WO2021159346A1 - 无人驾驶汽车的远程接管系统和方法、电子设备、存储介质 - Google Patents

无人驾驶汽车的远程接管系统和方法、电子设备、存储介质 Download PDF

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Publication number
WO2021159346A1
WO2021159346A1 PCT/CN2020/074942 CN2020074942W WO2021159346A1 WO 2021159346 A1 WO2021159346 A1 WO 2021159346A1 CN 2020074942 W CN2020074942 W CN 2020074942W WO 2021159346 A1 WO2021159346 A1 WO 2021159346A1
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remote control
remote
middleware
control instruction
network
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PCT/CN2020/074942
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English (en)
French (fr)
Inventor
钱思维
庄尚芸
张翼
刘念邱
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深圳元戎启行科技有限公司
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Priority to CN202080007604.2A priority Critical patent/CN113260938B/zh
Priority to PCT/CN2020/074942 priority patent/WO2021159346A1/zh
Publication of WO2021159346A1 publication Critical patent/WO2021159346A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network

Definitions

  • This application relates to the field of unmanned driving technology, in particular to an unmanned vehicle remote takeover system and method, electronic equipment, and storage medium.
  • Unmanned driving technology uses on-board sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle based on the road, vehicle location, and obstacle information obtained from the perception, so that the vehicle can safely and reliably drive on the road.
  • the driverless car encounters some emergencies or system problems, it is very important to take over the driverless car remotely in time to ensure the safety of the driverless car itself and the safety of related personnel.
  • the traditional remote takeover method for driverless cars has poor real-time performance and stability, and cannot take over remotely for driverless cars in time.
  • a remote takeover system for driverless cars includes:
  • the network middleware is used to receive the remote control instruction sent by the remote control terminal, and send the remote control instruction to the remote calling module through the universal network interface;
  • the remote invocation module is used to receive the remote control instruction sent by the network middleware, and invoke the vehicle driving module according to the remote control instruction;
  • the vehicle driving module is used to call the system middleware according to the remote control instruction
  • the system middleware is used to call the interface of the embedded operating system according to the remote control instruction
  • the embedded operating system is used to send the remote control instruction to the hardware device through the interface of the embedded operating system, so that the hardware device executes the remote control instruction to remotely take over the driverless car.
  • it further includes:
  • the status reporting module is used to receive the car status information sent by the vehicle driving module and the system status information sent by the system middleware, and report the car status information and system status information to the remote through the network middleware
  • the control terminal so that the remote control terminal sends a remote control instruction according to the car state information and the system state information.
  • the network middleware is further configured to provide the universal network interface based on the embedded operating system and the network protocol stack, so that the status reporting module can connect all data through the universal network interface.
  • the vehicle status information and system status information are reported to the remote control terminal.
  • the embedded operating system is also used to obtain the execution result of the control instruction from the hardware device, call the interface of the system middleware, and feed the execution result back to the vehicle driving module ;
  • the vehicle driving module is further configured to receive the execution result, and feed back the execution result to the network middleware through the remote calling module;
  • the network middleware is also used for receiving the execution result, and feeding back the execution result to the remote control terminal.
  • the remote control terminal includes a control center and a monitoring center, and the control center is used to send remote control instructions and receive feedback from the network middleware according to the vehicle status information and system status information.
  • the execution result of the remote control instruction is used to send remote control instructions and receive feedback from the network middleware according to the vehicle status information and system status information.
  • the monitoring center is used to receive the vehicle state information and system state information reported by the network middleware, and send the vehicle state information and system state information to the control center.
  • the network protocol stack includes an embedded TCP/IP network protocol stack.
  • the embedded operating system includes embedded Linux, FreeRTOS, and RT-Thread.
  • a remote takeover method for an unmanned vehicle is applied to a remote takeover system for an unmanned vehicle.
  • the system includes a network middleware, a remote call module, a vehicle driving module, a system middleware, and an embedded operating system, including:
  • the remote control instruction is sent to a hardware device through the interface of the embedded operating system, so that the hardware device executes the remote control instruction to remotely take over the driverless car.
  • system further includes a status reporting module
  • method further includes:
  • the method further includes:
  • the remote control terminal Provide the universal network interface based on the embedded operating system and the network protocol stack through the network middleware, so that the status reporting module reports the vehicle status information and system status information to all the vehicles through the universal network interface.
  • the remote control terminal Provide the universal network interface based on the embedded operating system and the network protocol stack through the network middleware, so that the status reporting module reports the vehicle status information and system status information to all the vehicles through the universal network interface.
  • the method further includes:
  • the execution result is received through the network middleware, and the execution result is fed back to the remote control terminal.
  • the remote control terminal includes a control center and a monitoring center, and the method further includes:
  • the monitoring center receives the vehicle state information and system state information reported by the network middleware, and sends the vehicle state information and system state information to the control center.
  • An electronic device includes a memory and a processor, and a computer program is stored in the memory.
  • the processor executes the steps of the above method.
  • the remote takeover system, method, electronic equipment, and storage medium of the above-mentioned unmanned vehicle wherein the system includes network middleware, which is used to receive remote control instructions sent by the remote control terminal, and send the remote control instructions to the remote call through a universal network interface Module; remote calling module, used to receive remote control instructions sent by the network middleware, according to the remote control instructions to call the vehicle driving module; vehicle driving module, used to call the system middleware according to the remote control instructions; system middleware, used according to the remote The control instruction calls the interface of the embedded operating system; the embedded operating system is used to send remote control instructions to the hardware device through the interface of the embedded operating system, so that the hardware device executes the remote control instruction to remotely take over the driverless car.
  • network middleware which is used to receive remote control instructions sent by the remote control terminal, and send the remote control instructions to the remote call through a universal network interface Module
  • remote calling module used to receive remote control instructions sent by the network middleware, according to the remote control instructions to call the vehicle driving module
  • vehicle driving module used to
  • the remote takeover system based on the embedded operating system has the characteristics of low development cost, low maintenance cost, fast response speed, high stability, and low power consumption of the embedded operating system.
  • the network middleware can adapt to the diversity of the underlying hardware and the underlying network equipment
  • the remote calling module it can be adapted to the object-oriented and abstract vehicle driving module
  • the system middleware the embedded operating system can be encapsulated for the upper layer to access.
  • Provide a common interface In this way, the real-time performance and stability of the remote takeover system of the driverless car are improved, and the cost and power consumption are reduced, thereby increasing the efficiency.
