CN110083109A - A kind of unmanned vehicle tele-control system and its method - Google Patents
A kind of unmanned vehicle tele-control system and its method Download PDFInfo
- Publication number
- CN110083109A CN110083109A CN201910416690.1A CN201910416690A CN110083109A CN 110083109 A CN110083109 A CN 110083109A CN 201910416690 A CN201910416690 A CN 201910416690A CN 110083109 A CN110083109 A CN 110083109A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving vehicle
- driving
- sensor
- controller
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims 11
- 238000001727 in vivo Methods 0.000 claims 3
- 230000003111 delayed effect Effects 0.000 claims 2
- 230000004913 activation Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000004088 simulation Methods 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 8
- 230000000994 depressogenic effect Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000000881 depressing effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明提出了一种无人车远程控制系统及其方法，该控制系统包括在模拟车辆本体内设置有用于驾驶者实时查看行驶道路状况的车辆显示屏，车辆控制端包括行驶车辆本体，在行驶车辆本体内设置有摄像头支撑架，在支撑架上安置有用于实时拍摄行驶道路状况的第一摄像头和第二摄像头，第一摄像头和第二摄像头构成双目摄像头，模拟车辆控制器采集驾驶者驾驶模拟车辆本体的驾驶参数，行驶车辆本体根据接收到的驾驶参数行驶。本发明能够实现远程操控车辆，降低等待，增强体验。
The present invention proposes a remote control system and method for an unmanned vehicle. The control system includes a vehicle display screen for the driver to check the driving road conditions in real time in the simulated vehicle body. The vehicle control terminal includes the vehicle body. The vehicle body is provided with a camera support frame, and the first camera and the second camera for real-time shooting of road conditions are arranged on the support frame. The first camera and the second camera form a binocular camera, and the simulated vehicle controller collects the driver's driving information. The driving parameters of the vehicle body are simulated, and the driving vehicle body runs according to the received driving parameters. The invention can realize remote control of the vehicle, reduce waiting and enhance experience.
Description
技术领域technical field
本发明涉及一种远程驾驶技术领域，特别是涉及一种无人车远程控制系统及其方法。The invention relates to the technical field of remote driving, in particular to a remote control system and method for an unmanned vehicle.
背景技术Background technique
当前，全球的计算机网络以及技术、传感器技术、电子技术都在迅猛发展，将其应用到汽车技术中，使得汽车电子控制技术也在不断地成熟和完善，汽车电子控制技术在汽车业的广泛应用和发展，使得电子装置更加的标准化，从而实现了现代汽车的电子化。汽车电子控制技术不仅有利于改善汽车的各种性能，比如，经济性、动力性、环保性、安全性以及行驶过程中的舒适性，推动汽车产业的发展而且还有利于电子产业的发展，所以汽车电子控制技术有利于汽车电子化的快速发展，它也是汽车工业不断发展的关键。At present, the global computer network and technology, sensor technology, and electronic technology are all developing rapidly. Applying it to automotive technology makes automotive electronic control technology continue to mature and improve. The wide application of automotive electronic control technology in the automotive industry And development, making electronic devices more standardized, thus realizing the electronization of modern cars. Automotive electronic control technology is not only conducive to improving various performances of vehicles, such as economy, power, environmental protection, safety, and comfort during driving, but also promotes the development of the automotive industry and is also conducive to the development of the electronics industry, so Automotive electronic control technology is conducive to the rapid development of automotive electronics, and it is also the key to the continuous development of the automotive industry.
发明内容SUMMARY OF THE INVENTION
本发明旨在至少解决现有技术中存在的技术问题，特别创新地提出了一种无人车远程控制系统及其方法。The present invention aims at at least solving the technical problems existing in the prior art, and particularly innovatively proposes a remote control system and method for an unmanned vehicle.
为了实现本发明的上述目的，本发明提供了一种无人车远程控制系统，包括车辆控制端和远程驾驶操控端；In order to achieve the above object of the present invention, the present invention provides a remote control system for unmanned vehicles, including a vehicle control terminal and a remote driving control terminal;
远程驾驶操控端包括模拟车辆本体，在模拟车辆本体内设置有用于驾驶者实时查看行驶道路状况的车辆显示屏，车辆显示屏的显示信号输入端与模拟车辆控制器的显示信号输出端相连；The remote driving control terminal includes a simulated vehicle body, and a vehicle display screen for the driver to view the driving road conditions in real time is arranged in the simulated vehicle body, and the display signal input terminal of the vehicle display screen is connected with the display signal output terminal of the simulated vehicle controller;
车辆控制端包括行驶车辆本体，在行驶车辆本体内设置有摄像头支撑架，在支撑架上安置有用于实时拍摄行驶道路状况的第一摄像头和第二摄像头，第一摄像头和第二摄像头构成双目摄像头，第一摄像头的图像信号输出端与行驶车辆控制器的图像信号第一输入端相连，第二摄像头的图像信号输出端与行驶车辆控制器的图像信号第二输入端相连；The vehicle control end includes a driving vehicle body, a camera support frame is arranged in the driving vehicle body, and a first camera and a second camera for real-time shooting of driving road conditions are arranged on the support frame, and the first camera and the second camera form a binocular camera, the image signal output end of the first camera is connected to the first input end of the image signal of the driving vehicle controller, and the image signal output end of the second camera is connected to the second input end of the image signal of the driving vehicle controller;
模拟车辆控制器采集驾驶者驾驶模拟车辆本体的驾驶参数，行驶车辆本体根据接收到的驾驶参数行驶。The simulated vehicle controller collects the driving parameters of the driver driving the simulated vehicle body, and the driving vehicle body runs according to the received driving parameters.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内的无线收发第一模块和无线收发第二模块，所述无线收发第一模块的时延低于无线收发第二模块的时延；无线收发第一模块的收发信号端与行驶车辆控制器的信号第一收发端相连，无线收发第二模块的收发信号端与行驶车辆控制器的信号第二收发端相连；In a preferred embodiment of the present invention, it also includes a first wireless transceiver module and a second wireless transceiver module arranged in the vehicle body, the time delay of the first wireless transceiver module is lower than that of the second wireless transceiver module Time delay; the transmitting and receiving signal end of the first wireless transceiver module is connected to the first transmitting and receiving end of the driving vehicle controller, and the transmitting and receiving signal end of the second wireless transmitting and receiving module is connected to the second transmitting and receiving end of the driving vehicle controller;
针对同一数据信息A，无线收发第一模块接收到该数据信息A的时刻为T1，无线收发第二模块接收到该数据信息A的时刻为T2，若T2-T1＞|T|，所述T为预设时延阈值，则行驶车辆控制器控制行驶车辆本体由远程驾驶改为自动驾驶，控制行驶车辆本体停车。For the same data information A, the moment when the first wireless transceiver module receives the data information A is T 1 , and the moment when the second wireless transceiver module receives the data information A is T 2 , if T 2 -T 1 >|T| , where T is the preset time delay threshold, the controller of the traveling vehicle controls the main body of the traveling vehicle to change from remote driving to automatic driving, and controls the main body of the traveling vehicle to stop.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内用于感知是否踩下油门踏板的油门踏板传感器、是否踩下制动踏板的制动踏板传感器以及是否操控方向盘的方向盘传感器之一或者任意组合；In a preferred embodiment of the present invention, it also includes an accelerator pedal sensor for sensing whether the accelerator pedal is depressed, a brake pedal sensor for depressing the brake pedal, and a steering wheel sensor for controlling the steering wheel, which are arranged in the vehicle body. one or any combination;
油门踏板传感器的油门信号输出端与行驶车辆控制器的油门信号输入端相连，制动踏板传感器的制动信号输出端与行驶车辆控制器的制动信号输入端相连，方向盘传感器的方向盘信号输出端与行驶车辆控制器的方向盘信号输入端相连；当油门踏板传感器感知到行驶车辆本体内驾驶员踩下油门踏板，和/或制动踏板传感器感知到行驶车辆本体内驾驶员踩下制动踏板，和/或方向盘传感器感知到行驶车辆本体内驾驶员操控方向盘，则行驶车辆控制器控制行驶车辆本体退出远程驾驶。The accelerator signal output terminal of the accelerator pedal sensor is connected with the accelerator signal input terminal of the driving vehicle controller, the braking signal output terminal of the brake pedal sensor is connected with the braking signal input terminal of the driving vehicle controller, and the steering wheel signal output terminal of the steering wheel sensor is It is connected with the steering wheel signal input terminal of the driving vehicle controller; when the accelerator pedal sensor senses that the driver in the driving vehicle body has stepped on the accelerator pedal, and/or the brake pedal sensor senses that the driver in the driving vehicle body has stepped on the brake pedal, And/or the steering wheel sensor senses that the driver in the traveling vehicle is manipulating the steering wheel, and the traveling vehicle controller controls the traveling vehicle to exit the remote driving.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内和/或模拟车辆本体内的电源模块，所述电源模块包括第一电源模块和第二电源模块；第一电源模块为12V车载电池，第二电源为48V车载充电电池；In a preferred embodiment of the present invention, it also includes a power supply module arranged in the driving vehicle body and/or in the simulated vehicle body, the power supply module includes a first power supply module and a second power supply module; the first power supply module is 12V vehicle battery, the second power supply is 48V vehicle rechargeable battery;
还包括降压模块和/或升压模块，48V车载充电电池的放电第一正极与降压模块的输入正极相连，48V车载充电电池的放电第一负极与降压模块的输入负极相连，降压模块的输出正极与12V车载电池的充电正极相连，降压模块的输出负极与12V车载电池的充电负极相连；降压模块将48V车载充电电池的48V电压转换为12V车载电池的12V电压；It also includes a step-down module and/or a step-up module, the discharge first positive electrode of the 48V on-board rechargeable battery is connected to the input positive electrode of the step-down module, the first discharge negative electrode of the 48V on-board rechargeable battery is connected to the input negative electrode of the step-down module, and the step-down The output positive pole of the module is connected to the charging positive pole of the 12V vehicle battery, and the output negative pole of the step-down module is connected to the charging negative pole of the 12V vehicle battery; the step-down module converts the 48V voltage of the 48V vehicle rechargeable battery to the 12V voltage of the 12V vehicle battery;
48V车载充电电池的放电第二正极与升压模块的输入正极相连，48V车载充电电池的放电第二负极与升压模块的输入负极相连；升压模块将48V车载充电电池的48V直流电压转换为220V交流电压。其中，12V车载电池可以为车载摄像头(例如第一摄像头和第二摄像头)和各类传感器供电；48V车载充电电池可以为无线收发模块(例如无线收发第一模块和无线收发第二模块，其中无线收发第一模块为5GTUE模块，无线收发第二模块为4GCPE模块，也叫CPE终端)供电；220V交流电压可以为信号交换机、工控机(PC机)供电。The discharge second positive pole of the 48V on-board rechargeable battery is connected to the input positive pole of the booster module, and the second discharge negative pole of the 48V on-board rechargeable battery is connected to the input negative pole of the booster module; the booster module converts the 48V DC voltage of the 48V on-board rechargeable battery into 220V AC voltage. Among them, the 12V vehicle-mounted battery can supply power for the vehicle-mounted camera (such as the first camera and the second camera) and various sensors; the 48V vehicle-mounted rechargeable battery can provide power for the wireless transceiver module (such as the first wireless transceiver module and the second wireless transceiver module, wherein the wireless The first transceiver module is a 5GTUE module, and the second wireless transceiver module is a 4GCPE module (also called a CPE terminal) for power supply; 220V AC voltage can supply power for signal switches and industrial computers (PCs).
在本发明的一种优选实施方式中，还包括设置在行驶车辆本体车头正前方的1号车载摄像头，1号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第三输入端相连；和/或还包括设置在行驶车辆本体车身左侧的2号车载摄像头，2号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第四输入端相连；和/或还包括设置在行驶车辆本体车身右侧的3号车载摄像头，3号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第五输入端相连；和/或还包括设置在行驶车辆本体车尾的4号车载摄像头，4号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第六输入端相连；和/或还包括设置在行驶车辆本体车内的5号车载摄像头，5号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第七输入端相连。在行驶车辆本体上布置的5个车载摄像头提供不同的视野视频，其中，1号、2号、3号和4号这四个车载摄像头分别提供正前方、左右两侧及后方视频，5号车载摄像头提供车内视频；采集的视频信号通过交换机组合后由行驶车辆本体上的5GTUE模块发送给基站，基站接收后发送到监控中心大屏和模拟车辆本体上进行同时显示。In a preferred embodiment of the present invention, it also includes a No. 1 vehicle-mounted camera arranged directly in front of the front of the vehicle body, and the image signal output terminal of the No. 1 vehicle-mounted camera is connected to the third input terminal of the image signal of the vehicle controller; And/or also include the No. 2 vehicle-mounted camera that is arranged on the left side of the vehicle body body, the image signal output end of the No. 2 vehicle-mounted camera is connected with the image signal fourth input end of the vehicle controller; The No. 3 vehicle-mounted camera on the right side of the vehicle body body, the image signal output terminal of the No. 3 vehicle-mounted camera is connected with the fifth input terminal of the image signal of the driving vehicle controller; Camera, the image signal output end of the No. 4 vehicle-mounted camera is connected with the sixth input terminal of the image signal of the driving vehicle controller; The output end is connected with the seventh input end of the image signal of the driving vehicle controller. The five on-board cameras arranged on the vehicle body provide different field of view videos. Among them, the four on-board cameras No. 1, No. 2, No. 3 and No. The camera provides in-vehicle video; the collected video signal is combined by the switch and sent to the base station by the 5GTUE module on the vehicle body, and the base station receives it and sends it to the large screen of the monitoring center and the simulated vehicle body for simultaneous display.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内用于监测油门踏板开度大小的行驶车辆油门开度传感器和/或用于监测制动踏板开度大小的行驶车辆制动踏板开度传感器和/或用于监测方向盘转动角度的行驶车辆方向盘角度传感器和/或用于监测左转向灯亮的行驶车辆左转向灯传感器和/或用于监测右转向灯亮的行驶车辆右转向灯传感器和/或用于监测行驶车辆行驶速度的速度传感器和/或用于监测与前方车辆距离的雷达传感器；In a preferred embodiment of the present invention, it also includes a traveling vehicle accelerator opening sensor for monitoring the opening degree of the accelerator pedal and/or a driving vehicle brake sensor for monitoring the opening degree of the brake pedal arranged in the traveling vehicle body. Pedal opening sensor and/or steering wheel angle sensor for monitoring the steering wheel rotation angle of a moving vehicle and/or left turn signal sensor for monitoring a moving vehicle with a left turn signal on and/or a right turn sensor for a driving vehicle with a right turn signal on Light sensors and/or speed sensors to monitor the speed of a moving vehicle and/or radar sensors to monitor the distance to the vehicle ahead;
行驶车辆油门开度传感器的油门开度信号输出端与行驶车辆控制器的油门开度信号输入端相连，行驶车辆制动踏板开度传感器的制动开度信号输出端与行驶车辆控制器的制动开度信号输入端相连，行驶车辆方向盘角度传感器的方向盘角度信号输出端与行驶车辆控制器的方向盘角度信号输入端相连，行驶车辆左转向灯传感器的左转向灯信号输出端与行驶车辆控制器的左转向灯信号输入端相连，行驶车辆右转向灯传感器的右转向灯信号输出端与行驶车辆控制器的右转向灯信号输入端相连，速度传感器的速度信号输出端与行驶车辆控制器的速度信号输入端相连，雷达传感器的距离信号输出端与行驶车辆控制器的距离信号输入端相连；The output end of the accelerator opening signal of the accelerator opening sensor of the traveling vehicle is connected with the input end of the accelerator opening signal of the controller of the traveling vehicle, and the output end of the brake opening signal of the brake pedal opening sensor of the traveling vehicle is connected with the braking opening signal of the controller of the traveling vehicle. The dynamic opening signal input end is connected, the steering wheel angle signal output end of the steering wheel angle sensor of the driving vehicle is connected with the steering wheel angle signal input end of the driving vehicle controller, the left turn signal output end of the left turn signal sensor of the driving vehicle is connected with the driving vehicle controller The left turn signal input end of the driving vehicle is connected to the left turn signal signal, the right turn signal output end of the right turn signal sensor of the driving vehicle is connected to the right turn signal input end of the driving vehicle controller, and the speed signal output end of the speed sensor is connected to the speed of the driving vehicle controller. The signal input terminal is connected, and the distance signal output terminal of the radar sensor is connected with the distance signal input terminal of the driving vehicle controller;
以及设置于模拟车辆本体内用于监测油门踏板开度大小的模拟车辆油门开度传感器和/或用于监测制动踏板开度大小的模拟车辆制动踏板开度传感器和/或用于监测方向盘转动角度的模拟车辆方向盘角度传感器和/或用于监测左转向灯亮的模拟车辆左转向灯传感器和/或用于监测右转向灯亮的模拟车辆右转向灯传感器；And the analog vehicle accelerator opening sensor for monitoring the accelerator pedal opening and/or the analog vehicle brake pedal opening sensor for monitoring the brake pedal opening and/or for monitoring the steering wheel An analog vehicle steering wheel angle sensor for the turning angle and/or an analog vehicle left turn signal sensor for monitoring the left turn signal on and/or an analog vehicle right turn signal sensor for monitoring the right turn signal;
模拟车辆油门开度传感器的油门开度信号输出端与模拟车辆控制器的油门开度信号输入端相连，模拟车辆制动踏板开度传感器的制动开度信号输出端与模拟车辆控制器的制动开度信号输入端相连，模拟车辆方向盘角度传感器的方向盘角度信号输出端与模拟车辆控制器的方向盘角度信号输入端相连，模拟车辆左转向灯传感器的左转向灯信号输出端与模拟车辆控制器的左转向灯信号输入端相连，模拟车辆右转向灯传感器的右转向灯信号输出端与模拟车辆控制器的右转向灯信号输入端相连。The accelerator opening signal output terminal of the simulated vehicle accelerator opening sensor is connected to the accelerator opening signal input terminal of the simulated vehicle controller, and the brake opening signal output terminal of the simulated vehicle brake pedal opening sensor is connected to the brake opening signal terminal of the simulated vehicle controller. The input end of the dynamic opening signal is connected, the steering wheel angle signal output end of the steering wheel angle sensor of the simulated vehicle is connected with the steering wheel angle signal input end of the simulated vehicle controller, the left turn signal output end of the left turn signal sensor of the simulated vehicle is connected with the simulated vehicle controller The left turn signal input terminal of the simulated vehicle is connected with the right turn signal signal output terminal of the simulated vehicle right turn signal sensor and the right turn signal input terminal of the simulated vehicle controller is connected.
本发明还公开了一种无人车远程控制方法，包括以下步骤：The invention also discloses a remote control method for an unmanned vehicle, comprising the following steps:
S1，系统初始化；S1, system initialization;
S2，行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关是否开启，和/或行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求启动命令；且是否延时超过t1秒，所述t1正数；S2, the driving vehicle controller detects whether the automatic driving request switch in the driving vehicle body is turned on, and/or the driving vehicle controller detects whether the driving vehicle body receives a remote driving request start command; and whether the delay exceeds t 1 second, said t 1 positive number;
S3，若行驶车辆控制器检测到行驶车辆本体内的自动驾驶请求开关开启，且延时超过t1秒；则自动驾驶初始化；S3, if the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is turned on, and the delay exceeds t 1 second; then the automatic driving is initialized;
S4，行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关是否关闭，和/或行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求关闭命令；S4, the driving vehicle controller detects whether the automatic driving request switch in the driving vehicle body is closed, and/or the driving vehicle controller detects whether the driving vehicle body receives a remote driving request closing command;
S5，若行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关未关闭，则持续自动驾驶；执行步骤S6；S5, if the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is not closed, then continue the automatic driving; execute step S6;
若行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关关闭，则返回步骤S1；If the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is turned off, return to step S1;
S6，行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求开启命令；S6, the driving vehicle controller detects whether the driving vehicle body receives a remote driving request start command;
S7，若行驶车辆控制器检测行驶车辆本体接收到远程驾驶请求开启命令，则开始远程驾驶；执行步骤S8；S7, if the driving vehicle controller detects that the driving vehicle body has received a remote driving request start command, start remote driving; execute step S8;
若行驶车辆控制器检测行驶车辆本体未接收到远程驾驶请求开启命令，则返回步骤S4；If the traveling vehicle controller detects that the traveling vehicle body has not received the remote driving request open command, then return to step S4;
S8，行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求关闭命令；S8, the driving vehicle controller detects whether the driving vehicle body receives a remote driving request shutdown command;
S9，若行驶车辆控制器检测行驶车辆本体接收到远程驾驶请求关闭命令，则返回步骤S1；S9, if the driving vehicle controller detects that the driving vehicle body has received a remote driving request closing command, return to step S1;
若行驶车辆控制器检测行驶车辆本体未接收到远程驾驶请求关闭命令，则返回步骤S7。If the traveling vehicle controller detects that the traveling vehicle body has not received the remote driving request closing command, it returns to step S7.
在本发明的一种优选实施方式中，在远程驾驶时，判断无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差是否小于或者等于预设时延阈值T：In a preferred embodiment of the present invention, during remote driving, it is judged whether the difference between the moment when the first wireless transceiver module receives the data information A and the moment when the data information A is sent is less than or equal to the preset delay threshold T:
若无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差小于或者等于预设时延阈值T，则接收该数据信息A，并继续远程驾驶；If the difference between the time when the first wireless transceiver module receives the data information A and the time when the data information A is sent is less than or equal to the preset delay threshold T, then the data information A is received and the remote driving is continued;
无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差大于预设时延阈值T，则舍弃该数据信息A，由远程驾驶调整为自动驾驶，行驶车辆控制器控制行驶车辆制动停车；行驶车辆停车后，重新与模拟车辆连接。If the difference between the time when the first wireless transceiver module receives the data information A and the time when the data information A is sent is greater than the preset delay threshold T, the data information A is discarded, the remote driving is adjusted to automatic driving, and the driving vehicle controller controls the driving The vehicle brakes to stop; after the driving vehicle stops, reconnect with the simulated vehicle.
在本发明的一种优选实施方式中，在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第一速度阈值，则行驶车辆控制器控制油门踏板开度大小降低，其油门踏板开度的计算方法为：In a preferred embodiment of the present invention, during remote driving, if the traveling speed of the traveling vehicle body is greater than or equal to the preset first speed threshold, the traveling vehicle controller controls the opening of the accelerator pedal to decrease, and the accelerator pedal opening The degree calculation method is:
其中，P0为模拟车辆油门开度传感器监测模拟车辆油门踏板开度值，V0为预设第一速度阈值，V1为行驶车辆本体的行驶速度，P为行驶车辆油门踏板开度值，δ为油门开度修正因子，δ∈[0.973,1)，φ为模拟车辆油门最大开度值与行驶车辆油门最大开度值比例；Wherein, P0 is the accelerator pedal opening value of the simulated vehicle monitored by the accelerator opening sensor of the simulated vehicle, V0 is the preset first speed threshold, V1 is the traveling speed of the vehicle body, and P is the accelerator pedal opening value of the driving vehicle, δ is the throttle opening correction factor, δ∈[0.973,1), φ is the ratio of the maximum throttle opening value of the simulated vehicle to the maximum throttle opening value of the driving vehicle;
当行驶车辆本体的行驶速度小于预设第二速度阈值，预设第二速度阈值小于或者等于预设第一速度阈值，则行驶车辆油门开度值按照模拟车辆油门开度值的 When the traveling speed of the traveling vehicle body is less than the preset second speed threshold, and the preset second speed threshold is less than or equal to the preset first speed threshold, then the accelerator opening value of the traveling vehicle is set according to the simulated vehicle accelerator opening value.
和/或在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第三速度阈值，预设第三速度阈值大于预设第一速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，当行驶车辆本体的行驶速度小于预设第四速度阈值，预设第四速度阈值小于或者等于预设第二速度阈值，则由自动驾驶变换为远程驾驶；And/or during remote driving, if the driving speed of the vehicle body is greater than or equal to the preset third speed threshold, and the preset third speed threshold is greater than the preset first speed threshold, then the remote driving is changed to automatic driving, and the accelerator When the pedal opening is reduced to zero, when the driving speed of the vehicle body is less than the preset fourth speed threshold, and the preset fourth speed threshold is less than or equal to the preset second speed threshold, the automatic driving is changed to remote driving;
和/或在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第五速度阈值，预设第五速度阈值大于或者等于预设第三速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，且对行驶车辆制动；其行驶车辆制动踏板速度的计算方法为：And/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to the preset fifth speed threshold, and the preset fifth speed threshold is greater than or equal to the preset third speed threshold, the remote driving is changed to automatic driving, Reduce the opening of the accelerator pedal to zero, and brake the moving vehicle; the calculation method of the brake pedal speed of the moving vehicle is:
其中，K为模拟车辆未制动前的制动量，K′为模拟车辆制动后的制动量，t′为模拟车辆制动前的时刻，t为模拟车辆制动后的时刻，η为行驶车辆制动踏板最大制动量与模拟车辆制动踏板最大制动量比例；Kn为第n次制动时的制动量；Δtn为第n次制动时的制动时间；为行驶车辆控制器控制行驶车辆制动踏板的踩踏速度，N为模拟驾驶者踩踏制动踏板总次数并成功制动行驶车辆；Among them, K is the braking amount of the simulated vehicle before braking, K' is the braking amount of the simulated vehicle after braking, t' is the moment before the simulated vehicle brakes, t is the moment after the simulated vehicle is braked, η is the ratio of the maximum braking amount of the brake pedal of the driving vehicle to the maximum braking amount of the simulated vehicle brake pedal; K n is the braking amount during the nth braking; Δt n is the braking time during the nth braking; is the pedaling speed of the brake pedal of the driving vehicle controlled by the controller of the driving vehicle, and N is the total number of times the simulated driver steps on the brake pedal and successfully brakes the driving vehicle;
当车辆速度为零时，则由自动驾驶变换为远程驾驶。When the vehicle speed is zero, the automatic driving is changed to remote driving.
和/或在远程驾驶时，若行驶车辆本体与前方车辆距离小于或者等于Xm时，所述X为正数，且行驶车辆本体的速度大于或者等于预设第七速度阈值，预设第七速度阈值小于预设第一速度阈值，则行驶车辆控制器向模拟车辆控制器发送报警信号；And/or during remote driving, if the distance between the vehicle body and the vehicle in front is less than or equal to Xm, said X is a positive number, and the speed of the vehicle body is greater than or equal to the preset seventh speed threshold, the preset seventh speed If the threshold is less than the preset first speed threshold, the driving vehicle controller sends an alarm signal to the simulated vehicle controller;
和/或在远程驾驶时，若行驶车辆本体与前方车辆距离小于或者等于Ym时，所述Y为小于X的正数，且行驶车辆本体的速度小于或者等于预设第八速度阈值，预设第八速度阈值小于预设第七速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，且对行驶车辆紧急制动。And/or during remote driving, if the distance between the vehicle body and the vehicle in front is less than or equal to Ym, the Y is a positive number less than X, and the speed of the vehicle body is less than or equal to the preset eighth speed threshold, preset If the eighth speed threshold is lower than the preset seventh speed threshold, the remote driving is switched to automatic driving, the opening of the accelerator pedal is reduced to zero, and the driving vehicle is braked urgently.
在本发明的一种优选实施方式中，在步骤S2中，判断行驶车辆进入远程驾驶包括以下之一或者任一组合条件：In a preferred embodiment of the present invention, in step S2, judging that the driving vehicle enters remote driving includes one or any combination of the following conditions:
a)自动驾驶请求开关处于激活状态；a) The autopilot request switch is activated;
b)发动机管理系统、车身电子稳定系统、电动助力转向系统之一或者组合无故障；b) One or the combination of the engine management system, vehicle electronic stability system, and electric power steering system is free from failure;
在步骤S4中，判断行驶车辆退出远程驾驶包括以下之一或者任一组合条件：In step S4, judging that the driving vehicle quits remote driving includes one or any combination of the following conditions:
a)自动驾驶请求开关处于非激活状态；a) The autopilot request switch is in an inactive state;
b)行驶车辆油门踏板踩下；b) The accelerator pedal of the moving vehicle is depressed;
c)行驶车辆制动踏板踩下；c) The brake pedal of the moving vehicle is depressed;
d)行驶车辆方向盘被操作；d) The steering wheel of the driving vehicle is operated;
e)电子驻车系统被主动激活；e) The electronic parking system is actively activated;
f)钥匙关闭。f) Key off.
综上所述，由于采用了上述技术方案，本发明能够实现远程操控车辆，降低等待，增强体验。In summary, due to the adoption of the above technical solution, the present invention can realize remote control of the vehicle, reduce waiting, and enhance user experience.
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 present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.
附图说明Description of drawings
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:
图1是本发明示意框图。Fig. 1 is a schematic block diagram of the present invention.
图2是本发明流程示意框图。Fig. 2 is a schematic block diagram of the process of the present invention.
图3是本发明示意框图。Fig. 3 is a schematic block diagram 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，仅用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.
本发明提供了一种无人车远程控制系统，如图1和图3所示，包括车辆控制端(RCU)和远程驾驶操控端(RCP)；The present invention provides a remote control system for unmanned vehicles, as shown in Figure 1 and Figure 3, comprising a vehicle control unit (RCU) and a remote driving control unit (RCP);
远程驾驶操控端包括模拟车辆本体(驾驶模拟器)，在模拟车辆本体内设置有用于驾驶者实时查看行驶道路状况的车辆显示屏(驾驶模拟器屏幕)，车辆显示屏的显示信号输入端与模拟车辆控制器(远程控制器RCP)的显示信号输出端相连；The remote driving control terminal includes a simulated vehicle body (driving simulator), which is provided with a vehicle display screen (driving simulator screen) for the driver to check the driving road conditions in real time in the simulated vehicle body, and the display signal input terminal of the vehicle display screen is connected to the analog The display signal output terminal of the vehicle controller (remote controller RCP) is connected;
车辆控制端包括行驶车辆本体(车辆)，在行驶车辆本体内设置有摄像头支撑架，在支撑架上安置有用于实时拍摄行驶道路状况的第一摄像头和第二摄像头，第一摄像头和第二摄像头构成双目摄像头，第一摄像头的图像信号输出端与行驶车辆控制器(车端控制器RCU)的图像信号第一输入端相连，第二摄像头的图像信号输出端与行驶车辆控制器的图像信号第二输入端相连；The vehicle control end comprises a vehicle body (vehicle), and a camera support frame is arranged in the vehicle body, and a first camera and a second camera for real-time shooting of road conditions are arranged on the support frame, and the first camera and the second camera A binocular camera is formed, the image signal output end of the first camera is connected with the first input end of the image signal of the driving vehicle controller (car end controller RCU), and the image signal output end of the second camera is connected with the image signal of the driving vehicle controller connected to the second input terminal;
模拟车辆控制器采集驾驶者驾驶模拟车辆本体的驾驶参数，行驶车辆本体根据接收到的驾驶参数行驶。The simulated vehicle controller collects the driving parameters of the driver driving the simulated vehicle body, and the driving vehicle body runs according to the received driving parameters.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内的无线收发第一模块和无线收发第二模块，所述无线收发第一模块的时延低于无线收发第二模块的时延；无线收发第一模块的收发信号端与行驶车辆控制器的信号第一收发端相连，无线收发第二模块的收发信号端与行驶车辆控制器的信号第二收发端相连；In a preferred embodiment of the present invention, it also includes a first wireless transceiver module and a second wireless transceiver module arranged in the vehicle body, the time delay of the first wireless transceiver module is lower than that of the second wireless transceiver module Time delay; the transmitting and receiving signal end of the first wireless transceiver module is connected to the first transmitting and receiving end of the driving vehicle controller, and the transmitting and receiving signal end of the second wireless transmitting and receiving module is connected to the second transmitting and receiving end of the driving vehicle controller;
针对同一数据信息A，无线收发第一模块接收到该数据信息A的时刻为T1，无线收发第二模块接收到该数据信息A的时刻为T2，若T2-T1＞|T|，所述T为预设时延阈值，则行驶车辆控制器控制行驶车辆本体由远程驾驶改为自动驾驶，控制行驶车辆本体停车。For the same data information A, the moment when the first wireless transceiver module receives the data information A is T 1 , and the moment when the second wireless transceiver module receives the data information A is T 2 , if T 2 -T 1 >|T| , where T is the preset time delay threshold, the controller of the traveling vehicle controls the main body of the traveling vehicle to change from remote driving to automatic driving, and controls the main body of the traveling vehicle to stop.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内用于感知是否踩下油门踏板的油门踏板传感器、是否踩下制动踏板的制动踏板传感器以及是否操控方向盘的方向盘传感器之一或者任意组合；In a preferred embodiment of the present invention, it also includes an accelerator pedal sensor for sensing whether the accelerator pedal is depressed, a brake pedal sensor for depressing the brake pedal, and a steering wheel sensor for controlling the steering wheel, which are arranged in the vehicle body. one or any combination;
油门踏板传感器的油门信号输出端与行驶车辆控制器的油门信号输入端相连，制动踏板传感器的制动信号输出端与行驶车辆控制器的制动信号输入端相连，方向盘传感器的方向盘信号输出端与行驶车辆控制器的方向盘信号输入端相连；当油门踏板传感器感知到行驶车辆本体内驾驶员踩下油门踏板，和/或制动踏板传感器感知到行驶车辆本体内驾驶员踩下制动踏板，和/或方向盘传感器感知到行驶车辆本体内驾驶员操控方向盘，则行驶车辆控制器控制行驶车辆本体退出远程驾驶。The accelerator signal output terminal of the accelerator pedal sensor is connected with the accelerator signal input terminal of the driving vehicle controller, the braking signal output terminal of the brake pedal sensor is connected with the braking signal input terminal of the driving vehicle controller, and the steering wheel signal output terminal of the steering wheel sensor is It is connected with the steering wheel signal input terminal of the driving vehicle controller; when the accelerator pedal sensor senses that the driver in the driving vehicle body has stepped on the accelerator pedal, and/or the brake pedal sensor senses that the driver in the driving vehicle body has stepped on the brake pedal, And/or the steering wheel sensor senses that the driver in the traveling vehicle is manipulating the steering wheel, and the traveling vehicle controller controls the traveling vehicle to exit the remote driving.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内和/或模拟车辆本体内的电源模块，所述电源模块包括第一电源模块和第二电源模块；第一电源模块为12V车载电池，第二电源为48V车载充电电池；In a preferred embodiment of the present invention, it also includes a power supply module arranged in the driving vehicle body and/or in the simulated vehicle body, the power supply module includes a first power supply module and a second power supply module; the first power supply module is 12V vehicle battery, the second power supply is 48V vehicle rechargeable battery;
还包括降压模块和/或升压模块，48V车载充电电池的放电第一正极与降压模块的输入正极相连，48V车载充电电池的放电第一负极与降压模块的输入负极相连，降压模块的输出正极与12V车载电池的充电正极相连，降压模块的输出负极与12V车载电池的充电负极相连；降压模块将48V车载充电电池的48V电压转换为12V车载电池的12V电压；It also includes a step-down module and/or a step-up module, the discharge first positive electrode of the 48V on-board rechargeable battery is connected to the input positive electrode of the step-down module, the first discharge negative electrode of the 48V on-board rechargeable battery is connected to the input negative electrode of the step-down module, and the step-down The output positive pole of the module is connected to the charging positive pole of the 12V vehicle battery, and the output negative pole of the step-down module is connected to the charging negative pole of the 12V vehicle battery; the step-down module converts the 48V voltage of the 48V vehicle rechargeable battery to the 12V voltage of the 12V vehicle battery;
48V车载充电电池的放电第二正极与升压模块的输入正极相连，48V车载充电电池的放电第二负极与升压模块的输入负极相连；升压模块将48V车载充电电池的48V直流电压转换为220V交流电压。The discharge second positive pole of the 48V on-board rechargeable battery is connected to the input positive pole of the booster module, and the second discharge negative pole of the 48V on-board rechargeable battery is connected to the input negative pole of the booster module; the booster module converts the 48V DC voltage of the 48V on-board rechargeable battery into 220V AC voltage.
在本发明的一种优选实施方式中，还包括设置在行驶车辆本体车头正前方的1号车载摄像头，1号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第三输入端相连；和/或还包括设置在行驶车辆本体车身左侧的2号车载摄像头，2号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第四输入端相连；和/或还包括设置在行驶车辆本体车身右侧的3号车载摄像头，3号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第五输入端相连；和/或还包括设置在行驶车辆本体车尾的4号车载摄像头，4号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第六输入端相连；和/或还包括设置在行驶车辆本体车内的5号车载摄像头，5号车载摄像头的图像信号输出端与行驶车辆控制器的图像信号第七输入端相连。In a preferred embodiment of the present invention, it also includes a No. 1 vehicle-mounted camera arranged directly in front of the front of the vehicle body, and the image signal output terminal of the No. 1 vehicle-mounted camera is connected to the third input terminal of the image signal of the vehicle controller; And/or also include the No. 2 vehicle-mounted camera that is arranged on the left side of the vehicle body body, the image signal output end of the No. 2 vehicle-mounted camera is connected with the image signal fourth input end of the vehicle controller; The No. 3 vehicle-mounted camera on the right side of the vehicle body body, the image signal output terminal of the No. 3 vehicle-mounted camera is connected with the fifth input terminal of the image signal of the driving vehicle controller; Camera, the image signal output end of the No. 4 vehicle-mounted camera is connected with the sixth input terminal of the image signal of the driving vehicle controller; The output end is connected with the seventh input end of the image signal of the driving vehicle controller.
在本发明的一种优选实施方式中，还包括设置于行驶车辆本体内用于监测油门踏板开度大小的行驶车辆油门开度传感器和/或用于监测制动踏板开度大小的行驶车辆制动踏板开度传感器和/或用于监测方向盘转动角度的行驶车辆方向盘角度传感器和/或用于监测左转向灯亮的行驶车辆左转向灯传感器和/或用于监测右转向灯亮的行驶车辆右转向灯传感器和/或用于监测行驶车辆行驶速度的速度传感器和/或用于监测与前方车辆距离的雷达传感器；In a preferred embodiment of the present invention, it also includes a traveling vehicle accelerator opening sensor for monitoring the opening degree of the accelerator pedal and/or a driving vehicle brake sensor for monitoring the opening degree of the brake pedal arranged in the traveling vehicle body. Pedal opening sensor and/or steering wheel angle sensor for monitoring the steering wheel rotation angle of a moving vehicle and/or left turn signal sensor for monitoring a moving vehicle with a left turn signal on and/or a right turn sensor for a driving vehicle with a right turn signal on Light sensors and/or speed sensors to monitor the speed of a moving vehicle and/or radar sensors to monitor the distance to the vehicle ahead;
行驶车辆油门开度传感器的油门开度信号输出端与行驶车辆控制器的油门开度信号输入端相连，行驶车辆制动踏板开度传感器的制动开度信号输出端与行驶车辆控制器的制动开度信号输入端相连，行驶车辆方向盘角度传感器的方向盘角度信号输出端与行驶车辆控制器的方向盘角度信号输入端相连，行驶车辆左转向灯传感器的左转向灯信号输出端与行驶车辆控制器的左转向灯信号输入端相连，行驶车辆右转向灯传感器的右转向灯信号输出端与行驶车辆控制器的右转向灯信号输入端相连，速度传感器的速度信号输出端与行驶车辆控制器的速度信号输入端相连，雷达传感器的距离信号输出端与行驶车辆控制器的距离信号输入端相连；The output end of the accelerator opening signal of the accelerator opening sensor of the traveling vehicle is connected with the input end of the accelerator opening signal of the controller of the traveling vehicle, and the output end of the brake opening signal of the brake pedal opening sensor of the traveling vehicle is connected with the braking opening signal of the controller of the traveling vehicle. The dynamic opening signal input end is connected, the steering wheel angle signal output end of the steering wheel angle sensor of the driving vehicle is connected with the steering wheel angle signal input end of the driving vehicle controller, the left turn signal output end of the left turn signal sensor of the driving vehicle is connected with the driving vehicle controller The left turn signal input end of the driving vehicle is connected to the left turn signal signal, the right turn signal output end of the right turn signal sensor of the driving vehicle is connected to the right turn signal input end of the driving vehicle controller, and the speed signal output end of the speed sensor is connected to the speed of the driving vehicle controller. The signal input terminal is connected, and the distance signal output terminal of the radar sensor is connected with the distance signal input terminal of the driving vehicle controller;
以及设置于模拟车辆本体内用于监测油门踏板开度大小的模拟车辆油门开度传感器和/或用于监测制动踏板开度大小的模拟车辆制动踏板开度传感器和/或用于监测方向盘转动角度的模拟车辆方向盘角度传感器和/或用于监测左转向灯亮的模拟车辆左转向灯传感器和/或用于监测右转向灯亮的模拟车辆右转向灯传感器；And the analog vehicle accelerator opening sensor for monitoring the accelerator pedal opening and/or the analog vehicle brake pedal opening sensor for monitoring the brake pedal opening and/or for monitoring the steering wheel An analog vehicle steering wheel angle sensor for the turning angle and/or an analog vehicle left turn signal sensor for monitoring the left turn signal on and/or an analog vehicle right turn signal sensor for monitoring the right turn signal;
模拟车辆油门开度传感器的油门开度信号输出端与模拟车辆控制器的油门开度信号输入端相连，模拟车辆制动踏板开度传感器的制动开度信号输出端与模拟车辆控制器的制动开度信号输入端相连，模拟车辆方向盘角度传感器的方向盘角度信号输出端与模拟车辆控制器的方向盘角度信号输入端相连，模拟车辆左转向灯传感器的左转向灯信号输出端与模拟车辆控制器的左转向灯信号输入端相连，模拟车辆右转向灯传感器的右转向灯信号输出端与模拟车辆控制器的右转向灯信号输入端相连。The accelerator opening signal output terminal of the simulated vehicle accelerator opening sensor is connected to the accelerator opening signal input terminal of the simulated vehicle controller, and the brake opening signal output terminal of the simulated vehicle brake pedal opening sensor is connected to the brake opening signal terminal of the simulated vehicle controller. The input end of the dynamic opening signal is connected, the steering wheel angle signal output end of the steering wheel angle sensor of the simulated vehicle is connected with the steering wheel angle signal input end of the simulated vehicle controller, the left turn signal output end of the left turn signal sensor of the simulated vehicle is connected with the simulated vehicle controller The left turn signal input terminal of the simulated vehicle is connected with the right turn signal signal output terminal of the simulated vehicle right turn signal sensor and the right turn signal input terminal of the simulated vehicle controller is connected.
本发明还公开了一种无人车远程控制方法，如图2所示，包括以下步骤：The present invention also discloses a remote control method for an unmanned vehicle, as shown in Figure 2, comprising the following steps:
S1，系统初始化；S1, system initialization;
S2，行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关是否开启，和/或行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求启动命令；且是否延时超过t1秒，所述t1正数；在本实施方式中，t1不限于取1。S2, the driving vehicle controller detects whether the automatic driving request switch in the driving vehicle body is turned on, and/or the driving vehicle controller detects whether the driving vehicle body receives a remote driving request start command; and whether the delay exceeds t 1 second, said t 1 is a positive number; in this embodiment, t 1 is not limited to be 1.
S3，若行驶车辆控制器检测到行驶车辆本体内的自动驾驶请求开关开启，且延时超过t1秒；则自动驾驶初始化；S3, if the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is turned on, and the delay exceeds t 1 second; then the automatic driving is initialized;
S4，行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关是否关闭，和/或行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求关闭命令；S4, the driving vehicle controller detects whether the automatic driving request switch in the driving vehicle body is closed, and/or the driving vehicle controller detects whether the driving vehicle body receives a remote driving request closing command;
S5，若行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关未关闭，则持续自动驾驶；执行步骤S6；S5, if the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is not closed, then continue the automatic driving; execute step S6;
若行驶车辆控制器检测行驶车辆本体内的自动驾驶请求开关关闭，则返回步骤S1；If the driving vehicle controller detects that the automatic driving request switch in the driving vehicle body is turned off, return to step S1;
S6，行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求开启命令；S6, the driving vehicle controller detects whether the driving vehicle body receives a remote driving request start command;
S7，若行驶车辆控制器检测行驶车辆本体接收到远程驾驶请求开启命令，则开始远程驾驶；执行步骤S8；S7, if the driving vehicle controller detects that the driving vehicle body has received a remote driving request start command, start remote driving; execute step S8;
若行驶车辆控制器检测行驶车辆本体未接收到远程驾驶请求开启命令，则返回步骤S4；If the traveling vehicle controller detects that the traveling vehicle body has not received the remote driving request open command, then return to step S4;
S8，行驶车辆控制器检测行驶车辆本体是否接收到远程驾驶请求关闭命令；S8, the driving vehicle controller detects whether the driving vehicle body receives a remote driving request shutdown command;
S9，若行驶车辆控制器检测行驶车辆本体接收到远程驾驶请求关闭命令，则返回步骤S1；S9, if the driving vehicle controller detects that the driving vehicle body has received a remote driving request closing command, return to step S1;
若行驶车辆控制器检测行驶车辆本体未接收到远程驾驶请求关闭命令，则返回步骤S7。在本实施方式中，还包括步骤S0，查找乘车人所处的目标位置，搜索离乘车人距离最近的车辆，将该车辆作为行驶车辆；这样远程操控车辆可以减少乘车人的等待时间，增强体验。If the traveling vehicle controller detects that the traveling vehicle body has not received the remote driving request closing command, it returns to step S7. In this embodiment, step S0 is also included to find the target location where the passenger is, search for the vehicle with the closest distance to the passenger, and use the vehicle as a driving vehicle; in this way, the remote control of the vehicle can reduce the waiting time of the passenger , to enhance the experience.
在本发明的一种优选实施方式中，在远程驾驶时，判断无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差是否小于或者等于预设时延阈值T：In a preferred embodiment of the present invention, during remote driving, it is judged whether the difference between the moment when the first wireless transceiver module receives the data information A and the moment when the data information A is sent is less than or equal to the preset delay threshold T:
若无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差小于或者等于预设时延阈值T，则接收该数据信息A，并继续远程驾驶；If the difference between the time when the first wireless transceiver module receives the data information A and the time when the data information A is sent is less than or equal to the preset delay threshold T, then the data information A is received and the remote driving is continued;
无线收发第一模块接收到数据信息A的时刻与发送数据信息A的时刻之差大于预设时延阈值T，则舍弃该数据信息A，由远程驾驶调整为自动驾驶，行驶车辆控制器控制行驶车辆制动停车；行驶车辆停车后，重新与模拟车辆连接。If the difference between the time when the first wireless transceiver module receives the data information A and the time when the data information A is sent is greater than the preset delay threshold T, the data information A is discarded, the remote driving is adjusted to automatic driving, and the driving vehicle controller controls the driving The vehicle brakes to stop; after the driving vehicle stops, reconnect with the simulated vehicle.
和/或还包括当行驶车辆左转向灯传感器监测到行驶车辆本体上的左转向灯亮，则行驶车辆控制器将左转向灯亮的信号发送到模拟车辆控制器，模拟车辆本体上的左转向指示灯亮；当行驶车辆右转向灯传感器监测到行驶车辆本体上的右转向灯亮，则行驶车辆控制器将右转向灯亮的信号发送到模拟车辆控制器，模拟车辆本体上的右转向指示灯亮。And/or also include when the left turn signal sensor of the driving vehicle detects that the left turn signal on the vehicle body is on, the driving vehicle controller sends the signal that the left turn signal is on to the simulated vehicle controller, and the left turn signal on the simulated vehicle body is on When the right turn signal sensor of the traveling vehicle monitors the right turn signal on the vehicle body, the vehicle controller sends the signal that the right turn signal is bright to the simulated vehicle controller, and the right turn signal on the simulated vehicle body is bright.
在本发明的一种优选实施方式中，在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第一速度阈值，则行驶车辆控制器控制油门踏板开度大小降低，其油门踏板开度的计算方法为：In a preferred embodiment of the present invention, during remote driving, if the traveling speed of the traveling vehicle body is greater than or equal to the preset first speed threshold, the traveling vehicle controller controls the opening of the accelerator pedal to decrease, and the accelerator pedal opening The degree calculation method is:
其中，P0为模拟车辆油门开度传感器监测模拟车辆油门踏板开度值，V0为预设第一速度阈值，V1为行驶车辆本体的行驶速度，P为行驶车辆油门踏板开度值，δ为油门开度修正因子，δ∈[0.973,1)，φ为模拟车辆油门最大开度值与行驶车辆油门最大开度值比例；Wherein, P0 is the accelerator pedal opening value of the simulated vehicle monitored by the accelerator opening sensor of the simulated vehicle, V0 is the preset first speed threshold, V1 is the traveling speed of the vehicle body, and P is the accelerator pedal opening value of the driving vehicle, δ is the throttle opening correction factor, δ∈[0.973,1), φ is the ratio of the maximum throttle opening value of the simulated vehicle to the maximum throttle opening value of the driving vehicle;
当行驶车辆本体的行驶速度小于预设第二速度阈值，预设第二速度阈值小于或者等于预设第一速度阈值，则行驶车辆油门开度值按照模拟车辆油门开度值的 When the traveling speed of the traveling vehicle body is less than the preset second speed threshold, and the preset second speed threshold is less than or equal to the preset first speed threshold, then the accelerator opening value of the traveling vehicle is set according to the simulated vehicle accelerator opening value.
和/或在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第三速度阈值，预设第三速度阈值大于预设第一速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，当行驶车辆本体的行驶速度小于预设第四速度阈值，预设第四速度阈值小于或者等于预设第二速度阈值，则由自动驾驶变换为远程驾驶；And/or during remote driving, if the driving speed of the vehicle body is greater than or equal to the preset third speed threshold, and the preset third speed threshold is greater than the preset first speed threshold, then the remote driving is changed to automatic driving, and the accelerator When the pedal opening is reduced to zero, when the driving speed of the vehicle body is less than the preset fourth speed threshold, and the preset fourth speed threshold is less than or equal to the preset second speed threshold, the automatic driving is changed to remote driving;
和/或在远程驾驶时，若行驶车辆本体的行驶速度大于或者等于预设第五速度阈值，预设第五速度阈值大于或者等于预设第三速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，且对行驶车辆制动；其行驶车辆制动踏板速度的计算方法为：And/or during remote driving, if the driving speed of the driving vehicle body is greater than or equal to the preset fifth speed threshold, and the preset fifth speed threshold is greater than or equal to the preset third speed threshold, the remote driving is changed to automatic driving, Reduce the opening of the accelerator pedal to zero, and brake the moving vehicle; the calculation method of the brake pedal speed of the moving vehicle is:
其中，K为模拟车辆未制动前的制动量，K′为模拟车辆制动后的制动量，t′为模拟车辆制动前的时刻，t为模拟车辆制动后的时刻，η为行驶车辆制动踏板最大制动量与模拟车辆制动踏板最大制动量比例；Kn为第n次制动时的制动量；Δtn为第n次制动时的制动时间；为行驶车辆控制器控制行驶车辆制动踏板的踩踏速度，N为模拟驾驶者踩踏制动踏板总次数并成功制动行驶车辆；Among them, K is the braking amount of the simulated vehicle before braking, K' is the braking amount of the simulated vehicle after braking, t' is the moment before the simulated vehicle brakes, t is the moment after the simulated vehicle is braked, η is the ratio of the maximum braking amount of the brake pedal of the driving vehicle to the maximum braking amount of the simulated vehicle brake pedal; K n is the braking amount during the nth braking; Δt n is the braking time during the nth braking; is the pedaling speed of the brake pedal of the driving vehicle controlled by the controller of the driving vehicle, and N is the total number of times the simulated driver steps on the brake pedal and successfully brakes the driving vehicle;
当车辆速度为零时，则由自动驾驶变换为远程驾驶。在本实施方式中，预设第一速度阈值可以为20km/h，预设第三速度阈值和预设第五速度阈值可以为30km/h，预设第二速度阈值和预设第四速度阈值可以为5km/h。When the vehicle speed is zero, the automatic driving is changed to remote driving. In this embodiment, the preset first speed threshold may be 20km/h, the preset third speed threshold and the preset fifth speed threshold may be 30km/h, the preset second speed threshold and the preset fourth speed threshold It can be 5km/h.
和/或在远程驾驶时，若行驶车辆本体与前方车辆距离小于或者等于Xm时，所述X为正数，且行驶车辆本体的速度大于或者等于预设第七速度阈值，预设第七速度阈值小于预设第一速度阈值，则行驶车辆控制器向模拟车辆控制器发送报警信号；And/or during remote driving, if the distance between the vehicle body and the vehicle in front is less than or equal to Xm, said X is a positive number, and the speed of the vehicle body is greater than or equal to the preset seventh speed threshold, the preset seventh speed If the threshold is less than the preset first speed threshold, the driving vehicle controller sends an alarm signal to the simulated vehicle controller;
和/或在远程驾驶时，若行驶车辆本体与前方车辆距离小于或者等于Ym时，所述Y为小于X的正数，且行驶车辆本体的速度小于或者等于预设第八速度阈值，预设第八速度阈值小于预设第七速度阈值，则由远程驾驶变换为自动驾驶，将油门踏板开度降为零，且对行驶车辆紧急制动。在本实施方式中，Y不限于取1，预设第八速度阈值不限于取2～3km/h。And/or during remote driving, if the distance between the vehicle body and the vehicle in front is less than or equal to Ym, the Y is a positive number less than X, and the speed of the vehicle body is less than or equal to the preset eighth speed threshold, preset If the eighth speed threshold is lower than the preset seventh speed threshold, the remote driving is switched to automatic driving, the opening of the accelerator pedal is reduced to zero, and the driving vehicle is braked urgently. In this embodiment, Y is not limited to take 1, and the preset eighth speed threshold is not limited to take 2˜3 km/h.
在本发明的一种优选实施方式中，在步骤S2中，判断行驶车辆进入远程驾驶包括以下之一或者任一组合条件：In a preferred embodiment of the present invention, in step S2, judging that the driving vehicle enters remote driving includes one or any combination of the following conditions:
a)自动驾驶(ACC)请求开关处于激活状态；a) The automatic driving (ACC) request switch is activated;
b)发动机管理系统(EMS)、车身电子稳定系统(ESP)、电动助力转向系统(EPS)之一或者组合无故障；b) One or the combination of engine management system (EMS), vehicle electronic stability system (ESP) and electric power steering system (EPS) is free of failure;
在步骤S4中，判断行驶车辆退出远程驾驶包括以下之一或者任一组合条件：In step S4, judging that the driving vehicle quits remote driving includes one or any combination of the following conditions:
a)自动驾驶请求开关处于非激活状态；a) The autopilot request switch is in an inactive state;
b)行驶车辆油门踏板踩下；b) The accelerator pedal of the moving vehicle is depressed;
c)行驶车辆制动踏板踩下；c) The brake pedal of the moving vehicle is depressed;
d)行驶车辆方向盘被操作；d) The steering wheel of the driving vehicle is operated;
e)电子驻车系统(EPB)被主动激活；e) Electronic Parking System (EPB) is actively activated;
f)钥匙关闭。f) Key off.
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416690.1A CN110083109B (en) | 2019-05-20 | 2019-05-20 | Unmanned vehicle remote control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416690.1A CN110083109B (en) | 2019-05-20 | 2019-05-20 | Unmanned vehicle remote control system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110083109A true CN110083109A (en) | 2019-08-02 |
| CN110083109B CN110083109B (en) | 2020-08-07 |
Family
ID=67420772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910416690.1A Active CN110083109B (en) | 2019-05-20 | 2019-05-20 | Unmanned vehicle remote control system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110083109B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111698469A (en) * | 2020-05-29 | 2020-09-22 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
| CN112073683A (en) * | 2020-08-14 | 2020-12-11 | 开沃新能源汽车集团股份有限公司 | Remote driving device based on 5G |
| CN112099490A (en) * | 2020-08-19 | 2020-12-18 | 北京经纬恒润科技股份有限公司 | Method for remotely driving vehicle and remote driving system |
| CN112130545A (en) * | 2020-09-28 | 2020-12-25 | 北京经纬恒润科技有限公司 | Remote driving take-over system and method |
| CN112486160A (en) * | 2019-08-23 | 2021-03-12 | 丰田自动车株式会社 | Vehicle remote indication system |
| CN113260938A (en) * | 2020-02-12 | 2021-08-13 | 深圳元戎启行科技有限公司 | Remote access system and method for unmanned vehicle, electronic device, and storage medium |
| CN113382294A (en) * | 2021-06-04 | 2021-09-10 | 广州小鹏智慧充电科技有限公司 | Image display processing method and device for remote cockpit, cockpit and system |
| CN113448276A (en) * | 2021-08-18 | 2021-09-28 | 东风悦享科技有限公司 | Vehicle-end parallel driving controller with function of rack-end signal acquisition instrument and remote parallel driving control system and device |
| CN113467324A (en) * | 2021-07-22 | 2021-10-01 | 东风悦享科技有限公司 | Adaptive 5G network cell switching parallel driving system and method |
| CN113511200A (en) * | 2020-03-26 | 2021-10-19 | 本田技研工业株式会社 | Travel control system |
| CN115220435A (en) * | 2022-08-26 | 2022-10-21 | 中国第一汽车股份有限公司 | Control system for remote starting of vehicle |
| CN115729121A (en) * | 2021-08-27 | 2023-03-03 | 亿咖通(湖北)技术有限公司 | Remote control car method and device, electronic equipment, computer program product and readable storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346473A (en) * | 2011-09-05 | 2012-02-08 | 北京航空航天大学 | Remote vehicle driving control device |
| CN102455699A (en) * | 2010-10-26 | 2012-05-16 | 株式会社电装 | Non-manipulation operation system and method for preparing for non-manipulation operation of vehicle |
| CN102858615A (en) * | 2010-03-26 | 2013-01-02 | 西门子公司 | Method and system for managing specific events related to the movements of a guided vehicle |
| CN102862568A (en) * | 2012-08-31 | 2013-01-09 | 天津菲利科电子技术有限公司 | Remote live-action designated driving system |
| CN102981416A (en) * | 2012-12-03 | 2013-03-20 | 智动空间（北京）科技有限公司 | Driving method and driving system |
| CN105118321A (en) * | 2015-09-30 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Intelligent extraction method and system for vehicle and vehicle |
| CN105527904A (en) * | 2016-01-25 | 2016-04-27 | 重庆德新机器人检测中心有限公司 | Automatic vehicle remote wireless driving system |
| CN105988422A (en) * | 2015-01-27 | 2016-10-05 | 上海海马汽车研发有限公司 | Remote driving control system and method for vehicles |
| CN106828512A (en) * | 2016-12-21 | 2017-06-13 | 吴中区穹窿山倪源交通器材经营部 | A kind of train Unmanned Systems |
| WO2017125788A1 (en) * | 2016-01-22 | 2017-07-27 | Devathi Srinivas S | Systems and methods for enabling remotely autonomous transport in real world vehicles on road |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| CN107230334A (en) * | 2017-05-05 | 2017-10-03 | 北京理工大学 | A kind of Portable unmanned car ground control terminal |
| CN107748563A (en) * | 2017-10-19 | 2018-03-02 | 广州汽车集团股份有限公司 | Control method, device and the remote control thereof of automatic driving vehicle, device and system |
| US20180074490A1 (en) * | 2016-09-12 | 2018-03-15 | Iplab Inc. | Apparatus and method for vehicle remote controlling and remote driving system |
| CN108428357A (en) * | 2018-03-22 | 2018-08-21 | 青岛慧拓智能机器有限公司 | A kind of parallel remote driving system for intelligent network connection vehicle |
| CN109017757A (en) * | 2018-08-22 | 2018-12-18 | 吉林大学 | In vehicle remote generation, drives method and system |
-
2019
- 2019-05-20 CN CN201910416690.1A patent/CN110083109B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102858615A (en) * | 2010-03-26 | 2013-01-02 | 西门子公司 | Method and system for managing specific events related to the movements of a guided vehicle |
| CN102455699A (en) * | 2010-10-26 | 2012-05-16 | 株式会社电装 | Non-manipulation operation system and method for preparing for non-manipulation operation of vehicle |
| CN102346473A (en) * | 2011-09-05 | 2012-02-08 | 北京航空航天大学 | Remote vehicle driving control device |
| CN102862568A (en) * | 2012-08-31 | 2013-01-09 | 天津菲利科电子技术有限公司 | Remote live-action designated driving system |
| CN102981416A (en) * | 2012-12-03 | 2013-03-20 | 智动空间（北京）科技有限公司 | Driving method and driving system |
| CN105988422A (en) * | 2015-01-27 | 2016-10-05 | 上海海马汽车研发有限公司 | Remote driving control system and method for vehicles |
| CN105118321A (en) * | 2015-09-30 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Intelligent extraction method and system for vehicle and vehicle |
| WO2017125788A1 (en) * | 2016-01-22 | 2017-07-27 | Devathi Srinivas S | Systems and methods for enabling remotely autonomous transport in real world vehicles on road |
| CN105527904A (en) * | 2016-01-25 | 2016-04-27 | 重庆德新机器人检测中心有限公司 | Automatic vehicle remote wireless driving system |
| US20180074490A1 (en) * | 2016-09-12 | 2018-03-15 | Iplab Inc. | Apparatus and method for vehicle remote controlling and remote driving system |
| CN106828512A (en) * | 2016-12-21 | 2017-06-13 | 吴中区穹窿山倪源交通器材经营部 | A kind of train Unmanned Systems |
| CN107230334A (en) * | 2017-05-05 | 2017-10-03 | 北京理工大学 | A kind of Portable unmanned car ground control terminal |
| CN107219797A (en) * | 2017-06-21 | 2017-09-29 | 广州汽车集团股份有限公司 | A kind of control system of autonomous driving vehicle, method and microcontroller |
| CN107748563A (en) * | 2017-10-19 | 2018-03-02 | 广州汽车集团股份有限公司 | Control method, device and the remote control thereof of automatic driving vehicle, device and system |
| CN108428357A (en) * | 2018-03-22 | 2018-08-21 | 青岛慧拓智能机器有限公司 | A kind of parallel remote driving system for intelligent network connection vehicle |
| CN109017757A (en) * | 2018-08-22 | 2018-12-18 | 吉林大学 | In vehicle remote generation, drives method and system |
Non-Patent Citations (1)
| Title |
|---|
| 孙振平: "自主驾驶汽车智能控制系统", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486160A (en) * | 2019-08-23 | 2021-03-12 | 丰田自动车株式会社 | Vehicle remote indication system |
| CN113260938A (en) * | 2020-02-12 | 2021-08-13 | 深圳元戎启行科技有限公司 | Remote access system and method for unmanned vehicle, electronic device, and storage medium |
| WO2021159346A1 (en) * | 2020-02-12 | 2021-08-19 | 深圳元戎启行科技有限公司 | Remote takeover system and method for driverless vehicle, electronic device, and storage medium |
| CN113511200B (en) * | 2020-03-26 | 2024-03-26 | 本田技研工业株式会社 | Travel control system |
| CN113511200A (en) * | 2020-03-26 | 2021-10-19 | 本田技研工业株式会社 | Travel control system |
| CN111698469B (en) * | 2020-05-29 | 2021-05-18 | 东风汽车集团有限公司 | A visual monitoring method and system for unmanned vehicles |
| CN111698469A (en) * | 2020-05-29 | 2020-09-22 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
| CN112073683A (en) * | 2020-08-14 | 2020-12-11 | 开沃新能源汽车集团股份有限公司 | Remote driving device based on 5G |
| CN112099490A (en) * | 2020-08-19 | 2020-12-18 | 北京经纬恒润科技股份有限公司 | Method for remotely driving vehicle and remote driving system |
| CN112099490B (en) * | 2020-08-19 | 2024-04-26 | 北京经纬恒润科技股份有限公司 | Method for remotely driving vehicle and remote driving system |
| CN112130545B (en) * | 2020-09-28 | 2021-11-23 | 北京经纬恒润科技股份有限公司 | Remote driving take-over system and method |
| CN112130545A (en) * | 2020-09-28 | 2020-12-25 | 北京经纬恒润科技有限公司 | Remote driving take-over system and method |
| CN113382294B (en) * | 2021-06-04 | 2023-05-12 | 广州小鹏汽车科技有限公司 | Picture display processing method and device of remote cockpit, cockpit and system |
| CN113382294A (en) * | 2021-06-04 | 2021-09-10 | 广州小鹏智慧充电科技有限公司 | Image display processing method and device for remote cockpit, cockpit and system |
| CN113467324A (en) * | 2021-07-22 | 2021-10-01 | 东风悦享科技有限公司 | Adaptive 5G network cell switching parallel driving system and method |
| CN113467324B (en) * | 2021-07-22 | 2023-12-05 | 东风悦享科技有限公司 | Adaptive 5G network cell switching parallel driving system and method |
| CN113448276B (en) * | 2021-08-18 | 2023-12-05 | 东风悦享科技有限公司 | Parallel driving control circuit and system with signal acquisition instrument function |
| CN113448276A (en) * | 2021-08-18 | 2021-09-28 | 东风悦享科技有限公司 | Vehicle-end parallel driving controller with function of rack-end signal acquisition instrument and remote parallel driving control system and device |
| CN115729121A (en) * | 2021-08-27 | 2023-03-03 | 亿咖通(湖北)技术有限公司 | Remote control car method and device, electronic equipment, computer program product and readable storage medium |
| CN115220435A (en) * | 2022-08-26 | 2022-10-21 | 中国第一汽车股份有限公司 | Control system for remote starting of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110083109B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110083109A (en) | A kind of unmanned vehicle tele-control system and its method | |
| US11474538B2 (en) | Methods and systems for semi-autonomous vehicular convoys | |
| CN109318834B (en) | Power chassis domain control framework and automobile | |
| CN100425486C (en) | Vehicle integrated control system | |
| CN105857102B (en) | The electric intelligent automotive electrical system of centralized architecture controller and redundancy of powering | |
| US11840219B2 (en) | Method for controlling vehicle through multi SoC system | |
| CN104335263B (en) | Close to vehicle detection apparatus and drive assist system | |
| CN112590784B (en) | Domain control system and method for passenger car | |
| US11584400B2 (en) | Autonomous vehicle | |
| KR101976423B1 (en) | Motor control system for electric vehicle and vehicle | |
| US20210229667A1 (en) | Vehicle control apparatus and vehicle control method | |
| CN113799747A (en) | Controller of intelligent driving automobile and intelligent driving automobile | |
| CN205706212U (en) | Centralized architecture controller and the electric intelligent automotive electrical system of power supply redundancy | |
| JP6170348B2 (en) | Vehicle regenerative braking control device | |
| CN114750771B (en) | Vehicle control system and vehicle control method | |
| US11760366B2 (en) | Vehicle control apparatus, vehicle, vehicle control method, and non transitory computer readable storage medium | |
| CN113335303A (en) | Vehicle control device and vehicle | |
| CN209972433U (en) | A whole car self-adaptation cruise control device for pure [ electric ] motor coach | |
| US12263858B2 (en) | Driving assistance device, vehicle, and driving assistance method | |
| JP7481156B2 (en) | Vehicle control device | |
| CN117621840A (en) | Vehicle braking method, device and system and vehicle | |
| JP7417459B2 (en) | Vehicle travel control device and travel control method | |
| CN111301373A (en) | Intelligent electric control automatic emergency braking control method and system for automobile | |
| JP7342506B2 (en) | Vehicle control device | |
| CN119987272A (en) | A whole vehicle control method for chassis wire control system of intelligent networked 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 |