CN115277788B - Engineering vehicle remote control system and method - Google Patents
Engineering vehicle remote control system and method Download PDFInfo
- Publication number
- CN115277788B CN115277788B CN202211012721.5A CN202211012721A CN115277788B CN 115277788 B CN115277788 B CN 115277788B CN 202211012721 A CN202211012721 A CN 202211012721A CN 115277788 B CN115277788 B CN 115277788B
- Authority
- CN
- China
- Prior art keywords
- encrypted
- data
- video data
- vehicle
- operation video
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000002372 labelling Methods 0.000 claims abstract description 20
- 238000012790 confirmation Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000012795 verification Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computing Systems (AREA)
- Computer Security & Cryptography (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Selective Calling Equipment (AREA)
Abstract
The application is suitable for the technical field of remote control, and provides an engineering vehicle remote control system and method, wherein the control system comprises the following components: the vehicle-mounted terminal is positioned on the engineering vehicle and used for collecting operation video data and environment data of the engineering vehicle, encrypting the operation video data and the environment data respectively to obtain encrypted operation video data and encrypted environment data, and sending the encrypted operation video data and the encrypted environment data to the cloud; the cloud end is used for receiving the encryption operation video data and the encryption environment data, labeling the encryption environment data on the encryption operation video data, generating encryption labeling operation video data, backing up the encryption labeling operation video data and sending the encryption labeling operation video data to the instruction cabin end; the command cabin end is used for decrypting the encrypted marking operation video data to obtain the marking operation video data, and generating a control command for controlling the engineering truck according to the marking operation video data. The application can realize a safe engineering vehicle remote control method with low consumption.
Description
Technical Field
The application belongs to the technical field of remote control, and particularly relates to a remote control system and method for an engineering truck.
Background
In some scenes, environments exist which are harmful to the health of drivers of engineering vehicles, such as emergency rescue sites of fire, falling rocks collapse, boundaries with extremely strong nuclear radiation, mine bottoms, landfill sites and the like. In order to solve the problems, the prior art proposes a concept of remotely controlling the engineering vehicle to replace a driver to perform field operation in a dangerous environment, and the engineering vehicle remote control technology is developed.
However, in the prior art, there is no or little protection of the data transmission process in order to enable real-time transmission. Meanwhile, the terminal equipment of the engineering truck is not strong in calculation power due to portability, and the calculation of a large encryption and decryption algorithm cannot be performed. Therefore, there is a need for a safe and low-cost remote control method for an engineering vehicle.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the application provides a remote control system and a remote control method for an engineering truck.
The application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides an engineering vehicle remote control system, including: the vehicle-mounted terminal is positioned on the engineering vehicle and used for collecting operation video data and environment data of the engineering vehicle, encrypting the operation video data and the environment data respectively to obtain encrypted operation video data and encrypted environment data, and sending the encrypted operation video data and the encrypted environment data to the cloud;
The cloud end is used for receiving the encrypted operation video data and the encrypted environment data, labeling the encrypted environment data to the encrypted operation video data, generating encrypted labeling operation video data, backing up the encrypted labeling operation video data and sending the encrypted labeling operation video data to the instruction cabin end;
the command cabin end is used for decrypting the encrypted annotation operation video data to obtain the annotation operation video data, and a control command for controlling the engineering truck is generated according to the annotation operation video data.
Based on the first aspect, in some possible implementation manners, the vehicle-mounted end is further configured to control the engineering vehicle according to the control instruction;
The computing capacity of the cloud is far greater than that of the command cabin end and the vehicle-mounted end.
Based on the first aspect, in some possible implementation manners, the command pod further includes a display system, and a teleoperator judges a situation of the construction site according to the marked operation video data displayed in the display system, and sends a confirmation command, a data acquisition command and an operation command to the vehicle-mounted end through a command pod controller.
In a second aspect, an embodiment of the application provides a remote control method for an engineering vehicle, wherein a vehicle-mounted end and an instruction cabin end perform communication identity authentication to obtain confirmation information;
based on the confirmation information, the vehicle-mounted terminal collects operation video data and environment data of the engineering vehicle;
The vehicle-mounted terminal encrypts the engineering vehicle operation video data and the environment data to obtain encrypted operation video data and encrypted environment data, and the vehicle-mounted terminal sends the encrypted operation video data and the encrypted environment data to a cloud;
The cloud end marks the encrypted environment data to the encrypted operation video data to obtain encrypted marked operation video data, the command cabin end obtains remote operation driver control actions based on the encrypted marked operation video data to generate control commands, and the vehicle-mounted end controls the engineering vehicle according to the control commands.
Based on the second aspect, in some possible implementations, the vehicle-mounted end performs communication identity authentication with the instruction cabin end to obtain confirmation information, including:
the vehicle-mounted terminal sends identity authentication information to the instruction cabin terminal through the cloud terminal;
based on the identity authentication information, the instruction cabin terminal receives the confirmation information generated by the cloud;
the step of collecting the operation video data and the environment data of the engineering vehicle based on the confirmation information comprises the following steps:
The command cabin terminal receives the confirmation information generated by the cloud terminal, generates a data acquisition command and sends the data acquisition command to the vehicle-mounted terminal;
And if the vehicle-mounted terminal does not receive the data acquisition instruction, the vehicle-mounted terminal does not perform the next operation.