  • Figure 1 is a schematic diagram of an application environment of a remote takeover system for an unmanned car in an embodiment
  • Figure 2 is an architecture diagram of a remote takeover system for an unmanned car in an embodiment
  • Figure 3 is an architecture diagram of a remote takeover system for an unmanned car in another embodiment
  • Figure 4 is an architecture diagram of a remote takeover system for an unmanned car in a specific embodiment
  • Fig. 5 is a flowchart of a remote takeover method of an unmanned car in an embodiment
  • Fig. 6 is a flowchart of a remote takeover method of an unmanned car in an embodiment
  • Fig. 7 is a schematic diagram of the internal structure of an electronic device in an embodiment.
  • the application environment includes a car 120 and a server 140, and the car 120 and the server 140 are connected through a network.
  • the remote takeover system of the driverless car runs on the on-board control device of the car 120 or on the on-board computer 122, which can receive the remote control instructions sent by the remote control terminal through the network middleware, and send the remote control instructions through the universal network interface.
  • the remote call module receive the remote control command sent by the network middleware through the remote call module, call the vehicle driving module according to the remote control command; call the system middleware through the vehicle driving module according to the remote control command; call the system middleware according to the remote control command through the system middleware
  • the interface of the embedded operating system; the remote control instruction is sent to the hardware device through the interface of the embedded operating system, so that the hardware device can execute the remote control instruction to take over the driverless car remotely.
  • the car 120 can be an unmanned car or a manned car, and the car here can also be replaced by a warehouse forklift, an excavator, and the like.
  • the remote takeover system of this application is applicable to situations where an unmanned vehicle needs to initiate a remote takeover under certain special circumstances, and it can also be a situation where a manned vehicle needs to initiate a remote takeover under certain special circumstances.
  • FIG. 2 is an architecture diagram of a remote takeover system for an unmanned vehicle in an embodiment.
  • the remote takeover system 200 for an unmanned vehicle includes a network middleware 210, a remote calling module 230, a vehicle driving module 250, System middleware 270 and embedded operating system 290.
  • the network middleware 210 is used to receive the remote control instruction sent by the remote control terminal, and send the remote control instruction to the remote calling module through a universal network interface.
  • General network middleware based on embedded operating system and vehicle hardware equipment control. It has the characteristics of strong versatility, small size, high real-time performance, high throughput, and low power consumption. It can run on embedded Linux, FreeRTOS, RT- Thread and other real-time embedded operating systems.
  • the remote control instruction may be a remote control instruction directly calculated by the server, or a remote control instruction issued by a security officer operating an unmanned vehicle, and sent by the server to the unmanned vehicle.
  • the remote calling module 230 is used for receiving remote control instructions sent by the network middleware, and calling the vehicle driving module according to the remote control instructions.
  • the remote call module based on the vehicle driving module and network middleware has the characteristics of standardization and agreement. It is the top layer of the embedded software system architecture. The cloud realizes remote takeover through the interface of the remote call module.
  • the vehicle driving module 250 is used to call the system middleware according to the remote control instruction.
  • the vehicle driving module based on the system middleware has the characteristics of encapsulation, low coupling and modularization.
  • the system middleware 270 is used to call the interface of the embedded operating system according to the remote control instruction.
  • General system middleware based on real-time embedded operating system and vehicle hardware equipment control. It has the characteristics of strong versatility, small size, tailorability, high real-time performance, and low power consumption. It can run on embedded Linux, FreeRTOS, RT-Thread Wait for real-time embedded operating system.
  • the embedded operating system 290 is used to send remote control instructions to the hardware device through the interface of the embedded operating system, so that the hardware device executes the remote control instruction to remotely take over the driverless car.
  • the real-time operating system running on embedded hardware devices has the characteristics of low power consumption, real-time, and highly customized, including but not limited to real-time embedded operating systems such as embedded Linux, FreeRTOS, RT-Thread, etc.
  • the remote control terminal may be a server.
  • the remote control instructions include control instructions customized according to the current car state information of the unmanned vehicle, for example, brake instructions, parking instructions, steering wheel control instructions, accelerator instructions, and so on. Of course, this application does not limit this.
  • the remote control terminal When the driverless car is remotely taken over by the remote control terminal, first, the remote control terminal sends a remote control command to the network middleware; then, the remote control terminal receives the remote control command sent by the remote control terminal through the network middleware, and the remote control command It is sent to the remote calling module through the universal network interface; secondly, the remote control command sent by the network middleware is received through the remote calling module, and the vehicle driving module is called according to the remote control command; the system middleware is called according to the remote control command through the vehicle driving module; again , Through the system middleware according to the remote control instruction to call the interface of the embedded operating system; finally, the remote control instruction is sent to the hardware device of the driverless car through the interface of the embedded operating system, so that the hardware device can execute the remote control instruction to the driverless car.
  • the remote takeover system based on the embedded operating system has the characteristics of low development cost, low maintenance cost, fast response speed, high stability, and low power consumption of the embedded operating system.
  • the network middleware it can adapt to the diversity of the underlying hardware and the underlying network equipment
  • the remote calling module it can be adapted to the object-oriented and abstract vehicle driving module
  • the system middleware the embedded operating system can be encapsulated for the upper layer to access.
  • Provide a common interface In this way, the real-time performance and stability of the remote takeover system of the driverless car are improved, and the cost and power consumption are reduced, thereby improving efficiency.
  • a remote takeover system for an unmanned car is provided, and further includes a status reporting module 220 for receiving car status information sent by the vehicle driving module and sent by the system middleware.
  • System status information, the vehicle status information and system status information are reported to the remote control terminal through the network middleware, so that the remote control terminal sends remote control instructions according to the vehicle status information and system status information.
  • the network middleware sends remote control commands.
  • the vehicle driving module can obtain the car status information from the vehicle hardware equipment.
  • the car status information includes the driving status of the car driver and the car hardware status, etc., so as to send the car status information to the status reporting module.
  • the system middleware can obtain the system status information of the car and send the system status information to the status reporting module.
  • the status reporting module then reports the received car status information and system status information to the remote control terminal through the network middleware, so that the remote control terminal sends remote control commands according to the car status information and system status information.
  • a status reporting module is added to the remote takeover system of an unmanned vehicle.
  • the status reporting module can obtain vehicle status information and system status information from the vehicle driving module and system middleware in time, and then pass The status reporting module reports the car status information and system status information to the remote control terminal in time, so that the remote control terminal can send out correct remote control commands in time based on the real-time car status information and system status information.
  • the network middleware is also used to provide a universal network interface based on the embedded operating system and the network protocol stack, so that the status reporting module reports the car status information and system status information to the remote control through the universal network interface end.
