WO2018019142A1 - 车辆的远程控制方法、系统、受控车辆及控制车辆 - Google Patents

车辆的远程控制方法、系统、受控车辆及控制车辆 Download PDF

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Publication number
WO2018019142A1
WO2018019142A1 PCT/CN2017/093045 CN2017093045W WO2018019142A1 WO 2018019142 A1 WO2018019142 A1 WO 2018019142A1 CN 2017093045 W CN2017093045 W CN 2017093045W WO 2018019142 A1 WO2018019142 A1 WO 2018019142A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
control
controlled
remote control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/093045
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English (en)
French (fr)
Inventor
郑博
尚小良
刘亮
刘恩阜
田旭东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BYD Co Ltd
Original Assignee
BYD Co Ltd
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Filing date
Publication date
Application filed by BYD Co Ltd filed Critical BYD Co Ltd
Publication of WO2018019142A1 publication Critical patent/WO2018019142A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/089—Driver voice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/21—Voice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to the field of vehicle technology, and in particular, to a remote control method for a vehicle, a remote control system for a vehicle, a controlled vehicle, and a control vehicle.
  • the current remote-controlled driving is mostly close-range remote control, mainly used for parking, etc.
  • remote remote-controlled driving is still in the concept stage, this technology can be used Long-distance driving for dangerous work vehicles, or long-distance driving for vehicles in harsh environments.
  • the purpose is to enable the user of the controlled vehicle to be separated from the active control, to achieve automatic control of the vehicle at the controlled end, in terms of technical difficulty, automatic driving
  • the implementation is more difficult, can adapt to the more general operating road conditions, and the operation is relatively simple. For some driving situations where the road conditions are more complicated or the situation is more dangerous, the automatic driving is powerless, and if the remote remote driving is experienced in the cloud, the driving operation of the controlled vehicle can be difficult, so that the remote driving More complex driving conditions than autonomous driving applications.
  • the present invention aims to solve at least one of the technical problems in the above-mentioned techniques to some extent.
  • one of the present invention The purpose is to propose a remote control method for the vehicle, which can greatly improve the convenience, accuracy and safety of the remote control of the vehicle.
  • a second object of the present invention is to provide a remote control system for a vehicle.
  • a third object of the invention is to propose a controlled vehicle.
  • a fourth object of the present invention is to provide a control vehicle.
  • a first aspect of the present invention provides a remote control method for a vehicle, the method comprising the steps of: establishing a remote control relationship between a control vehicle and a controlled vehicle; and the controlling vehicle receiving the receiving Controlling the driving environment and vehicle status information detected by the vehicle; the control vehicle simulates the driving environment and the vehicle state according to the driving environment and the vehicle state information of the controlled vehicle to obtain corresponding simulation information. And generating a remote control command based on the simulation information; the controlling vehicle transmitting the remote control command to the controlled vehicle to remotely control the controlled vehicle.
  • the controlled environment detects the driving environment and the vehicle state information, and transmits the driving environment and the vehicle state information to the control vehicle, and controls the vehicle according to the driving environment of the controlled vehicle.
  • the vehicle status information simulates the driving environment and the vehicle state to obtain corresponding simulation information, so as to generate a remote control command according to the simulation information, and control the vehicle to send the remote control command to the controlled vehicle to perform the controlled vehicle.
  • the control vehicle can receive and simulate the environment and state information of the more comprehensive controlled vehicle, so as to control the vehicle to perform more suitable control operations, thereby greatly improving the convenience, accuracy and safety of the vehicle remote control.
  • a second aspect of the present invention provides a remote control system for a vehicle, the system including a control vehicle and a controlled vehicle in which a remote control relationship is established, wherein the controlled vehicle is used to detect itself Driving environment and vehicle status information, and transmitting the driving environment and vehicle status information to the control vehicle; the control vehicle is configured to drive to the vehicle according to the driving environment and the vehicle status information of the controlled vehicle.
  • the environment and the vehicle state are simulated to obtain corresponding simulation information to generate a remote control command according to the simulation information, and send the remote control command to the controlled vehicle to remotely control the controlled vehicle .
  • the remote control system of the vehicle detects the driving environment and the vehicle state information of the controlled vehicle, and transmits the driving environment and the vehicle state information to the control vehicle to control the driving environment of the vehicle according to the controlled vehicle.
  • the vehicle status information simulates the driving environment and the vehicle state to obtain corresponding simulation information, so as to generate a remote control command according to the simulation information, and control the vehicle to send the remote control command to the controlled vehicle to perform the controlled vehicle. remote control.
  • the control vehicle can receive and simulate the environment and state information of the more comprehensive controlled vehicle, so as to control the vehicle to perform more suitable control operations, thereby greatly improving the convenience, accuracy and safety of the vehicle remote control.
  • a third aspect of the present invention provides a controlled vehicle, wherein the controlled vehicle Establishing a remote control relationship with the control vehicle, the controlled vehicle includes: a detection module, the detection module is configured to detect a driving environment and vehicle status information of the controlled vehicle; a first sending module, The first sending module is configured to send the driving environment and vehicle state information to the control vehicle; the first receiving module, in the control vehicle, according to the driving environment and the vehicle state information of the controlled vehicle The driving environment and the vehicle state are simulated to obtain corresponding simulation information, and after the remote control instruction is generated according to the simulation information, the first receiving module receives the remote control instruction; and the executing module is configured to execute The remote control command is to implement remote control of the controlled vehicle by the control vehicle.