Based on the second aspect, in some possible implementations, the vehicle-mounted end encrypts the running video data and the environment data to obtain encrypted running video data and encrypted environment data, including:
the vehicle-mounted terminal initializes a first encryption module and writes a first secret key into a protection area of the first encryption module;
and writing the first key into the protection area of the first encryption module, and writing the second key into the engineering vehicle operation video data and the environment data to obtain the encryption operation video data and the encryption environment data.
Based on the second aspect, in some possible implementations, the first key is an asymmetric key, and is used for protecting the second key, and reading and writing the second key need to provide the first key authentication;
The second secret key is a symmetric secret key and is the same as the fourth secret key at the instruction cabin end.
Based on the second aspect, in some possible implementations, the cloud end annotates the encrypted environment data to the encrypted running video data to obtain encrypted annotated running video data, including:
And marking the encrypted environment data to the encrypted video frames in the encrypted operation video data through a continuous frame marking algorithm to obtain the encrypted marking operation video data.
Based on the second aspect, in some possible implementations, the control instruction is generated by analyzing and encrypting a control operation of a teleoperator by an instruction cabin terminal; the control instruction comprises a UDP data packet which instructs a cabin controller to combine encrypted analysis data frames of the analysis data of the control operation;
the analysis and encryption of the control operation of the teleoperator comprises the following steps:
the command cabin controller at the command cabin end collects sensor data of the operating rod in real time and combines the sensor data into message data according to a communication protocol; the ID codes in the message data change in real time, and the message data are not identical message data;
Then encrypting the message data by using a second encryption module at the command cabin end, and writing a third secret key into a protection area of the second encryption module;
Writing the third key into the protection area of the second encryption module, writing the fourth key into the message data, and encrypting to generate encrypted message data; the third key is an asymmetric key and is used for protecting the fourth key, and the third key authentication is required to be provided for reading and writing the fourth key;
the fourth secret key is a symmetric secret key and is the same as the second secret key of the vehicle-mounted terminal.
Based on the second aspect, in some possible implementations, after the vehicle-mounted receives the control instruction, decrypts the control instruction and verifies the control instruction; and if the verification is correct, the engineering truck executes the control action corresponding to the control instruction.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides an engineering vehicle remote control system, which can realize a safe and low-consumption engineering vehicle remote control method by respectively encrypting and decrypting operation video data and environment data among a vehicle-mounted end, a cloud end and an instruction cabin end.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an engineering truck remote control system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a command pod according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a display system at a command pod according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a remote control method for an engineering truck according to an embodiment of the application;
Fig. 6 is a schematic signal transmission diagram of a remote control method of an engineering truck according to an embodiment of the application;
fig. 7 is a schematic diagram of a message data encryption process according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In recent years, with the rapid development of economy, various engineering vehicles have been playing an increasingly important role in production and construction. Compared with some places with good external environment for human body, the influence of many places on human body is very great, such as fire emergency rescue place, falling rock collapse, extremely strong nuclear radiation, mine bottom, landfill site and the like; under such environmental work, the physical condition of the engineering vehicle driver is extremely cause anxiety. In order to solve the problems, the prior art proposes a concept of remotely controlling the engineering vehicle to replace a driver to perform field operation in a dangerous environment, and the engineering vehicle remote control technology is generated.
However, existing 5G remote driving systems are mainly composed of two parts: command cabin end, vehicle control end. The data between them is transmitted through 5G network and Internet, and the process is possibly attacked by network, if no protection measures are taken, serious security accidents may be caused.
Based on the problems, the application provides the engineering truck remote control system, and the engineering truck remote control method which is safe and has low consumption can be realized by respectively encrypting and decrypting the operation video data and the environment data among the vehicle-mounted end, the cloud end and the command cabin end.
The remote control system for the engineering truck according to the present application will be described in detail with reference to fig. 1.
Referring to fig. 1, an engineering vehicle remote control system in an embodiment of the present application includes: the vehicle-mounted terminal is positioned on the engineering vehicle and used for collecting operation video data and environment data of the engineering vehicle, encrypting the operation video data and the environment data respectively to obtain encrypted operation video data and encrypted environment data, and sending the encrypted operation video data and the encrypted environment data to the cloud; the cloud end is used for receiving the encryption operation video data and the encryption environment data, labeling the encryption environment data on the encryption operation video data, generating encryption labeling operation video data, backing up the encryption labeling operation video data and sending the encryption labeling operation video data to the instruction cabin end; the command cabin end is used for decrypting the encrypted marking operation video data to obtain the marking operation video data, and generating a control command for controlling the engineering truck according to the marking operation video data.
Specifically, the vehicle-mounted end is also used for controlling the engineering vehicle according to the control instruction.
Specifically, the computing power of the cloud end is far greater than that of the command cabin end and the vehicle-mounted end.
For example, an engineering truck control system comprises a pilot control mode of an original truck, wherein a pilot oil path of the original truck directly controls a main valve and an oil cylinder of the truck to perform construction operation, as shown in fig. 2; the remote control system further comprises an instruction cabin end, a cloud end and a vehicle-mounted end part, wherein the instruction cabin end and the vehicle-mounted end part transmit signals through a 5G network of the cloud end, and the instruction cabin end and the vehicle-mounted end part are shown in figure 3.
