WO2022194127A1 - Remote control receiving system, vehicle‐mounted control apparatus, and autonomous vehicle - Google Patents

Remote control receiving system, vehicle‐mounted control apparatus, and autonomous vehicle Download PDF

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Publication number
WO2022194127A1
WO2022194127A1 PCT/CN2022/080861 CN2022080861W WO2022194127A1 WO 2022194127 A1 WO2022194127 A1 WO 2022194127A1 CN 2022080861 W CN2022080861 W CN 2022080861W WO 2022194127 A1 WO2022194127 A1 WO 2022194127A1
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WO
WIPO (PCT)
Prior art keywords
remote
receiving apparatus
vehicle
remote receiving
autonomous vehicle
Prior art date
Application number
PCT/CN2022/080861
Other languages
French (fr)
Inventor
Guangrong Fang
Jiajun MA
Junhong Li
Original Assignee
Valeo Systèmes de Contrôle Moteur
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Publication date
Application filed by Valeo Systèmes de Contrôle Moteur filed Critical Valeo Systèmes de Contrôle Moteur
Priority to EP22729028.5A priority Critical patent/EP4309162A1/en
Publication of WO2022194127A1 publication Critical patent/WO2022194127A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23051—Remote control, enter program remote, detachable programmer

Definitions

  • Embodiments of the present disclosure generally relate to a remote control receiving system, a remote receiving apparatus, and a vehicle ⁇ mounted control apparatus for an autonomous vehicle, and an autonomous vehicle, especially an unmanned delivery vehicle.
  • the present disclosure provides, in an exemplary aspect, a remote control receiving system for an autonomous vehicle, especially for an unmanned delivery vehicle.
  • the remote control receiving system includes a remote receiving apparatus selectively connected to the autonomous vehicle and configured to establish a wireless communication connection with a remote control apparatus through a wireless communication network, so as to reach an interaction of remote control signals between the two apparatuses.
  • the remote control receiving system further includes a vehicle ⁇ mounted control apparatus configured to interact at least verification signals and control signals with the remote receiving apparatus through a controller area network, so as to identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle and process a remote control signal from the remote control apparatus.
  • the remote receiving apparatus includes a power control unit.
  • the power control unit is configured to set turning ⁇ on and turning ⁇ off of a power source with the vehicle ⁇ mounted control apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non ⁇ working state when the power source is turned off.
  • the remote receiving apparatus further includes a first signal interaction unit.
  • the first signal interaction unit is configured to interact at least verification signals and control signals with the vehicle ⁇ mounted control apparatus when the remote receiving apparatus is in the working state, and to interact remote control signals with the remote control apparatus.
  • the first signal interaction unit includes a first verification signal interaction sub ⁇ unit configured to interact the verification signals with the vehicle ⁇ mounted control apparatus based on an encryption algorithm and a random number sequence.
  • the first signal interaction unit further includes a first control signal interaction sub ⁇ unit.
  • the first control signal interaction sub ⁇ unit is configured to interact the remote control signal with the remote control apparatus, and configured to interact the control signal with the vehicle ⁇ mounted control apparatus when the first verification signal interaction sub ⁇ unit identifies that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  • the remote receiving apparatus further includes an authorization indication unit.
  • the authorization indication unit is configured to indicate whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle. When the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the authorization indication unit generates and displays an authorization pass state signal, and the vehicle ⁇ mounted control apparatus is allowed to process the remote control signal from the remote control apparatus, otherwise, the authorization indication unit generates and displays an authorization failure state signal.
  • the authorization indication unit may be constructed as a human ⁇ machine interface.
  • the vehicle ⁇ mounted control apparatus includes a power supply unit.
  • the power supply unit is configured to set turning ⁇ on and turning ⁇ off of a power source with the remote receiving apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non ⁇ working state when the power source is turned off.
  • the vehicle ⁇ mounted control apparatus further includes a second signal interaction unit.
  • the second signal interaction unit is configured to exchange at least verification signals and control signals with the remote receiving apparatus when the remote receiving apparatus is in the working state.
  • the second signal interaction unit includes a second verification signal interaction sub ⁇ unit configured to interact the verification signal with the remote receiving apparatus based on an encryption algorithm and a random number sequence.
