技术领域technical field
本发明涉及车辆技术领域，特别涉及一种车辆的远程控制方法、一种车辆的远程控制系统、一种受控车辆以及一种控制车辆。The invention relates to the technical field of vehicles, in particular to a remote control method for a vehicle, a remote control system for a vehicle, a controlled vehicle and a control vehicle.
背景技术Background technique
汽车工业的发展已经有一百多年的历史，在人类历史长河中仅可以算作短短的一瞬间，但是整个行业已经表现出创新疲乏的态势。随着互联网和通讯技术的极大进步，围绕“自动驾驶”这一新技术而产生的创新力又给疲乏的汽车工业注入了一剂强心剂。自动驾驶汽车依靠人工智能、视觉计算、雷达、监控装置和全球定位系统协同工作，使电脑可以在没有任何人类的主动操作情况下，主动安全的驾驶。除了自动驾驶，其他技术如“遥控驾驶”也已经在研究之中，目前的遥控驾驶多是近距离遥控，主要用作泊车等，远距离遥控驾驶尚处在构想阶段，此种技术可以用作危险作业车辆的远距离驾驶，或者恶劣环境车辆的远距离驾驶等等。The development of the automobile industry has a history of more than 100 years, which can only be counted as a short moment in the long history of mankind, but the entire industry has shown a trend of lack of innovation. With the great progress of the Internet and communication technology, the innovation around the new technology of "autonomous driving" has injected a boost to the tired auto industry. Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, enabling computers to drive actively and safely without any active human operation. In addition to automatic driving, other technologies such as "remote control driving" are also under study. The current remote control driving is mostly short-distance remote control, mainly used for parking, etc. Long-distance remote control driving is still in the conception stage. This technology can be used Long-distance driving of dangerous work vehicles, or long-distance driving of vehicles in harsh environments, etc.
无论以电脑为操控中心的自动驾驶还是以云端控制远距离遥控驾驶，目的都是使被控制车辆的用户从主动操控中脱离出来，实现被控端车辆的自动操控，以技术难度讲，自动驾驶的实现难度较高，可以适应较为一般的操作路况，实现的操作较为简单。对于一些路况较复杂或者情景较危险的驾驶环境，自动驾驶就显得无能为力，而远距离遥控驾驶如果在云端有经验十足的驾驶员，可以实现被控车辆难度较高的驾驶操作，从而使遥控驾驶比自动驾驶应用到更多更复杂的驾驶路况中。Regardless of the automatic driving with the computer as the control center or the remote remote driving controlled by the cloud, the purpose is to separate the user of the controlled vehicle from the active control and realize the automatic control of the controlled vehicle. In terms of technical difficulty, automatic driving It is more difficult to realize, it can adapt to more general operating road conditions, and the realized operation is relatively simple. For some driving environments with complex road conditions or dangerous situations, automatic driving is powerless. However, if there is an experienced driver in the cloud for long-distance remote control driving, it can realize the difficult driving operation of the controlled vehicle, so that remote control driving It is applied to more and more complex driving conditions than automatic driving.
然而，在目前的遥控驾驶的实施方案中，控制的方便性和准确性还不够高，并且遥控驾驶的安全性也较差。However, in the current implementation of remote control driving, the convenience and accuracy of control are not high enough, and the safety of remote control driving is also poor.
发明内容Contents of the invention
本发明旨在至少在一定程度上解决上述技术中的技术问题之一。为此，本发明的一个目的在于提出一种车辆的远程控制方法，能够大大提高车辆远程控制的方便性、准确性和安全性。The present invention aims to solve one of the technical problems in the above-mentioned technologies at least to a certain extent. Therefore, an object of the present invention is to provide a remote control method for a vehicle, which can greatly improve the convenience, accuracy and safety of the remote control of the vehicle.
本发明的第二个目的在于提出一种车辆的远程控制系统。The second object of the present invention is to provide a remote control system for a vehicle.
本发明的第三个目的在于提出一种受控车辆。A third object of the invention is to propose a controlled vehicle.
本发明的第四个目的在于提出一种控制车辆。A fourth object of the invention is to propose a control vehicle.
为达到上述目的，本发明第一方面实施例提出了一种车辆的远程控制方法，该方法包括以下步骤：建立控制车辆与受控车辆之间的远程控制关系；所述控制车辆接收所述受控车辆所检测的自身的行车环境及整车状态信息；所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；所述控制车辆将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。In order to achieve the above purpose, the embodiment of the first aspect of the present invention proposes a remote control method for a vehicle, the method includes the following steps: establishing a remote control relationship between the controlling vehicle and the controlled vehicle; the controlling vehicle receiving the controlled vehicle The driving environment and vehicle state information detected by the controlled vehicle; the controlling vehicle simulates its own driving environment and vehicle state according to the driving environment and vehicle state information of the controlled vehicle to obtain corresponding simulation information , so as to generate a remote control instruction according to the simulation information; the controlling vehicle sends the remote control instruction to the controlled vehicle, so as to remotely control the controlled vehicle.
根据本发明实施例的车辆的远程控制方法，通过受控车辆检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。According to the remote control method of the vehicle in the embodiment of the present invention, the controlled vehicle detects its own driving environment and vehicle state information, and sends the driving environment and vehicle state information to the controlling vehicle, and the controlling vehicle controls the vehicle according to the driving environment of the controlled vehicle. Simulate its own driving environment and vehicle status information to obtain corresponding simulation information, so as to generate remote control instructions based on the simulation information, and the control vehicle sends remote control instructions to the controlled vehicle to control the controlled vehicle. remote control. Thus, the control vehicle can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so that the control vehicle can perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle.
为达到上述目的，本发明第二方面实施例提出了一种车辆的远程控制系统，该系统包括建立了远程控制关系的控制车辆和受控车辆，其中，所述受控车辆用于检测自身的行车环境及整车状态信息，并将所述行车环境及整车状态信息发送至所述控制车辆；所述控制车辆用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令，并将所述远程控制指令发送至所述受控车辆，以对所述受控车辆进行远程控制。In order to achieve the above purpose, the embodiment of the second aspect of the present invention proposes a vehicle remote control system, the system includes a control vehicle and a controlled vehicle that have established a remote control relationship, wherein the controlled vehicle is used to detect its own driving environment and vehicle status information, and send the driving environment and vehicle status information to the control vehicle; the control vehicle is used to control its own driving The environment and the state of the whole vehicle are simulated to obtain corresponding simulation information, so as to generate remote control instructions according to the simulation information, and send the remote control instructions to the controlled vehicle to remotely control the controlled vehicle .
根据本发明实施例的车辆的远程控制系统，通过受控车辆检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。According to the remote control system of the vehicle in the embodiment of the present invention, the controlled vehicle detects its own driving environment and vehicle state information, and sends the driving environment and vehicle state information to the control vehicle, and the control vehicle controls the vehicle according to the driving environment of the controlled vehicle. Simulate its own driving environment and vehicle status information to obtain corresponding simulation information, so as to generate remote control instructions based on the simulation information, and the control vehicle sends remote control instructions to the controlled vehicle to control the controlled vehicle. remote control. Thus, the control vehicle can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so that the control vehicle can perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle.
为达到上述目的，本发明第三方面实施例提出了一种受控车辆，其中，所述受控车辆与控制车辆之间建立有远程控制关系，所述受控车辆包括：检测模块，所述检测模块用于检测所述受控车辆自身的行车环境及整车状态信息；第一发送模块，所述第一发送模块用于将所述行车环境及整车状态信息发送至所述控制车辆；第一接收模块，在所述控制车辆根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，并根据所述模拟信息生成远程控制指令后，所述第一接收模块接收所述远程控制指令；执行模块，所述执行模块用于执行所述远程控制指令，以实现所述控制车辆对所述受控车辆的远程控制。To achieve the above purpose, the embodiment of the third aspect of the present invention proposes a controlled vehicle, wherein a remote control relationship is established between the controlled vehicle and the control vehicle, and the controlled vehicle includes: a detection module, the The detection module is used to detect the driving environment and vehicle state information of the controlled vehicle itself; the first sending module is used to send the driving environment and vehicle state information to the controlled vehicle; The first receiving module is used to simulate the driving environment and vehicle state information of the controlled vehicle according to the driving environment and vehicle state information of the controlled vehicle to obtain corresponding simulation information, and generate remote control information based on the simulation information. After the control instruction, the first receiving module receives the remote control instruction; an execution module, the execution module is used to execute the remote control instruction, so as to realize the remote control of the controlled vehicle by the controlling vehicle.
根据本发明实施例的受控车辆，能够向控制车辆发送较为全面的环境和状态信息，以便控制车辆对环境和状态信息进行模拟，从而进行更加适宜的控制操作，能够大大提高车辆远程控制的方便性、准确性和安全性。The controlled vehicle according to the embodiment of the present invention can send relatively comprehensive environment and state information to the control vehicle, so that the control vehicle can simulate the environment and state information, so as to perform more suitable control operations, which can greatly improve the convenience of remote control of the vehicle reliability, accuracy and security.
为达到上述目的，本发明第四方面实施例提出了一种控制车辆，其中，所述控制车辆与受控车辆之间建立有远程控制关系，所述控制车辆包括：第二接收模块，所述第二接收模块用于接收所述受控车辆的行车环境及整车状态信息；模拟模块，所述模拟模块用于根据所述受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据所述模拟信息生成远程控制指令；第二发送模块，所述第二发送模块用于将所述远程控制指令发送至所述受控车辆，以便对所述受控车辆进行远程控制。In order to achieve the above purpose, the embodiment of the fourth aspect of the present invention proposes a control vehicle, wherein a remote control relationship is established between the control vehicle and the controlled vehicle, and the control vehicle includes: a second receiving module, the The second receiving module is used to receive the driving environment and vehicle status information of the controlled vehicle; the simulation module is used to analyze the driving environment and vehicle status information of the controlled vehicle according to the driving environment and vehicle status information of the controlled vehicle. Simulating the vehicle state to obtain corresponding simulation information, so as to generate a remote control instruction according to the simulation information; a second sending module, the second sending module is used to send the remote control instruction to the controlled vehicle, In order to remotely control the controlled vehicle.
根据本发明实施例的控制车辆，能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。The control vehicle according to the embodiment of the present invention can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so as to perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle .
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
附图说明Description of drawings
图1为根据本发明实施例的车辆的远程控制方法流程图；FIG. 1 is a flowchart of a remote control method for a vehicle according to an embodiment of the present invention;
图2为根据本发明一个实施例的车辆的远程控制系统的结构示意图；FIG. 2 is a schematic structural diagram of a remote control system for a vehicle according to an embodiment of the present invention;
图3为根据本发明一个实施例的受控车辆座椅的结构示意图；Fig. 3 is a schematic structural view of a controlled vehicle seat according to an embodiment of the present invention;
图4为根据本发明一个实施例的控制车辆座椅的结构示意图；Fig. 4 is a structural schematic diagram of a control vehicle seat according to an embodiment of the present invention;
图5为根据本发明一个具体实施例的车辆的远程控制方法流程图；5 is a flowchart of a remote control method for a vehicle according to a specific embodiment of the present invention;
图6为根据本发明实施例的受控车辆的方框示意图；6 is a schematic block diagram of a controlled vehicle according to an embodiment of the present invention;
图7为根据本发明实施例的控制车辆的方框示意图；7 is a schematic block diagram of a control vehicle according to an embodiment of the present invention;
图8为根据本发明一个实施例的车辆的远程控制系统中的信息交互示意图。Fig. 8 is a schematic diagram of information interaction in the vehicle remote control system according to an embodiment of the present invention.
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
下面结合附图来描述本发明实施例的车辆的远程控制方法、系统、受控车辆及控制车辆。The vehicle remote control method, system, controlled vehicle and control vehicle according to the embodiments of the present invention will be described below with reference to the accompanying drawings.
图1为根据本发明实施例的车辆的远程控制方法流程图。Fig. 1 is a flowchart of a remote control method for a vehicle according to an embodiment of the present invention.
如图1所示，本发明实施例的车辆的远程控制方法，包括以下步骤：As shown in Figure 1, the remote control method of the vehicle of the embodiment of the present invention comprises the following steps:
S1，建立控制车辆与受控车辆之间的远程控制关系。S1, establishing a remote control relationship between the controlling vehicle and the controlled vehicle.
在本发明的一个实施例中，如图2所示，控制车辆与受控车辆都内置有无线通信模块，以便接入无线网络进行数据传输。控制车辆与受控车辆接入无线网络后，控制车辆接收受控车辆发出的远程控制请求，控制车辆在接收到远程控制请求后建立控制车辆与受控车辆之间的远程控制关系，或者，控制车辆在接收到远程控制请求后向受控车辆发送同意请求信息，由受控车辆建立控制车辆与受控车辆之间的远程控制关系。In one embodiment of the present invention, as shown in FIG. 2 , both the control vehicle and the controlled vehicle have built-in wireless communication modules for accessing a wireless network for data transmission. After the control vehicle and the controlled vehicle are connected to the wireless network, the control vehicle receives the remote control request sent by the controlled vehicle, and the control vehicle establishes a remote control relationship between the control vehicle and the controlled vehicle after receiving the remote control request, or, the control After receiving the remote control request, the vehicle sends the consent request information to the controlled vehicle, and the controlled vehicle establishes the remote control relationship between the controlling vehicle and the controlled vehicle.
其中，无线网路可以是WIFI(Wireless Fidelity，无线保真)或3G、4G、5G(第三至第五代移动通信)等无线网络系统。控制车辆与受控车辆都可具有远程控制和远程受控的功能，并且都拥有一套完整的采用统一标准能够相互匹配的远程控制系统。Wherein, the wireless network may be WIFI (Wireless Fidelity, wireless fidelity) or 3G, 4G, 5G (third to fifth generation mobile communication) and other wireless network systems. Both the controlling vehicle and the controlled vehicle can have remote control and remote controlled functions, and both have a complete set of remote control systems that can be matched with each other using unified standards.
在建立了远程控制关系，并约定了受控车辆的驾驶目的地或者驾驶意图后，受控车辆可按照控制车辆的驾驶操作进行驾驶。After the remote control relationship is established and the driving destination or driving intention of the controlled vehicle is agreed upon, the controlled vehicle can be driven according to the driving operation of the controlled vehicle.
S2，控制车辆接收受控车辆所检测的自身的行车环境及整车状态信息。S2. The controlling vehicle receives information about its own driving environment and vehicle state detected by the controlled vehicle.
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle. Wherein, the somatosensory information may include the sound information in the cab of the controlled vehicle, the vibration information of the driver's seat, and the acceleration information of each direction of the driver's seat.
在本发明的一个实施例中，如图3所示，受控车辆可包括集成在受控车辆座椅上的声音采集模块、振动采集模块和加速度采集模块，从而受控车辆可通过声音采集模块采集驾驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, as shown in Figure 3, the controlled vehicle may include a sound collection module, a vibration collection module and an acceleration collection module integrated on the seat of the controlled vehicle, so that the controlled vehicle can pass through the sound collection module Collect the sound information in the cab, collect the vibration information of the driver's seat through the vibration collection module, and collect the acceleration information of each direction of the driver's seat through the acceleration collection module.
S3，控制车辆根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令。S3, the controlling vehicle simulates its own driving environment and vehicle status information according to the driving environment and vehicle status information of the controlled vehicle to obtain corresponding simulation information, so as to generate remote control commands based on the simulation information.
在本发明的一个实施例中，如图4所示，控制车辆可包括集成在控制车辆座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，从而控制车辆可通过噪声模拟模块模拟受控车辆的驾驶室内声音环境以获得控制车辆的驾驶室内声音模拟信息，并通过振动模拟模块模拟受控车辆的驾驶员座位的振动信息以获得控制车辆的驾驶员座位的振动模拟信息，以及通过加速度模拟模块模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆的驾驶员座位的每个方向加速度模拟信息。In one embodiment of the present invention, as shown in Figure 4, the control vehicle may include a sound simulation module, a vibration simulation module and an acceleration simulation module integrated on the seat of the control vehicle, so that the control vehicle can be simulated and controlled by the noise simulation module The sound environment in the cab of the vehicle is obtained to control the sound simulation information in the cab of the vehicle, and the vibration information of the driver's seat of the controlled vehicle is simulated through the vibration simulation module to obtain the vibration simulation information of the driver's seat of the controlled vehicle, and through the acceleration simulation The module simulates each direction acceleration information of the driver's seat of the controlled vehicle to obtain each direction acceleration simulation information of the driver's seat of the control vehicle.
具体地，声音模拟模块可为安装在座椅头部靠背的扬声器，振动模拟模块可为安装在座椅底部的振动模拟器，加速度发生模块可为安装在底部的座椅角度变换器。其中，扬声器在收到受控车辆的声音信息后，可发出与受控车辆驾驶室内相同的声音，模仿受控车辆驾驶室内的一切声音环境。振动模拟器在接收到受控车辆的振动信息后，可产生与受控车辆驾驶员所感受到的相同的振动环境。加速度模拟器在接收到受控车辆的加速度信息后，可通过座椅倾斜，利用重量分量产生座椅各个方向的加速度，以模拟受控车辆的加速度环境。Specifically, the sound simulation module can be a speaker installed on the headrest of the seat, the vibration simulation module can be a vibration simulator installed on the bottom of the seat, and the acceleration generation module can be a seat angle converter installed on the bottom. Among them, after receiving the sound information of the controlled vehicle, the loudspeaker can emit the same sound as that in the cab of the controlled vehicle, imitating all the sound environments in the cab of the controlled vehicle. After receiving the vibration information of the controlled vehicle, the vibration simulator can generate the same vibration environment as that experienced by the driver of the controlled vehicle. After receiving the acceleration information of the controlled vehicle, the acceleration simulator can tilt the seat and use the weight component to generate the acceleration in all directions of the seat to simulate the acceleration environment of the controlled vehicle.
控制车辆在获得模拟信息后，控制车辆的驾驶员可根据模拟信息对控制车辆进行操作，从而生成对受控车辆进行远程控制的远程控制指令。After the control vehicle obtains the simulation information, the driver of the control vehicle can operate the control vehicle according to the simulation information, thereby generating a remote control command for remote control of the controlled vehicle.
S4，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。S4, the controlling vehicle sends a remote control instruction to the controlled vehicle, so as to remotely control the controlled vehicle.
受控车辆接收远程控制指令，并根据远程控制指令进行自动操控。The controlled vehicle receives the remote control instruction and performs automatic control according to the remote control instruction.
在受控车辆到达目的地或者已经达到预期的驾驶目的后，控制车辆和受控车辆可以解除远程控制关系，完成整个远程控制驾驶操作。After the controlled vehicle arrives at the destination or has reached the expected driving purpose, the controlling vehicle and the controlled vehicle can release the remote control relationship to complete the entire remote control driving operation.
根据本发明实施例的车辆的远程控制方法，通过受控车辆检测自身的行车环境及整车状态信息，并将受控车辆的行车环境及整车状态信息发送至控制车辆，控制车辆根据行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。According to the remote control method of the vehicle in the embodiment of the present invention, the controlled vehicle detects its own driving environment and vehicle state information, and sends the controlled vehicle’s driving environment and vehicle state information to the control vehicle, and the control vehicle controls the vehicle according to the driving environment Simulate its own driving environment and vehicle status information to obtain corresponding simulation information, so as to generate remote control instructions based on the simulation information, and the control vehicle sends remote control instructions to the controlled vehicle to control the controlled vehicle. remote control. Thus, the control vehicle can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so that the control vehicle can perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle.
在本发明的一个具体实施例中，如图5所示，车辆的远程控制方法可包括以下步骤：In a specific embodiment of the present invention, as shown in Figure 5, the remote control method of the vehicle may include the following steps:
S501，控制车辆与受控车辆接入无线网络。S501, the controlling vehicle and the controlled vehicle access the wireless network.
S502，控制车辆或受控车辆授权建立远程控制关系。S502. Authorize the controlling vehicle or the controlled vehicle to establish a remote control relationship.
具体地，控制车辆可向受控车辆发出控制请求，受控车辆确认无误后一键授权。或者，受控车辆可向控制车辆发出控制邀请，控制车辆确认无误后一键授权，一键授权后控制车辆与受控车辆的远程控制关系正式建立。Specifically, the controlling vehicle can send a control request to the controlled vehicle, and the controlled vehicle can authorize with one key after confirming that it is correct. Alternatively, the controlled vehicle can send a control invitation to the controlling vehicle, and the controlling vehicle can authorize with one key after confirmation, and the remote control relationship between the controlling vehicle and the controlled vehicle is formally established after one key is authorized.
S503，受控车辆驾驶员启动车辆被控按钮，授权控制车辆对其远程操控。S503, the driver of the controlled vehicle activates the controlled button of the vehicle to authorize the remote control of the controlled vehicle.
S504，受控车辆驾驶员根据驾驶目的或者驾驶情景选择是否留在车内，受控车辆在准备好后向控制车辆发送确认信号。S504, the driver of the controlled vehicle chooses whether to stay in the vehicle according to the driving purpose or the driving situation, and the controlled vehicle sends a confirmation signal to the controlling vehicle after being ready.
如果驾驶员留在车内，可以手动授权受控车辆已经准备好；如果驾驶员离开受控车辆，受控车辆可根据预先设定程序自动向控制车辆发出准备好的信号。If the driver stays in the car, the controlled vehicle can be manually authorized to be ready; if the driver leaves the controlled vehicle, the controlled vehicle can automatically send a ready signal to the controlling vehicle according to a preset program.
S505，受控车辆将受控车辆的驾驶员座位的视觉信息和体感信息实时发送给控制车辆。S505, the controlled vehicle sends the visual information and somatosensory information of the driver's seat of the controlled vehicle to the control vehicle in real time.
S506，控制车辆对视觉信息和体感信息进行模拟，并将模拟结果传达给控制车辆的驾驶员。S506, the control vehicle simulates the visual information and the somatosensory information, and communicates the simulation result to the driver of the control vehicle.
S507，控制车辆的驾驶员感知到受控车辆的信息以后，根据驾驶经验发出相应的驾驶操作指令。S507. After the driver controlling the vehicle perceives the information of the controlled vehicle, he sends a corresponding driving operation instruction according to the driving experience.
S508，受控车辆实时接收并执行驾驶操作指令。S508, the controlled vehicle receives and executes the driving operation instruction in real time.
S509，控制车辆或受控车辆结束远程控制。远程控制操作完成后，控制车辆或者受控车辆在按下一键授权/终止按钮即可结束远程控制。S509, the controlling vehicle or the controlled vehicle ends the remote control. After the remote control operation is completed, the controlling vehicle or the controlled vehicle can end the remote control by pressing the one-key authorization/termination button.
为实现上述实施例的车辆的远程控制方法，本发明还提出一种车辆的远程控制系统。In order to realize the remote control method of the vehicle in the above embodiments, the present invention further proposes a remote control system of the vehicle.
参照图2，本发明实施例的车辆的远程控制系统，包括建立了远程控制关系的控制车辆和受控车辆。Referring to FIG. 2 , the vehicle remote control system according to the embodiment of the present invention includes a controlling vehicle and a controlled vehicle that have established a remote control relationship.
其中，受控车辆用于检测自身的行车环境及整车状态信息，并将行车环境及整车状态信息发送至控制车辆；控制车辆用于根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，并将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。Among them, the controlled vehicle is used to detect its own driving environment and vehicle status information, and send the driving environment and vehicle status information to the control vehicle; Simulate the driving environment and the state of the vehicle to obtain corresponding simulation information, so as to generate remote control instructions based on the simulation information, and send the remote control instructions to the controlled vehicle to remotely control the controlled vehicle.
在本发明的一个实施例中，控制车辆与受控车辆都内置有无线通信模块，以便接入无线网络进行数据传输。控制车辆与受控车辆接入无线网络后，受控车辆向控制车辆发出远程控制请求，控制车辆在接收到远程控制请求后建立控制车辆与受控车辆之间的远程控制关系，或者，控制车辆在接收到远程控制请求后向受控车辆发送同意请求信息，由受控车辆建立控制车辆与受控车辆之间的远程控制关系。In one embodiment of the present invention, both the control vehicle and the controlled vehicle have built-in wireless communication modules, so as to access the wireless network for data transmission. After the controlling vehicle and the controlled vehicle are connected to the wireless network, the controlled vehicle sends a remote control request to the controlling vehicle, and the controlling vehicle establishes a remote control relationship between the controlling vehicle and the controlled vehicle after receiving the remote control request, or, the controlling vehicle After receiving the remote control request, the consent request information is sent to the controlled vehicle, and the controlled vehicle establishes the remote control relationship between the controlling vehicle and the controlled vehicle.
其中，无线网路可以是WIFI，3G，4G，5G等无线网络系统。控制车辆与受控车辆都具有远程控制和远程受控的功能，并且都拥有一套完整的采用统一标准能够相互匹配的远程控制系统。Wherein, the wireless network may be WIFI, 3G, 4G, 5G and other wireless network systems. Both the controlling vehicle and the controlled vehicle have the functions of remote control and remote control, and both have a complete set of remote control systems that can match each other using unified standards.
在建立了远程控制关系，并约定了受控车辆的驾驶目的地或者驾驶意图后，受控车辆可按照控制车辆的驾驶操作进行驾驶。After the remote control relationship is established and the driving destination or driving intention of the controlled vehicle is agreed upon, the controlled vehicle can be driven according to the driving operation of the controlled vehicle.
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle. Wherein, the somatosensory information may include the sound information in the cab of the controlled vehicle, the vibration information of the driver's seat, and the acceleration information of each direction of the driver's seat.
在本发明的一个实施例中，如图3所示，受控车辆可包括集成在受控车辆座椅上的声音采集模块、振动采集模块和加速度采集模块，从而受控车辆可通过声音采集模块采集驾驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, as shown in Figure 3, the controlled vehicle may include a sound collection module, a vibration collection module and an acceleration collection module integrated on the seat of the controlled vehicle, so that the controlled vehicle can pass through the sound collection module Collect the sound information in the cab, collect the vibration information of the driver's seat through the vibration collection module, and collect the acceleration information of each direction of the driver's seat through the acceleration collection module.
在本发明的一个实施例中，如图4所示，控制车辆可包括集成在控制车辆座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，从而控制车辆可通过噪声模拟模块模拟受控车辆的驾驶室内声音环境以获得控制车辆的驾驶室内声音模拟信息，并通过振动模拟模块模拟受控车辆的驾驶员座位的振动信息以获得控制车辆的驾驶员座位的振动模拟信息，以及通过加速度模拟模块模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆的驾驶员座位的每个方向加速度模拟信息。In one embodiment of the present invention, as shown in Figure 4, the control vehicle may include a sound simulation module, a vibration simulation module and an acceleration simulation module integrated on the seat of the control vehicle, so that the control vehicle can be simulated and controlled by the noise simulation module The sound environment in the cab of the vehicle is obtained to control the sound simulation information in the cab of the vehicle, and the vibration information of the driver's seat of the controlled vehicle is simulated through the vibration simulation module to obtain the vibration simulation information of the driver's seat of the controlled vehicle, and through the acceleration simulation The module simulates each direction acceleration information of the driver's seat of the controlled vehicle to obtain each direction acceleration simulation information of the driver's seat of the control vehicle.
具体地，声音模拟模块可为安装在座椅头部靠背的扬声器，振动模拟模块可为安装在座椅底部的振动模拟器，加速度发生模块可为安装在底部的座椅角度变换器。其中，扬声器在收到受控车辆的声音信息后，可发出与受控车辆驾驶室内相同的声音，模仿受控车辆驾驶室内的一切声音环境。振动模拟器在接收到受控车辆的振动信息后，可产生与受控车辆驾驶员所感受到的相同的振动环境。加速度模拟器在接收到受控车辆的加速度信息后，可通过座椅倾斜，利用重量分量产生座椅各个方向的加速度，以模拟受控车辆的加速度环境。Specifically, the sound simulation module can be a speaker installed on the headrest of the seat, the vibration simulation module can be a vibration simulator installed on the bottom of the seat, and the acceleration generation module can be a seat angle converter installed on the bottom. Among them, after receiving the sound information of the controlled vehicle, the loudspeaker can emit the same sound as that in the cab of the controlled vehicle, imitating all the sound environments in the cab of the controlled vehicle. After receiving the vibration information of the controlled vehicle, the vibration simulator can generate the same vibration environment as that experienced by the driver of the controlled vehicle. After receiving the acceleration information of the controlled vehicle, the acceleration simulator can tilt the seat and use the weight component to generate the acceleration in all directions of the seat to simulate the acceleration environment of the controlled vehicle.
控制车辆在获得模拟信息后，控制车辆的驾驶员可根据模拟信息对控制车辆进行操作，从而生成对受控车辆进行远程控制的远程控制指令。After the control vehicle obtains the simulation information, the driver of the control vehicle can operate the control vehicle according to the simulation information, thereby generating a remote control command for remote control of the controlled vehicle.
受控车辆接收远程控制指令，并根据远程控制指令进行自动操控。The controlled vehicle receives the remote control instruction and performs automatic control according to the remote control instruction.
在受控车辆到达目的地或者已经达到预期的驾驶目的后，控制车辆和受控车辆可以解除远程控制关系，完成整个远程控制驾驶操作。After the controlled vehicle arrives at the destination or has reached the expected driving purpose, the controlling vehicle and the controlled vehicle can release the remote control relationship to complete the entire remote control driving operation.
根据本发明实施例的车辆的远程控制系统，通过受控车辆检测自身的行车环境及整车状态信息，并将受控车辆的行车环境及整车状态信息发送至控制车辆，控制车辆根据行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令，控制车辆将远程控制指令发送至受控车辆，以对受控车辆进行远程控制。由此，控制车辆能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便控制车辆进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。According to the remote control system of the vehicle in the embodiment of the present invention, the controlled vehicle detects its own driving environment and vehicle state information, and sends the controlled vehicle’s driving environment and vehicle state information to the control vehicle, and the control vehicle controls the vehicle according to the driving environment Simulate its own driving environment and vehicle status information to obtain corresponding simulation information, so as to generate remote control instructions based on the simulation information, and the control vehicle sends remote control instructions to the controlled vehicle to control the controlled vehicle. remote control. Thus, the control vehicle can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so that the control vehicle can perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle.
对应上述实施例，本发明还提出一种受控车辆。Corresponding to the above embodiments, the present invention also proposes a controlled vehicle.
其中，受控车辆与控制车辆之间建立有远程控制关系。Among them, a remote control relationship is established between the controlled vehicle and the controlling vehicle.
如图6所示，本发明实施例的受控车辆10包括检测模块11、第一发送模块12、第一接收模块13和执行模块14。As shown in FIG. 6 , the controlled vehicle 10 of the embodiment of the present invention includes a detection module 11 , a first sending module 12 , a first receiving module 13 and an execution module 14 .
其中，检测模块11用于检测受控车辆10自身的行车环境及整车状态信息；第一发送模块12用于将行车环境及整车状态信息发送至控制车辆；在控制车辆根据受控车辆10的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，并根据模拟信息生成远程控制指令后，第一接收模块13接收远程控制指令；执行模块14用于执行远程控制指令，以实现控制车辆对受控车辆10的远程控制。Wherein, the detection module 11 is used to detect the driving environment and the vehicle state information of the controlled vehicle 10 itself; the first sending module 12 is used to send the driving environment and the vehicle state information to the control vehicle; The driving environment and vehicle status information of the vehicle itself is simulated to obtain corresponding simulation information, and after the remote control command is generated according to the simulation information, the first receiving module 13 receives the remote control command; the execution module 14 uses It is used to execute the remote control command, so as to realize the remote control of the controlled vehicle 10 by the controlling vehicle.
在本发明的一个实施例中，受控车辆10的行车环境及整车状态信息可包括受控车辆10的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆10的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, the driving environment and vehicle status information of the controlled vehicle 10 may include visual information and somatosensory information of the driver's seat of the controlled vehicle 10 . Wherein, the somatosensory information may include sound information in the cab of the controlled vehicle 10 , vibration information of the driver's seat, and acceleration information of each direction of the driver's seat.
在本发明的一个实施例中，检测模块11可包括集成在受控车辆10座椅上的声音采集模块、振动采集模块和加速度采集模块，从而检测模块11可通过声音采集模块采集驾驶室内声音信息，并通过振动采集模块采集驾驶员座位的振动信息，以及通过加速度采集模块采集驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, the detection module 11 can include a sound collection module, a vibration collection module and an acceleration collection module integrated on the seat of the controlled vehicle 10, so that the detection module 11 can collect sound information in the cab through the sound collection module , and collect the vibration information of the driver's seat through the vibration collection module, and collect the acceleration information of each direction of the driver's seat through the acceleration collection module.
根据本发明实施例的受控车辆，能够向控制车辆发送较为全面的环境和状态信息，以便控制车辆对环境和状态信息进行模拟，从而进行更加适宜的控制操作，能够大大提高车辆远程控制的方便性、准确性和安全性。The controlled vehicle according to the embodiment of the present invention can send relatively comprehensive environment and state information to the control vehicle, so that the control vehicle can simulate the environment and state information, so as to perform more suitable control operations, which can greatly improve the convenience of remote control of the vehicle reliability, accuracy and security.
对应上述实施例，本发明还提出一种控制车辆。Corresponding to the above-mentioned embodiments, the present invention also proposes a control vehicle.
其中，控制车辆与受控车辆之间建立有远程控制关系。Wherein, a remote control relationship is established between the controlling vehicle and the controlled vehicle.
如图7所示，本发明实施例的控制车辆20包括第二接收模块21、模拟模块22和第二发送模块23。As shown in FIG. 7 , the control vehicle 20 of the embodiment of the present invention includes a second receiving module 21 , a simulation module 22 and a second sending module 23 .
其中，第二接收模块21用于接收受控车辆的行车环境及整车状态信息；模拟模块22用于根据受控车辆的行车环境及整车状态信息对自身的行车环境及整车状态进行模拟以获得相应的模拟信息，以便根据模拟信息生成远程控制指令；第二发送模块23用于将远程控制指令发送至受控车辆，以便对受控车辆进行远程控制。Wherein, the second receiving module 21 is used to receive the driving environment and the vehicle state information of the controlled vehicle; the simulation module 22 is used to simulate the driving environment and the vehicle state of the controlled vehicle according to the driving environment and the vehicle state information of the controlled vehicle The corresponding simulation information is obtained, so as to generate a remote control instruction according to the simulation information; the second sending module 23 is used to send the remote control instruction to the controlled vehicle, so as to remotely control the controlled vehicle.
在本发明的一个实施例中，受控车辆的行车环境及整车状态信息可包括受控车辆的驾驶员座位的视觉信息和体感信息。其中，体感信息可包括受控车辆的驾驶室内声音信息、驾驶员座位的振动信息和驾驶员座位的每个方向加速度信息。In one embodiment of the present invention, the driving environment and vehicle status information of the controlled vehicle may include visual information and somatosensory information of the driver's seat of the controlled vehicle. Wherein, the somatosensory information may include the sound information in the cab of the controlled vehicle, the vibration information of the driver's seat, and the acceleration information of each direction of the driver's seat.
在本发明的一个实施例中，如图4所示，模拟模块22可包括集成在控制车辆20座椅上的声音模拟模块、振动模拟模块和加速度模拟模块，其中，噪声模拟模块用于模拟受控车辆的驾驶室内声音环境以获得控制车辆20的驾驶室内声音模拟信息，振动模拟模块用于模拟受控车辆的驾驶员座位的振动信息以获得控制车辆20的驾驶员座位的振动模拟信息，加速度模拟模块用于模拟受控车辆的驾驶员座位的每个方向加速度信息以获得控制车辆20的驾驶员座位的每个方向加速度模拟信息。In one embodiment of the present invention, as shown in FIG. 4 , the simulation module 22 may include a sound simulation module, a vibration simulation module and an acceleration simulation module integrated on the seat of the control vehicle 20, wherein the noise simulation module is used for simulating the control the sound environment in the cab of the vehicle to obtain the sound simulation information in the cab of the control vehicle 20, the vibration simulation module is used to simulate the vibration information of the driver's seat of the controlled vehicle to obtain the vibration simulation information of the driver's seat of the control vehicle 20, the acceleration The simulation module is used for simulating the acceleration information of each direction of the driver's seat of the controlled vehicle to obtain the acceleration simulation information of each direction of the driver's seat of the control vehicle 20 .
根据本发明实施例的控制车辆，能够接收并模拟出较为全面的受控车辆的环境和状态信息，以便进行更加适宜的控制操作，从而能够大大提高车辆远程控制的方便性、准确性和安全性。The control vehicle according to the embodiment of the present invention can receive and simulate relatively comprehensive environment and status information of the controlled vehicle, so as to perform more appropriate control operations, thereby greatly improving the convenience, accuracy and safety of remote control of the vehicle .
此外，在包括了控制车辆20和受控车辆10的远程控制系统中，信息和指令等的传输可参照图8，图中箭头的方向可表示信息和指令等的传输方向。具体的信息和指令等的传输方式可参照上述的多个实施例，在此不再赘述。In addition, in the remote control system including the controlling vehicle 20 and the controlled vehicle 10, the transmission of information and instructions can refer to FIG. 8 , and the direction of the arrow in the figure can indicate the transmission direction of information and instructions. For specific transmission methods of information and instructions, reference may be made to the above-mentioned multiple embodiments, and details are not repeated here.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature indirectly through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.
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