Research On Remote Driving Platform Of Intelligent Connected Vehicles Based On 5

Nowadays,traffic accidents and traffic congestion are becoming more and more serious,and full-scenario unconditional autonomous driving technology has not yet been implemented.In this situation,in order to alleviate traffic problems,it is an effective approach to connect vehicles through wireless networks and remotely control unmanned vehicles on a remote driving platform.As an effective supplement to autonomous driving,remote driving technology can achieve remote intervention in complex situations that autonomous driving cannot handle,which has great practical significance.And with the arrival of 5G(5th Generation Mobile Communication Technology),the technology has been further developed,and it has broad application prospects in logistics scheduling,military reconnaissance,disaster relief,unmanned mining and other fields.Therefore,this paper researches the intelligent networked vehicle remote driving platform based on 5G,and the specific research content is as follows:(1)The related technologies of remote driving is studied and a remote driving platform is designed to achieve remote monitoring and control functions.Specifically,it includes the design and technical implementation of the mobile hardware architecture and software architecture of remote driving,the design of the hardware architecture of the remote driving control terminal and cloud platform,the design and implementation of the software architecture of the control terminal.The mobile terminal is used to collect the surrounding environment data and transmit the environment data and its own status information to the human-computer interaction interface to provide visualized auxiliary decision-making basis.The control terminal is used to make decisions and send control instructions through the information of the human-computer interaction interface.The cloud Platform Cloud platform is used to carry software architecture of the control terminal.The software architecture of the control terminal is used to present environment information and mobile terminal status information,and transmit control commands.(2)The latency issue of remote driving is studied.To address the drawbacks of low real-time performance and instability of the Robot Operating System(ROS)system,the mobile terminal software architecture is updated and iterated based on the ROS2 operating system to optimize the real-time performance of remote driving data transmission.Moreover,for the low latency network transmission application scenarios required in the field of remote driving,an adaptive BBRv2(Bottleneck Bandwidth and Round-trip propagation time v2.0)congestion control algorithm is proposed.By setting the send rate gain as a decreasing function of the round-trip delay and setting the queue delay threshold,the queuing delay of remote driving network transmission can be reduced to improve the real-time performance of the transmission.(3)The reliability and real-time performance of the designed remote driving platform are verified through on-vehicle experiment,including message transmission module function and latency test,video transmission module function and latency test and whole vehicle integration test.The experiment results show that the designed remote driving platform can achieve real-time reliable remote monitoring and remote control functions.