  • middleware is a general service between the platform (hardware and operating system) and the application, and these services have standard program interfaces and protocols. For different operating systems and hardware platforms, these services can have multiple implementations that conform to interface and protocol specifications.
  • the status reporting module can report the car status information and system status information to the remote control terminal through the universal network interface .
  • the network middleware shields the complexity of the underlying operating system, enables program developers to face a simple and unified development environment, reduces the complexity of program design, focuses on business, and does not need to differentiate between programs.
  • the transplantation of the system software and the duplication of work have greatly reduced the technical burden. Therefore, what middleware brings to the application system not only facilitates the development and shortens the development cycle, but also reduces the workload of system maintenance, operation and management, and also reduces the overall cost of the computer.
  • the embedded operating system is also used to obtain the execution result of the control instruction from the hardware device, call the interface of the system middleware, and feedback the execution result to the vehicle driving module;
  • the vehicle driving module is also used to receive the execution result, and feedback the execution result to the network middleware through the remote calling module;
  • the network middleware is also used to receive execution results and feed back the execution results to the remote control terminal.
  • the remote control terminal issuing control instructions, after the hardware device executes the control instructions, it needs to feedback to the remote control terminal whether the execution result is successful.
  • the hardware device sends the execution result to the embedded operating system, and the embedded operating system obtains the execution result of the control instruction from the hardware device, calls the interface of the system middleware, and feeds the execution result back to the vehicle driving module.
  • the vehicle driving module receives the execution result, and feeds back the execution result to the network middleware through the remote calling module.
  • the network middleware receives the execution result and feeds back the execution result to the remote control terminal.
  • the remote control terminal after the remote control instructions are issued to the embedded operating system step by step through the remote control terminal, after the hardware device is controlled to execute the corresponding control instructions through the embedded operating system, the execution results of the control instructions need to be collected in time, And the execution result is fed back to the remote control terminal along the original path. So that the remote control terminal can not only issue control instructions in time, but also obtain the execution status of the issued control instructions in time, and get timely feedback to make subsequent control instructions according to the execution status.
  • the remote control terminal includes a control center and a monitoring center, and the control center is used to send remote control instructions and receive execution results of remote control instructions fed back by the network middleware according to the vehicle status information and system status information;
  • the monitoring center is used to receive the car status information and system status information reported by the network middleware, and send the car status information and system status information to the control center.
  • the remote control terminal includes a control center and a monitoring center, where the monitoring center receives the vehicle status information obtained from the vehicle driving module by the status reporting module and the system status obtained from the system middleware Information, so the monitoring center can monitor the state of the car and the system in real time in order to find abnormal conditions in time. Then, the monitoring center sends the acquired car status information and system status information to the control center. After the control center receives the vehicle status information and system status information, it analyzes the vehicle status information and system status information, and calculates the control command based on the current road section and road conditions.
  • the network protocol stack includes an embedded TCP/IP network protocol stack.
  • Protocol stack also known as protocol stack, is a specific software implementation of a computer network protocol suite.
  • a protocol in the protocol suite is usually designed for only one purpose, which can make the design easier. Because each protocol module usually communicates with two other protocol modules above and below, they can usually be thought of as layers in the protocol stack. The lowest-level protocol always describes the physical interaction with the hardware. Each advanced level adds more features. The user application only deals with the uppermost protocol.
  • the network protocol stack in the remote takeover system of the driverless car adopts the embedded TCP/IP network protocol stack, and the embedded TCP/IP network protocol stack can be realized as a lightweight TCP/IP network
  • the protocol stack runs, uses very small memory, discards some unnecessary functions, and retains the main functions.
  • Common embedded TCP/IP protocol stacks include the following types of ⁇ C/TCP-IP, LwIP, and UIP. Of course, this application does not limit this.
  • the embedded operating system includes embedded Linux, FreeRTOS, and RT-Thread.
  • an embedded operating system refers to an operating system used in an embedded system.
  • Embedded operating system is a kind of system software with a wide range of uses, which usually includes hardware-related low-level driver software, system kernel, device driver interface, communication protocol, graphical interface, standardized browser, etc.
  • the embedded operating system is responsible for the allocation of all software and hardware resources of the embedded system, task scheduling, control and coordination of concurrent activities. It must reflect the characteristics of the system where it is located, and be able to achieve the required functions of the system by loading and unloading certain modules.
  • Currently widely used operating systems in the embedded field include: embedded real-time operating system ⁇ C/OS-II, embedded Linux, Windows Embedded, VxWorks, FreeRTOS, RT-Thread, etc., as well as Android, iOS etc.
  • the embedded operating system has the advantages of small system kernel, strong professionalism, simplified system and high real-time performance. Therefore, the remote takeover system of the driverless car in this application is based on a low-power embedded operating system To achieve this, compared with the traditional ROS (Robot Operating System)-based system or Linux-based system architecture, it can integrate highly customized hardware devices, reduce system resource redundancy, improve efficiency, reduce costs, and reduce power consumption.
  • ROS Robot Operating System
  • a remote takeover method of an unmanned car is provided, which is applied to a remote takeover system of an unmanned car.
  • the system includes a network middleware, a remote call module, and a vehicle driving module.
  • System middleware and embedded operating system including:
  • Step 510 Receive the remote control instruction sent by the remote control terminal through the network middleware, and send the remote control instruction to the remote calling module through the universal network interface;
  • Step 530 Receive the remote control instruction sent by the network middleware through the remote invocation module, and invoke the vehicle driving module according to the remote control instruction;
  • Step 550 Invoke the system middleware according to the remote control instruction through the vehicle driving module;
  • Step 570 Call the interface of the embedded operating system according to the remote control instruction through the system middleware;
  • Step 590 Send the remote control instruction to the hardware device through the interface of the embedded operating system, so that the hardware device executes the remote control instruction to remotely take over the driverless car.
  • the remote control terminal when the remote control terminal takes over the driverless car remotely, first, the remote control terminal sends a remote control instruction to the network middleware; then, the remote control terminal receives the remote control sent by the remote control terminal through the network middleware Instruction, the remote control instruction is sent to the remote invocation module through the universal network interface; secondly, the remote control instruction sent by the network middleware is received through the remote invocation module, and the vehicle driving module is invoked according to the remote control instruction; the vehicle driving module is in accordance with the remote control instruction Call the system middleware; again, call the interface of the embedded operating system according to the remote control instruction through the system middleware; finally, send the remote control instruction to the hardware device of the driverless car through the interface of the embedded operating system, so that the hardware device Execute remote control instructions to remotely take over the driverless car. It can ensure that the driverless car is taken over by the remote control terminal in time under special circumstances so as to ensure the safe driving of the car until it stops safely.
