Autonomous vehicle remote control apparatus and method based on heterogeneous networks

An autonomous vehicle remote control apparatus based on heterogeneous networks, comprising:

• at least one processor, and
• a memory configured to store instructions executable by the at least one processor;
• wherein the instructions cause the at least one processor to:
• acquire vehicle state information, vehicle position information, vehicle surrounding environment information provided by vehicle-mounted sensing devices, and an available network list of an autonomous vehicle;
• generate a corresponding message according to a state of the autonomous vehicle, and send the corresponding message to a remote control terminal through a corresponding network in the available network list;
• monitor different network ports according to the state of the autonomous vehicle, receive remote control messages sent by the remote control terminal, filter and merge the remote control messages, and forward a merged message;
• and
• receive the merged message, and respond to a remote control command contained in the merged message to realize remote control of the autonomous vehicle;
• acquire the available network list in a designated area and a network quality of a corresponding network;
• plan an optimal driving path for the autonomous vehicle according to a starting point and an ending point of the autonomous vehicle in a case that the network quality of the designated area is known, wherein the network quality on the optimal driving path supports remote driving;
• receive messages sent by the autonomous vehicle, filter and merge the messages, and forward a merged message;
• receive the merged message, and generate a corresponding remote control command according to information contained in the merged message;
• and
• generate a corresponding message according to the remote control command, and send the corresponding message to the autonomous vehicle through a corresponding network in the available network list;
• wherein the instructions further cause the at least processor to:
• classify the received remote control command into in-vehicle control commands and driving commands according to different controls;
• and
• forward different remote control commands to different control systems of the autonomous vehicle to realize a response to the remote control;
• wherein the in-vehicle control commands are forwarded to an intelligent cockpit system of the autonomous vehicle, and the driving commands are forwarded to an autonomous driving system of the autonomous vehicle.