The command cabin end comprises a seat, a control switch, a command cabin controller, a left operation handle, a right operation handle and a pedal and display system; the vehicle-mounted end comprises a remote controller, a 5G CPE, a switch, a camera, an IMU inclination angle sensor and a pickup.
In addition, when the remote operator operates, the remote operator needs to perform control operation according to the condition displayed by a display system, and the display system comprises a display and a video server.
The remote controller of the vehicle-mounted terminal collects operation video data and environment data through the sensor, the camera and the pickup, the environment data comprise weather, temperature, humidity, road conditions and other data of surrounding environments, and the operation video data comprise video pictures and sounds. And after the remote controller at the vehicle-mounted end encrypts the operation video data and the environment data respectively, transmitting the video images and the sound to the command cabin controller in real time through the 5G CPE, and processing the operation video data and the environment data into the encrypted marked operation video data by the cloud in the transmission process. The command cabin controller decrypts the encrypted marking operation video data and then transmits the decrypted encrypted marking operation video data to a video server of the display system; the remote operation driver judges the environment of the construction site through the pictures and the sound of the display in the display system, and sends an operation command through the command cabin controller, the command is transmitted to the vehicle-mounted end through the 5G network, and the 5G CPE receives signals and then transmits the signals to the main valve and the oil cylinder of the remote controller control vehicle, so that the excavation operation is realized.
For example, the remote operation control panel of the command cabin end and the operation panel of the original vehicle pilot control of the vehicle-mounted end may be the same.
Illustratively, 5G networks employ a special symmetric encryption and decryption mechanism.
The instruction cabin end is connected with a special line broadband and has a fixed IP address.
The network transmission between the command cabin and the vehicle-mounted terminal adopts the UDP protocol, so that the instantaneity of data transmission is ensured, and the time delay is reduced.
The electric system of the remote controller at the vehicle end is connected with a starting switch, an ACC, a headlight, a horn, a pilot and the like of the original vehicle in parallel, and specific operations such as starting, lighting and sounding of the vehicle are realized when the vehicle is switched to a remote driving control mode.
For example, an IMU tilt sensor may measure the tilt of a vehicle relative to a horizontal position. And the inclination degree is transmitted back to the instruction cabin through the CPE, then the instruction cabin transmits the inclination degree to the video server through the network, and finally the vehicle body posture system in the display screen displays the inclination degree.
The display system includes six displays respectively arranged on the front upper part, the front middle part, the front lower part, the rear part, the left part and the right part of the driver seat, and are in one-to-one correspondence with the camera positions of the vehicle-mounted end, as shown in fig. 4. The cameras of the vehicle-mounted end are arranged in different directions of the vehicle body end, the images around the vehicle body, collected by the cameras of the vehicle-mounted end, are transmitted to the remote controller through the switch, the remote controller is transmitted to the command cabin controller through the 5G network, the command cabin controller transmits the obtained video information to the video server of the display system through the Ethernet, the video server decodes the obtained video information and then transmits the decoded video information to the display, and the display can display the images around the vehicle body end in real time.
For example, the camera head may use RTMP push streaming to transmit pictures and sounds point-to-point to the video server.
The car body CAN network CAN realize the functions of motion control, data acquisition and the like, integrates remote situation awareness and intelligent overturning alarm, and reserves an expansion interface for subsequent accessory installation.
The engineering truck remote control system can realize remote control of the hydraulic electromagnetic switch valve, and opening and closing of electromagnetic valves such as a pilot enabling valve, a traveling double-speed valve and the like. The remote operator can remotely control the hydraulic main valve to realize single and compound actions of the movable arm, the bucket rod, the bucket, the turning, the walking, the bulldozer blade and the deflection head of the engineering truck.
The engineering vehicle may be an engineering vehicle such as an excavator.
For example, the 6 cameras are respectively vertically installed with 3 cameras right in front of the top of the cab, the left side of the top of the cab is provided with 1 camera, the right side of the top of the cab is provided with 1 camera, and the rear side of the roof of the engineering vehicle is provided with 1 camera. The visual angle scope of 6 cameras is wider than 4 cameras, installs 6 cameras, and teleoperation personnel are in order the cabin, and the vertical angle of 4 cameras is 60 degrees at most, and the scope of observation is narrow, will influence teleoperation personnel's action operation.
Among 7 displays, 1 is used as an instrument display system for displaying various vehicle body parameters, and the rest 6 cameras respectively correspond to the 6 cameras and display 6 visual angles of the engineering vehicle, namely a front middle-lower visual angle, a front middle-side visual angle, a front middle-upper visual angle, a left visual angle, a right visual angle and a rear side visual angle.
The display has a head-up display function, namely a parallel display system, and the rotation speed of the vehicle body, the inclination angle degree of the x-axis direction of the vehicle body and the inclination angle degree of the y-axis direction of the vehicle body are projected into 6 display screens corresponding to the 6 cameras, so that a remote operator can observe whether the vehicle body is at a safe inclination degree or not in each screen.