  • the controlled vehicle according to the embodiment of the invention can send more comprehensive environmental and state information to the control vehicle, so as to control the vehicle to simulate the environment and state information, thereby performing more suitable control operations, which can greatly improve the convenience of remote control of the vehicle. Sex, accuracy and security.
  • a fourth aspect of the present invention provides a control vehicle, wherein a remote control relationship is established between the control vehicle and the controlled vehicle, the control vehicle comprising: a second receiving module, The second receiving module is configured to receive the driving environment and the vehicle state information of the controlled vehicle, and the simulation module is configured to use the driving environment and the vehicle state information of the controlled vehicle to control the driving environment of the vehicle The vehicle state is simulated to obtain corresponding simulation information to generate a remote control command according to the simulation information; and the second sending module is configured to send the remote control command to the controlled vehicle, In order to remotely control the controlled vehicle.
  • the vehicle according to the embodiment of the present invention can receive and simulate the environment and state information of a relatively comprehensive controlled vehicle, so as to perform more suitable control operations, thereby greatly improving the convenience, accuracy and safety of the vehicle remote control. .
  • FIG. 1 is a flow chart of a remote control method of a vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a remote control system of a vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a controlled vehicle seat according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a vehicle seat controlled according to an embodiment of the present invention.
  • FIG. 5 is a flow chart of a remote control method for a vehicle according to an embodiment of the present invention.
  • FIG. 6 is a block schematic diagram of a controlled vehicle in accordance with an embodiment of the present invention.
  • FIG. 7 is a block schematic diagram of a control vehicle in accordance with an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of information interaction in a remote control system of a vehicle according to an embodiment of the present invention.
  • FIG. 1 is a flow chart of a remote control method of a vehicle according to an embodiment of the present invention.
  • a remote control method for a vehicle includes the following steps:
  • both the control vehicle and the controlled vehicle have built-in wireless communication modules for accessing the wireless network for data transmission.
  • controlling the vehicle to receive a remote control request from the controlled vehicle controlling the vehicle to establish a remote control relationship between the controlled vehicle and the controlled vehicle after receiving the remote control request, or controlling
  • the vehicle transmits consent request information to the controlled vehicle, and the controlled vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle.
  • the wireless network may be a wireless network system such as WIFI (Wireless Fidelity) or 3G, 4G, 5G (third to fifth generation mobile communication). Both the control vehicle and the controlled vehicle can be remotely controlled and remotely controlled, and each has a complete set of remote control systems that can be matched to each other using uniform standards.
  • WIFI Wireless Fidelity
  • 3G, 4G, 5G third to fifth generation mobile communication
  • the controlled vehicle can be driven in accordance with the driving operation of the controlling vehicle.
  • the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle.
  • the somatosensory information may include in-cab sound information of the controlled vehicle, vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
  • the controlled vehicle may include a sound collection module, a vibration acquisition module, and an acceleration acquisition module integrated on the controlled vehicle seat, such that the controlled vehicle may pass the sound collection module.
  • the sound information in the cab is collected, and the vibration information of the driver's seat is collected by the vibration acquisition module, and the acceleration information of each direction of the driver's seat is collected by the acceleration acquisition module.
  • the control vehicle may include a sound simulation module, a vibration simulation module, and an acceleration simulation module integrated on the control vehicle seat, so that the control vehicle can be controlled and controlled by the sound simulation module.
  • the sound environment of the cab of the vehicle is obtained to obtain the simulation information of the cab in the vehicle, and the vibration simulation mode is adopted.
  • the block simulates vibration information of a driver's seat of the controlled vehicle to obtain vibration simulation information for controlling a driver's seat of the vehicle, and simulates acceleration information of each direction of the driver's seat of the controlled vehicle through an acceleration simulation module to obtain driving of the controlled vehicle Acceleration information for each direction of the seat.
  • the sound simulation module may be a speaker mounted on the back of the seat head
  • the vibration simulation module may be a vibration simulator installed at the bottom of the seat
  • the acceleration generation module may be a seat angle converter mounted at the bottom.
  • the speaker after receiving the sound information of the controlled vehicle, the speaker can emit the same sound as the controlled vehicle cab, imitating all the sound environments in the controlled vehicle cab.
  • the vibration simulator After receiving the vibration information of the controlled vehicle, the vibration simulator can generate the same vibration environment as the controlled vehicle driver feels.
  • the acceleration simulator can generate the acceleration of each direction of the seat by using the weight component through the seat tilt to simulate the acceleration environment of the controlled vehicle.
  • the driver controlling the vehicle can operate the control vehicle based on the simulated information to generate a remote control command for remotely controlling the controlled vehicle.
  • the controlled vehicle receives remote control commands and automatically controls them according to remote control commands.
  • the control vehicle and the controlled vehicle can release the remote control relationship and complete the entire remote control driving operation.