  • the method adopts a remote takeover system based on an embedded operating system, and has the characteristics of low development cost, low maintenance cost, fast response speed, high stability, and low power consumption of the embedded operating system.
  • the network middleware it can adapt to the diversity of the underlying hardware and the underlying network equipment
  • the remote calling module it can be adapted to the object-oriented and abstract vehicle driving module
  • the system middleware the embedded operating system can be encapsulated for the upper layer to access.
  • Provide a common interface In this way, the real-time performance and stability of the remote takeover system of the driverless car are improved.
  • system further includes a status reporting module, providing a remote takeover method for an unmanned car also includes:
  • Step 520 Receive the car status information sent by the vehicle driving module and the system status information sent by the system middleware through the status report module, and report the car status information and system status information to the remote control terminal through the network middleware, so that the remote control terminal can follow Car status information and system status information send remote control commands.
  • providing a remote takeover method for an unmanned car further includes:
  • the status reporting module can report the vehicle status information and system status information to the remote control terminal through the universal network interface.
  • providing a remote takeover method for an unmanned car further includes:
  • the execution result is received through the vehicle driving module, and the execution result is fed back to the network middleware through the remote calling module;
  • the execution result is received through the network middleware, and the execution result is fed back to the remote control terminal.
  • the remote control terminal includes a control center and a monitoring center.
  • Providing a remote takeover method for an unmanned car also includes:
  • the vehicle status information and system status information reported by the network middleware are received through the monitoring center, and the vehicle status information and system status information are sent to the control center.
  • Fig. 7 is a schematic diagram of the internal structure of an electronic device in an embodiment.
  • the electronic device includes a processor and a memory connected through a system bus.
  • the processor is used to provide computing and control capabilities to support the operation of the entire electronic device.
  • the memory may include a non-volatile storage medium and internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the computer program can be executed by the processor to implement a remote takeover method for an unmanned car provided by the following embodiments.
  • the internal memory provides a cached operating environment for the operating system computer program in the non-volatile storage medium.
  • the electronic device may be an on-board control device or on-board computer of an unmanned vehicle, which is not limited in this application.
  • the embodiment of the present application also provides a computer-readable storage medium.