Based on the engineering truck remote control system, the engineering truck remote control method in the embodiment of the application comprises the following steps: the vehicle-mounted terminal and the command cabin terminal perform communication identity authentication to obtain confirmation information; based on the confirmation information, the vehicle-mounted terminal collects the engineering vehicle operation video data and the environment data; the vehicle-mounted terminal encrypts the engineering vehicle operation video data and the environment data to obtain encrypted operation video data and encrypted environment data, and the vehicle-mounted terminal sends the encrypted operation video data and the encrypted environment data to the cloud; the vehicle-mounted terminal marks the encrypted environment data to the encrypted operation video data through the cloud terminal to obtain the encrypted marked operation video data, and obtains a control instruction through the instruction cabin terminal based on the encrypted marked operation video data, and the vehicle-mounted terminal controls the engineering vehicle according to the control instruction.
Referring to fig. 5 and 6, in step 101, the vehicle-mounted end and the command pod end perform identity authentication to confirm the identities of the remote end and the command pod end.
Specifically, the vehicle-mounted terminal sends identity authentication information to the command cabin terminal; based on the identity authentication information, the command cabin end receives the confirmation information generated by the cloud end; the command cabin end generates a data acquisition command and sends the data acquisition command to the vehicle-mounted end; if the confirmation information is not received, the vehicle-mounted terminal does not perform the next operation.
The vehicle-mounted terminal sends identity authentication information to the command cabin terminal through the cloud terminal, which comprises the following steps: the vehicle-mounted terminal sends an identity authentication instruction to the cloud terminal, wherein the identity authentication instruction corresponds to the unique identity authentication information identifier; after the cloud receives the identity authentication instruction, the identity authentication instruction is matched with the identity authentication information sent to the cloud by the instruction cabin.
If the identity authentication information is matched with the unique identity authentication information identifier corresponding to the identity authentication instruction, the cloud generates confirmation information and sends the confirmation information to the instruction cabin end. After receiving the confirmation information, the command cabin confirms the identity of the vehicle-mounted terminal; if the confirmation information is not received, the cabin end can not command the vehicle-mounted end to carry out the next operation.
In step 102, the engineering vehicle operation video data and the environment data are collected based on the confirmation information.
Specifically, after receiving the confirmation information generated by the cloud end, the command cabin end generates a data acquisition command, and sends the data acquisition command to the vehicle-mounted end through the cloud end data acquisition command. And after receiving the data acquisition instruction, a remote controller in the vehicle-mounted terminal controls the engineering truck to acquire data.
In step 103, the vehicle-mounted terminal encrypts the engineering vehicle operation video data and the environment data to obtain encrypted operation video data and encrypted environment data, and sends the encrypted operation video data and the encrypted environment data to the cloud.
Specifically, initializing an encryption module of a vehicle-mounted terminal, and writing a first key into a protection area of a first encryption module; and writing the first key into the protection area of the first encryption module, and writing the second key into the operation video data and the environment data to obtain the encryption operation video data and the encryption environment data.
Illustratively, the encryption method employs CSEc modules of the MCU for hardware encryption. The hardware encryption has the characteristics of high security, short calculation time and the like, and is very suitable for a real-time communication system. CSEc Cryptographic SERVICE ENGINE-Compressed, meets HIS-SHE specification 1.1rev 439 and GM-SHE+ safety Specification standards. The encryption algorithm is an AES-128 symmetric encryption algorithm.
Illustratively, symmetric encryption algorithms decrypt much more efficiently, but suffer from the disadvantage that the security of the key exchange is not guaranteed for key management, and when communicating in an unsecure channel. We use a special encryption protection that combines symmetry and asymmetry for important 5G network data.
The first key is an asymmetric key and is used for protecting the second key; the second key is a symmetric key and is the same as the fourth key at the instruction cabin end.
Illustratively, the first key and the second key are written to the MCU protected area, and the location contents cannot be read from the outside.
Illustratively, the first key may be a Master key and the second key may be a Keyn key.
The first dynamic ID is added after the data is symmetrically encrypted by using the second key, the first dynamic ID is different from the data after each encryption, and in the sequence of adding the dynamic ID to the original data, a CRC algorithm is added, which is mainly used for checking the data, and the accuracy and the safety of data transmission are ensured. After the first dynamic ID is added, the situations of data errors, messy codes and the like are prevented.
The remote controller of the vehicle-mounted terminal collects the operation video data and the environment data in real time, and combines a series of sensors and camera data into a plaintext data message according to a communication protocol. The message length is 16 bytes, the 13 th byte is the verification code, the 14 th/15 th byte is the ID code, and the 16 th byte is the checksum. And then encrypting the plaintext message by using MCU CSEc module, and generating an encrypted message after encryption. When the dynamic ID codes in the plaintext are changed in real time and the control bytes of the plaintext are the same, the encrypted message is not the same message, and recording forwarding or finding rules are prevented.
In step 104, the encrypted environment data is marked to the encrypted operation video data through the cloud to obtain the encrypted marked operation video data, a control instruction is obtained through the instruction cabin terminal based on the encrypted marked operation video data, and the vehicle-mounted terminal controls the engineering vehicle according to the control instruction.
Specifically, the cloud receives encrypted operation video data and encrypted environment data sent by a vehicle-mounted terminal; the cloud terminal marks the encrypted environment data to the encrypted operation video data to obtain encrypted marked operation video data; and the cloud end sends the encrypted annotation operation video data to the instruction cabin end.
Specifically, the cloud end marks the encrypted environment data to the encrypted operation video data to obtain the encrypted marked operation video data, which comprises the following steps: and marking the encrypted environment data to the encrypted video frames in the encrypted operation video data through a continuous frame marking algorithm to obtain the encrypted marking operation video data.
