现，实现成本也较低。
在本发明的一个具体实施例中，如图2所示，基于车辆远程控制的应急驾驶方法可包括以下步骤：
S201，检测处于远程控制模式的受控车辆的远程控制信号是否异常中断。如果是，则执行步骤S202，如果否，则执行步骤S203。
S202，启动应急驾驶系统。本发明实施例的应急驾驶系统可执行下述的方法。在应急驾驶系统启动后，应急驾驶系统具有受控车辆控制的最高权限。
S203，不启动应急驾驶系统。
在远程控制信号未异常中断时，远程控制端或其他设定的终端可正常地对受控车辆进行远程控制。
S204，判断受控车辆的前方是否存在同向行驶的车辆。其中，可由图像处理单元对视野采集摄像头拍摄到的画面进行分析处理，并由距离和运动处理单元对距离传感器检测到的距离信息和运动判断传感器检测到的运动状态进行分析处理，以得到受控车辆当前的行车环境，根据受控车辆当前的行车环境可判断出其前方是否存在同向行驶的车辆。如果存在同向行驶的车辆，则执行步骤S205；如果不存在同向行驶的车辆，则执行步骤S208。
S205，进入跟随行驶模式。在跟随行驶模式下，可控制受控车辆参照上述同向行驶的目标跟随车辆进行跟随行驶。
S206，判断目标跟随车辆是否还在。如果是，则执行步骤S207；如果否，则返回步骤S204，以寻找其他同向行驶的车辆。
S207，沿规划路线行驶，直到到达导航目的地或者远程控制信号恢复正常。
S208，进入短程低速自主驾驶模式。在短程低速自主驾驶模式下，可根据受控车辆当前的行车环境，在满足最低限速的条件下进行自主驾驶。
S209，判断当前位置是否为特定的无信号区域。例如，受控车辆在位于隧道或短程山 路时，可能会在短时间内接收不到远程控制信号。可根据导航定位和地图信息判断当前位置是否为特定的无信号区域，如果是，则执行步骤S210；如果否，则执行步骤S211。
S210，驶出无信号区域。
特定的无信号区域一般较小，受控车辆在驶出无信号区域后即可重新接收到远程控制信号，从而可正常地对受控车辆进行远程控制。
S211，选择合适的停车位置以靠边停车。如果受控车辆未处于无信号区域，则远程控制信号的传输很可能遇到了暂时难以排除的故障，在短时间内无法恢复，因此可靠边停车，并向控制端或其他设定的终端发送当前的地理位置信息和求救信号。
为实现上述实施例的基于车辆远程控制的应急驾驶方法，本发明还提出一种基于车辆远程控制的应急驾驶系统。
如图3所示，本发明实施例的基于车辆远程控制的应急驾驶系统，包括：信号检测模块10、判断模块20和控制模块30。
其中，信号检测模块10用于检测处于远程控制模式的受控车辆的远程控制信号是否异常中断；判断模块20用于在远程控制信号异常中断时，判断受控车辆的前方是否存在同向行驶的车辆；控制模块30用于在存在同向行驶的车辆时，选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶。
本发明实施例的受控车辆具有远程控制的功能，受控车辆可接收远程控制信号，并根据远程控制信号控制受控车辆的油门、制动系统、离合器、方向和档位等以进行驾驶。
远程控制信号异常中断的原因可包括信号发送端故障、信号接收端故障、信号转发端故障或者信号传输路径异常等。在本发明的一个实施例中，如图4所示，信号检测模块10、判断模块20和控制模块30可集成在整车控制器中，基于车辆远程控制的应急驾驶系统还可包括无线通信模块40，可由无线通信模块40接收远程控制信号，当无线通信模块40无法接收到远程控制信号时，可判断远程控制信号异常中断。