  • One or more non-volatile computer-readable storage media containing computer-executable instructions when the computer-executable instructions are executed by one or more processors, cause the processors to execute the steps of the remote takeover method of the driverless car.
  • a computer program product containing instructions that, when running on a computer, causes the computer to execute the remote takeover method of an unmanned car.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM), which acts as external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous Link (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

一种无人驾驶汽车的远程接管系统（200）和方法、电子设备、存储介质，包括：其中系统包括网络中间件（210），用于接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块（230）；远程调用模块（230），用于接收网络中间件（210）发送的远程控制指令，根据远程控制指令调用车辆驾驶模块（250）；车辆驾驶模块（250），用于根据远程控制指令调用系统中间件（270）；系统中间件（270），用于根据远程控制指令调用嵌入式操作系统（290）的接口；嵌入式操作系统（290），用于通过嵌入式操作系统（290）的接口将远程控制指令发送至硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。提高了无人驾驶汽车的远程接管系统（200）的实时性和稳定性并实现降低成本及功耗，进而提高效率。

Description

无人驾驶汽车的远程接管系统和方法、电子设备、存储介质 技术领域
本申请涉及无人驾驶技术领域，特别是涉及一种无人驾驶汽车的远程接管系统和方法、电子设备、存储介质。
背景技术
随着科技的不断发展，无人驾驶技术逐渐走进人们的视野。无人驾驶技术是利用车载传感器来感知车辆周围环境，并根据感知所获得的道路、车辆位置和障碍物信息，控制车辆的转向和速度，从而使车辆能够安全、可靠地在道路上行驶。但是当无人驾驶汽车遇到一些突发情况或系统出现问题的时候，及时对无人驾驶汽车的远程接管就显得非常重要，能够保证无人驾驶汽车自身的安全及相关人员的安全。但是，传统的针对无人驾驶汽车的远程接管方法的实时性和稳定性较差，不能够及时对无人驾驶汽车进行远程接管。
发明内容
基于此，有必要针对上述技术问题，提供一种无人驾驶汽车的远程接管系统、方法、电子设备、存储介质，可以提高无人驾驶汽车的远程接管系统的实时性、稳定性并实现降低成本及功耗，进而提高效率。
一种无人驾驶汽车的远程接管系统，包括：
网络中间件，用于接收远程控制端发送的远程控制指令，将所述远程控制指令通过通用的网络接口发送至远程调用模块；
远程调用模块，用于接收所述网络中间件发送的远程控制指令，根据所述远程控制指令调用车辆驾驶模块；
车辆驾驶模块，用于根据所述远程控制指令调用系统中间件；
系统中间件，用于根据所述远程控制指令调用嵌入式操作系统的接口；
嵌入式操作系统，用于通过所述嵌入式操作系统的接口将所述远程控制指令发送至硬件设备，以使所述硬件设备执行所述远程控制指令对所述无人驾驶汽车进行远程接管。
在其中一个实施例中，还包括：
状态上报模块，用于接收所述车辆驾驶模块发送的汽车状态信息及所述系统中间件发送的系统状态信息，将所述汽车状态信息及系统状态信息通过所述网络中间件上报至所述远程控制端，以使所述远程控制端根据所述汽车状态信息及系统状态信息发送远程控制指令。
在其中一个实施例中，所述网络中间件还用于基于所述嵌入式操作系统及网络协议栈提供所述通用的网络接口，以使所述状态上报模块通过所述通用的网络接口将所述汽车状态信息及系统状态信息上报至所述远程控制端。
在其中一个实施例中，所述嵌入式操作系统，还用于从所述硬件设备获取所述控制指令的执行结果，调用所述系统中间件的接口，将所述执行结果反馈至车辆驾驶模块；
所述车辆驾驶模块，还用于接收所述执行结果，通过所述远程调用模块将所述执行结果反馈至所述网络中间件；
所述网络中间件，还用于接收所述执行结果，将所述执行结果反馈至所述远程控制端。
在其中一个实施例中，所述远程控制端包括控制中心及监控中心，所述 控制中心用于根据所述汽车状态信息及系统状态信息发送远程控制指令及接收所述网络中间件反馈的所述远程控制指令的执行结果；
所述监控中心用于接收所述网络中间件上报的所述汽车状态信息及系统状态信息，将所述汽车状态信息及系统状态信息发送至所述控制中心。
在其中一个实施例中，所述网络协议栈包括嵌入式的TCP/IP网络协议栈。
在其中一个实施例中，所述嵌入式操作系统包括嵌入式Linux、FreeRTOS、RT-Thread。
一种无人驾驶汽车的远程接管方法，应用于无人驾驶汽车的远程接管系统，所述系统包括网络中间件、远程调用模块、车辆驾驶模块、系统中间件及嵌入式操作系统，包括：
通过网络中间件接收远程控制端发送的远程控制指令，将所述远程控制指令通过通用的网络接口发送至远程调用模块；
通过远程调用模块接收所述网络中间件发送的远程控制指令，根据所述远程控制指令调用车辆驾驶模块；
通过车辆驾驶模块根据所述远程控制指令调用系统中间件；
通过系统中间件根据所述远程控制指令调用嵌入式操作系统的接口；
通过所述嵌入式操作系统的接口将所述远程控制指令发送至硬件设备，以使所述硬件设备执行所述远程控制指令对所述无人驾驶汽车进行远程接管。
在其中一个实施例中，所述系统还包括状态上报模块，所述方法还包括：
通过状态上报模块接收所述车辆驾驶模块发送的汽车状态信息及所述系统中间件发送的系统状态信息，将所述汽车状态信息及系统状态信息通过所述网络中间件上报至所述远程控制端，以使所述远程控制端根据所述汽车状 态信息及系统状态信息发送远程控制指令。
在其中一个实施例中，所述方法还包括：
通过网络中间件基于所述嵌入式操作系统及网络协议栈提供所述通用的网络接口，以使所述状态上报模块通过所述通用的网络接口将所述汽车状态信息及系统状态信息上报至所述远程控制端。
在其中一个实施例中，所述方法还包括：
通过所述嵌入式操作系统从所述硬件设备获取所述控制指令的执行结果，调用所述系统中间件的接口，将所述执行结果反馈至车辆驾驶模块；
通过所述车辆驾驶模块接收所述执行结果，通过所述远程调用模块将所述执行结果反馈至所述网络中间件；
通过所述网络中间件接收所述执行结果，将所述执行结果反馈至所述远程控制端。
在其中一个实施例中，所述远程控制端包括控制中心及监控中心，所述方法还包括：
通过所述控制中心根据所述汽车状态信息及系统状态信息发送远程控制指令及接收所述网络中间件反馈的所述远程控制指令的执行结果；
通过所述监控中心接收所述网络中间件上报的所述汽车状态信息及系统状态信息，将所述汽车状态信息及系统状态信息发送至所述控制中心。
一种电子设备，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如上方法的步骤。
一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上方法的步骤。