  • the second verification signal interaction sub ⁇ unit is configured to send a generated random number sequence to the remote receiving apparatus, such that the remote receiving apparatus receives the random number sequence and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal interaction sub ⁇ unit also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  • the second signal exchange unit further includes a second control signal exchange sub ⁇ unit.
  • the second control signal interaction sub ⁇ unit is configured to interact the control signal with the remote receiving apparatus when it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  • the present disclosure provides, in another exemplary aspect, an autonomous vehicle including the above remote control receiving system.
  • the present disclosure provides, in another exemplary aspect, a remote receiving apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle.
  • FIG. 1 is a diagram of a working principle of a remote control apparatus and a remote control receiving system according to an exemplary embodiment of the present application;
  • FIG. 3 is a diagram of a structure principle of a remote receiving apparatus according to an exemplary embodiment of the present application.
  • FIG. 4 is a diagram of a structure principle of a vehicle ⁇ mounted control apparatus according to an exemplary embodiment of the present application.
  • connection As used in this specification, the terms “first” , “second” , and similar words are interchangeably used to distinguish an element from another element, and are not intended to indicate the sequence or importance of various elements. As used in this specification, the terms “a” , “an” and “the” and “said” are intended to indicate the presence of one or more elements, unless otherwise clearly stated in the context. The terms “include” , “comprise” , and “have” are intended to be inclusive and mean that there may be other elements in addition to the element listed.
  • connection connection, “connected” , or variations thereof is not limited to a physical or mechanical connection, but may include an electrical connection, regardless of a direct or indirect, and a wired or wireless communication connection.
  • wireless communication refers to long ⁇ range transmission communication between a plurality of nodes without using a conductor or a cable, which is opposite to wired communication, and can be performed by means of radio, etc.
  • the wireless communication may include various stationary, mobile, and portable applications.
  • controller area network refers to a serial communication network for a vehicle that can effectively support a distributed control system.
  • remote receiving apparatus may act as a signal receiver and a signal transmitter in different instances of signal exchange.
  • FIG. 1 is a diagram of a working principle of a remote control apparatus and a remote control receiving system.
  • a remote control apparatus 120 which is operated by a remote control operation subject 20, establishes a wireless communication connection with the remote control receiving system 110 of an autonomous vehicle 10 through a wireless communication network 130.
  • the autonomous vehicle 10 may be, for example, an unmanned delivery vehicle or a delivery robot.
  • the remote control receiving system 110 may include a remote receiving apparatus 111 and a vehicle ⁇ mounted control apparatus 112.
  • the remote receiving apparatus 111 is selectively connected to the autonomous vehicle 10.
  • the connection may be implemented by using a vehicle ⁇ mounted connector (not shown) , which may be, for example, a type of plug socket kit, to implement a mechanical connection, a communication connection, or an electrical connection between the remote receiving apparatus 111 and the autonomous vehicle 10.
  • the remote receiving apparatus 111 may establish a wireless communication connection with the remote control apparatus 120 through the wireless communication network 130, so as to implement exchange of a remote control signal between the two apparatuses.
  • the remote receiving apparatus 111 may exchange at least a verification signal with the vehicle ⁇ mounted control apparatus 112 through, for example, a controller area network, to identify whether the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10.
  • the remote receiving apparatus 111 may also exchange a control signal with the vehicle ⁇ mounted control apparatus 112 through, for example, the controller area network, to process a remote control signal from the remote control apparatus 120.
  • FIG. 2 is an exemplary diagram of a working principle of the remote control apparatus 120, the remote receiving apparatus 111, and the vehicle ⁇ mounted control apparatus 112
  • FIG. 3 and FIG. 4 are exemplary diagrams of structure principles of the remote receiving apparatus 111 and the vehicle ⁇ mounted control apparatus 112.
  • the remote receiving apparatus 111 may include a power control unit 113, and the vehicle ⁇ mounted control apparatus 112 may include a power supply unit 118.
  • the power supply unit 118 can set turning ⁇ on and turning ⁇ off of a power source with the power control unit 113.
  • the power supply unit 118 may supply power to the power control unit 113, and the power control unit 113 can control the received power.
