WO2022127720A1

WO2022127720A1 - Electronic device, wireless communication method, and computer-readable storage medium

Info

Publication number: WO2022127720A1
Application number: PCT/CN2021/137320
Authority: WO
Inventors: 崔焘; 孙晨
Original assignee: 索尼集团公司; 崔焘
Priority date: 2020-12-18
Filing date: 2021-12-13
Publication date: 2022-06-23
Also published as: CN116635916A; CN114721362B; CN114721362A

Abstract

An electronic device (100), a wireless communication method, and a computer-readable storage medium. The electronic device (100) is used in a vehicle in a vehicle queue or in a vehicle that is about to join a vehicle queue, and comprises a processing circuit, which is configured to: determine, according to an anomaly of the vehicle or environment, that a vehicle needs to be remotely taken over; and send a remote takeover request to a remote controller, so as to request the remote controller to remotely take over the vehicle when the vehicle leaves the vehicle queue or when the vehicle is in the vehicle queue. Remote takeover of a vehicle during the advancing of a vehicle queue can be implemented.

Description

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

This application claims the priority of the Chinese patent application with the application number of 202011502832.5 and the invention titled "Electronic Device, Wireless Communication Method and Computer-readable Storage Medium" filed with the China Patent Office on December 18, 2020, the entire contents of which are by reference Incorporated in this application.

technical field

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

Background technique

Convoy driving refers to the leading vehicle that is led by autonomous driving or manual driving, followed by a number of autonomous driving following vehicles, which move forward in a queue. Vehicles in the convoy maintain a certain distance and a stable speed.

Remote takeover (takeover) refers to the control of the vehicle by the remote control terminal. The remote control terminal can send control commands to the vehicle through the communication network (for example, 5G communication network), and manipulate the vehicle to complete all the work. In the existing research, remote takeover of the vehicle is only possible when the vehicle is in a single-vehicle autonomous driving state.

Therefore, it is necessary to propose a technical solution to realize the takeover of the vehicle when the fleet is running.

SUMMARY OF THE INVENTION

This section provides a general summary of the disclosure, rather than a comprehensive disclosure of its full scope or all of its features.

The purpose of the present disclosure is to provide an electronic device, a wireless communication method, and a computer-readable storage medium, so as to realize the takeover of a vehicle when a convoy is running.

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

According to another aspect of the present disclosure, there is provided an electronic device including a processing circuit configured to: receive a remote takeover request from a vehicle in a fleet or a vehicle about to join a fleet; and when the vehicle leaves the fleet down or take over the vehicle remotely if the vehicle is in the fleet.

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

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

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

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

Using the electronic device, wireless communication method, computer-readable storage medium and computer program according to the present disclosure, the vehicle can determine that the vehicle needs to be taken over remotely according to the abnormal condition of the vehicle or the environment, so as to send a remote takeover request to the remote controller to This enables the remote controller to take over the vehicle remotely when the vehicle is in or out of the fleet. In this way, it is possible to remotely take over the vehicle while the fleet is running, so as to avoid danger to the fleet due to abnormal conditions of the vehicle or the environment.

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

Description of drawings

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

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

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

3 is a signaling flow diagram illustrating a process of remote takeover of a pilot vehicle in the event of a failure of the pilot vehicle according to an embodiment of the present disclosure;

4 is a signaling flow diagram illustrating a process of remote takeover of a pilot vehicle in the event of a failure of the pilot vehicle according to an embodiment of the present disclosure;

5 is a signaling flow diagram illustrating a process of remote takeover of a follower vehicle in the event of a failure of the follower vehicle according to an embodiment of the present disclosure;

6 is a signaling flow diagram illustrating a process of remote takeover of a follower vehicle in the event of a failure of the follower vehicle according to an embodiment of the present disclosure;

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

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

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

10 is a signaling flow diagram illustrating a process for disbanding a fleet in the event that a plurality of following vehicles fail to perform a remote takeover of a plurality of following vehicles according to an embodiment of the present disclosure;

11 is a signaling flow diagram illustrating a process for remote takeover of a free vehicle to join a fleet in accordance with an embodiment of the present disclosure;

12 is a signaling flow diagram illustrating a process for remote takeover of a following vehicle to leave a convoy according to an embodiment of the present disclosure;

13 is a signaling flow diagram illustrating a process for disbanding a fleet in the event of an abnormal environment, according to an embodiment of the present disclosure;

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

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

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

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

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

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

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

Detailed ways

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

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

It will be described in the following order:

1. An example of the configuration of the electronic equipment used in the vehicle;

2. Configuration example of electronic equipment for remote controller;

3. Method embodiment;

4. Application examples.

<1. Configuration example of electronic equipment for vehicle>

FIG. 1 is a block diagram illustrating an example of the configuration of an electronic device 100 according to an embodiment of the present disclosure. The electronic device 100 here may be an electronic device for a vehicle, eg, placed in the vehicle or integrated in the vehicle. In addition, the vehicle in which the electronic device 100 is located may be a vehicle in a fleet (including a leading vehicle and a following vehicle), or may be a vehicle about to join the fleet.

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

Here, each unit of the electronic device 100 may be included in the processing circuit. It should be noted that the electronic device 100 may include either one processing circuit or multiple processing circuits. Further, the processing circuit may include various discrete functional units to perform various different functions and/or operations. It should be noted that these functional units may be physical entities or logical entities, and units with different names may be implemented by the same physical entity.

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

According to an embodiment of the present disclosure, the information generating unit 120 may generate various information to be sent. For example, when the determining unit 110 determines that the vehicle in which the electronic device 100 is located needs to be taken over remotely, the information generating unit 120 may generate remote takeover request information for requesting the remote controller to take over the vehicle remotely.

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

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

It can be seen that, according to the electronic device 100 of the embodiment of the present disclosure, it can be determined that the vehicle needs to be taken over remotely according to the abnormal condition of the vehicle or the environment, so as to send a remote takeover request to the remote controller, so that the vehicle is in the fleet when the vehicle is in the fleet. Or the remote controller can take over the vehicle remotely when leaving the fleet. In this way, it is possible to remotely take over the vehicle while the fleet is running, so as to avoid danger to the fleet due to abnormal conditions of the vehicle or the environment.

According to the embodiment of the present disclosure, after the electronic device 100 sends the remote takeover request information to the remote controller, it can receive the confirmation information sent by the remote controller, indicating that the remote controller agrees and is ready to remotely control the vehicle . Further, the electronic device 100 may also send remote takeover triggering information to the remote controller, so as to trigger the remote controller to start taking over the vehicle remotely. Only after the electronic device 100 sends remote takeover triggering information to the remote controller, does the remote controller actually start to remotely take over the electronic device 100 .