Specifically, the control instruction is generated by analyzing and encrypting the control operation of a remote operator by the instruction cabin end; the control instructions include a UDP packet instructing the pod controller to combine encrypted analysis data frames of analysis data of the control operation.
Analyzing and encrypting the control operation of the teleoperator, comprising: the command cabin controller at the command cabin end collects sensor data of the operating rod in real time and combines the sensor data into message data according to a communication protocol; the ID codes in the message data change in real time, and the message data cannot be the same message data; then encrypting the message data by using a second encryption module at the command cabin end, and writing a third secret key into a protection area of the second encryption module; writing the third key into the protection area of the second encryption module, writing the fourth key into the message data, and encrypting to generate encrypted message data; the third key is an asymmetric key and is used for protecting the fourth key, and the third key authentication is required to be provided for reading and writing the fourth key; the fourth secret key is a symmetric secret key and is the same as the second secret key of the vehicle-mounted terminal.
The video decoder in the video server decrypts the encrypted marking operation video data through a third key symmetrical to the second key, then authenticates the first key, and sends the decrypted display video to the display. After the display system receives video pictures and sounds transmitted by the command cabin controller through the 5G communication network, a remote operator collects action commands sent by the pedal sensor and the handle sensor through the command cabin controller and analyzes and processes the commands, then the control commands are received by the 5G CPE at the vehicle end, and analyzed and processed through the remote controller, and then the engineering truck actions corresponding to the control commands one by one are carried out. And then parameters (such as rotating speed, water temperature, hydraulic oil temperature and the like) of the vehicle are returned to the command cabin end, the command cabin is transmitted to the video server through the 5G network, and at the moment, various parameters of the vehicle can appear on the instrument display screen in real time.
The command cabin side analyzes the control actions, generates a control command and sends the control command to the vehicle-mounted side through the Ethernet. The control instructions include a UDP packet instructing the pod controller to combine encrypted analysis data frames of analysis data of the control operation.
For example, after the data has been symmetrically encrypted using the fourth key, a set of second dynamic IDs is added, where the set of second dynamic IDs makes the data of the message different after each encryption. And in the sequence of adding the second dynamic ID to the original message data, a CRC algorithm is added, so that the method is mainly used for checking the data and ensures the accuracy and the safety of data transmission. After the second dynamic ID is added, the conditions of data errors, messy codes and the like are prevented.
The command cabin controller at the command cabin end collects sensor data of the operating rod in real time, and combines the sensor data into message data according to a communication protocol. The data length of the message is 16 bytes, the 1 st to 12 th bytes are operation instructions, the 13 th byte is verification code, the 14 th/15 th byte is ID code, and the 16 th byte is checksum. The plaintext message is then encrypted using MCU CSEc, and the encrypted message is generated as shown in fig. 7. When the dynamic ID codes in the plaintext are changed in real time and the control bytes of the plaintext are the same, the encrypted message is not the same message, and recording forwarding or finding rules are prevented.
Specifically, after receiving a control instruction, the vehicle-mounted terminal decrypts the control instruction and checks the control instruction; and if the verification is correct, the engineering truck executes the control action corresponding to the control instruction.
The exemplary remote driving controller at the vehicle-mounted end extracts encrypted message data from the received UDP data packet, and then decrypts the encrypted message data by using MCU CSEc modules. And obtaining a plaintext message after decryption, and then performing verification calculation on the verification code and the checksum. If the verification is correct, further analyzing the data and executing corresponding instructions; if the verification fails, the data packet is discarded, and the control of the engineering vehicle caused by misoperation of the vehicle is prevented.
The engineering vehicle remote control method realizes remote control, not only ensures the safety of a driver, but also can improve the working environment of the driver; and the operation video data and the environment data among the vehicle-mounted end, the cloud end and the command cabin end are respectively encrypted and decrypted, so that the data can be safely transmitted, and a safe engineering vehicle remote control method with low consumption can be realized.
The engineering truck remote control method uses original data and dynamic ID, and finally uses a certain public key to carry out symmetric encryption, thus completing the encryption action of the data. And the decryption end uses the corresponding private key to decrypt, so that accurate 5G network data can be obtained.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. An engineering truck remote control system, characterized by comprising:
The vehicle-mounted terminal is positioned on the engineering vehicle and used for collecting operation video data and environment data of the engineering vehicle, encrypting the operation video data and the environment data respectively to obtain encrypted operation video data and encrypted environment data, and sending the encrypted operation video data and the encrypted environment data to the cloud;
The cloud end is used for receiving the encrypted operation video data and the encrypted environment data, labeling the encrypted environment data to the encrypted operation video data, generating encrypted labeling operation video data, backing up the encrypted labeling operation video data and sending the encrypted labeling operation video data to the instruction cabin end;
The command cabin end is used for decrypting the encrypted annotation operation video data to obtain annotation operation video data, and generating a control command for controlling the engineering vehicle according to the annotation operation video data; the command cabin end comprises a command cabin controller and a display system; the vehicle-mounted end comprises a remote controller and 5GCPE;
The instruction cabin controller is used for decrypting the encrypted marking operation video data and then transmitting the marking operation video data to the display system; the command cabin controller is also used for generating the control command based on the control action which is carried out after the remote operation driver judges by using the display system, the control command is transmitted to the vehicle-mounted end through a 5G network, and the 5GCPE receives the signal and then transmits the signal to the remote controller to control the engineering truck to carry out the excavation operation.