  • the remote receiving apparatus 111 may be at least maintained in a working state by continuous power supply.
  • the power source is interrupted, and the remote receiving apparatus 111 is in a non ⁇ working state.
  • the remote receiving apparatus 111 may further include a first signal exchange unit 114, and the vehicle ⁇ mounted control apparatus 112 may further include a second signal exchange unit 114” .
  • the first signal exchange unit 114 exchanges at least a verification signal and a control signal with the second signal exchange unit 114” through, for example, a CAN communication network, and the first signal exchange unit 114 may also exchange a remote control signal with the remote control apparatus 120 through, for example, a wireless communication network.
  • the first signal exchange unit 114 may include a first verification signal exchange sub ⁇ unit 115
  • the second signal exchange unit 114” may include a second verification signal exchange sub ⁇ unit 115”
  • the first verification signal exchange sub ⁇ unit 115 may exchange the verification signal with the second verification signal exchange sub ⁇ unit 115” based on an encryption algorithm and a random number sequence.
  • the first verification signal exchange sub ⁇ unit 115 receives a random number sequence generated by the second verification signal exchange sub ⁇ unit 115” , and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal exchange sub ⁇ unit 115” also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10.
  • the first signal exchange unit 114 may further include a first control signal exchange sub ⁇ unit 116
  • the second signal exchange unit 114” may further include a second control signal exchange sub ⁇ unit 116” .
  • the first control signal exchange sub ⁇ unit 116 may continuously exchange a remote control signal with the remote control apparatus 120
  • the first control signal exchange sub ⁇ unit 116 may also exchange a control signal with the second control signal exchange sub ⁇ unit 116” .
  • the second control signal exchange sub ⁇ unit 116 is allowed to receive a signal from the first control signal exchange sub ⁇ unit 116.
  • the remote receiving apparatus 111 further includes an authorization indication unit 117.
  • the authorization indication unit 117 is a human ⁇ machine interface.
  • the authorization indication unit 117 displays an authorization pass state, and the first control signal exchange sub ⁇ unit 116 may exchange a remote control signal from the remote control apparatus 120 with the second control signal exchange sub ⁇ unit 116” , that is, the vehicle ⁇ mounted control apparatus 112 is allowed to process the remote control signal from the remote control apparatus 120, and the remote control apparatus 120 may perform remote control over the autonomous vehicle 10.
  • the present disclosure provides a remote receiving apparatus that is selectively connected to an autonomous vehicle and responsive to a remote control apparatus.
  • the remote receiving apparatus is in a working state when connected to the autonomous vehicle, and the remote receiving apparatus is in a non ⁇ working state when removed from the autonomous vehicle.
  • the remote control apparatus can identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, and if it is confirmed that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the remote control apparatus can perform remote control over the autonomous vehicle.
  • the present disclosure further provides a vehicle ⁇ mounted control apparatus.
  • a vehicle ⁇ mounted control apparatus For a remote receiving apparatus which is selectively connected to an autonomous vehicle and responsive to a remote control apparatus, and is in a working state when connected to the autonomous vehicle, the vehicle ⁇ mounted control apparatus can identify, when the remote receiving apparatus is in the working state, whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, and if it is confirmed that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the remote control apparatus can perform remote control over the autonomous vehicle.
  • the present disclosure further provides a remote control receiving system including the remote receiving apparatus and the vehicle ⁇ mounted control apparatus described above, and an autonomous vehicle, especially an unmanned delivery vehicle.

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Abstract

The present disclosure relates to a remote control receiving system for an autonomous vehicle, especially for an unmanned delivery vehicle. The remote control receiving system includes a remote receiving apparatus selectively connected to the autonomous vehicle and configured to establish a wireless communication connection with a remote control apparatus through a wireless communication network, so as to reach an interaction of remote control signals between the two apparatuses. The remote control receiving system further includes a vehicle‐mounted control apparatus configured to interact at least verification signals and control signals with the remote receiving apparatus through a controller area network, so as to identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle and process a remote control signal from the remote control apparatus. The present disclosure further relates to a remote receiving apparatus, a vehicle‐mounted control apparatus, and an autonomous vehicle, especially an unmanned delivery vehicle.

Description

Remote control receiving system, vehicle‐mounted control apparatus, and autonomous vehicle TECHNICAL FIELD
Embodiments of the present disclosure generally relate to a remote control receiving system, a remote receiving apparatus, and a vehicle‐mounted control apparatus for an autonomous vehicle, and an autonomous vehicle, especially an unmanned delivery vehicle.
BACKGROUND ART
With increasing growth of B2C and C2C e‐commerce, logistics distribution systems serving big e‐commerce companies, working areas, and residential communities have become increasingly complicated, and need to be optimized more intelligently. Therefore, unmanned delivery, including unmanned delivery vehicles based on autonomous driving technologies, has emerged.
An improved remote control and receiving system and corresponding apparatuses are now provided, which have the advantages of high safety, a simple design, and convenient operations and can be applied to an unmanned delivery vehicle.
SUMMARY OF THE INVENTION
The present disclosure provides, in an exemplary aspect, a remote control receiving system for an autonomous vehicle, especially for an unmanned delivery vehicle. The remote control receiving system includes a remote receiving apparatus selectively connected to the autonomous vehicle and configured to  establish a wireless communication connection with a remote control apparatus through a wireless communication network, so as to reach an interaction of remote control signals between the two apparatuses. The remote control receiving system further includes a vehicle‐mounted control apparatus configured to interact at least verification signals and control signals with the remote receiving apparatus through a controller area network, so as to identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle and process a remote control signal from the remote control apparatus.
In some embodiments, the remote receiving apparatus includes a power control unit. The power control unit is configured to set turning‐on and turning‐off of a power source with the vehicle‐mounted control apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off.
In some embodiments, the remote receiving apparatus further includes a first signal interaction unit. The first signal interaction unit is configured to interact at least verification signals and control signals with the vehicle‐mounted control apparatus when the remote receiving apparatus is in the working state, and to interact remote control signals with the remote control apparatus.
In some embodiments, the first signal interaction unit includes a first verification signal interaction sub‐unit configured to interact the verification signals with the vehicle‐mounted control apparatus based on an encryption algorithm and a random number sequence.
In some embodiments, the first verification signal interaction sub‐unit is configured to receive a random number sequence generated by the vehicle‐mounted control apparatus, and parse the random number sequence based on a preset encryption algorithm to obtain a first key, while the vehicle‐mounted control apparatus also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
In some embodiments, the first signal interaction unit further includes a first control signal interaction sub‐unit. The first control signal interaction sub‐unit is configured to interact the remote control signal with the remote control apparatus, and configured to interact the control signal with the vehicle‐mounted control apparatus when the first verification signal interaction sub‐unit identifies that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
In some embodiments, the remote receiving apparatus further includes an authorization indication unit. The authorization indication unit is configured to indicate whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle. When the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the authorization indication unit generates and displays an authorization pass state signal, and the vehicle‐mounted control apparatus is allowed to process the remote control signal from the remote control apparatus, otherwise, the authorization indication unit generates and displays an authorization failure state signal. In some embodiments,  the authorization indication unit may be constructed as a human‐machine interface.
In some embodiments, the vehicle‐mounted control apparatus includes a power supply unit. The power supply unit is configured to set turning‐on and turning‐off of a power source with the remote receiving apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off.
In some embodiments, the vehicle‐mounted control apparatus further includes a second signal interaction unit. The second signal interaction unit is configured to exchange at least verification signals and control signals with the remote receiving apparatus when the remote receiving apparatus is in the working state.
In some embodiments, the second signal interaction unit includes a second verification signal interaction sub‐unit configured to interact the verification signal with the remote receiving apparatus based on an encryption algorithm and a random number sequence.
In some embodiments, the second verification signal interaction sub‐unit is configured to send a generated random number sequence to the remote receiving apparatus, such that the remote receiving apparatus receives the random number sequence and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal interaction sub‐unit also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first  key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
In some embodiments, the second signal exchange unit further includes a second control signal exchange sub‐unit. The second control signal interaction sub‐unit is configured to interact the control signal with the remote receiving apparatus when it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
The present disclosure provides, in another exemplary aspect, an autonomous vehicle including the above remote control receiving system.
The present disclosure provides, in another exemplary aspect, a remote receiving apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle.
The present disclosure provides, in another exemplary aspect, a vehicle‐mounted control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle.
With reference to the following descriptions, these and other features, aspects, and advantages of the present application will be better understood. The accompanying drawings incorporated into this specification and constituting a part thereof illustrate the embodiments of the present application, and are used to describe the principle of the present application along with the description.
BRIEF DESCRIPTION OF THE DRAWINGS
This specification describes completely and heuristically disclosed content, including preferred embodiments, of the present application for those skilled in  the art, and reference is made to the accompanying drawings in this specification. In the accompanying drawings:
FIG. 1 is a diagram of a working principle of a remote control apparatus and a remote control receiving system according to an exemplary embodiment of the present application;
FIG. 2 is a diagram of a working principle of a remote control apparatus, a remote receiving apparatus, and a vehicle‐mounted control apparatus according to an exemplary embodiment of the present application;
FIG. 3 is a diagram of a structure principle of a remote receiving apparatus according to an exemplary embodiment of the present application; and
FIG. 4 is a diagram of a structure principle of a vehicle‐mounted control apparatus according to an exemplary embodiment of the present application.
DETAILED DESCRIPTION OF EMBODIMENTS
Specific embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. In the following detailed description of these specific implementations, some well‐known functions or structures are not described in detail in this specification, to avoid unnecessary details which may affect the present disclosure. Each embodiment is provided for explaining the present application, but not for limiting the present disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made in the present disclosure without departing from the scope or spirit of the present application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Therefore, it is intended that the present  disclosure covers such modifications and variations as come within the scope of the appended claims and their equivalents.
As used in this specification, the terms "first" , "second" , and similar words are interchangeably used to distinguish an element from another element, and are not intended to indicate the sequence or importance of various elements. As used in this specification, the terms "a" , "an" and "the" and "said" are intended to indicate the presence of one or more elements, unless otherwise clearly stated in the context. The terms "include" , "comprise" , and "have" are intended to be inclusive and mean that there may be other elements in addition to the element listed. The term "connection" , "connected" , or variations thereof is not limited to a physical or mechanical connection, but may include an electrical connection, regardless of a direct or indirect, and a wired or wireless communication connection.
Moreover, as used in this specification, the term "wireless communication" refers to long‐range transmission communication between a plurality of nodes without using a conductor or a cable, which is opposite to wired communication, and can be performed by means of radio, etc. The wireless communication may include various stationary, mobile, and portable applications. The term "controller area network" , "CAN" for short, refers to a serial communication network for a vehicle that can effectively support a distributed control system. The term "remote receiving apparatus" may act as a signal receiver and a signal transmitter in different instances of signal exchange.
Referring to the accompanying drawings now, FIG. 1 is a diagram of a working principle of a remote control apparatus and a remote control receiving system. As shown in the figure, a remote control apparatus 120, which is  operated by a remote control operation subject 20, establishes a wireless communication connection with the remote control receiving system 110 of an autonomous vehicle 10 through a wireless communication network 130. In some embodiments, the autonomous vehicle 10 may be, for example, an unmanned delivery vehicle or a delivery robot.
The remote control receiving system 110 may include a remote receiving apparatus 111 and a vehicle‐mounted control apparatus 112. The remote receiving apparatus 111 is selectively connected to the autonomous vehicle 10. In some embodiments, the connection may be implemented by using a vehicle‐mounted connector (not shown) , which may be, for example, a type of plug socket kit, to implement a mechanical connection, a communication connection, or an electrical connection between the remote receiving apparatus 111 and the autonomous vehicle 10. When in a working state, the remote receiving apparatus 111 may establish a wireless communication connection with the remote control apparatus 120 through the wireless communication network 130, so as to implement exchange of a remote control signal between the two apparatuses. The remote receiving apparatus 111 may exchange at least a verification signal with the vehicle‐mounted control apparatus 112 through, for example, a controller area network, to identify whether the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10. The remote receiving apparatus 111 may also exchange a control signal with the vehicle‐mounted control apparatus 112 through, for example, the controller area network, to process a remote control signal from the remote control apparatus 120.
Referring to FIG. 2 to FIG. 4, FIG. 2 is an exemplary diagram of a working principle of the remote control apparatus 120, the remote receiving apparatus 111, and the vehicle‐mounted control apparatus 112, and FIG. 3 and FIG. 4 are exemplary diagrams of structure principles of the remote receiving apparatus 111 and the vehicle‐mounted control apparatus 112.
As shown in the figures, the remote receiving apparatus 111 may include a power control unit 113, and the vehicle‐mounted control apparatus 112 may include a power supply unit 118. In some embodiments, when the remote receiving apparatus 111 is connected to the autonomous vehicle 10 by using, for example, a plug‐in vehicle‐mounted connector, the power supply unit 118 can set turning‐on and turning‐off of a power source with the power control unit 113. For example, the power supply unit 118 may supply power to the power control unit 113, and the power control unit 113 can control the received power. In this way, the remote receiving apparatus 111 may be at least maintained in a working state by continuous power supply. Upon removal of the remote receiving apparatus 111 from, for example, the plug‐in vehicle‐mounted connector, the power source is interrupted, and the remote receiving apparatus 111 is in a non‐working state.
The remote receiving apparatus 111 may further include a first signal exchange unit 114, and the vehicle‐mounted control apparatus 112 may further include a second signal exchange unit 114” . When the remote receiving apparatus 111 is in the working state, the first signal exchange unit 114 exchanges at least a verification signal and a control signal with the second signal exchange unit 114” through, for example, a CAN communication network, and the first signal exchange unit 114 may also exchange a remote control signal with the remote control apparatus 120 through, for example, a wireless communication network.
In some embodiments, the first signal exchange unit 114 may include a first verification signal exchange sub‐unit 115, and the second signal exchange unit 114” may include a second verification signal exchange sub‐unit 115” . The first verification signal exchange sub‐unit 115 may exchange the verification signal with the second verification signal exchange sub‐unit 115” based on an encryption algorithm and a random number sequence. Specifically, the first verification signal exchange sub‐unit 115 receives a random number sequence generated by the second verification signal exchange sub‐unit 115” , and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal exchange sub‐unit 115” also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10.
In some embodiments, the first signal exchange unit 114 may further include a first control signal exchange sub‐unit 116, and the second signal exchange unit 114” may further include a second control signal exchange sub‐unit 116” . When the remote receiving apparatus 111 is in the working state, the first control signal exchange sub‐unit 116 may continuously exchange a remote control signal with the remote control apparatus 120, and the first control signal exchange sub‐unit 116 may also exchange a control signal with the second control signal exchange sub‐unit 116” . When it is identified that the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10, the second control signal exchange sub‐unit 116” is allowed to receive a signal from the first control signal exchange sub‐unit 116. The remote receiving apparatus 111 further  includes an authorization indication unit 117. In some implementations, the authorization indication unit 117 is a human‐machine interface. When information indicating that the remote receiving apparatus 111 uniquely corresponds to the connected autonomous vehicle 10 is received by the authorization indication unit 117, the authorization indication unit 117 displays an authorization pass state, and the first control signal exchange sub‐unit 116 may exchange a remote control signal from the remote control apparatus 120 with the second control signal exchange sub‐unit 116” , that is, the vehicle‐mounted control apparatus 112 is allowed to process the remote control signal from the remote control apparatus 120, and the remote control apparatus 120 may perform remote control over the autonomous vehicle 10.
In this way, the present disclosure provides a remote receiving apparatus that is selectively connected to an autonomous vehicle and responsive to a remote control apparatus. The remote receiving apparatus is in a working state when connected to the autonomous vehicle, and the remote receiving apparatus is in a non‐working state when removed from the autonomous vehicle. When the remote control apparatus is in the working state, the remote receiving apparatus can identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, and if it is confirmed that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the remote control apparatus can perform remote control over the autonomous vehicle.
The present disclosure further provides a vehicle‐mounted control apparatus. For a remote receiving apparatus which is selectively connected to an autonomous vehicle and responsive to a remote control apparatus, and is in a  working state when connected to the autonomous vehicle, the vehicle‐mounted control apparatus can identify, when the remote receiving apparatus is in the working state, whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, and if it is confirmed that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the remote control apparatus can perform remote control over the autonomous vehicle.
The present disclosure further provides a remote control receiving system including the remote receiving apparatus and the vehicle‐mounted control apparatus described above, and an autonomous vehicle, especially an unmanned delivery vehicle.
This specification discloses the present application by using embodiments, including preferred embodiments, and also enables those skilled in the art to practise the present application, including making and using any apparatus or system and performing any incorporated method. A patentable scope of the present disclosure is defined by the claims, and may contain other embodiments conceived by those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with no substantial differences from the literal languages of the claims.

Claims (21)

  1. A remote control receiving system for an autonomous vehicle, the remote control receiving system comprising:
    a remote receiving apparatus, selectively connected to the autonomous vehicle and configured to establish a wireless communication connection with a remote control apparatus through a wireless communication network, so as to reach an interaction of remote control signals therebetween; and
    a vehicle‐mounted control apparatus, configured to interact at least a verification signals and a control signals with the remote receiving apparatus through a controller area network, so as to identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle and process remote control signals from the remote control apparatus.
  2. The remote control receiving system according to Claim 1, wherein the remote receiving apparatus comprises:
    a power control unit configured to set turning‐on and turning‐off of a power source with the vehicle‐mounted control apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off; and
    a first signal interaction unit configured to interact at least verification signals and control signals with the vehicle‐mounted control apparatus when the  remote receiving apparatus is in the working state, and to interact remote control signals with the remote control apparatus.
  3. The remote control receiving system according to Claim 2, wherein the first signal interaction unit comprises:
    a first verification signal interaction sub‐unit configured to interact the verification signals with the vehicle‐mounted control apparatus based on an encryption algorithm and a random number sequence.
  4. The remote control receiving system according to Claim 3, wherein
    the first verification signal interaction sub‐unit is configured to receive a random number sequence generated by the vehicle‐mounted control apparatus, and parse the random number sequence based on a preset encryption algorithm to obtain a first key, while the vehicle‐mounted control apparatus also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  5. The remote control receiving system according to Claim 3, wherein the first signal interaction unit further comprises:
    a first control signal interaction sub‐unit configured to interact the remote control signals with the remote control apparatus, and configured to interact the control signals with the vehicle‐mounted control apparatus when the first  verification signal interaction sub‐unit identifies that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  6. The remote control receiving system according to Claim 2, wherein the remote receiving apparatus further comprises:
    an authorization indication unit configured to indicate whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, wherein when the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the authorization indication unit generates an authorization pass state signal, and the vehicle‐mounted control apparatus is allowed to process the remote control signal from the remote control apparatus, otherwise, the authorization indication unit generates an authorization failure state signal.
  7. The remote control receiving system according to Claim 1, wherein the vehicle‐mounted control apparatus comprises:
    a power supply unit configured to set turning‐on and turning‐off of a power source with the remote receiving apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off; and
    a second signal interaction unit configured to interact at least the verification signal and the control signal with the remote receiving apparatus when the remote receiving apparatus is in the working state.
  8. The remote control receiving system according to Claim 7, wherein the second signal interaction unit comprises:
    a second verification signal interaction sub‐unit configured to interact the verification signal with the remote receiving apparatus based on an encryption algorithm and a random number sequence.
  9. The remote control receiving system according to Claim 8, wherein
    the second verification signal interaction sub‐unit is configured to send a generated random number sequence to the remote receiving apparatus, such that the remote receiving apparatus receives the random number sequence and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal interaction sub‐unit parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  10. The remote control receiving system according to Claim 8, wherein the second signal interaction unit further comprises:
    a second control signal interaction sub‐unit configured to interact the control signal with the remote receiving apparatus when it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  11. A remote receiving apparatus for an autonomous vehicle, wherein
    the remote receiving apparatus is selectively connected to the autonomous vehicle, is configured to establish a wireless communication connection with a remote control apparatus through a wireless communication network, so as to reach an interaction of remote control signals between the two apparatuses, and is configured to interact at least verification signals and control signals with a vehicle‐mounted control apparatus on the autonomous vehicle through a controller area network, so as to identify whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  12. The remote receiving apparatus according to Claim 11, comprising:
    a power control unit configured to set turning‐on and turning‐off of a power source with the vehicle‐mounted control apparatus when the remote receiving apparatus is connected to the autonomous vehicle, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off; and
    a first signal interaction unit configured to interact at least verification signals and control signals with the vehicle‐mounted control apparatus when the remote receiving apparatus is in the working state, and to interact remote control signals with the remote control apparatus.
  13. The remote receiving apparatus according to Claim 11, wherein the first signal interaction unit comprises:
    a first verification signal interaction sub‐unit configured to interact the verification signal with the vehicle‐mounted control apparatus based on an encryption algorithm and a random number sequence.
  14. The remote receiving apparatus according to Claim 13, wherein
    the first verification signal interaction sub‐unit is configured to receive a random number sequence generated by the vehicle‐mounted control apparatus, and parse the random number sequence based on a preset encryption algorithm to obtain a first key, while the vehicle‐mounted control apparatus also parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  15. The remote receiving apparatus according to Claim 13, wherein the first signal interaction unit further comprises:
    a first control signal interaction sub‐unit configured to interact the remote control signal with the remote control apparatus, and configured to interact the control signal with the vehicle‐mounted control apparatus when the first verification signal interaction sub‐unit identifies that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  16. The remote receiving apparatus according to Claim 12, further comprising:
    an authorization indication unit configured to indicate whether the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle,  wherein when the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle, the authorization indication unit generates an authorization pass state signal, and the vehicle‐mounted control apparatus is allowed to process the remote control signal from the remote control apparatus, otherwise, the authorization indication unit generates an authorization failure state signal.
  17. A vehicle‐mounted control apparatus for an autonomous vehicle, the vehicle‐mounted control apparatus comprising:
    a power supply unit configured to set, when a remote receiving apparatus which establishes a wireless communication connection with a remote control apparatus is connected to the autonomous vehicle, turning‐on and turning‐off of a power source with the remote receiving apparatus, such that the remote receiving apparatus is in a working state when the power source is turned on, and the remote receiving apparatus is in a non‐working state when the power source is turned off; and
    a second signal interaction unit configured to interact at least verification signals and control signals with the remote receiving apparatus when the remote receiving apparatus is in the working state.
  18. The vehicle‐mounted control apparatus according to Claim 17, wherein the second signal interaction unit comprises:
    a second verification signal interaction sub‐unit configured to interact the verification signal with the remote receiving apparatus based on an encryption algorithm and a random number sequence.
  19. The vehicle‐mounted control apparatus according to Claim 18, wherein
    the second verification signal interaction sub‐unit is configured to send a generated random number sequence to the remote receiving apparatus, such that the remote receiving apparatus receives the random number sequence and parses the random number sequence based on a preset encryption algorithm to obtain a first key, while the second verification signal exchange sub‐unit parses the generated random number sequence based on the same encryption algorithm to obtain a second key, and if the first key is the same as the second key, it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  20. The vehicle‐mounted control apparatus according to Claim 17, wherein the second signal interaction unit further comprises:
    a second control signal interaction sub‐unit configured to interact the control signal with the remote receiving apparatus when it is identified that the remote receiving apparatus uniquely corresponds to the connected autonomous vehicle.
  21. An autonomous vehicle, especially an unmanned delivery vehicle, comprising the remote control receiving system according to any one of Claims 1 to 10, or the remote receiving apparatus according to any one of Claims 11 to 16, or the vehicle‐mounted control apparatus according to any one of Claims 17 to 20.
PCT/CN2022/080861 2021-03-15 2022-03-15 Remote control receiving system, vehicle‐mounted control apparatus, and autonomous vehicle WO2022194127A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050246070A1 (en) * 2004-04-22 2005-11-03 Fujitsu Ten Limited Vehicle remote starting apparatus and method for executing registration process
US20070200671A1 (en) * 2006-02-28 2007-08-30 Kelley Nia L Methods and apparatuses for remote control of vehicle devices and vehicle lock-out notification

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050246070A1 (en) * 2004-04-22 2005-11-03 Fujitsu Ten Limited Vehicle remote starting apparatus and method for executing registration process
US20070200671A1 (en) * 2006-02-28 2007-08-30 Kelley Nia L Methods and apparatuses for remote control of vehicle devices and vehicle lock-out notification

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