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

The abnormal condition is that the vehicle is malfunctioning

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

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

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

According to an embodiment of the present disclosure, the determining unit 110 may further determine that the fleet needs to be disbanded before the remote controller remotely takes over the vehicle. For example, the information generation unit 120 may generate information for disbanding the fleet. And the electronic device 100 may broadcast and transmit the information of disbanding the fleet to all other vehicles in the fleet through the communication unit 130 .

According to an embodiment of the present disclosure, the electronic device 100 needs to disband the fleet before being remotely taken over by the remote controller, so the electronic device 100 can send all other vehicles in the fleet to disband the fleet before sending the remote takeover request to the remote controller Information. Optionally, the electronic device 100 may also send the information of disbanding the fleet to all other vehicles in the fleet after sending the remote takeover request to the remote controller and before sending the remote takeover triggering information to the remote controller.

FIG. 2 is a signaling flow diagram illustrating a process of remote takeover of a pilot vehicle in the event of a failure of the pilot vehicle, according to an embodiment of the present disclosure. In FIG. 2 , the lead vehicle may include electronic equipment 100 . As shown in FIG. 2, in step S201, the lead vehicle determines that the vehicle is faulty. In step S202, the leading vehicle sends information of disbanding the convoy to all following vehicles in the convoy. In step S203, the pilot vehicle sends a remote takeover request to the remote controller. In step S204, the remote controller sends confirmation information to the pilot vehicle. In step S205, the pilot vehicle sends remote takeover triggering information to the remote controller, thereby triggering the remote controller to remotely take over the pilot vehicle. As mentioned above, in Figure 2, the lead vehicle disbands the convoy before the lead vehicle is taken over remotely.

In addition, in FIG. 2, step S203 may occur before step S202, or both steps S203 and S204 may occur before step S202, as long as it is ensured that the fleet is disbanded before the pilot vehicle is remotely taken over. Further, after the convoy is disbanded, all or a part of the following vehicles can also re-establish the convoy, that is, a new leading vehicle is determined from the following vehicles, and the following vehicle re-establishes the convoy by sending convoy establishment information to other following vehicles.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in the case of the vehicle failure, the determination unit 110 may determine that the fleet needs to be disbanded and the vehicle needs to be taken over remotely. In this way, in the event of a serious failure of the pilot vehicle, the pilot vehicle no longer has the ability to pilot, and disbanding the fleet can ensure the safety of each vehicle in the fleet. In the present disclosure, serious faults include, but are not limited to, faults that affect the normal running of the vehicle, such as tire blowout, brake failure, steering failure, and the like.

According to an embodiment of the present disclosure, the determination unit 110 may also determine to transfer the right of the leading convoy to the following vehicle and leave the convoy before the remote controller remotely takes over the vehicle. Preferably, the determining unit 110 can determine to transfer the right of the leading convoy to the following vehicle following the leading vehicle, that is, the following vehicle located at the front among all the following vehicles.

According to an embodiment of the present disclosure, the information generating unit 120 may generate pilotage transfer information, and the electronic device 100 may transmit the pilotage transfer information to a following vehicle that is about to obtain pilotage through the communication unit 130 .

According to the embodiment of the present disclosure, the electronic device 100 may send the pilot right transfer information to the following vehicle that is about to obtain the pilot right before sending the remote takeover request to the remote controller, or after sending the remote takeover request to the remote controller, And before sending the remote takeover trigger information to the remote controller, send the pilot right transfer information to the following vehicle that is about to obtain the pilot right, so that the vehicle transfers the pilot right to the following vehicle before being remotely taken over.

3 is a signaling flow diagram illustrating a process of remote takeover of a pilot vehicle in the event of a failure of the pilot vehicle according to an embodiment of the present disclosure. In FIG. 3 , the lead vehicle may include electronic equipment 100 . As shown in FIG. 3, in step S301, the lead vehicle determines that the vehicle is faulty. In step S302, the pilot vehicle sends a remote takeover request to the remote controller. In step S303, the leading vehicle sends the pilot right transfer information to the first following vehicle. In step S304, the first following vehicle sends confirmation information to the leading vehicle to indicate that it has received the pilotage right transfer information and agrees to acquire the pilotage right. In step S305, the remote controller sends confirmation information to the pilot vehicle. In step S306, the lead vehicle sends remote takeover triggering information to the remote controller, thereby triggering the remote controller to remotely take over the lead vehicle. In step S307, the following vehicle (ie, the new leading vehicle) that has obtained the pilot right sends the fleet establishment information to all other following vehicles in the fleet. In step S308, all other following vehicles send confirmation information to the following vehicle that has obtained the pilotage right. In step S309, the following vehicle that has obtained the pilot right broadcasts and sends the fleet information, so that the new fleet is established successfully. As mentioned above, in Figure 3, the lead vehicle transfers the lead rights to the following vehicle before the lead vehicle is remotely taken over.

In addition, in FIG. 3, step S303 may occur before step S302, or step S303 may occur after step S305, as long as it is ensured that the pilot right is transferred before the pilot vehicle is remotely taken over.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in the case of a severe failure of the vehicle, the determination unit 110 may determine that the steering right needs to be transferred to the following vehicle and the vehicle needs to be taken over remotely. Furthermore, in the case of a slight failure of the vehicle, the determination unit 110 may also determine that the steering right needs to be transferred to the following vehicle and the vehicle needs to be taken over remotely. This maximizes the integrity of the fleet in the event the lead vehicle leaves the fleet and is taken over remotely. In the present disclosure, minor faults include, but are not limited to, faults such as wiper faults that do not affect the normal driving of the vehicle.

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

According to an embodiment of the present disclosure, the electronic device 100 may receive driving behavior prediction information from the remote controller through the communication unit 130, where the driving behavior prediction information includes the driving behavior of the vehicle predicted by the remote controller when the vehicle is remotely taken over. For example, the driving behavior prediction information may include information such as overtaking lane change information, entering a high speed, and leaving a high speed.

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

According to an embodiment of the present disclosure, the electronic device 100 may include driving behavior prediction information in the fleet management information and transmit to the following vehicles in the fleet, so that the following vehicles can travel according to the driving behavior prediction information, thereby maintaining the form of the fleet. Here, the fleet management information is the information broadcast and sent by the leading vehicle to all the following vehicles during the piloting process for managing the fleet, including driving strategy information, such as driving speed, driving route, overtaking and lane change information, etc. Fleet management information can control the driving strategy so that the leading vehicle and the following vehicle can travel in a convoy. According to an embodiment of the present disclosure, the electronic device 100 may include the driving behavior prediction information received from the remote controller in the fleet management information, that is, although the vehicle where the electronic device 100 is located is taken over remotely, it can still be The control of the controller to lead the fleet.

As described above, according to the embodiments of the present disclosure, the remote controller can transmit the driving behavior of the vehicle predicted in the future to the lead vehicle, and then forward it to each following vehicle. In this way, it is possible to continue to pilot the fleet while the pilot vehicle is taken over remotely.