2. The engineering vehicle remote control system according to claim 1, wherein the vehicle-mounted terminal is further configured to control the engineering vehicle according to the control command;
the computing capacity of the cloud end is larger than that of the command cabin end and the vehicle-mounted end.
3. The remote control system of the engineering vehicle according to claim 1, wherein the command cabin end is provided with a display system, a remote operation driver judges the construction condition through the marked operation video data displayed in the display system, and an identity authentication command, a data acquisition command and an operation command are sent to the vehicle-mounted end through a command cabin controller.
4. The engineering vehicle remote control method is characterized by comprising the following steps of:
The vehicle-mounted terminal and the command cabin terminal perform communication identity authentication to obtain confirmation information;
based on the confirmation information, the vehicle-mounted terminal collects operation video data and environment data of the engineering vehicle;
the vehicle-mounted terminal encrypts the operation video data and the environment data to obtain encrypted operation video data and encrypted environment data, and the vehicle-mounted terminal sends the encrypted operation video data and the encrypted environment data to a cloud;
labeling the encrypted environment data to the encrypted operation video data through the cloud to obtain encrypted labeling operation video data, and based on the encrypted labeling operation video data, obtaining a control action of a remote operator by the command cabin end to generate a control command, wherein the vehicle-mounted end controls the engineering vehicle according to the control command;
The control instruction is generated by analyzing and encrypting the control operation of a remote operator by an instruction cabin end; the control instruction comprises a UDP data packet which instructs a cabin controller to combine encrypted analysis data frames of the analysis data of the control operation;
the analysis and encryption of the control operation of the teleoperator comprises the following steps:
the command cabin controller at the command cabin end collects sensor data of the operating rod in real time and combines the sensor data into message data according to a communication protocol; the ID codes in the message data change in real time, and the message data are not identical message data;
Then encrypting the message data by using a second encryption module at the command cabin end, and writing a third secret key into a protection area of the second encryption module;
Writing the third key into the protection area of the second encryption module, writing the fourth key into the message data, and encrypting to generate encrypted message data; the third key is an asymmetric key and is used for protecting the fourth key, and the third key authentication is required to be provided for reading and writing the fourth key;
the fourth secret key is a symmetric secret key and is the same as the second secret key of the vehicle-mounted terminal.
5. The remote control method of the engineering truck according to claim 4, wherein the communication identity authentication is performed between the vehicle-mounted terminal and the command cabin terminal to obtain the confirmation information, and the method comprises the following steps:
the vehicle-mounted terminal sends identity authentication information to the instruction cabin terminal through the cloud terminal;
based on the identity authentication information, the instruction cabin terminal receives the confirmation information generated by the cloud;
The step of collecting the operation video data and the environment data of the engineering vehicle based on the confirmation information comprises the following steps:
The command cabin terminal receives the confirmation information generated by the cloud terminal, generates a data acquisition command and sends the data acquisition command to the vehicle-mounted terminal;
And if the vehicle-mounted terminal does not receive the data acquisition instruction, the vehicle-mounted terminal does not perform the next operation.
6. The remote control method of the engineering truck according to claim 4, wherein the encrypting the operation video data and the environment data by the vehicle-mounted terminal to obtain the encrypted operation video data and the encrypted environment data includes:
the vehicle-mounted terminal initializes a first encryption module and writes a first secret key into a protection area of the first encryption module;
And writing the first key into the protection area of the first encryption module, and writing the second key into the operation video data and the environment data to obtain the encrypted operation video data and the encrypted environment data.
7. The engineering truck remote control method according to claim 6, wherein the first key is an asymmetric key for protecting the second key, and the first key authentication is required for reading and writing the second key;
The second secret key is a symmetric secret key and is the same as the fourth secret key at the instruction cabin end.
8. The engineering vehicle remote control method according to claim 4, wherein the cloud labeling the encrypted environment data to the encrypted running video data to obtain the encrypted labeled running video data, comprises:
And marking the encrypted environment data to the encrypted video frames in the encrypted operation video data through a continuous frame marking algorithm to obtain the encrypted marking operation video data.