在本发明的一个实施例中，如图4所示，基于车辆远程控制的应急驾驶系统还可包括行车环境检测模块50。其中，行车环境检测模块50可包括视野采集摄像头、距离传感器、运动判断传感器、图像处理单元以及距离和运动处理单元，其中，可由图像处理单元对视野采集摄像头拍摄到的画面进行分析处理，并由距离和运动处理单元对距离传感器检测到的距离信息和运动判断传感器检测到的运动状态进行分析处理，以得到受控车辆当前的行车环境，从而判断模块20可根据受控车辆当前的行车环境可判断出其前方是否存在同向行驶的车辆。
在选定了目标跟随车辆后，可通过控制受控车辆的执行模块60以控制受控车辆参照目标跟随车辆进行跟随行驶。其中，如图4所示，执行模块60可包括油门踏板、制动踏板、 离合器踏板、方向盘和变速杆等。同时，可由行车环境检测模块50获取受控车辆与目标跟随车辆之间的车距，控制模块30在控制受控车辆行驶时，通过控制受控车辆的车速以将受控车辆与目标跟随车辆之间的车距维持为安全车距。
如图4所示，本发明实施例的基于车辆远程控制的应急驾驶系统还可包括导航模块70，受控车辆沿导航模块70的规划路线行驶，在受控车辆跟随目标跟随车辆行驶时，如果目标跟随车辆不再同向行驶，则控制模块30选定另一同向行驶的目标跟随车辆，直到完成规划线路的行驶到达导航目的地，或者远程控制信号恢复正常。由此，在远程控制信号异常中断时，仍可控制受控车辆完成预定的驾驶任务。
在本发明的一个实施例中，控制模块30还用于在受控车辆的前方不存在同向行驶的车辆，或者目标跟随车辆消失时，控制受控车辆低速行驶，并根据导航模块70获取的受控车辆当前的地理位置信息判断受控车辆是否处于无信号区域，在受控车辆处于无信号区域时，持续控制受控车辆低速行驶，直至驶出无信号区域，在受控车辆未处于无信号区域时，根据导航模块70获取的当前的地理位置信息选择合适的停车位置以靠边停车。在受控车辆靠边停车后，还可通过无线通信模块发出求救信号，并同时发送当前所处的位置，以方便找到该受控车辆。
在本发明的一个实施例中，受控车辆在参照目标跟随车辆进行跟随行驶时，可跟随驶出无信号区域，或者选择合适的停车位置以靠边停车即可，同时发出求救信号和受控车辆当前所处的位置。由此，能够最大程度地保证受控车辆的安全性。
根据本发明实施例的基于车辆远程控制的应急驾驶系统，在信号检测模块检测到处于远程控制模式的受控车辆的远程控制信号异常中断时，判断模块可判断受控车辆的前方是否存在同向行驶的车辆，如果存在同向行驶的车辆，则控制模块可选定同向行驶的车辆作为目标跟随车辆，并控制受控车辆参照目标跟随车辆进行跟随行驶，由此，能够在远程控制信号异常中断时继续对受控车辆进行控制，有效保证了受控车辆的安全，并且该系统较易实现，实现成本也较低。
对应上述实施例，本发明还提出一种车辆。
本发明实施例的车辆为处于远程控制模式的受控车辆，如图5所示，本发明实施例的车辆200包括本发明上述实施例提出的基于车辆远程控制的应急驾驶系统100。其更具体的实施方式可参照上述实施例，为避免冗余，在此不再赘述。
根据本发明实施例的车辆，能够在远程控制信号异常中断时继续行驶，安全性较高。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径 向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (11)

  1. 一种基于车辆远程控制的应急驾驶方法，其特征在于，包括以下步骤：
    检测处于远程控制模式的受控车辆的远程控制信号是否异常中断；
    如果所述远程控制信号异常中断，则判断所述受控车辆的前方是否存在同向行驶的车辆；
    如果存在所述同向行驶的车辆，则选定所述同向行驶的车辆作为目标跟随车辆，并控制所述受控车辆参照所述目标跟随车辆进行跟随行驶。
  2. 根据权利要求1所述的基于车辆远程控制的应急驾驶方法，其特征在于，所述受控车辆沿规划路线行驶，在所述受控车辆跟随所述目标跟随车辆行驶时，如果所述目标跟随车辆不再同向行驶，则选定另一同向行驶的目标跟随车辆。
  3. 根据权利要求2所述的基于车辆远程控制的应急驾驶方法，其特征在于，所述控制所述受控车辆参照所述目标跟随车辆进行跟随行驶，包括：
    获取所述受控车辆与所述目标跟随车辆之间的车距；
    在控制所述受控车辆行驶时，通过控制所述受控车辆的车速以将所述受控车辆与所述目标跟随车辆之间的车距维持为安全车距。
  4. 根据权利要求2所述的基于车辆远程控制的应急驾驶方法，其特征在于，还包括：
    如果所述受控车辆的前方不存在同向行驶的车辆，或者目标跟随车辆消失，则控制所述受控车辆低速行驶，并进一步获取所述受控车辆当前的地理位置信息，以判断所述受控车辆是否处于无信号区域；
    如果所述受控车辆处于无信号区域，则持续控制所述受控车辆低速行驶，直至驶出所述无信号区域；
    如果所述受控车辆未处于无信号区域，则根据当前的地理位置信息选择合适的停车位置以靠边停车。
  5. 根据权利要求4所述的基于车辆远程控制的应急驾驶方法，其特征在于，所述受控车辆在靠边停车后，还发出求救信号。
  6. 一种基于车辆远程控制的应急驾驶系统，其特征在于，包括：
    信号检测模块，所述信号检测模块用于检测处于远程控制模式的受控车辆的远程控制信号是否异常中断；
    判断模块，所述判断模块用于在所述远程控制信号异常中断时，判断所述受控车辆的前方是否存在同向行驶的车辆；
    控制模块，所述控制模块用于在存在所述同向行驶的车辆时，选定所述同向行驶的车 辆作为目标跟随车辆，并控制所述受控车辆参照所述目标跟随车辆进行跟随行驶。
  7. 根据权利要求6所述的基于车辆远程控制的应急驾驶系统，其特征在于，还包括导航模块，所述受控车辆沿所述导航模块的规划路线行驶，在所述受控车辆跟随所述目标跟随车辆行驶时，如果所述目标跟随车辆不再同向行驶，则所述控制模块选定另一同向行驶的目标跟随车辆。
  8. 根据权利要求7所述的基于车辆远程控制的应急驾驶系统，其特征在于，还包括：行车环境检测模块，所述行车环境检测模块用于获取所述受控车辆与所述目标跟随车辆之间的车距，所述控制模块在控制所述受控车辆行驶时，通过控制所述受控车辆的车速以将所述受控车辆与所述目标跟随车辆之间的车距维持为安全车距。
  9. 根据权利要求7所述的基于车辆远程控制的应急驾驶系统，其特征在于，所述控制模块还用于在所述受控车辆的前方不存在同向行驶的车辆，或者目标跟随车辆消失时，控制所述受控车辆低速行驶，并根据所述导航模块获取的所述受控车辆当前的地理位置信息判断所述受控车辆是否处于无信号区域，在所述受控车辆处于无信号区域时，持续控制所述受控车辆低速行驶，直至驶出所述无信号区域，在所述受控车辆未处于无信号区域时，根据所述导航模块获取的当前的地理位置信息选择合适的停车位置以靠边停车。
  10. 根据权利要求7所述的基于车辆远程控制的应急驾驶系统，其特征在于，还包括无线通信模块，在所述受控车辆靠边停车后，还通过所述无线通信模块发出求救信号。
  11. 一种车辆，其特征在于，包括根据权利要求6-10中任一项所述的基于车辆远程控制的应急驾驶系统。
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