According to an embodiment of the present disclosure, as shown in FIG. 1 , the electronic device 100 may further include a judgment unit 140 for judging whether to allow a free vehicle that does not belong to the team to join the team.

When the vehicle where the electronic device 100 is located is remotely taken over and leads the fleet, since some behaviors of the lead vehicle are limited compared to the lead vehicle in a normal state, the judgment unit 140 may refuse the free vehicle to join the fleet. That is, in the case of receiving a request to join the convoy from a free vehicle that does not belong to the convoy, the judgment unit 140 may determine to reject the request, so that the information generation unit 120 may generate rejection information.

FIG. 4 is a signaling flow diagram illustrating a process of remote takeover of a pilot vehicle in the event of a failure of the pilot vehicle, according to an embodiment of the present disclosure. In FIG. 4 , the lead vehicle may include electronic equipment 100 . As shown in FIG. 4, in step S401, the lead vehicle determines that the vehicle is faulty. In step S402, the pilot vehicle sends a remote takeover request to the remote controller. In step S403, the lead vehicle sends to all the following vehicles information indicating that the convoy is maintained but the lead vehicle is taken over remotely. In step S404, the remote controller sends confirmation information to the pilot vehicle. In step S405, the lead vehicle sends remote takeover trigger information to the remote controller, thereby triggering the remote controller to remotely take over the lead vehicle. In step S406, the pilot vehicle sends driving behavior prediction request information to the remote controller. In step S407, the remote controller sends driving behavior prediction information to the pilot vehicle. In step S408, the leading vehicle sends the fleet control information to all the following vehicles, including the driving behavior prediction information received from the remote controller. Thus, the pilot vehicle can pilot the convoy at the same time while being remotely taken over by the remote controller. In step S409, if the free vehicle does not belong to the fleet, a request to join the fleet is sent to the lead vehicle. Then in step S410, the lead vehicle sends rejection information to the free vehicle.

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the vehicle failure, and in the case of a minor failure of the vehicle, the determination unit 110 may determine that the vehicle needs to be taken over remotely and can continue to pilot. In this way, a slight failure of the pilot vehicle does not affect the piloting ability, and can continue to pilot under the control of the remote controller, thereby ensuring the integrity of the fleet.

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

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

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

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

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

5 is a signaling flow diagram illustrating a process of remote takeover of a following vehicle in the event of a failure of the following vehicle according to an embodiment of the present disclosure. In FIG. 5 , the following vehicle may include the electronic device 100 . As shown in FIG. 5 , in step S501 , the following vehicle determines that the vehicle is broken down. In step S502, the following vehicle may send a remote takeover request to the remote controller. In step S503, the following vehicle sends a request to leave the convoy to the lead vehicle. In step S504, the lead vehicle sends fleet update information to all the following vehicles in the fleet to indicate that the vehicle in fault has left the fleet. In step S505, the remote controller sends confirmation information to the following vehicle in failure. In step S506, the failed following vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the failed following vehicle.

In addition, in Fig. 5, step S503 may occur before step S502, or both steps S503 and S504 may occur before step S502, as long as it is ensured that the following vehicle in failure leaves the fleet before being remotely taken over.

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

In this embodiment, since the vehicle has been remotely taken over by the remote controller when leaving the fleet, it needs to leave the fleet under the control of the remote controller.

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

6 is a signaling flow diagram illustrating a process of remote takeover of a following vehicle in the event of a failure of the following vehicle according to an embodiment of the present disclosure. In FIG. 6 , the following vehicle may include the electronic device 100 . As shown in FIG. 6 , in step S601 , the following vehicle determines that the vehicle is broken down. In step S602, the following vehicle may send a remote takeover request to the remote controller, including a decision that the following vehicle is to leave the fleet. In step S603, the remote controller sends confirmation information to the following vehicle in failure. In step S604, the failed following vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the failed following vehicle. In step S605, the remote controller sends a request to leave the convoy to the following vehicle in failure. In step S606, the following vehicle sends a request to leave the convoy to the lead vehicle. In step S607, the lead vehicle sends fleet update information to all the following vehicles in the fleet to indicate that the vehicle in fault has left the fleet.

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

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

According to an embodiment of the present disclosure, before the remote controller takes over the vehicle, the information generating unit 120 may generate the fleet disbanding request information, and the electronic device 100 transmits the fleet disbanding request to the lead vehicle through the communication unit 130 . Optionally, before the remote controller takes over the vehicle, the information generation unit 120 may generate a request for disbanding the fleet, and the electronic device 100 sends a request for disbanding the fleet to the remote controller through the communication unit 130, so that the remote controller can send a request for disbanding the fleet to the remote controller. The pilot vehicle requested to disband the convoy. In this case, the electronic device 100 may send a request for disbanding the fleet to the remote controller before or after sending the request for remote takeover to the remote controller, or may send a remote takeover including the request for disbanding the fleet to the remote controller ask.

According to an embodiment of the present disclosure, in the event that the fleet is disbanded due to a failure of the following vehicle and is taken over remotely, other vehicles in the fleet can still be reconstituted into the fleet again. For example, the original lead vehicle can be re-convoyed by sending a convoy establishment message to other following vehicles.

7 is a signaling flow diagram illustrating a process of remote takeover of a following vehicle in the event of a failure of the following vehicle according to an embodiment of the present disclosure. In FIG. 7 , the following vehicle may include the electronic device 100 . As shown in FIG. 7 , in step S701 , the following vehicle determines that the vehicle is faulty. In step S702, the following vehicle may send a remote takeover request to the remote controller. In step S703, the following vehicle may send a request for disbanding the fleet to the leading vehicle. In step S704, the leading vehicle sends information of disbanding the convoy to all following vehicles in the convoy. In step S705, the remote controller sends confirmation information to the following vehicle in failure. In step S706, the failed following vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the failed following vehicle. Thus, the following vehicle requests the lead vehicle to disband the convoy before being remotely taken over.

8 is a signaling flow diagram illustrating a process of remote takeover of a following vehicle in the event of a failure of the following vehicle according to an embodiment of the present disclosure. In FIG. 8 , the following vehicle may include the electronic device 100 . As shown in FIG. 8 , in step S801 , the following vehicle determines that the vehicle is malfunctioning. In step S802, the following vehicle may send a remote takeover request to the remote controller. In step S803, the following vehicle may send a request for disbanding the fleet to the remote controller. In step S804, the remote controller sends a request for disbanding the fleet to the pilot vehicle. In step S805, the leading vehicle sends information on disbanding the convoy to all following vehicles in the convoy. In step S806, the remote controller sends confirmation information to the following vehicle in failure. In step S807, the failed following vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the failed following vehicle. Thus, the following vehicle requests the remote controller to disband the convoy before being remotely taken over.

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

According to an embodiment of the present disclosure, the determination unit 110 may determine the severity of the failure of the vehicle, and in the case of the severe failure of the vehicle, the determination unit 110 may determine that the fleet needs to be disbanded and the vehicle needs to be taken over remotely. This allows the convoy to be disbanded to ensure the safety of the rest of the convoy in the event of a serious failure of the following vehicle making it difficult to safely leave the convoy.

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

In this case, since the vehicle is remotely taken over by the remote controller, it is under the control of the remote controller. And because the vehicle follows the convoy, it is under the control of the pilot vehicle. That is, the vehicle where the electronic device 100 is located is controlled by the remote controller and the pilot vehicle at the same time.

According to an embodiment of the present disclosure, the electronic device 100 may receive fleet management information from a pilot vehicle through the communication unit 130 . Fleet management information is the information broadcasted by the leading vehicle to all following vehicles to manage the fleet during the piloting process, including driving strategy information, such as driving speed, driving route, overtaking and lane change information, and the following vehicles are managed according to such fleet management information. The information can control the driving strategy so that it can follow the lead vehicle in a convoy. Further, the electronic device 100 can forward the fleet management information to the remote controller through the communication unit 130, so that the remote controller can remotely take over the vehicle according to the fleet management information. In this way, the remote controller can make corresponding driving strategies in advance according to the fleet management information from the leading vehicle, so as to control the following vehicle.

9 is a signaling flow diagram illustrating a process of remote takeover of a following vehicle in the event of a failure of the following vehicle according to an embodiment of the present disclosure. In FIG. 9 , the following vehicle may include the electronic device 100 . As shown in FIG. 9 , in step S901 , the following vehicle determines that the vehicle is broken down. In step S902, the following vehicle may send a remote takeover request to the remote controller. In step S903, the following vehicle may send information to the lead vehicle indicating that the vehicle has been taken over remotely and is still in the fleet. In step S904, the remote controller sends confirmation information to the following vehicle in failure. In step S905, the following vehicle in failure sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the following vehicle in failure. In step S906, the leading vehicle sends fleet management information to all following vehicles in the fleet. In step S907, the following vehicle that is remotely taken over forwards the fleet management information to the remote controller. In step S908, the remote controller controls the following vehicles according to the fleet management information.

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

As described above, according to an embodiment of the present disclosure, if the electronic device 100 is located in the following vehicle, the determination unit 110 may determine whether the following vehicle is malfunctioning, and may determine the severity of the malfunction. Further, the determination unit 110 may determine a strategy for the vehicle to be taken over remotely according to the severity of the fault. Specifically, in the case of a serious failure of the vehicle, the determination unit 110 may determine that the vehicle is taken over remotely and leave the fleet, and optionally may also determine that the vehicle is taken over remotely and disband the fleet. In the case of a slight failure of the vehicle, the determination unit 110 may determine that the vehicle is taken over remotely and leaves the convoy, and optionally may also determine that the vehicle is taken over remotely and continues to follow the convoy.

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

According to an embodiment of the present disclosure, the electronic device 100 in the lead vehicle may determine the number of following vehicles in the convoy that are remotely taken over and follow the convoy. In the case that the above-mentioned number of following vehicles exceeds a predetermined threshold, the electronic device 100 in the leading vehicle may determine to disband the convoy. This reduces the complexity of taking over the vehicle remotely and driving the fleet.

According to an embodiment of the present disclosure, in the case that the following vehicle is determined to be remotely taken over and follows the convoy, the following vehicle may send information indicating that it is remotely taken over and follows the convoy to the leading vehicle (eg step S903 shown in FIG. 9 ), From such information, the lead vehicle can determine the number of following vehicles in the convoy that are remotely taken over and follow the convoy.

FIG. 10 is a signaling flow diagram illustrating a process for disbanding a fleet in the event of a failure of multiple following vehicles resulting in a remote takeover of multiple following vehicles, according to an embodiment of the present disclosure. In FIG. 10 , the electronic device 100 may be included in the following vehicle. In step S1001, the following vehicle A determines that a fault occurs, and in step S1002, a remote takeover request is sent to the remote controller. In step S1003, the following vehicle B determines that there is a fault, and in step S1004 sends a remote takeover request to the remote controller. In step S1005, the following vehicle A sends information to the lead vehicle indicating that it will be taken over remotely and follow the convoy. In step S1006, the following vehicle B sends information to the lead vehicle indicating that it will be taken over remotely and follow the convoy. In step S1007, if the lead vehicle determines that it is remotely taken over and the number of vehicles following the convoy exceeds a predetermined threshold, it is determined that the convoy needs to be disbanded. In step S1008, the leading vehicle sends information of disbanding the convoy to each following vehicle, thereby disbanding the convoy.

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

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

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

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

According to an embodiment of the present disclosure, the electronic device 100 may receive joining control information from a lead vehicle in a fleet, where the joining control information includes a joining position when the vehicle joins the fleet. Preferably, the joining control information may also include information such as speed and time when the vehicle joins the fleet. Further, the electronic device 100 can send the joining control information to the remote controller through the communication unit 130, so that the remote controller can control the vehicle to join the fleet according to the joining control information, including determining the joining position and joining speed according to the joining control information .

11 is a signaling flow diagram illustrating the process of remote takeover of a free vehicle to join a fleet in accordance with an embodiment of the present disclosure. In FIG. 11, the electronic device 100 may be included in the free vehicle. As shown in FIG. 11 , in step S1101 , the free vehicle sends a request to join the fleet to the lead vehicle. In step S1102, the free vehicle sends a remote takeover request to the remote controller. In step S1103, the remote controller sends confirmation information to the free vehicle. In step S1104, the free vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the free vehicle. In step S1105, the leading vehicle sends fleet management information to all following vehicles in the fleet, which may include, for example, information notifying that free vehicles will join the fleet. Preferably, the fleet management information may also include the joining position of the free vehicle, so that the existing following vehicle can avoid it. In step S1106, the lead vehicle sends join control information to the free vehicle. In step S1107, the free vehicle forwards the join control information to the remote controller. In step S1108, the remote controller controls the free vehicle to join the fleet according to the joining control information. In step S1109, since the free vehicle has successfully joined the fleet, the lead vehicle sends fleet update information to all following vehicles in the fleet. Thereby, free vehicles join the fleet while being remotely taken over.

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

According to an embodiment of the present disclosure, the electronic device 100 may receive departure control information from a lead vehicle in a convoy, where the departure control information includes information such as speed and time when the vehicle leaves the convoy. Further, the electronic device 100 can send the departure control information to the remote controller through the communication unit 130, so that the remote controller can control the vehicle to leave the fleet according to the departure control information, including determining the departure speed and departure time according to the departure control information .