9. The remote control method of the engineering truck according to claim 4, wherein after the vehicle-mounted terminal receives the control command, the control command is decrypted and checked; and if the verification is correct, the engineering truck executes the control action corresponding to the control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012721.5A CN115277788B (en) | 2022-08-23 | 2022-08-23 | Engineering vehicle remote control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012721.5A CN115277788B (en) | 2022-08-23 | 2022-08-23 | Engineering vehicle remote control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115277788A CN115277788A (en) | 2022-11-01 |
| CN115277788B true CN115277788B (en) | 2024-04-26 |
Family
ID=83753466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211012721.5A Active CN115277788B (en) | 2022-08-23 | 2022-08-23 | Engineering vehicle remote control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115277788B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118400399B (en) * | 2024-06-28 | 2024-09-13 | 保定北奥石油物探特种车辆制造有限公司 | Remote operation monitoring system for controllable seismic source |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102316162A (en) * | 2011-09-01 | 2012-01-11 | 深圳市子栋科技有限公司 | Vehicle remote control method based on voice command, apparatus and system thereof |
| CN106713264A (en) * | 2016-11-18 | 2017-05-24 | 郑州信大捷安信息技术股份有限公司 | Method for vehicle safety remote control and diagnosis and system thereof |
| WO2017167188A1 (en) * | 2016-03-31 | 2017-10-05 | 比亚迪股份有限公司 | Secure communication method and apparatus for vehicle, multimedia system for vehicle, and vehicle |
| CN110868699A (en) * | 2019-11-07 | 2020-03-06 | 北京长城华冠汽车科技股份有限公司 | Vehicle remote control system, device and method and new energy automobile |
| CN110995840A (en) * | 2019-12-04 | 2020-04-10 | 徐州徐工挖掘机械有限公司 | Remote terminal anti-dismantling control method suitable for excavator |
| CN111066761A (en) * | 2019-12-30 | 2020-04-28 | 晓耕智能科技(上海)有限公司 | Intelligent control system of self-propelled orchard machinery of track |
| CN112286166A (en) * | 2020-10-12 | 2021-01-29 | 上海交通大学 | Vehicle remote driving control system and method based on 5G network |
| CN112351102A (en) * | 2020-11-10 | 2021-02-09 | 上海汽车集团股份有限公司 | Remote driving method and system |
| CN112650247A (en) * | 2020-12-22 | 2021-04-13 | 北京百度网讯科技有限公司 | Remote control method, cockpit, cloud server and automatic driving vehicle |
| CN112653719A (en) * | 2019-10-12 | 2021-04-13 | 深圳市奇虎智能科技有限公司 | Automobile information safety storage method and device, electronic equipment and storage medium |
| CN112687122A (en) * | 2020-12-22 | 2021-04-20 | 北京百度网讯科技有限公司 | Information transmission method, vehicle, cloud end and cockpit in automatic driving process |
| CN113031626A (en) * | 2020-05-15 | 2021-06-25 | 东风柳州汽车有限公司 | Safety authentication method, device and equipment based on automatic driving and storage medium |
| CN113223205A (en) * | 2021-04-23 | 2021-08-06 | 中联重科土方机械有限公司 | Control system based on integrated controller and engineering machinery |
| CN113645590A (en) * | 2021-07-16 | 2021-11-12 | 北汽福田汽车股份有限公司 | Method, apparatus, device and medium for remotely controlling vehicle based on encryption algorithm |
| CN113765992A (en) * | 2020-06-01 | 2021-12-07 | 霍尼韦尔国际公司 | System and method for displaying and controlling remotely executed applications on a display of a vehicle |
| CN114005244A (en) * | 2021-10-25 | 2022-02-01 | 温州职业技术学院 | Building engineering management video acquisition system |
| CN114115206A (en) * | 2021-10-22 | 2022-03-01 | 湖南大学无锡智能控制研究院 | Safe remote driving system |
| CN114338003A (en) * | 2021-12-06 | 2022-04-12 | 合肥工业大学 | Vehicle road cloud remote control system and method based on quantum encryption |
| CN114355943A (en) * | 2022-01-05 | 2022-04-15 | 合肥中科自动控制系统有限公司 | Remote driving system based on 5G mobile communication technology and high-definition video transmission |
| CN114419928A (en) * | 2022-01-27 | 2022-04-29 | 合肥工业大学 | Vehicle road cloud cooperative control system and method based on quantum communication |
| CN114599030A (en) * | 2020-12-04 | 2022-06-07 | 宝能汽车集团有限公司 | Vehicle, remote control method thereof, storage medium and terminal device |
| WO2022134364A1 (en) * | 2020-12-22 | 2022-06-30 | 华人运通(上海)自动驾驶科技有限公司 | Vehicle control method, apparatus and system, device, and storage medium |
| WO2022154051A1 (en) * | 2021-01-15 | 2022-07-21 | 克弥 西沢 | Authentication device and authentication system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220063689A1 (en) * | 2004-11-10 | 2022-03-03 | Ge Global Sourcing Llc | Vehicle control system and method |
-
2022
- 2022-08-23 CN CN202211012721.5A patent/CN115277788B/en active Active
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102316162A (en) * | 2011-09-01 | 2012-01-11 | 深圳市子栋科技有限公司 | Vehicle remote control method based on voice command, apparatus and system thereof |
| WO2017167188A1 (en) * | 2016-03-31 | 2017-10-05 | 比亚迪股份有限公司 | Secure communication method and apparatus for vehicle, multimedia system for vehicle, and vehicle |
| CN106713264A (en) * | 2016-11-18 | 2017-05-24 | 郑州信大捷安信息技术股份有限公司 | Method for vehicle safety remote control and diagnosis and system thereof |
| CN112653719A (en) * | 2019-10-12 | 2021-04-13 | 深圳市奇虎智能科技有限公司 | Automobile information safety storage method and device, electronic equipment and storage medium |