  • the controlled vehicle detects its own driving environment and vehicle state information, and transmits the driving environment and vehicle state information of the controlled vehicle to the control vehicle, and controls the vehicle according to the controlled
  • the driving environment and vehicle status information of the vehicle simulates the driving environment and the vehicle state to obtain corresponding simulation information, so as to generate remote control commands according to the simulation information, and control the vehicle to send the remote control command to the controlled vehicle, so as to
  • the controlled vehicle is remotely controlled.
  • the control vehicle can receive and simulate the environment and state information of the more comprehensive controlled vehicle, so as to control the vehicle to perform more suitable control operations, thereby greatly improving the convenience, accuracy and safety of the vehicle remote control.
  • the remote control method of the vehicle may include the following steps:
  • control vehicle may issue a control request to the controlled vehicle, and the controlled vehicle confirms the correct one-click authorization.
  • the controlled vehicle may issue a control invitation to the control vehicle to control the vehicle to confirm the correct one-key authorization, and the remote control relationship between the controlled vehicle and the controlled vehicle is formally established after one-key authorization.
  • the controlled vehicle driver activates the vehicle controlled button to authorize the vehicle to remotely control the vehicle.
  • S504 The controlled vehicle driver selects whether to stay in the vehicle according to the driving purpose or the driving situation, and the controlled vehicle sends an acknowledgment signal to the controlling vehicle when it is ready.
  • the authorized vehicle can be manually authorized to be ready; if the driver leaves the controlled vehicle, the controlled vehicle can automatically send a ready signal to the controlling vehicle according to a preset procedure.
  • the controlled vehicle transmits visual information and somatosensory information of the driver's seat of the controlled vehicle to the control vehicle in real time.
  • the controlled vehicle receives and executes the driving operation instruction in real time.
  • the present invention also proposes a remote control system for a vehicle.
  • a remote control system for a vehicle includes a control vehicle and a controlled vehicle that establish a remote control relationship.
  • the controlled vehicle is used for detecting the driving environment and the vehicle state information, and transmitting the driving environment and the vehicle state information to the control vehicle; the controlling vehicle is used to control the vehicle according to the driving environment and the vehicle state information of the controlled vehicle.
  • the driving environment and the vehicle state are simulated to obtain corresponding simulation information, so as to generate remote control commands according to the simulation information, and send the remote control commands to the controlled vehicle to remotely control the controlled vehicles.
  • both the control vehicle and the controlled vehicle have built-in wireless communication modules for accessing the wireless network for data transmission.
  • the controlled vehicle After controlling the vehicle and the controlled vehicle to access the wireless network, the controlled vehicle issues a remote control request to the control vehicle to control the vehicle to establish a remote control relationship between the controlled vehicle and the controlled vehicle after receiving the remote control request, or to control the vehicle
  • the consent request information is sent to the controlled vehicle, and the controlled vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle.
  • the wireless network can be a wireless network system such as WIFI, 3G, 4G, 5G.
  • WIFI wireless network system
  • 3G 3G
  • 4G 4G
  • 5G 5G
  • Both the control vehicle and the controlled vehicle have remote control and remotely controlled functions, and each has a complete set of remote control systems that can be matched to each other using uniform standards.
  • the controlled vehicle can be driven in accordance with the driving operation of the controlling vehicle.
  • the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle.
  • the somatosensory information may include in-cab sound information of the controlled vehicle, vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
  • the controlled vehicle may include a sound collection module, a vibration acquisition module, and an acceleration acquisition module integrated on the controlled vehicle seat, such that the controlled vehicle may pass the sound collection module.
  • Collecting drive The indoor sound information is taken, and the vibration information of the driver's seat is collected by the vibration collecting module, and the acceleration information of each direction of the driver's seat is collected by the acceleration collecting module.
  • the control vehicle may include a sound simulation module, a vibration simulation module, and an acceleration simulation module integrated on the control vehicle seat, so that the control vehicle can be controlled and controlled by the sound simulation module.
  • the cabin sound environment of the vehicle is obtained to obtain the cabin sound simulation information of the vehicle, and the vibration information of the driver seat of the controlled vehicle is simulated by the vibration simulation module to obtain vibration simulation information for controlling the driver's seat of the vehicle, and the acceleration simulation is performed.
  • the module simulates each direction of acceleration information of the driver's seat of the controlled vehicle to obtain simulation information for each direction of acceleration of the driver's seat of the vehicle.
  • the sound simulation module may be a speaker mounted on the back of the seat head
  • the vibration simulation module may be a vibration simulator installed at the bottom of the seat
  • the acceleration generation module may be a seat angle converter mounted at the bottom.
  • the speaker after receiving the sound information of the controlled vehicle, the speaker can emit the same sound as the controlled vehicle cab, imitating all the sound environments in the controlled vehicle cab.
  • the vibration simulator After receiving the vibration information of the controlled vehicle, the vibration simulator can generate the same vibration environment as the controlled vehicle driver feels.
  • the acceleration simulator can generate the acceleration of each direction of the seat by using the weight component through the seat tilt to simulate the acceleration environment of the controlled vehicle.
  • the driver controlling the vehicle can operate the control vehicle based on the simulated information to generate a remote control command for remotely controlling the controlled vehicle.
  • the controlled vehicle receives remote control commands and automatically controls them according to remote control commands.
  • the control vehicle and the controlled vehicle can release the remote control relationship and complete the entire remote control driving operation.
  • the remote control system of the vehicle detects the driving environment and the vehicle state information of the controlled vehicle by the controlled vehicle, and transmits the driving environment and the vehicle state information of the controlled vehicle to the control vehicle, and controls the vehicle according to the controlled
  • the driving environment and vehicle status information of the vehicle simulates the driving environment and the vehicle state to obtain corresponding simulation information, so as to generate remote control commands according to the simulation information, and control the vehicle to send the remote control command to the controlled vehicle, so as to
  • the controlled vehicle is remotely controlled.
  • the control vehicle can receive and simulate the environment and state information of the more comprehensive controlled vehicle, so as to control the vehicle to perform more suitable control operations, thereby greatly improving the convenience, accuracy and safety of the vehicle remote control.
  • the present invention also proposes a controlled vehicle.
  • a remote control relationship is established between the controlled vehicle and the control vehicle.
  • the controlled vehicle 10 of the embodiment of the present invention includes a detecting module 11, a first transmitting module 12, a first receiving module 13, and an executing module 14.
  • the detecting module 11 is configured to detect the driving environment and the vehicle state information of the controlled vehicle 10; the first sending The module 12 is configured to send the driving environment and the vehicle state information to the control vehicle; the control vehicle simulates the driving environment and the vehicle state according to the driving environment and the vehicle state information of the controlled vehicle 10 to obtain corresponding simulation information.
  • the first receiving module 13 receives the remote control command; the executing module 14 is configured to execute the remote control command to control the remote control of the controlled vehicle 10 by the vehicle.
  • the driving environment and vehicle status information of the controlled vehicle 10 may include visual information and somatosensory information of the driver's seat of the controlled vehicle 10.
  • the somatosensory information may include in-cab sound information of the controlled vehicle 10, vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
  • the detecting module 11 may include a sound collecting module, a vibration collecting module and an acceleration collecting module integrated on the seat of the controlled vehicle 10, so that the detecting module 11 can collect the sound information in the cab through the sound collecting module. And collecting vibration information of the driver seat through the vibration acquisition module, and collecting acceleration information of each direction of the driver seat through the acceleration collection module.
  • the controlled vehicle according to the embodiment of the invention can send more comprehensive environmental and state information to the control vehicle, so as to control the vehicle to simulate the environment and state information, thereby performing more suitable control operations, which can greatly improve the convenience of remote control of the vehicle. Sex, accuracy and security.
  • the present invention also proposes a control vehicle.
  • a remote control relationship is established between the control vehicle and the controlled vehicle.
  • control vehicle 20 of the embodiment of the present invention includes a second receiving module 21, an analog module 22, and a second transmitting module 23.
  • the second receiving module 21 is configured to receive the driving environment and the vehicle state information of the controlled vehicle.
  • the simulation module 22 is configured to simulate the driving environment and the vehicle state according to the driving environment and the vehicle state information of the controlled vehicle. Corresponding analog information is obtained to generate remote control commands based on the analog information; the second transmitting module 23 is configured to transmit the remote control commands to the controlled vehicle for remote control of the controlled vehicle.
  • the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle.
  • the somatosensory information may include in-cab sound information of the controlled vehicle, vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
  • the simulation module 22 may include a sound simulation module, a vibration simulation module, and an acceleration simulation module integrated on the seat of the control vehicle 20, wherein the sound simulation module is used to simulate Controlling the in-vehicle sound environment of the vehicle to obtain in-cab sound simulation information of the control vehicle 20, the vibration simulation module is configured to simulate vibration information of the driver's seat of the controlled vehicle to obtain vibration simulation information for controlling the driver's seat of the vehicle 20, acceleration The simulation module is used to simulate each direction acceleration information of the driver's seat of the controlled vehicle to obtain each direction acceleration simulation information that controls the driver's seat of the vehicle 20.
  • a vehicle controlled according to an embodiment of the present invention is capable of receiving and simulating a more comprehensive environment and state of a controlled vehicle Information for more appropriate control operations, which can greatly improve the convenience, accuracy and safety of remote control of the vehicle.
  • the transmission of information, instructions, and the like can be referred to FIG. 8, and the direction of the arrow in the figure can indicate the transmission direction of information, instructions, and the like.
  • the direction of the arrow in the figure can indicate the transmission direction of information, instructions, and the like.
  • 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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Abstract

一种车辆的远程控制方法、系统、受控车辆（10）及控制车辆（20），该方法包括以下步骤：建立控制车辆（20）与受控车辆（10）之间的远程控制关系；控制车辆（20）接收受控车辆（10）所检测的自身的行车环境及整车状态信息；控制车辆（20）根据受控车辆（10）的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令；控制车辆（20）将远程控制指令发送至受控车辆（10），以对受控车辆（10）进行远程控制，从而能够大大提高车辆远程控制的方便性、准确性和安全性。

Description

车辆的远程控制方法、系统、受控车辆及控制车辆
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“车辆的远程控制方法、系统、受控车辆及控制车辆”的、中国专利申请号“201610617276.3”的优先权。
技术领域
本发明涉及车辆技术领域，特别涉及一种车辆的远程控制方法、一种车辆的远程控制系统、一种受控车辆以及一种控制车辆。
背景技术
汽车工业的发展已经有一百多年的历史，在人类历史长河中仅可以算作短短的一瞬间，但是整个行业已经表现出创新疲乏的态势。随着互联网和通讯技术的极大进步，围绕“自动驾驶”这一新技术而产生的创新力又给疲乏的汽车工业注入了一剂强心剂。自动驾驶汽车依靠人工智能、视觉计算、雷达、监控装置和全球定位系统协同工作，使电脑可以在没有任何人类的主动操作情况下，主动安全的驾驶。除了自动驾驶，其他技术如“遥控驾驶”也已经在研究之中，目前的遥控驾驶多是近距离遥控，主要用作泊车等，远距离遥控驾驶尚处在构想阶段，此种技术可以用作危险作业车辆的远距离驾驶，或者恶劣环境车辆的远距离驾驶等等。
无论以电脑为操控中心的自动驾驶还是以云端控制远距离遥控驾驶，目的都是使被控制车辆的用户从主动操控中脱离出来，实现被控端车辆的自动操控，以技术难度讲，自动驾驶的实现难度较高，可以适应较为一般的操作路况，实现的操作较为简单。对于一些路况较复杂或者情景较危险的驾驶环境，自动驾驶就显得无能为力，而远距离遥控驾驶如果在云端有经验十足的驾驶员，可以实现被控车辆难度较高的驾驶操作，从而使遥控驾驶比自动驾驶应用到更多更复杂的驾驶路况中。
然而，在目前的遥控驾驶的实施方案中，控制的方便性和准确性还不够高，并且遥控驾驶的安全性也较差。
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 目的在于提出一种车辆的远程控制方法，能够大大提高车辆远程控制的方便性、准确性和安全性。
本发明的第二个目的在于提出一种车辆的远程控制系统。
本发明的第三个目的在于提出一种受控车辆。
本发明的第四个目的在于提出一种控制车辆。
为达到上述目的，本发明第一方面实施例提出了一种车辆的远程控制方法，该方法包括以下步骤：建立控制车辆与受控车辆之间的远程控制关系；所述控制车辆接收所述受控车辆所检测的自身的行车环境及整车状态信息；所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；所述控制车辆将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。
根据本发明实施例的车辆的远程控制方法，通过受控车辆检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
为达到上述目的，本发明第二方面实施例提出了一种车辆的远程控制系统，该系统包括建立了远程控制关系的控制车辆和受控车辆，其中，所述受控车辆用于检测自身的行车环境及整车状态信息，并将所述行车环境及整车状态信息发送至所述控制车辆；所述控制车辆用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令，并将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。
根据本发明实施例的车辆的远程控制系统，通过受控车辆检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
为达到上述目的，本发明第三方面实施例提出了一种受控车辆，其中，所述受控车辆 与控制车辆之间建立有远程控制关系，所述受控车辆包括：检测模块，所述检测模块用于检测所述受控车辆自身的行车环境及整车状态信息；第一发送模块，所述第一发送模块用于将所述行车环境及整车状态信息发送至所述控制车辆；第一接收模块，在所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，并根据所述模拟信息生成远程控制指令后，所述第一接收模块接收所述远程控制指令；执行模块，所述执行模块用于执行所述远程控制指令，以实现所述控制车辆对所述受控车辆的远程控制。
根据本发明实施例的受控车辆，能够向控制车辆发送较为全面的环境和状态信息，以便控制车辆对环境和状态信息进行模拟，从而进行更加适宜的控制操作，能够大大提高车辆远程控制的方便性、准确性和安全性。
为达到上述目的，本发明第四方面实施例提出了一种控制车辆，其中，所述控制车辆与受控车辆之间建立有远程控制关系，所述控制车辆包括：第二接收模块，所述第二接收模块用于接收所述受控车辆的行车环境及整车状态信息；模拟模块，所述模拟模块用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；第二发送模块，所述第二发送模块用于将所述远程控制指令发送至所述受控车辆，以便对所述受控车辆进行远程控制。
根据本发明实施例的控制车辆，能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
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车辆的远程控制方法流程图；
图2为根据本发明一个实施例的车辆的远程控制系统的结构示意图；
图3为根据本发明一个实施例的受控车辆座椅的结构示意图；
图4为根据本发明一个实施例的控制车辆座椅的结构示意图；
图5为根据本发明一个具体实施例的车辆的远程控制方法流程图；
图6为根据本发明实施例的受控车辆的方框示意图；
图7为根据本发明实施例的控制车辆的方框示意图；
图8为根据本发明一个实施例的车辆的远程控制系统中的信息交互示意图。
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车辆的远程控制方法、系统、受控车辆及控制车辆。
图1为根据本发明实施例的车辆的远程控制方法流程图。
如图1所示，本发明实施例的车辆的远程控制方法，包括以下步骤：
S1，建立控制车辆与受控车辆之间的远程控制关系。
在本发明的一个实施例中，如图2所示，控制车辆与受控车辆都内置有无线通信模块，以便接入无线网络进行数据传输。控制车辆与受控车辆接入无线网络后，控制车辆接收受控车辆发出的远程控制请求，控制车辆在接收到远程控制请求后建立控制车辆与受控车辆之间的远程控制关系，或者，控制车辆在接收到远程控制请求后向受控车辆发送同意请求信息，由受控车辆建立控制车辆与受控车辆之间的远程控制关系。
其中，无线网路可以是WIFI(Wireless Fidelity，无线保真)或3G、4G、5G(第三至第五代移动通信)等无线网络系统。控制车辆与受控车辆都可具有远程控制和远程受控的功能，并且都拥有一套完整的采用统一标准能够相互匹配的远程控制系统。
在建立了远程控制关系，并约定了受控车辆的驾驶目的地或者驾驶意图后，受控车辆可按照控制车辆的驾驶操作进行驾驶。
S2，控制车辆接收受控车辆所检测的自身的行车环境及整车状态信息。
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
在本发明的一个实施例中，如图3所示，受控车辆可包括集成在受控车辆座椅上的声音采集模块、振动采集模块和加速度采集模块，从而受控车辆可通过声音采集模块采集驾驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。
S3，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令。
在本发明的一个实施例中，如图4所示，控制车辆可包括集成在控制车辆座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，从而控制车辆可通过声音模拟模块模拟受控车辆的驾驶室内声音环境以获得控制车辆的驾驶室内声音模拟信息，并通过振动模拟模 块模拟受控车辆的驾驶员座位的振动信息以获得控制车辆的驾驶员座位的振动模拟信息，以及通过加速度模拟模块模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆的驾驶员座位的每个方向加速度模拟信息。
具体地，声音模拟模块可为安装在座椅头部靠背的扬声器，振动模拟模块可为安装在座椅底部的振动模拟器，加速度发生模块可为安装在底部的座椅角度变换器。其中，扬声器在收到受控车辆的声音信息后，可发出与受控车辆驾驶室内相同的声音，模仿受控车辆驾驶室内的一切声音环境。振动模拟器在接收到受控车辆的振动信息后，可产生与受控车辆驾驶员所感受到的相同的振动环境。加速度模拟器在接收到受控车辆的加速度信息后，可通过座椅倾斜，利用重量分量产生座椅各个方向的加速度，以模拟受控车辆的加速度环境。
控制车辆在获得模拟信息后，控制车辆的驾驶员可根据模拟信息对控制车辆进行操作，从而生成对受控车辆进行远程控制的远程控制指令。
S4，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。
受控车辆接收远程控制指令，并根据远程控制指令进行自动操控。
在受控车辆到达目的地或者已经达到预期的驾驶目的后，控制车辆和受控车辆可以解除远程控制关系，完成整个远程控制驾驶操作。
根据本发明实施例的车辆的远程控制方法，通过受控车辆检测自身的行车环境及整车状态信息，并将受控车辆的行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
在本发明的一个具体实施例中，如图5所示，车辆的远程控制方法可包括以下步骤：
S501，控制车辆与受控车辆接入无线网络。
S502，控制车辆或受控车辆授权建立远程控制关系。
具体地，控制车辆可向受控车辆发出控制请求，受控车辆确认无误后一键授权。或者，受控车辆可向控制车辆发出控制邀请，控制车辆确认无误后一键授权，一键授权后控制车辆与受控车辆的远程控制关系正式建立。
S503，受控车辆驾驶员启动车辆被控按钮，授权控制车辆对其远程操控。
S504，受控车辆驾驶员根据驾驶目的或者驾驶情景选择是否留在车内，受控车辆在准备好后向控制车辆发送确认信号。
如果驾驶员留在车内，可以手动授权受控车辆已经准备好；如果驾驶员离开受控车辆，受控车辆可根据预先设定程序自动向控制车辆发出准备好的信号。
S505，受控车辆将受控车辆的驾驶员座位的视觉信息和体感信息实时发送给控制车辆。
S506，控制车辆对视觉信息和体感信息进行模拟，并将模拟结果传达给控制车辆的驾驶员。
S507，控制车辆的驾驶员感知到受控车辆的信息以后，根据驾驶经验发出相应的驾驶操作指令。
S508，受控车辆实时接收并执行驾驶操作指令。
S509，控制车辆或受控车辆结束远程控制。远程控制操作完成后，控制车辆或者受控车辆在按下一键授权/终止按钮即可结束远程控制。
为实现上述实施例的车辆的远程控制方法，本发明还提出一种车辆的远程控制系统。
参照图2，本发明实施例的车辆的远程控制系统，包括建立了远程控制关系的控制车辆和受控车辆。
其中，受控车辆用于检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆；控制车辆用于根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，并将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。
在本发明的一个实施例中，控制车辆与受控车辆都内置有无线通信模块，以便接入无线网络进行数据传输。控制车辆与受控车辆接入无线网络后，受控车辆向控制车辆发出远程控制请求，控制车辆在接收到远程控制请求后建立控制车辆与受控车辆之间的远程控制关系，或者，控制车辆在接收到远程控制请求后向受控车辆发送同意请求信息，由受控车辆建立控制车辆与受控车辆之间的远程控制关系。
其中，无线网路可以是WIFI，3G，4G，5G等无线网络系统。控制车辆与受控车辆都具有远程控制和远程受控的功能，并且都拥有一套完整的采用统一标准能够相互匹配的远程控制系统。
在建立了远程控制关系，并约定了受控车辆的驾驶目的地或者驾驶意图后，受控车辆可按照控制车辆的驾驶操作进行驾驶。
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
在本发明的一个实施例中，如图3所示，受控车辆可包括集成在受控车辆座椅上的声音采集模块、振动采集模块和加速度采集模块，从而受控车辆可通过声音采集模块采集驾 驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。
在本发明的一个实施例中，如图4所示，控制车辆可包括集成在控制车辆座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，从而控制车辆可通过声音模拟模块模拟受控车辆的驾驶室内声音环境以获得控制车辆的驾驶室内声音模拟信息，并通过振动模拟模块模拟受控车辆的驾驶员座位的振动信息以获得控制车辆的驾驶员座位的振动模拟信息，以及通过加速度模拟模块模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆的驾驶员座位的每个方向加速度模拟信息。
具体地，声音模拟模块可为安装在座椅头部靠背的扬声器，振动模拟模块可为安装在座椅底部的振动模拟器，加速度发生模块可为安装在底部的座椅角度变换器。其中，扬声器在收到受控车辆的声音信息后，可发出与受控车辆驾驶室内相同的声音，模仿受控车辆驾驶室内的一切声音环境。振动模拟器在接收到受控车辆的振动信息后，可产生与受控车辆驾驶员所感受到的相同的振动环境。加速度模拟器在接收到受控车辆的加速度信息后，可通过座椅倾斜，利用重量分量产生座椅各个方向的加速度，以模拟受控车辆的加速度环境。
控制车辆在获得模拟信息后，控制车辆的驾驶员可根据模拟信息对控制车辆进行操作，从而生成对受控车辆进行远程控制的远程控制指令。
受控车辆接收远程控制指令，并根据远程控制指令进行自动操控。
在受控车辆到达目的地或者已经达到预期的驾驶目的后，控制车辆和受控车辆可以解除远程控制关系，完成整个远程控制驾驶操作。
根据本发明实施例的车辆的远程控制系统，通过受控车辆检测自身的行车环境及整车状态信息，并将受控车辆的行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
对应上述实施例，本发明还提出一种受控车辆。
其中，受控车辆与控制车辆之间建立有远程控制关系。
如图6所示，本发明实施例的受控车辆10包括检测模块11、第一发送模块12、第一接收模块13和执行模块14。
其中，检测模块11用于检测受控车辆10自身的行车环境及整车状态信息；第一发送 模块12用于将行车环境及整车状态信息发送至控制车辆；在控制车辆根据受控车辆10的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，并根据模拟信息生成远程控制指令后，第一接收模块13接收远程控制指令；执行模块14用于执行远程控制指令，以实现控制车辆对受控车辆10的远程控制。
在本发明的一个实施例中，受控车辆10的行车环境及整车状态信息可包括受控车辆10的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆10的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
在本发明的一个实施例中，检测模块11可包括集成在受控车辆10座椅上的声音采集模块、振动采集模块和加速度采集模块，从而检测模块11可通过声音采集模块采集驾驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。
根据本发明实施例的受控车辆，能够向控制车辆发送较为全面的环境和状态信息，以便控制车辆对环境和状态信息进行模拟，从而进行更加适宜的控制操作，能够大大提高车辆远程控制的方便性、准确性和安全性。
对应上述实施例，本发明还提出一种控制车辆。
其中，控制车辆与受控车辆之间建立有远程控制关系。
如图7所示，本发明实施例的控制车辆20包括第二接收模块21、模拟模块22和第二发送模块23。
其中，第二接收模块21用于接收受控车辆的行车环境及整车状态信息；模拟模块22用于根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令；第二发送模块23用于将远程控制指令发送至受控车辆，以便对受控车辆进行远程控制。
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
在本发明的一个实施例中，如图4所示，模拟模块22可包括集成在控制车辆20座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，其中，声音模拟模块用于模拟受控车辆的驾驶室内声音环境以获得控制车辆20的驾驶室内声音模拟信息，振动模拟模块用于模拟受控车辆的驾驶员座位的振动信息以获得控制车辆20的驾驶员座位的振动模拟信息，加速度模拟模块用于模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆20的驾驶员座位的每个方向加速度模拟信息。
根据本发明实施例的控制车辆，能够接收并模拟出较为全面的受控车辆的环境和状态 信息，以便进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。
此外，在包括了控制车辆20和受控车辆10的远程控制系统中，信息和指令等的传输可参照图8，图中箭头的方向可表示信息和指令等的传输方向。具体的信息和指令等的传输方式可参照上述的多个实施例，在此不再赘述。
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 (17)

  1. 一种车辆的远程控制方法，其特征在于，包括以下步骤：
    建立控制车辆与受控车辆之间的远程控制关系；
    所述控制车辆接收所述受控车辆所检测的自身的行车环境及整车状态信息；
    所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；
    所述控制车辆将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。
  2. 根据权利要求1所述的车辆的远程控制方法，其特征在于，所述受控车辆的行车环境及整车状态信息包括所述受控车辆的驾驶员座位的视觉信息和体感信息。
  3. 根据权利要求2所述的车辆的远程控制方法，其特征在于，所述体感信息包括所述受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
  4. 根据权利要求3所述的车辆的远程控制方法，其特征在于，所述控制车辆通过声音模拟模块模拟所述受控车辆的驾驶室内声音环境以获得所述控制车辆的驾驶室内声音模拟信息，并通过振动模拟模块模拟所述受控车辆的驾驶员座位的振动信息以获得所述控制车辆的驾驶员座位的振动模拟信息，以及通过加速度模拟模块模拟所述受控车辆的驾驶员座位的每个方向加速度信息以获得所述控制车辆的驾驶员座位的每个方向加速度模拟信息。
  5. 根据权利要求1-4任一项所述的车辆的远程控制方法，其特征在于，所述建立控制车辆与受控车辆之间的远程控制关系，包括：
    所述控制车辆与所述受控车辆接入无线网络后，所述控制车辆接收所述受控车辆发出的远程控制请求；
    所述控制车辆在接收到所述远程控制请求后建立所述控制车辆与所述受控车辆之间的远程控制关系，或者，所述控制车辆在接收到所述远程控制请求后向所述受控车辆发送同意请求信息，由所述受控车辆建立所述控制车辆与所述受控车辆之间的远程控制关系。
  6. 一种车辆的远程控制系统，其特征在于，包括建立了远程控制关系的控制车辆和受控车辆，其中，
    所述受控车辆用于检测自身的行车环境及整车状态信息，并将所述行车环境及整车状态信息发送至所述控制车辆；
    所述控制车辆用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令，并 将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。
  7. 根据权利要求6所述的车辆的远程控制系统，其特征在于，所述受控车辆的行车环境及整车状态信息包括所述受控车辆的驾驶员座位的视觉信息和体感信息。
  8. 根据权利要求7所述的车辆的远程控制系统，其特征在于，所述体感信息包括所述受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
  9. 根据权利要求8所述的车辆的远程控制系统，其特征在于，所述控制车辆包括声音模拟模块、振动模拟模块和加速度模拟模块，所述控制车辆通过所述声音模拟模块模拟所述受控车辆的驾驶室内声音环境以获得所述控制车辆的驾驶室内声音模拟信息，并通过所述振动模拟模块模拟所述受控车辆的驾驶员座位的振动信息以获得所述控制车辆的驾驶员座位的振动模拟信息，以及通过所述加速度模拟模块模拟所述受控车辆的驾驶员座位的每个方向加速度信息以获得所述控制车辆的驾驶员座位的每个方向加速度模拟信息。
  10. 根据权利要求6-9任一项所述的车辆的远程控制系统，其特征在于，所述控制车辆与所述受控车辆接入无线网络后，所述受控车辆向所述控制车辆发出远程控制请求，所述控制车辆在接收到所述远程控制请求后建立所述控制车辆与所述受控车辆之间的远程控制关系，或者，所述控制车辆在接收到所述远程控制请求后向所述受控车辆发送同意请求信息，由所述受控车辆建立所述控制车辆与所述受控车辆之间的远程控制关系。
  11. 一种受控车辆，其特征在于，所述受控车辆与控制车辆之间建立有远程控制关系，所述受控车辆包括：
    检测模块，所述检测模块用于检测所述受控车辆自身的行车环境及整车状态信息；
    第一发送模块，所述第一发送模块用于将所述行车环境及整车状态信息发送至所述控制车辆；
    第一接收模块，在所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，并根据所述模拟信息生成远程控制指令后，所述第一接收模块接收所述远程控制指令；
    执行模块，所述执行模块用于执行所述远程控制指令，以实现所述控制车辆对所述受控车辆的远程控制。
  12. 根据权利要求11所述的受控车辆，其特征在于，所述受控车辆的行车环境及整车状态信息包括所述受控车辆的驾驶员座位的视觉信息和体感信息。
  13. 根据权利要求12所述的受控车辆，其特征在于，所述体感信息包括所述受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
  14. 一种控制车辆，其特征在于，所述控制车辆与受控车辆之间建立有远程控制关系， 所述控制车辆包括：
    第二接收模块，所述第二接收模块用于接收所述受控车辆的行车环境及整车状态信息；
    模拟模块，所述模拟模块用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；
    第二发送模块，所述第二发送模块用于将所述远程控制指令发送至所述受控车辆，以便对所述受控车辆进行远程控制。
  15. 根据权利要求14所述的控制车辆，其特征在于，所述受控车辆的行车环境及整车状态信息包括所述受控车辆的驾驶员座位的视觉信息和体感信息。
  16. 根据权利要求15所述的控制车辆，其特征在于，所述体感信息包括所述受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。
  17. 根据权利要求16所述的控制车辆，其特征在于，所述模拟模块包括声音模拟模块、振动模拟模块和加速度模拟模块，其中，
    所述声音模拟模块用于模拟所述受控车辆的驾驶室内声音环境以获得所述控制车辆的驾驶室内声音模拟信息，所述振动模拟模块用于模拟所述受控车辆的驾驶员座位的振动信息以获得所述控制车辆的驾驶员座位的振动模拟信息，所述加速度模拟模块用于模拟所述受控车辆的驾驶员座位的每个方向加速度信息以获得所述控制车辆的驾驶员座位的每个方向加速度模拟信息。
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