12 is a signaling flow diagram illustrating a process for a remote takeover of a following vehicle to leave a fleet in accordance with an embodiment of the present disclosure. In FIG. 12 , the electronic device 100 may be included in the following vehicle. In step S1201, the following vehicle sends a request to leave the convoy to the lead vehicle. In step S1202, the leading vehicle sends confirmation information to the following vehicle to confirm receipt of the request to leave the convoy and allow to leave the convoy. In step S1203, the following vehicle sends a remote takeover request to the remote controller. In step S1204, the remote controller sends confirmation information to the following vehicle. In step S1205, the following vehicle sends remote takeover triggering information to the remote controller, so as to trigger the remote controller to remotely take over the following vehicle. In step S1206, the leading vehicle sends departure control information to the following vehicle. In step S1207, the following vehicle forwards the departure control information to the remote controller. In step S1208, the remote controller controls the following vehicle to leave the convoy according to the departure control information. In step S1209, the following vehicle has successfully left the fleet, so the leading vehicle needs to send fleet update information to the existing following vehicles in the fleet. Thereby, the following vehicle can leave the convoy in the event of a remote takeover.

As described above, according to the embodiments of the present disclosure, when the automatic driving level of the vehicle in which the electronic device 100 is located is lower than a predetermined threshold, its perception capability is limited, and thus may not flexibly join and leave the fleet. In this case, the control of a remote controller is required so that vehicles can be controlled to join and leave the fleet safely. In addition, although it is described above that the vehicle needs to be taken over remotely when the level of autopilot is relatively low, but in the case of a vehicle with a relatively high level of autopilot, it can also be taken over remotely to join and leave the fleet for safety or other purposes. .

The abnormal condition is the abnormal condition of the environment

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

Further, in the case that the vehicle where the electronic device 100 is located is the pilot vehicle, the electronic device 100 may directly disband the fleet after sending the remote takeover request. Optionally, the remote takeover request sent by the electronic device 100 may include information indicating an abnormal environment, so that the remote controller can know that the electronic device 100 sends a remote takeover request due to the abnormal environment, and then sends a request to the pilot vehicle to disband the fleet. . When the vehicle where the electronic device 100 is located is a following vehicle, the remote takeover request sent by the electronic device 100 may include information indicating an abnormal environment, so that the remote controller can know that the electronic device 100 sends a remote takeover request due to the abnormal environment , and then send a request to disband the fleet to the pilot vehicle. Optionally, the remote takeover request sent by the electronic device 100 may also directly include a request for disbanding the fleet, so that the remote controller forwards the request for disbanding the fleet to the pilot vehicle. That is to say, any vehicle in the fleet can request a remote controller to take over remotely after discovering an abnormal condition of the environment, and the fleet is disbanded, thereby ensuring the safety of the vehicles in the fleet.

According to an embodiment of the present disclosure, after the abnormal condition of the environment disappears, the electronic device 100 may also send a request for canceling the remote takeover to the remote controller through the communication unit 130 to request the remote controller to cancel the remote takeover. Here, the disappearance of the abnormal condition of the environment includes, but is not limited to, the road that has passed the traffic accident, the extreme weather has passed, and the like.

13 is a signaling flow diagram illustrating a process of disbanding a fleet in the event of an abnormal environment, according to an embodiment of the present disclosure. In FIG. 13 , the electronic device 100 may be included in both the leading vehicle and the following vehicle. As shown in FIG. 13 , in step S1301 , the pilot vehicle determines that an abnormal condition occurs in the environment. In step S1302, the pilot vehicle sends a remote takeover request to the remote controller, which includes information indicating an abnormal environment. In step S1303, the remote controller sends confirmation information to the pilot vehicle. In step S1304, the lead vehicle sends remote takeover triggering information to the remote controller, thereby triggering the remote controller to remotely take over the lead vehicle. In step S1305, the remote controller sends a request for disbanding the fleet to the pilot vehicle. In step S1306, the leading vehicle sends the information of disbanding the convoy to all the following vehicles.

Here, FIG. 13 only shows an example in which an environmental abnormality is determined by the pilot vehicle and a remote takeover is requested. In fact, the following vehicle can also determine that the environment is abnormal and request a remote takeover.

As mentioned above, the strategy of taking over the vehicle remotely is described according to the situation of vehicle failure, low level of automatic driving of vehicle, abnormal environment, etc. Table 1 summarizes some preferred embodiments of the present disclosure. In the table below, complex conditions include cases where the vehicle has a major breakdown and the vehicle has a low level of autopilot, and simple conditions include cases where the vehicle has minor malfunctions and the vehicle has a high level of autopilot.

Table 1

As shown in Table 1, in the event that the lead vehicle is taken over remotely and in the event of a complex situation (serious failure of the lead vehicle), the convoy is disbanded, the lead vehicle leaves the convoy, and no fleet cooperative remote interaction is required (the embodiment shown in Figure 2). ). Optionally, the fleet remains, the lead vehicle leaves the fleet, and no remote interaction of the fleet system is required (the embodiment shown in Figure 3). In the event that the lead vehicle is taken over remotely and in a simple situation (minor failure of the lead vehicle), the fleet remains and the lead vehicle continues to pilot, requiring a collaborative remote interaction of the fleet (embodiment shown in Figure 4). Optionally, the fleet remains, the lead vehicle leaves the fleet, and no remote interaction of the fleet system is required (the embodiment shown in Figure 3).

As shown in Table 1, in the event of a follower vehicle being taken over remotely and in a complex situation (a serious failure of the follower vehicle), the fleet is disbanded and the follower vehicle leaves the fleet without the need for fleet system remote interaction (shown in Figures 7 and 8). example). Optionally, fleet hold, following the vehicle out of the fleet, does not require remote interaction with the fleet system (embodiment shown in Figure 5). Optionally, fleet hold, following the vehicle out of the fleet, requires remote interaction of the fleet system (the embodiment shown in Figure 6). Where the follower vehicle is taken over remotely and in simple situations (follower vehicle minor failure), the fleet remains, the follower vehicle continues to follow the lead vehicle within the fleet, requiring fleet system remote interaction (embodiment shown in Figure 9). Optionally, fleet hold, following the vehicle out of the fleet, does not require remote interaction with the fleet system (embodiment shown in Figure 5). Optionally, fleet hold, following the vehicle out of the fleet, requires remote interaction of the fleet system (the embodiment shown in Figure 6).

As shown in Table 1, in the case of a free vehicle being taken over remotely and in a complex situation (low level of free vehicle autopilot), the fleet remains, and the free vehicle joins the fleet, requiring remote interaction of the fleet system (the embodiment shown in Figure 11) . In the case where a free vehicle is taken over remotely and in a simple situation (high level of free vehicle autopilot), the fleet remains, the free vehicle joins the fleet, requiring remote interaction of the fleet system. That is to say, although the autonomous driving level of free vehicles is high, there is also a need to be taken over remotely.

In addition, according to an embodiment of the present disclosure, since the vehicle can be taken over remotely while driving in a fleet, after the vehicle is taken over remotely, the vehicle needs to periodically send vehicle status information and vehicle role information to the remote controller. Vehicle status information includes but is not limited to pilot status, starting to disband status, requesting to join the fleet, joining status, following status, requesting to leave status, and leaving status. Vehicle role information includes but is not limited to leading, following, trailing, and free vehicles. In addition, after the vehicle is taken over remotely, the vehicle also needs to forward the fleet management information from the pilot vehicle to the remote controller, so that the remote controller can control the vehicle according to the fleet management information.

In this article, although the leading vehicle, the following vehicle and the free vehicle are described separately, since the role of the vehicle may change in time, the electronic devices 100 provided in each vehicle are not different, that is to say , the structures and functions of the electronic devices 100 in each vehicle are the same, except that the vehicles implement corresponding functions when they assume different roles.

To sum up, according to the embodiments of the present disclosure, the vehicle may determine that the vehicle needs to be taken over remotely according to the abnormal condition of the vehicle or the environment, so as to send a remote takeover request to the remote controller, so that the vehicle is in the fleet or leaves the fleet when the vehicle is in the fleet or leaves the fleet. Realize the remote controller to take over the vehicle remotely. In this way, it is possible to remotely take over the vehicle while the fleet is running, so as to avoid danger to the fleet due to abnormal conditions of the vehicle or the environment.

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

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

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

Here, each unit of the electronic device 1400 may be included in the processing circuit. It should be noted that the electronic device 1400 may include either one processing circuit or multiple processing circuits. Further, the processing circuit may include various discrete functional units to perform various different functions and/or operations. It should be noted that these functional units may be physical entities or logical entities, and units with different names may be implemented by the same physical entity.

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

According to an embodiment of the present disclosure, the control unit 1420 may remotely take over the vehicle if the vehicle leaves the convoy or if the vehicle is in the convoy.

According to an embodiment of the present disclosure, as shown in FIG. 14 , the electronic device 1400 may further include a prediction unit 1430 for predicting the driving behavior of the vehicle when the vehicle is remotely taken over when the vehicle is the lead vehicle in the fleet. Further, the electronic device 1400 may send the driving behavior prediction information including the driving behavior of the vehicle to the vehicle through the communication unit 1410, so that the vehicle can pilot the fleet according to the driving behavior prediction information.

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

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

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

The electronic device 1400 according to an embodiment of the present disclosure may be used for a remote controller, and the parts related to the remote controller in the foregoing description of the electronic device 100 are all applicable to this.

Also, both the electronic device 100 and the electronic device 1400 according to an embodiment of the present disclosure may be located in a wireless communication system. The wireless communication system may be, for example, a 5G communication system, and with the development of technology, the wireless communication system may also be a future higher-level communication system. In addition, the wireless communication system may include at least a remote controller provided with the electronic device 1400 and a leader vehicle and one or more follower vehicles traveling in a convoy. Optionally, the wireless communication system may also include one or more free vehicles. The electronic device 100 may be included in each vehicle. The leading vehicle can be driven automatically or manually, and the following vehicle can be driven automatically. In addition, the pilot vehicle can send messages to each vehicle in the fleet in the form of broadcast, the vehicles in the fleet can also exchange messages in the form of V2V, and the vehicles in the fleet can interact with roadside facilities in the form of V2I.

<3. Method Example>

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

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

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

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

Preferably, the vehicle is the lead vehicle in the fleet.

Preferably, the wireless communication method further comprises: disbanding the fleet before the remote controller remotely takes over the vehicle.

Preferably, the wireless communication method further comprises: transferring rights of the leading convoy to a following vehicle in the convoy and leaving the convoy before the remote controller takes over the vehicle remotely.

Preferably, the wireless communication method further comprises: continuing to pilot the convoy while being remotely taken over by the remote controller.

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

Preferably, the wireless communication method further comprises: if a request to join the convoy is received from a free vehicle that does not belong to the convoy, rejecting the request.

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

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

Preferably, the wireless communication method further comprises: before the remote controller takes over the vehicle remotely, sending a request for disbanding the fleet to the leader vehicle in the fleet or the remote controller.

Preferably, the wireless communication method further comprises: continuing to follow the convoy while being remotely taken over by the remote controller.

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

Preferably, the vehicle is a vehicle about to join the fleet, and the wireless communication method further comprises: receiving joining control information from a pilot vehicle in the fleet, where the joining control information includes the joining position when the vehicle joins the fleet; and sending the joining control information to a remote end The controller is used for the remote controller to remotely take over the vehicle according to the joining control information.

Preferably, the wireless communication method further includes: after the abnormal condition of the environment disappears, sending a request for canceling the remote takeover to the remote controller, so as to request the remote controller to cancel the remote takeover.

Preferably, the abnormal conditions of the vehicle include failure of the vehicle and the automatic driving level of the vehicle is lower than a predetermined threshold, and the abnormal conditions of the environment include traffic accidents and extreme weather.

According to an embodiment of the present disclosure, the subject performing the above method may be the electronic device 100 according to the embodiment of the present disclosure, so all the foregoing embodiments about the electronic device 100 are applicable to this.

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

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

As shown in FIG. 16, in step S1610, a remote takeover request is received from a vehicle in the fleet or a vehicle about to join the fleet.

Next, in step S1620, the vehicle is taken over remotely if the vehicle leaves the convoy or if the vehicle is in the convoy.

Preferably, the vehicle is a pilot vehicle in the fleet, and the wireless communication method further comprises: predicting the driving behavior of the vehicle when the vehicle is remotely taken over; and sending driving behavior prediction information including the driving behavior of the vehicle to the vehicle for the vehicle Pilot the fleet based on driving behavior prediction information.

Preferably, the vehicle is a following vehicle in the convoy, and the wireless communication method further comprises: receiving a request from the vehicle to disband the convoy; and sending the request to a lead vehicle in the convoy for the lead vehicle to disband the convoy.

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

Preferably, the vehicle is a vehicle about to join the fleet, and the wireless communication method further comprises: receiving joining control information from the vehicle, the joining control information including the joining position when the vehicle joins the fleet; and remotely taking over the vehicle according to the joining control information.

According to an embodiment of the present disclosure, the subject performing the above method may be the electronic device 1400 according to the embodiment of the present disclosure, so all the foregoing embodiments about the electronic device 1400 are applicable to this.

<4. Application example>

The techniques of this disclosure can be applied to various products.

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

The electronic device 100 may be implemented as an electronic device for a vehicle, such as a terminal device placed in or integrated in a vehicle. The terminal device may be implemented as a mobile terminal such as a smart phone, a tablet personal computer (PC), a notebook PC, a portable game terminal, a portable/dongle type mobile router, and a digital camera or an in-vehicle terminal such as a car navigation device. Furthermore, the terminal device may be a wireless communication module (such as an integrated circuit module including a single die) mounted on each of the above-mentioned terminal devices.

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

The processor 1701 may be, for example, a central processing unit (CPU) or a digital signal processor (DSP), and controls the functions of the server 1700 . The memory 1702 includes random access memory (RAM) and read only memory (ROM), and stores data and programs executed by the processor 1701 . The storage device 1703 may include storage media such as semiconductor memories and hard disks.

The network interface 1704 is a wired communication interface for connecting the server 1700 to the wired communication network 1705 . The wired communication network 1705 may be a core network such as an evolved packet core network (EPC) or a packet data network (PDN) such as the Internet.

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

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

(First application example)

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

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

The camera 1806 includes an image sensor such as a charge coupled device (CCD) and a complementary metal oxide semiconductor (CMOS), and generates a captured image. Sensors 1807 may include a set of sensors, such as measurement sensors, gyroscope sensors, geomagnetic sensors, and acceleration sensors. The microphone 1808 converts the sound input to the smartphone 1800 into an audio signal. The input device 1809 includes, for example, a touch sensor, a keypad, a keyboard, buttons, or switches configured to detect a touch on the screen of the display device 1810, and receives operations or information input from a user. The display device 1810 includes a screen such as a liquid crystal display (LCD) and an organic light emitting diode (OLED) display, and displays an output image of the smartphone 1800 . The speaker 1811 converts the audio signal output from the smartphone 1800 into sound.

The wireless communication interface 1812 supports any cellular communication scheme, such as LTE and LTE-Advanced, and performs wireless communication. Wireless communication interface 1812 may typically include, for example, BB processor 1813 and RF circuitry 1814. The BB processor 1813 can perform, for example, encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and performs various types of signal processing for wireless communication. Meanwhile, the RF circuit 1814 may include, for example, mixers, filters, and amplifiers, and transmit and receive wireless signals via the antenna 1816 . The wireless communication interface 1812 may be a chip module on which the BB processor 1813 and the RF circuit 1814 are integrated. As shown in FIG. 18 , the wireless communication interface 1812 may include a plurality of BB processors 1813 and a plurality of RF circuits 1814 . Although FIG. 18 shows an example in which the wireless communication interface 1812 includes multiple BB processors 1813 and multiple RF circuits 1814 , the wireless communication interface 1812 may include a single BB processor 1813 or a single RF circuit 1814 .

Furthermore, in addition to cellular communication schemes, the wireless communication interface 1812 may support additional types of wireless communication schemes, such as short-range wireless communication schemes, near field communication schemes, and wireless local area network (LAN) schemes. In this case, the wireless communication interface 1812 may include the BB processor 1813 and the RF circuit 1814 for each wireless communication scheme.

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

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

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

The bus 1817 connects the processor 1801, the memory 1802, the storage device 1803, the external connection interface 1804, the camera device 1806, the sensor 1807, the microphone 1808, the input device 1809, the display device 1810, the speaker 1811, the wireless communication interface 1812, and the auxiliary controller 1819 to each other connect. The battery 1818 provides power to the various blocks of the smartphone 1800 shown in FIG. 18 via feeders, which are partially shown in phantom in the figure. The auxiliary controller 1819 operates the minimum necessary functions of the smartphone 1800, eg, in sleep mode.

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

(Second application example)

FIG. 19 is a block diagram showing an example of a schematic configuration of a car navigation apparatus 1920 to which the technology of the present disclosure can be applied. The car navigation device 1920 includes a processor 1921, a memory 1922, a global positioning system (GPS) module 1924, a sensor 1925, a data interface 1926, a content player 1927, a storage medium interface 1928, an input device 1929, a display device 1930, a speaker 1931, a wireless Communication interface 1933 , one or more antenna switches 1936 , one or more antennas 1937 , and battery 1938 .

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

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

The content player 1927 reproduces content stored in storage media such as CDs and DVDs, which are inserted into the storage media interface 1928 . The input device 1929 includes, for example, a touch sensor, a button, or a switch configured to detect a touch on the screen of the display device 1930, and receives operations or information input from a user. The display device 1930 includes a screen such as an LCD or OLED display, and displays images or reproduced content of a navigation function. The speaker 1931 outputs the sound of the navigation function or the reproduced content.

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

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

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

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

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

The battery 1938 provides power to the various blocks of the car navigation device 1920 shown in FIG. 19 via feeders, which are shown in part as dashed lines in the figure. The battery 1938 accumulates power supplied from the vehicle.

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

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

The preferred embodiments of the present disclosure have been described above with reference to the accompanying drawings, but the present disclosure is not limited to the above examples, of course. Those skilled in the art may find various changes and modifications within the scope of the appended claims, and it should be understood that they will naturally come under the technical scope of the present disclosure.

For example, the units shown in dotted boxes in the functional block diagram shown in the accompanying drawings all indicate that the functional unit is optional in the corresponding device, and each optional functional unit can be combined in an appropriate manner to realize the required function .

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

In this specification, the steps described in the flowcharts include not only processing performed in time series in the stated order, but also processing performed in parallel or individually rather than necessarily in time series. Furthermore, even in the steps processed in time series, needless to say, the order can be appropriately changed.

Although the embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, it should be understood that the above-described embodiments are only used to illustrate the present disclosure, but not to limit the present disclosure. Various modifications and variations of the above-described embodiments may be made by those skilled in the art without departing from the spirit and scope of the present disclosure. Accordingly, the scope of the present disclosure is to be limited only by the appended claims and their equivalents.

Claims

An electronic device for vehicles in a fleet or vehicles about to join a fleet, including processing circuitry, configured to:

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

A remote takeover request is sent to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is in the fleet.
The electronic device of claim 1, wherein the vehicle is a lead vehicle in the fleet.
The electronic device of claim 2, wherein the processing circuit is further configured to:

The fleet is disbanded before the remote controller takes over the vehicle remotely.
The electronic device of claim 2, wherein the processing circuit is further configured to:

Transfers the right to lead the convoy to a following vehicle in the convoy and leave the convoy before the remote controller takes over the vehicle remotely.
The electronic device of claim 2, wherein the processing circuit is further configured to:

Continue to pilot the convoy while being remotely taken over by the remote controller.
The electronic device of claim 5, wherein the processing circuit is further configured to:

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

The driving behavior prediction information is included in fleet management information and sent to following vehicles in the fleet.
The electronic device of claim 5, wherein the processing circuit is further configured to:

Where a request to join the fleet is received from a free vehicle that does not belong to the fleet, the request is denied.
The electronic device of claim 1, wherein the vehicle is a following vehicle in the convoy.
The electronic device of claim 8, wherein the processing circuit is further configured to:

Leaving the fleet before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.
The electronic device of claim 8, wherein the processing circuit is further configured to:

A request to disband the fleet is sent to the lead vehicle in the fleet or to the remote controller before the remote controller takes over the vehicle remotely.
The electronic device of claim 8, wherein the processing circuit is further configured to:

Continue to follow the convoy while being remotely taken over by the remote controller.
The electronic device of claim 11, wherein the processing circuit is further configured to:

receiving fleet management information from a lead vehicle in the fleet; and

The fleet management information is sent to the remote controller for the remote controller to remotely take over the vehicle according to the fleet management information.
The electronic device of claim 1, wherein the vehicle is a vehicle about to join a fleet, and the processing circuit is further configured to:

receiving join control information from a lead vehicle in the fleet, the join control information including a join position of the vehicle when it joined the fleet; and

The join control information is sent to the remote controller for the remote controller to remotely take over the vehicle according to the join control information.
The electronic device of claim 1, wherein the processing circuit is further configured to:

After the abnormal condition of the environment disappears, a request for canceling the remote takeover is sent to the remote controller, so as to request the remote controller to cancel the remote takeover.
The electronic device according to claim 1, wherein the abnormal condition of the vehicle includes a malfunction of the vehicle and the automatic driving level of the vehicle is lower than a predetermined threshold, and the abnormal condition of the environment includes a traffic accident and extreme weather.
An electronic device, including processing circuitry, configured to:

Receive remote takeover requests from vehicles in the fleet or vehicles about to join the fleet; and

The vehicle is taken over remotely if the vehicle leaves the convoy or if the vehicle is in the convoy.
17. The electronic device of claim 16, wherein the vehicle is a lead vehicle in a fleet, and the processing circuit is further configured to:

predicting the driving behavior of the vehicle in the event of a remote takeover of the vehicle; and

Driving behavior prediction information including the driving behavior of the vehicle is sent to the vehicle, so that the vehicle can pilot the fleet according to the driving behavior prediction information.
17. The electronic device of claim 16, wherein the vehicle is a following vehicle in a convoy, and the processing circuit is further configured to:

receiving a request from the vehicle to disband the fleet; and

The request is sent to a lead vehicle in the fleet for the lead vehicle to disband the fleet.
17. The electronic device of claim 16, wherein the vehicle is a following vehicle in a convoy, and the processing circuit is further configured to:

receiving fleet management information from the vehicle; and

The vehicle is taken over remotely based on the fleet management information.
17. The electronic device of claim 16, wherein the vehicle is a vehicle about to join a fleet, and the processing circuit is further configured to:

receiving join control information from the vehicle, the join control information including a join position when the vehicle joined the fleet; and

The vehicle is remotely taken over according to the join control information.
A method of wireless communication performed by an electronic device for a vehicle in a fleet or a vehicle about to join the fleet, comprising:

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

A remote takeover request is sent to a remote controller to request the remote controller to remotely take over the vehicle if the vehicle leaves the fleet or if the vehicle is in the fleet.
The wireless communication method of claim 21, wherein the vehicle is a lead vehicle in the fleet.
The wireless communication method of claim 22, wherein the wireless communication method further comprises:

The fleet is disbanded before the remote controller takes over the vehicle remotely.
The wireless communication method of claim 22, wherein the wireless communication method further comprises:

Transfers the right to lead the convoy to a following vehicle in the convoy and leave the convoy before the remote controller takes over the vehicle remotely.
The wireless communication method of claim 22, wherein the wireless communication method further comprises:

Continue to pilot the convoy while being remotely taken over by the remote controller.
The wireless communication method of claim 25, wherein the wireless communication method further comprises:

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

The driving behavior prediction information is included in fleet management information and sent to following vehicles in the fleet.
The wireless communication method of claim 25, wherein the wireless communication method further comprises:

Where a request to join the fleet is received from a free vehicle that does not belong to the fleet, the request is denied.
The wireless communication method of claim 21, wherein the vehicle is a following vehicle in the convoy.
The wireless communication method of claim 28, wherein the wireless communication method further comprises:

Leaving the fleet before the remote controller takes over the vehicle remotely or after the remote controller takes over the vehicle remotely.
The wireless communication method of claim 28, wherein the wireless communication method further comprises:

A request to disband the fleet is sent to the lead vehicle in the fleet or to the remote controller before the remote controller takes over the vehicle remotely.
The wireless communication method of claim 28, wherein the wireless communication method further comprises:

Continue to follow the convoy while being remotely taken over by the remote controller.
The wireless communication method of claim 31, wherein the wireless communication method further comprises:

receiving fleet management information from a lead vehicle in the fleet; and

The fleet management information is sent to the remote controller for the remote controller to remotely take over the vehicle according to the fleet management information.
The wireless communication method according to claim 21, wherein the vehicle is a vehicle about to join a fleet, and the wireless communication method further comprises:

receiving join control information from a lead vehicle in the fleet, the join control information including a join position of the vehicle when it joined the fleet; and

The join control information is sent to the remote controller for the remote controller to remotely take over the vehicle according to the join control information.
The wireless communication method of claim 21, wherein the wireless communication method further comprises:

After the abnormal condition of the environment disappears, a request for canceling the remote takeover is sent to the remote controller, so as to request the remote controller to cancel the remote takeover.
The wireless communication method according to claim 21, wherein the abnormal conditions of the vehicle include failure of the vehicle and an automatic driving level of the vehicle below a predetermined threshold, and the abnormal conditions of the environment include traffic accidents and extreme weather.
A wireless communication method performed by an electronic device, comprising:

Receive remote takeover requests from vehicles in the fleet or vehicles about to join the fleet; and

The vehicle is taken over remotely if the vehicle leaves the convoy or if the vehicle is in the convoy.
The wireless communication method of claim 36, wherein the vehicle is a pilot vehicle in a fleet, and the wireless communication method further comprises:

predicting the driving behavior of the vehicle in the event of a remote takeover of the vehicle; and

Driving behavior prediction information including the driving behavior of the vehicle is sent to the vehicle, so that the vehicle can pilot the fleet according to the driving behavior prediction information.
The wireless communication method of claim 36, wherein the vehicle is a following vehicle in a convoy, and the wireless communication method further comprises:

receiving a request from the vehicle to disband the fleet; and

The request is sent to a lead vehicle in the fleet for the lead vehicle to disband the fleet.
The wireless communication method of claim 36, wherein the vehicle is a following vehicle in a convoy, and the wireless communication method further comprises:

receiving fleet management information from the vehicle; and

The vehicle is taken over remotely based on the fleet management information.
The wireless communication method according to claim 36, wherein the vehicle is a vehicle about to join a fleet, and the wireless communication method further comprises:

receiving join control information from the vehicle, the join control information including a join position when the vehicle joined the fleet; and

The vehicle is remotely taken over according to the join control information.
A computer-readable storage medium comprising executable computer instructions that, when executed by a computer, cause the computer to perform the wireless communication method of any of claims 21-40.