上述无人驾驶汽车的远程接管系统、方法、电子设备、存储介质，其中系统包括网络中间件，用于接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块；远程调用模块，用于接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块；车辆驾驶模块，用于根据远程控制指令调用系统中间件；系统中间件，用于根据远程控制指令调用嵌入式操作系统的接口；嵌入式操作系统，用于通过嵌入式操作系统的接口将远程控制指令发送至硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。其中，基于嵌入式操作系统的远程接管系统，具有嵌入式操作系统的开发成本低、维护成本低、响应速度快、稳定性高、功耗低的特性。且通过设置网络中间件可以适应底层硬件、底层网络设备的多样性，通过设置远程调用模块可以适配对象化、抽象化的车辆驾驶模块，通过设置系统中间件可以封装嵌入式操作系统给上层访问提供通用接口。如此，提高了无人驾驶汽车的远程接管系统的实时性和稳定性并实现降低成本及功耗，进而提高效率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一个实施例中无人驾驶汽车的远程接管系统的应用环境示意图；
图2为一个实施例中无人驾驶汽车的远程接管系统的架构图；
图3为另一个实施例中无人驾驶汽车的远程接管系统的架构图；
图4为一个具体的实施例中无人驾驶汽车的远程接管系统的架构图；
图5为一个实施例中无人驾驶汽车的远程接管方法的流程图；
图6为一个实施例中无人驾驶汽车的远程接管方法的流程图；
图7为一个实施例中电子设备的内部结构示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
可以理解，本申请所使用的术语“第一”、“第二”等可在本文中用于描述各种元件，但这些元件不受这些术语限制。这些术语仅用于将第一个元件与另一个元件区分。
如图1所示，为无人驾驶汽车的远程接管系统的应用环境示意图。如图1所示，该应用环境包括汽车120及服务器140，汽车120与服务器140之间通过网络进行连接。其中，无人驾驶汽车的远程接管系统运行在汽车120的车载控制设备或车载计算机122上，可以实现通过网络中间件接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块；通过远程调用模块接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块；通过车辆驾驶模块根据远程控制指令调用系统中间件；通过系统中间件根据远程控制指令调用嵌入式操作系统的接口；通过嵌入式操作系统的接口将远程控制指令发送至硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。其中，汽车120可以是无人驾驶汽车或有人驾驶汽车，其此处的汽车也可以换为仓库叉车、挖土机等。本申请的远程接管系统，均适用于无人驾驶汽车在某些特殊情形下需要启动远程接管的情况，也可以是有人驾驶汽车在某些特殊情形下需要启动远程接 管的情况。
图2为一个实施例中无人驾驶汽车的远程接管系统的架构图，如图2所示，无人驾驶汽车的远程接管系统200包括网络中间件210、远程调用模块230、车辆驾驶模块250、系统中间件270及嵌入式操作系统290。
其中，网络中间件210，用于接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块。基于嵌入式操作系统以及车辆硬件设备控制的通用的网络中间件，具备通用性强、体积小、实时性高、吞吐量高、低功耗的特点，能够运行在嵌入式Linux、FreeRTOS、RT-Thread等实时嵌入式操作系统上。其中，远程控制指令可以是直接由服务器所计算出的远程控制指令，也可以是由安全员操作无人驾驶汽车所发出的远程控制指令，由服务器发送至无人驾驶汽车。
远程调用模块230，用于接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块。基于车辆驾驶模块和网络中间件实现的远程调用模块，具有标准化、协议化的特点，是嵌入式软件系统架构最顶端的一层，云端通过远程调用模块的接口实现远程接管。
车辆驾驶模块250，用于根据远程控制指令调用系统中间件。基于系统中间件实现的车辆驾驶模块，具有封装性、低耦合、模块化的特点。
系统中间件270，用于根据远程控制指令调用嵌入式操作系统的接口。基于实时嵌入式操作系统以及车辆硬件设备控制的通用系统中间件，具备通用性强、体积小、可裁剪、实时性高、低功耗的特点，能够运行在嵌入式Linux、FreeRTOS、RT-Thread等实时嵌入式操作系统上。
嵌入式操作系统290，用于通过嵌入式操作系统的接口将远程控制指令发送至硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接 管。运行于嵌入式硬件设备上的实时操作系统，具有低功耗，实时性，高度定制的特点，包括但不限于嵌入式Linux、FreeRTOS、RT-Thread等实时嵌入式操作系统上。
具体的，远程控制端可以是服务器，当无人驾驶汽车向远程控制端发起远程接管的请求时，远程控制端开始对无人驾驶汽车进行远程接管。其中，远程控制指令包括根据无人驾驶汽车当前的汽车状态信息定制的控制指令，例如，刹车指令、停车指令、方向盘控制指令、油门指令等。当然，本申请对此不作限定。在由远程控制端对无人驾驶汽车进行远程接管的时候，首先，远程控制端向网络中间件发送远程控制指令；然后，通过网络中间件接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块；其次，通过远程调用模块接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块；通过车辆驾驶模块根据远程控制指令调用系统中间件；再次，通过系统中间件根据远程控制指令调用嵌入式操作系统的接口；最后，通过嵌入式操作系统的接口将远程控制指令发送至无人驾驶汽车的硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。能够确保无人驾驶汽车在特殊情况下及时由远程控制端进行远程接管以便保证汽车安全行驶直至安全停车。
本申请实施例中，其中，基于嵌入式操作系统的远程接管系统，具有嵌入式操作系统的开发成本低、维护成本低、响应速度快、稳定性高、功耗低的特性。且通过设置网络中间件可以适应底层硬件、底层网络设备的多样性，通过设置远程调用模块可以适配对象化、抽象化的车辆驾驶模块，通过设置系统中间件可以封装嵌入式操作系统给上层访问提供通用接口。如此，提高了无人驾驶汽车的远程接管系统的实时性和稳定性并实现降低成本及功耗， 进而提高效率。
在其中一个实施例中，如图3所示，提供了一种无人驾驶汽车的远程接管系统，还包括状态上报模块220，用于接收车辆驾驶模块发送的汽车状态信息及系统中间件发送的系统状态信息，将汽车状态信息及系统状态信息通过网络中间件上报至远程控制端，以使远程控制端根据汽车状态信息及系统状态信息发送远程控制指令。
具体的，当无人驾驶汽车向远程控制端发起远程接管的请求时，远程控制端开始对无人驾驶汽车进行远程接管时，需要根据汽车状态信息及系统状态信息来生成远程控制指令，并向网络中间件发送远程控制指令。车辆驾驶模块可以从车辆硬件设备上获取到汽车状态信息，汽车状态信息包括汽车人行驶状态及汽车硬件状态等，从而将汽车状态信息发送至状态上报模块。系统中间件可以获取到汽车的系统状态信息，从而将系统状态信息发送至状态上报模块。
状态上报模块再将所接收的汽车状态信息及系统状态信息通过网络中间件上报至远程控制端，以使远程控制端根据汽车状态信息及系统状态信息发送远程控制指令。
本申请实施例中，在无人驾驶汽车的远程接管系统中增加了状态上报模块，通过状态上报模块可以及时从车辆驾驶模块及系统中间件上获取到汽车状态信息及系统状态信息，从而再通过状态上报模块向远程控制端及时上报汽车状态信息及系统状态信息，最终使得远程控制端能够及时跟根据实时的汽车状态信息及系统状态信息，发出正确的远程控制指令。
在其中一个实施例中，网络中间件还用于基于嵌入式操作系统及网络协议栈提供通用的网络接口，以使状态上报模块通过通用的网络接口将汽车状 态信息及系统状态信息上报至远程控制端。
具体的，中间件是位于平台(硬件和操作系统)和应用之间的通用服务，这些服务具有标准的程序接口和协议。针对不同的操作系统和硬件平台，这些服务可以有符合接口和协议规范的多种实现。
本申请实施例中，因为网络中间件基于嵌入式操作系统及网络协议栈提供了通用的网络接口，所以状态上报模块就可以通过通用的网络接口将汽车状态信息及系统状态信息上报至远程控制端。在这里，网络中间件屏蔽了底层操作系统的复杂性，使程序开发人员面对一个简单而统一的开发环境，减少程序设计的复杂性，将注意力集中在业务上，不必再为程序在不同系统软件上的移植而重复工作，从而大大减少了技术上的负担。从而，中间件带给应用系统的，不仅仅是开发的简便、开发周期的缩短，也同时减少了系统的维护、运行和管理的工作量，还减少了计算机总体费用的投入。
在其中一个实施例中，嵌入式操作系统，还用于从硬件设备获取控制指令的执行结果，调用系统中间件的接口，将执行结果反馈至车辆驾驶模块；
车辆驾驶模块，还用于接收执行结果，通过远程调用模块将执行结果反馈至网络中间件；
网络中间件，还用于接收执行结果，将执行结果反馈至远程控制端。
结合图4所示，对应于远程控制端下发控制指令，在远程控制端下发控制指令，硬件设备执行了控制指令之后，需要向远程控制端反馈是否成功执行的执行结果。首先，硬件设备将执行结果发送至嵌入式操作系统，嵌入式操作系统从硬件设备获取控制指令的执行结果，调用系统中间件的接口，将执行结果反馈至车辆驾驶模块。然后，车辆驾驶模块接收执行结果，通过远程调用模块将执行结果反馈至网络中间件。最后，网络中间件接收执行结果， 将执行结果反馈至远程控制端。
本申请实施例中，在通过远程控制端将远程控制指令一步一步下发至嵌入式操作系统之后，通过嵌入式操作系统控制硬件设备执行相应的控制指令之后，需要及时采集控制指令的执行结果，并将执行结果沿原路反馈至远程控制端。以使远程控制端不仅能够及时发出控制指令，且能够及时获取到所发出的控制指令的执行情况，得到及时的反馈以便根据执行情况来做出后续的控制指令。
在其中一个实施例中，远程控制端包括控制中心及监控中心，控制中心用于根据汽车状态信息及系统状态信息发送远程控制指令及接收网络中间件反馈的远程控制指令的执行结果；
监控中心用于接收网络中间件上报的汽车状态信息及系统状态信息，将汽车状态信息及系统状态信息发送至控制中心。
本申请实施例中，结合图4所示，远程控制端包括控制中心及监控中心，其中，监控中心接收状态上报模块从车辆驾驶模块处获取的汽车状态信息及从系统中间件上获取的系统状态信息，所以监控中心能够实时对汽车状态及系统状态进行监控，以便及时发现异常状况。然后，监控中心将所获取的汽车状态信息及系统状态信息发送至控制中心。控制中心接收到汽车状态信息及系统状态信息之后，对汽车状态信息及系统状态信息进行分析，并结合当前行驶的路段及路况，计算出控制指令。并将控制指令发送至网络中间件，并经网络中间件、远程调用模块、车辆驾驶模块、系统中间件及嵌入式操作系统传输至硬件设备，使硬件设备执行控制指令，从而实现了通过远程控制端对车辆硬件设备的远程接管，保证了车辆的安全行驶直至安全停放。
在其中一个实施例中，网络协议栈包括嵌入式的TCP/IP网络协议栈。
协议栈(Protocol stack)，又称协议堆叠，是计算机网络协议套件的一个具体的软件实现。协议套件中的一个协议通常是只为一个目的而设计的，这样可以使得设计更容易。因为每个协议模块通常都要和上下两个其他协议模块通信，它们通常可以想象成是协议栈中的层。最低级的协议总是描述与硬件的物理交互。每个高级的层次增加更多的特性。用户应用程序只是处理最上层的协议。
本申请实施例中，无人驾驶汽车的远程接管系统中的网络协议栈采用嵌入式的TCP/IP网络协议栈，嵌入式的TCP/IP网络协议栈可以实现作为轻量级的TCP/IP网络协议栈来运行，使用非常小的内存，把一些不必要的功能舍弃掉，保留主要的功能。常见的嵌入式的TCP/IP协议栈包括以下几种μC/TCP-IP、LwIP、UIP，当然，本申请对此不作限定。
在其中一个实施例中，嵌入式操作系统包括嵌入式Linux、FreeRTOS、RT-Thread。
具体的，嵌入式操作系统(Embedded Operating System，简称：EOS)是指用于嵌入式系统的操作系统。嵌入式操作系统是一种用途广泛的系统软件，通常包括与硬件相关的底层驱动软件、系统内核、设备驱动接口、通信协议、图形界面、标准化浏览器等。嵌入式操作系统负责嵌入式系统的全部软、硬件资源的分配、任务调度，控制、协调并发活动。它必须体现其所在系统的特征，能够通过装卸某些模块来达到系统所要求的功能。目前在嵌入式领域广泛使用的操作系统有：嵌入式实时操作系统μC/OS-II、嵌入式Linux、Windows Embedded、VxWorks、FreeRTOS、RT-Thread等，以及应用在智能手机和平板电脑的Android、iOS等。
本申请实施例中，嵌入式操作系统具有系统内核小、专业性强、系统精 简及高实时性等优点，所以本申请中的无人驾驶汽车的远程接管系统基于低功耗的嵌入式操作系统来实现，相较于传统的基于ROS(Robot Operating System，机器人操作系统)系统或基于Linux系统的架构，能够集成高度定制化的硬件设备，减少系统资源冗余，提高效率降低成本降低功耗。
在其中一个实施例中，如图5所示，提供了一种无人驾驶汽车的远程接管方法，应用于无人驾驶汽车的远程接管系统，系统包括网络中间件、远程调用模块、车辆驾驶模块、系统中间件及嵌入式操作系统，包括：
步骤510，通过网络中间件接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块；
步骤530，通过远程调用模块接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块；
步骤550，通过车辆驾驶模块根据远程控制指令调用系统中间件；
步骤570，通过系统中间件根据远程控制指令调用嵌入式操作系统的接口；
步骤590，通过嵌入式操作系统的接口将远程控制指令发送至硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。
本申请实施例中，在由远程控制端对无人驾驶汽车进行远程接管的时候，首先，远程控制端向网络中间件发送远程控制指令；然后，通过网络中间件接收远程控制端发送的远程控制指令，将远程控制指令通过通用的网络接口发送至远程调用模块；其次，通过远程调用模块接收网络中间件发送的远程控制指令，根据远程控制指令调用车辆驾驶模块；通过车辆驾驶模块根据远程控制指令调用系统中间件；再次，通过系统中间件根据远程控制指令调用嵌入式操作系统的接口；最后，通过嵌入式操作系统的接口将远程控制指令 发送至无人驾驶汽车的硬件设备，以使硬件设备执行远程控制指令对无人驾驶汽车进行远程接管。能够确保无人驾驶汽车在特殊情况下及时由远程控制端进行远程接管以便保证汽车安全行驶直至安全停车。
且该方法采用基于嵌入式操作系统的远程接管系统，具有嵌入式操作系统的开发成本低、维护成本低、响应速度快、稳定性高、功耗低的特性。且通过设置网络中间件可以适应底层硬件、底层网络设备的多样性，通过设置远程调用模块可以适配对象化、抽象化的车辆驾驶模块，通过设置系统中间件可以封装嵌入式操作系统给上层访问提供通用接口。如此，提高了无人驾驶汽车的远程接管系统的实时性和稳定性。
在其中一个实施例中，如图6所示，系统还包括状态上报模块，提供了一种无人驾驶汽车的远程接管方法还包括：
步骤520，通过状态上报模块接收车辆驾驶模块发送的汽车状态信息及系统中间件发送的系统状态信息，将汽车状态信息及系统状态信息通过网络中间件上报至远程控制端，以使远程控制端根据汽车状态信息及系统状态信息发送远程控制指令。
在其中一个实施例中，提供了一种无人驾驶汽车的远程接管方法还包括：
通过网络中间件基于嵌入式操作系统及网络协议栈提供通用的网络接口，以使状态上报模块通过通用的网络接口将汽车状态信息及系统状态信息上报至远程控制端。
在其中一个实施例中，提供了一种无人驾驶汽车的远程接管方法还包括：
通过嵌入式操作系统从硬件设备获取控制指令的执行结果，调用系统中间件的接口，将执行结果反馈至车辆驾驶模块；
通过车辆驾驶模块接收执行结果，通过远程调用模块将执行结果反馈至 网络中间件；
通过网络中间件接收执行结果，将执行结果反馈至远程控制端。
在其中一个实施例中，远程控制端包括控制中心及监控中心，提供了一种无人驾驶汽车的远程接管方法还包括：
通过控制中心根据汽车状态信息及系统状态信息发送远程控制指令及接收网络中间件反馈的远程控制指令的执行结果；
通过监控中心接收网络中间件上报的汽车状态信息及系统状态信息，将汽车状态信息及系统状态信息发送至控制中心。
图7为一个实施例中电子设备的内部结构示意图。如图7所示，该电子设备包括通过系统总线连接的处理器和存储器。其中，该处理器用于提供计算和控制能力，支撑整个电子设备的运行。存储器可包括非易失性存储介质及内存储器。非易失性存储介质存储有操作系统和计算机程序。该计算机程序可被处理器所执行，以用于实现以下各个实施例所提供的一种无人驾驶汽车的远程接管方法。内存储器为非易失性存储介质中的操作系统计算机程序提供高速缓存的运行环境。该电子设备可以是无人驾驶汽车的车载控制设备或车载计算机等，本申请对此不做限定。
本申请实施例还提供了一种计算机可读存储介质。一个或多个包含计算机可执行指令的非易失性计算机可读存储介质，当计算机可执行指令被一个或多个处理器执行时，使得处理器执行无人驾驶汽车的远程接管方法的步骤。
一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行无人驾驶汽车的远程接管方法。
本申请实施例所使用的对存储器、存储、数据库或其它介质的任何引 用可包括非易失性和/或易失性存储器。合适的非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)，它用作外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDR SDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种无人驾驶汽车的远程接管系统，其特征在于，包括：
    网络中间件，用于接收远程控制端发送的远程控制指令，将所述远程控制指令通过通用的网络接口发送至远程调用模块；
    远程调用模块，用于接收所述网络中间件发送的远程控制指令，根据所述远程控制指令调用车辆驾驶模块；
    车辆驾驶模块，用于根据所述远程控制指令调用系统中间件；
    系统中间件，用于根据所述远程控制指令调用嵌入式操作系统的接口；
    嵌入式操作系统，用于通过所述嵌入式操作系统的接口将所述远程控制指令发送至硬件设备，以使所述硬件设备执行所述远程控制指令对所述无人驾驶汽车进行远程接管。
  2. 根据权利要求1所述的系统，其特征在于，还包括：
    状态上报模块，用于接收所述车辆驾驶模块发送的汽车状态信息及所述系统中间件发送的系统状态信息，将所述汽车状态信息及系统状态信息通过所述网络中间件上报至所述远程控制端，以使所述远程控制端根据所述汽车状态信息及系统状态信息发送远程控制指令。
  3. 根据权利要求2所述的系统，其特征在于，所述网络中间件还用于基于所述嵌入式操作系统及网络协议栈提供所述通用的网络接口，以使所述状态上报模块通过所述通用的网络接口将所述汽车状态信息及系统状态信息上报至所述远程控制端。
  4. 根据权利要求1至3任一项所述的系统，其特征在于，所述嵌入式操作系统，还用于从所述硬件设备获取所述控制指令的执行结果，调用所述系统中间件的接口，将所述执行结果反馈至车辆驾驶模块；
    所述车辆驾驶模块，还用于接收所述执行结果，通过所述远程调用模块将所述执行结果反馈至所述网络中间件；
    所述网络中间件，还用于接收所述执行结果，将所述执行结果反馈至所述远程控制端。
  5. 根据权利要求1至4任一项所述的系统，其特征在于，所述远程控制端包括控制中心及监控中心，所述控制中心用于根据所述汽车状态信息及系统状态信息发送远程控制指令及接收所述网络中间件反馈的所述远程控制指令的执行结果；
    所述监控中心用于接收所述网络中间件上报的所述汽车状态信息及系统状态信息，将所述汽车状态信息及系统状态信息发送至所述控制中心。
  6. 根据权利要求1至5任一项所述的系统，其特征在于，所述网络协议栈包括嵌入式的TCP/IP网络协议栈。
  7. 根据权利要求1至6任一项所述的系统，其特征在于，所述嵌入式操作系统包括嵌入式Linux、FreeRTOS、RT-Thread。
  8. 一种无人驾驶汽车的远程接管方法，应用于无人驾驶汽车的远程接管系统，所述系统包括网络中间件、远程调用模块、车辆驾驶模块、系统中间件及嵌入式操作系统，其特征在于，包括：
    通过网络中间件接收远程控制端发送的远程控制指令，将所述远程控制指令通过通用的网络接口发送至远程调用模块；
    通过远程调用模块接收所述网络中间件发送的远程控制指令，根据所述远程控制指令调用车辆驾驶模块；
    通过车辆驾驶模块根据所述远程控制指令调用系统中间件；
    通过系统中间件根据所述远程控制指令调用嵌入式操作系统的接口；
    通过所述嵌入式操作系统的接口将所述远程控制指令发送至硬件设备，以使所述硬件设备执行所述远程控制指令对所述无人驾驶汽车进行远程接管。
  9. 根据权利要求8所述的方法，其特征在于，所述系统还包括状态上报模块，所述方法还包括：
    通过状态上报模块接收所述车辆驾驶模块发送的汽车状态信息及所述系统中间件发送的系统状态信息，将所述汽车状态信息及系统状态信息通过所述网络中间件上报至所述远程控制端，以使所述远程控制端根据所述汽车状态信息及系统状态信息发送远程控制指令。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    通过网络中间件基于所述嵌入式操作系统及网络协议栈提供所述通用的网络接口，以使所述状态上报模块通过所述通用的网络接口将所述汽车状态信息及系统状态信息上报至所述远程控制端。
  11. 根据权利要求8至10任一项所述的方法，其特征在于，所述方法还包括：
    通过所述嵌入式操作系统从所述硬件设备获取所述控制指令的执行结果，调用所述系统中间件的接口，将所述执行结果反馈至车辆驾驶模块；
    通过所述车辆驾驶模块接收所述执行结果，通过所述远程调用模块将所述执行结果反馈至所述网络中间件；
    通过所述网络中间件接收所述执行结果，将所述执行结果反馈至所述远程控制端。
  12. 根据权利要求8至11任一项所述的方法，其特征在于，所述远程控制端包括控制中心及监控中心，所述方法还包括：
    通过所述控制中心根据所述汽车状态信息及系统状态信息发送远程控制指令及接收所述网络中间件反馈的所述远程控制指令的执行结果；
    通过所述监控中心接收所述网络中间件上报的所述汽车状态信息及系统状态信息，将所述汽车状态信息及系统状态信息发送至所述控制中心。
  13. 一种电子设备，包括存储器及处理器，所述存储器中储存有计算机程序，其特征在于，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求8至12中任一项所述的无人驾驶汽车的远程接管方法的步骤。
  14. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求8至12中任一项所述的无人驾驶汽车的远程接管方法的步骤。
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