| CN110868699A (en) * | 2019-11-07 | 2020-03-06 | 北京长城华冠汽车科技股份有限公司 | Vehicle remote control system, device and method and new energy automobile |
| CN110995840A (en) * | 2019-12-04 | 2020-04-10 | 徐州徐工挖掘机械有限公司 | Remote terminal anti-dismantling control method suitable for excavator |
| CN111066761A (en) * | 2019-12-30 | 2020-04-28 | 晓耕智能科技(上海)有限公司 | Intelligent control system of self-propelled orchard machinery of track |
| CN113031626A (en) * | 2020-05-15 | 2021-06-25 | 东风柳州汽车有限公司 | Safety authentication method, device and equipment based on automatic driving and storage medium |
| CN113765992A (en) * | 2020-06-01 | 2021-12-07 | 霍尼韦尔国际公司 | System and method for displaying and controlling remotely executed applications on a display of a vehicle |
| CN112286166A (en) * | 2020-10-12 | 2021-01-29 | 上海交通大学 | Vehicle remote driving control system and method based on 5G network |
| CN112351102A (en) * | 2020-11-10 | 2021-02-09 | 上海汽车集团股份有限公司 | Remote driving method and system |
| CN114599030A (en) * | 2020-12-04 | 2022-06-07 | 宝能汽车集团有限公司 | Vehicle, remote control method thereof, storage medium and terminal device |
| CN112687122A (en) * | 2020-12-22 | 2021-04-20 | 北京百度网讯科技有限公司 | Information transmission method, vehicle, cloud end and cockpit in automatic driving process |
| CN112650247A (en) * | 2020-12-22 | 2021-04-13 | 北京百度网讯科技有限公司 | Remote control method, cockpit, cloud server and automatic driving vehicle |
| WO2022134364A1 (en) * | 2020-12-22 | 2022-06-30 | 华人运通(上海)自动驾驶科技有限公司 | Vehicle control method, apparatus and system, device, and storage medium |
| WO2022154051A1 (en) * | 2021-01-15 | 2022-07-21 | 克弥 西沢 | Authentication device and authentication system |
| CN113223205A (en) * | 2021-04-23 | 2021-08-06 | 中联重科土方机械有限公司 | Control system based on integrated controller and engineering machinery |
| CN113645590A (en) * | 2021-07-16 | 2021-11-12 | 北汽福田汽车股份有限公司 | Method, apparatus, device and medium for remotely controlling vehicle based on encryption algorithm |
| CN114115206A (en) * | 2021-10-22 | 2022-03-01 | 湖南大学无锡智能控制研究院 | Safe remote driving system |
| CN114005244A (en) * | 2021-10-25 | 2022-02-01 | 温州职业技术学院 | Building engineering management video acquisition system |
| CN114338003A (en) * | 2021-12-06 | 2022-04-12 | 合肥工业大学 | Vehicle road cloud remote control system and method based on quantum encryption |
| CN114355943A (en) * | 2022-01-05 | 2022-04-15 | 合肥中科自动控制系统有限公司 | Remote driving system based on 5G mobile communication technology and high-definition video transmission |
| CN114419928A (en) * | 2022-01-27 | 2022-04-29 | 合肥工业大学 | Vehicle road cloud cooperative control system and method based on quantum communication |
Non-Patent Citations (2)
| Title |
|---|
| "The Wireless Remote Control Car System Based on ARM9";W. Shaokun等;《2011 First International Conference on Instrumentation, Measurement, Computer, Communication and Control 》;20120220;全文 * |
| AES加密算法在远程控制系统中的应用;佘荣平;徐国栋;;信息通信;20160815(08);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115277788A (en) | 2022-11-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113031626B (en) | Safety authentication method, device, equipment and storage medium based on automatic driving | |
| CN114338003B (en) | Vehicle road cloud remote control system and method based on quantum encryption | |
| US20230022152A1 (en) | Systems and methods for implementing data security | |
| CN115277788B (en) | Engineering vehicle remote control system and method | |
| US11904754B2 (en) | Providing roadside assistance to vehicles | |
| US11769402B2 (en) | Augmenting mobile device operation with intelligent external sensors | |
| CN103395694A (en) | Integral monitoring system for tower crane | |
| CN113099104A (en) | Method for capturing images, electronic device, computer storage medium and vehicle | |
| US11377072B2 (en) | Systems and methods for tamper evident electronic detection | |
| US20230211805A1 (en) | Concept For Supporting a Motor Vehicle Being Guided in at Least Partially Automated Manner | |
| CN111736604A (en) | Remote driving control method, device, equipment and storage medium | |
| JP4173176B2 (en) | Drive recorder | |
| US11961310B2 (en) | System and cryptographic hardening method for traffic signal verification | |
| CN110610452A (en) | Information processing method, device and storage medium | |
| CN107703812A (en) | Remote control system and method for excavator | |
| CN111152820A (en) | Multi-source data integrated remote train driving method and system | |
| US11938964B2 (en) | Method for safely ascertaining infrastructure data | |
| WO2022010492A1 (en) | System and method for detecting traffic pole attacks for vehicles | |
| KR100404451B1 (en) | Vehicle black-box system and method for decrypting encrypted data contained in black box, and storage media having program source thereof | |
| AU2010355231A1 (en) | Method and control unit for controlling a display of a proximity warning system | |
| CN109345858A (en) | Fleet Tracking System | |
| CN114115206A (en) | Safe remote driving system | |
| CN112631177A (en) | Agricultural data acquisition device based on hardware encryption transmission | |
| JP2022527341A (en) | System for safe teleoperated operation | |
| US20230286538A1 (en) | Vehicle and monitoring system for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |