CN107662605A - Long-range control method, system, controlled vehicle and the control vehicle of vehicle - Google Patents
Long-range control method, system, controlled vehicle and the control vehicle of vehicle Download PDFInfo
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- CN107662605A CN107662605A CN201610617276.3A CN201610617276A CN107662605A CN 107662605 A CN107662605 A CN 107662605A CN 201610617276 A CN201610617276 A CN 201610617276A CN 107662605 A CN107662605 A CN 107662605A
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- 238000004088 simulation Methods 0.000 claims description 58
- 230000001133 acceleration Effects 0.000 claims description 49
- 238000001514 detection method Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- 230000003177 cardiotonic effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000004886 process control Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/089—Driver voice
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/21—Voice
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
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- Quality & Reliability (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of long-range control method of vehicle, system, controlled vehicle and control vehicle, this method to comprise the following steps：The remote control relation established between control vehicle and controlled vehicle；The environment of itself and whole vehicle state information that the control controlled vehicle of vehicle receiver is detected；Control vehicle is simulated to obtain corresponding analog information according to the environment and whole vehicle state information of controlled vehicle to itself environment and whole vehicle state, to generate remote control commands according to analog information；Control vehicle sends remote control commands to controlled vehicle, to carry out remote control to controlled vehicle.The method according to the invention, convenience, accuracy and the security of vehicle remote control can be greatly improved.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of long-range control method of vehicle, a kind of vehicle it is long-range
Control system, a kind of controlled vehicle and a kind of control vehicle.
Background technology
The development of auto industry is had been one hundred years of history, and short one can be only can be regarded as in the long process of human history
Moment, but whole industry has shown to innovate tired situation.With internet and the tremendous improvement of mechanics of communication, surround
" automatic Pilot " this new technology and caused innovation is filled with one cardiotonic to tired auto industry.Automatic Pilot
Automobile cooperates by artificial intelligence, vision calculating, radar, supervising device and global positioning system, is not having computer
In the case of the active operation for having any mankind, the driving of active safety.Except automatic Pilot, other technologies such as " remote driving "
Among research, current remote driving is mostly closely to be remotely controlled, and is mainly used as parking, and long-distance remote control, which drives, still to be located
In the conception stage, such a technology may be used as the remote driving of dangerous operation vehicle, or adverse circumstances vehicle is remote
Drive etc..
No matter driven using computer as the automatic Pilot at manipulation center or with high in the clouds control long-distance remote control, purpose all makes
Spun off in being manipulated by the user of control vehicle from active, realize the automatic manipulation of controlled terminal vehicle, said with technical difficulty, from
Dynamic driving realizes that difficulty is higher, and it is relatively simple to be adapted to more in general operation road conditions, the operation of realization.For some roads
The driving environment that condition is more complicated or scene is relatively hazardous, automatic Pilot just seem helpless, and if long-distance remote control drives
There is the full driver of experience beyond the clouds, it is possible to achieve the higher driver behavior of controlled vehicle difficulty, so that remote driving ratio
Automatic Pilot is applied in more more complicated driving road conditions.
However, in the embodiment of current remote driving, the convenience and accuracy of control are high not enough and distant
It is also poor to control the security driven.
The content of the invention
It is contemplated that at least solves one of technical problem in above-mentioned technology to a certain extent.Therefore, the present invention
One purpose is to propose a kind of long-range control method of vehicle, can greatly improve the convenience, accurate of vehicle remote control
Property and security.
Second object of the present invention is to propose a kind of tele-control system of vehicle.
Third object of the present invention is to propose a kind of controlled vehicle.
Fourth object of the present invention is to propose a kind of control vehicle.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of long-range control method of vehicle, the party
Method comprises the following steps：The remote control relation established between control vehicle and controlled vehicle；Described in the control vehicle receiver
The environment of itself and whole vehicle state information that controlled vehicle is detected；The row that vehicle is controlled according to the controlled vehicle
Car environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state, with
Just remote control commands are generated according to the analog information；It is described control vehicle by the remote control commands send to it is described by
Vehicle is controlled, to carry out remote control to the controlled vehicle.
The long-range control method of vehicle according to embodiments of the present invention, by the environment of controlled vehicle detection itself and
Whole vehicle state information, and environment and whole vehicle state information are sent to control vehicle, control vehicle is according to controlled vehicle
Environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state,
So as to according to analog information generate remote control commands, control vehicle remote control commands are sent to controlled vehicle, with to by
Control vehicle and carry out remote control.Thus, control vehicle can receive and simulate the environment and shape of more comprehensive controlled vehicle
State information, to control vehicle to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control
Property, accuracy and security.
To reach above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of tele-control system of vehicle, and this is
System includes establishing the control vehicle of remote control relation and controlled vehicle, wherein, the controlled vehicle is used to detect itself
Environment and whole vehicle state information, and the environment and whole vehicle state information are sent to the control vehicle；It is described
Vehicle is controlled to be used for environment and whole vehicle state information according to the controlled vehicle to the environment and vehicle shape of itself
State is simulated to obtain corresponding analog information, to generate remote control commands according to the analog information, and by described in
Remote control commands are sent to the controlled vehicle, to carry out remote control to the controlled vehicle.
The tele-control system of vehicle according to embodiments of the present invention, by the environment of controlled vehicle detection itself and
Whole vehicle state information, and environment and whole vehicle state information are sent to control vehicle, control vehicle is according to controlled vehicle
Environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state,
So as to according to analog information generate remote control commands, control vehicle remote control commands are sent to controlled vehicle, with to by
Control vehicle and carry out remote control.Thus, control vehicle can receive and simulate the environment and shape of more comprehensive controlled vehicle
State information, to control vehicle to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control
Property, accuracy and security.
To reach above-mentioned purpose, third aspect present invention embodiment proposes a kind of controlled vehicle, wherein, the controlled vehicle
Control vehicle between establish have remote control relation, the controlled vehicle includes：Detection module, the detection module are used for
Detect the environment and whole vehicle state information of the controlled vehicle itself；First sending module, first sending module are used
Sent in by the environment and whole vehicle state information to the control vehicle；First receiving module, in the control vehicle
According to the environment of the controlled vehicle and whole vehicle state information itself environment and whole vehicle state are simulated with
Obtain corresponding analog information, and after generating remote control commands according to the analog information, first receiving module receives
The remote control commands；Execution module, the execution module is used to perform the remote control commands, to realize the control
Remote control of the vehicle to the controlled vehicle.
Controlled vehicle according to embodiments of the present invention, more comprehensive environment can be sent to control vehicle and state is believed
Breath, to control vehicle to simulate environment and status information, so as to carry out more suitable control operation, can be carried significantly
Convenience, accuracy and the security of high vehicle remote control.
To reach above-mentioned purpose, fourth aspect present invention embodiment proposes a kind of control vehicle, wherein, the control car
Establishing between controlled vehicle has remote control relation, and the control vehicle includes：Second receiving module, described second receives
Module is used for the environment and whole vehicle state information for receiving the controlled vehicle；Analog module, the analog module are used for root
Itself environment and whole vehicle state are simulated to obtain according to the environment and whole vehicle state information of the controlled vehicle
Corresponding analog information is obtained, to generate remote control commands according to the analog information；Second sending module, second hair
Module is sent to be used to send the remote control commands to the controlled vehicle, remotely to be controlled to the controlled vehicle
System.
Control vehicle according to embodiments of the present invention, can receive and simulate more comprehensive controlled vehicle environment and
Status information, to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control, accurate
Property and security.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the long-range control method flow chart according to the vehicle of the embodiment of the present invention；
Fig. 2 is the structural representation according to the tele-control system of the vehicle of one embodiment of the invention；
Fig. 3 is the structural representation according to the controlled seat of one embodiment of the invention；
Fig. 4 is the structural representation according to the control seat of one embodiment of the invention；
Fig. 5 is the long-range control method flow chart according to the vehicle of a specific embodiment of the invention；
Fig. 6 is the block diagram according to the controlled vehicle of the embodiment of the present invention；
Fig. 7 is the block diagram according to the control vehicle of the embodiment of the present invention；
Fig. 8 is the information exchange schematic diagram in the tele-control system according to the vehicle of one embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The long-range control method of the vehicle of the embodiment of the present invention, system, controlled vehicle and control described below in conjunction with the accompanying drawings
Vehicle processed.
Fig. 1 is the long-range control method flow chart according to the vehicle of the embodiment of the present invention.
As shown in figure 1, the long-range control method of the vehicle of the embodiment of the present invention, comprises the following steps：
S1, the remote control relation established between control vehicle and controlled vehicle.
In one embodiment of the invention, as shown in Fig. 2 control vehicle and controlled vehicle are all built-in with radio communication mold
Block, carry out data transmission to access wireless network.Vehicle is controlled with after controlled vehicle access wireless network, controlling vehicle receiver
The remote control notification that controlled vehicle is sent, control vehicle establish control vehicle and controlled vehicle after remote control notification is received
Remote control relation between, or, control vehicle is sent after remote control notification is received to controlled vehicle to be agreed to ask
Information is sought, the remote control relation established by controlled vehicle between control vehicle and controlled vehicle.
Wherein, Wi-Fi can be WIFI (Wireless Fidelity, Wireless Fidelity) or 3G, 4G, 5G (the 3rd to
5th third-generation mobile communication) etc. Radio Network System.Vehicle and controlled vehicle is controlled all to have remote control and remote controlled
Function, and it is owned by the tele-control system that can be mutually matched using unified standard of complete set.
Remote control relation is being established, and after having arranged driving destination or the driving intention of controlled vehicle, it is controlled
Vehicle can be driven according to the driver behavior of control vehicle.
S2, the environment of itself and whole vehicle state information that the control controlled vehicle of vehicle receiver is detected.
In one embodiment of the invention, the environment of controlled vehicle and whole vehicle state information may include controlled vehicle
Operating seat visual information and body-sensing information.Wherein, body-sensing information may include that sound is believed in the driver's cabin of controlled vehicle
Each directional acceleration information of breath, the vibration information of operating seat and operating seat.
In one embodiment of the invention, as shown in figure 3, controlled vehicle may include to be integrated on controlled seat
Sound acquisition module, vibration acquisition module and acceleration acquisition module, so as to which controlled vehicle can be gathered by sound acquisition module
Acoustic information in driver's cabin, and adopted by the vibration information of vibration acquisition module collection operating seat, and by acceleration
Collect each directional acceleration information of module collection operating seat.
S3, control vehicle is according to the environment and whole vehicle state information of controlled vehicle to the environment and vehicle of itself
State is simulated to obtain corresponding analog information, to generate remote control commands according to analog information.
In one embodiment of the invention, as shown in figure 4, control vehicle may include to be integrated on control seat
Speech simulation module, vibration simulation module and acceleration simulation module, so as to control vehicle can be by noise simulation module simulation
Acoustic environment is to obtain speech simulation information in the driver's cabin of control vehicle in the driver's cabin of controlled vehicle, and passes through vibration simulation
The vibration information of the operating seat of the controlled vehicle of module simulation is believed with obtaining the vibration simulation of the operating seat of control vehicle
Breath, and each directional acceleration information for the operating seat for passing through the controlled vehicle of acceleration simulation module simulation is to be controlled
Each directional acceleration analog information of the operating seat of vehicle processed.
Specifically, speech simulation module can be the loudspeaker installed in seat head rest, and vibration simulation module can be peace
Mounted in the vibration simulator of seat bottom, it can be the chair angle converter installed in bottom that module, which occurs, for acceleration.Wherein, raise
Sound device can be sent and identical sound in controlled vehicle cab, imitation controlled vehicle after the acoustic information of controlled vehicle is received
All acoustic environments in driver's cabin.Vibration simulator after the vibration information of controlled vehicle is received, can produce with it is controlled
The identical vibration environment that vehicle driver is experienced.Acceleration simulator is receiving the acceleration information of controlled vehicle
Afterwards, it can be tilted by seat, the acceleration of seat all directions be produced using weight component, to simulate the acceleration of controlled vehicle
Environment.
Vehicle is controlled after analog information is obtained, controls the driver of vehicle to be carried out according to analog information to control vehicle
Operation, so as to generate the remote control commands that remote control is carried out to controlled vehicle.
S4, control vehicle send remote control commands to controlled vehicle, to carry out remote control to controlled vehicle.
Controlled vehicle receiver remote control commands, and manipulated automatically according to remote control commands.
After controlled vehicle arrives at or has reached expected driving purpose, control vehicle and controlled vehicle can
To release remote control relation, whole remote control driver behavior is completed.
The long-range control method of vehicle according to embodiments of the present invention, by the environment of controlled vehicle detection itself and
Whole vehicle state information, and by the environment of controlled vehicle and whole vehicle state information send to control vehicle, control vehicle according to
Environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state,
So as to according to analog information generate remote control commands, control vehicle remote control commands are sent to controlled vehicle, with to by
Control vehicle and carry out remote control.Thus, control vehicle can receive and simulate the environment and shape of more comprehensive controlled vehicle
State information, to control vehicle to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control
Property, accuracy and security.
In one particular embodiment of the present invention, as shown in figure 5, the long-range control method of vehicle may include following step
Suddenly：
S501, control vehicle and controlled vehicle access wireless network.
S502, vehicle or controlled vehicle mandate is controlled to establish remote control relation.
Specifically, control vehicle can send control data to controlled vehicle, and controlled vehicle confirms errorless latter key mandate.Or
Person, controlled vehicle can send control to control vehicle and invite, and control vehicle confirms errorless latter key mandate, is controlled after a key mandate
The remote control relation of vehicle and controlled vehicle is formally established.
S503, controlled vehicle driver actuation are controlled button, and authorization control vehicle is to its remote control.
S504, controlled vehicle driver choose whether to stay in in-car, controlled vehicle according to driving purpose or driving scene
After being ready to confirmation signal is sent to control vehicle.
If driver stays in in-car, can be already prepared to the controlled vehicle of manual authorisation；If driver leaves controlled
Vehicle, controlled vehicle can send ready signal according to pre-set program from trend control vehicle.
The visual information of the operating seat of controlled vehicle and body-sensing information are sent to control by S505, controlled vehicle in real time
Vehicle.
S506, control vehicle is simulated to visual information and body-sensing information, and analog result is communicated into control vehicle
Driver.
S507, control after the driver of vehicle perceives the information of controlled vehicle, sent accordingly according to driving experience
Driver behavior instructs.
S508, controlled vehicle real-time reception simultaneously perform driver behavior instruction.
S509, vehicle or controlled vehicle is controlled to terminate remote control.After the completion of remote control operation, control vehicle or by
Control vehicle can terminate remote control pressing next key mandate/mute key.
To realize the long-range control method of the vehicle of above-described embodiment, the present invention also proposes a kind of remote control system of vehicle
System.
Reference picture 2, the tele-control system of the vehicle of the embodiment of the present invention, including establish the control of remote control relation
Vehicle and controlled vehicle.
Wherein, controlled vehicle is used to detect the environment and whole vehicle state information of itself, and by environment and vehicle
Status information is sent to control vehicle；Vehicle is controlled to be used for environment and whole vehicle state information according to controlled vehicle to itself
Environment and whole vehicle state simulated to obtain corresponding analog information, so as to according to analog information generate remote control
Instruction, and remote control commands are sent to controlled vehicle, to carry out remote control to controlled vehicle.
In one embodiment of the invention, vehicle and controlled vehicle is controlled all to be built-in with wireless communication module, to connect
Enter wireless network to carry out data transmission.Control vehicle and after controlled vehicle access wireless network, controlled vehicle is sent out to control vehicle
Go out remote control notification, control vehicle is long-range between foundation control vehicle and controlled vehicle after receiving remote control notification
Control planning, or, control vehicle is sent after remote control notification is received to controlled vehicle agrees to solicited message, by controlled
The remote control relation that vehicle is established between control vehicle and controlled vehicle.
Wherein, Wi-Fi can be the Radio Network System such as WIFI, 3G, 4G, 5G.Control vehicle and controlled vehicle all have
There is the function of remote control and remote controlled, and it is long-range to be owned by being mutually matched using unified standard for complete set
Control system.
Remote control relation is being established, and after having arranged driving destination or the driving intention of controlled vehicle, it is controlled
Vehicle can be driven according to the driver behavior of control vehicle.
In one embodiment of the invention, the environment of controlled vehicle and whole vehicle state information may include controlled vehicle
Operating seat visual information and body-sensing information.Wherein, body-sensing information may include that sound is believed in the driver's cabin of controlled vehicle
Each directional acceleration information of breath, the vibration information of operating seat and operating seat.
In one embodiment of the invention, as shown in figure 3, controlled vehicle may include to be integrated on controlled seat
Sound acquisition module, vibration acquisition module and acceleration acquisition module, so as to which controlled vehicle can be gathered by sound acquisition module
Acoustic information in driver's cabin, and adopted by the vibration information of vibration acquisition module collection operating seat, and by acceleration
Collect each directional acceleration information of module collection operating seat.
In one embodiment of the invention, as shown in figure 4, control vehicle may include to be integrated on control seat
Speech simulation module, vibration simulation module and acceleration simulation module, so as to control vehicle can be by noise simulation module simulation
Acoustic environment is to obtain speech simulation information in the driver's cabin of control vehicle in the driver's cabin of controlled vehicle, and passes through vibration simulation
The vibration information of the operating seat of the controlled vehicle of module simulation is believed with obtaining the vibration simulation of the operating seat of control vehicle
Breath, and each directional acceleration information for the operating seat for passing through the controlled vehicle of acceleration simulation module simulation is to be controlled
Each directional acceleration analog information of the operating seat of vehicle processed.
Specifically, speech simulation module can be the loudspeaker installed in seat head rest, and vibration simulation module can be peace
Mounted in the vibration simulator of seat bottom, it can be the chair angle converter installed in bottom that module, which occurs, for acceleration.Wherein, raise
Sound device can be sent and identical sound in controlled vehicle cab, imitation controlled vehicle after the acoustic information of controlled vehicle is received
All acoustic environments in driver's cabin.Vibration simulator after the vibration information of controlled vehicle is received, can produce with it is controlled
The identical vibration environment that vehicle driver is experienced.Acceleration simulator is receiving the acceleration information of controlled vehicle
Afterwards, it can be tilted by seat, the acceleration of seat all directions be produced using weight component, to simulate the acceleration of controlled vehicle
Environment.
Vehicle is controlled after analog information is obtained, controls the driver of vehicle to be carried out according to analog information to control vehicle
Operation, so as to generate the remote control commands that remote control is carried out to controlled vehicle.
Controlled vehicle receiver remote control commands, and manipulated automatically according to remote control commands.
After controlled vehicle arrives at or has reached expected driving purpose, control vehicle and controlled vehicle can
To release remote control relation, whole remote control driver behavior is completed.
The tele-control system of vehicle according to embodiments of the present invention, by the environment of controlled vehicle detection itself and
Whole vehicle state information, and by the environment of controlled vehicle and whole vehicle state information send to control vehicle, control vehicle according to
Environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state,
So as to according to analog information generate remote control commands, control vehicle remote control commands are sent to controlled vehicle, with to by
Control vehicle and carry out remote control.Thus, control vehicle can receive and simulate the environment and shape of more comprehensive controlled vehicle
State information, to control vehicle to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control
Property, accuracy and security.
Corresponding above-described embodiment, the present invention also propose a kind of controlled vehicle.
Wherein, being established between controlled vehicle and control vehicle has remote control relation.
As shown in fig. 6, the controlled vehicle 10 of the embodiment of the present invention includes detection module 11, the first sending module 12, first
Receiving module 13 and execution module 14.
Wherein, detection module 11 is used for the environment and whole vehicle state information for detecting controlled vehicle 10 itself；First hair
Module 12 is sent to be used to send environment and whole vehicle state information to control vehicle；In control vehicle according to controlled vehicle 10
Environment and whole vehicle state information are simulated to obtain corresponding analog information to itself environment and whole vehicle state,
And according to analog information generate remote control commands after, the first receiving module 13 receive remote control commands；Execution module 14 is used
In performing remote control commands, to realize remote control of the control vehicle to controlled vehicle 10.
In one embodiment of the invention, the environment of controlled vehicle 10 and whole vehicle state information may include controlled vehicle
The visual information and body-sensing information of 10 operating seat.Wherein, body-sensing information may include in the driver's cabin of controlled vehicle 10
Each directional acceleration information of acoustic information, the vibration information of operating seat and operating seat.
In one embodiment of the invention, the sound that detection module 11 may include to be integrated on the controlled seat of vehicle 10 is adopted
Collect module, vibration acquisition module and acceleration acquisition module, driven so as to which detection module 11 can be gathered by sound acquisition module
Indoor acoustic information, and gather mould by the vibration information of vibration acquisition module collection operating seat, and by acceleration
Block gathers each directional acceleration information of operating seat.
Controlled vehicle according to embodiments of the present invention, more comprehensive environment can be sent to control vehicle and state is believed
Breath, to control vehicle to simulate environment and status information, so as to carry out more suitable control operation, can be carried significantly
Convenience, accuracy and the security of high vehicle remote control.
Corresponding above-described embodiment, the present invention also propose a kind of control vehicle.
Wherein, control to establish between vehicle and controlled vehicle and have remote control relation.
As shown in fig. 7, the control vehicle 20 of the embodiment of the present invention includes the second receiving module 21, analog module 22 and second
Sending module 23.
Wherein, the second receiving module 21 is used for the environment and whole vehicle state information for receiving controlled vehicle；Analog module
22 are used to simulate itself environment and whole vehicle state according to the environment and whole vehicle state information of controlled vehicle
To obtain corresponding analog information, to generate remote control commands according to analog information；Second sending module 23 is used for will be remote
Process control instruction is sent to controlled vehicle, to carry out remote control to controlled vehicle.
In one embodiment of the invention, the environment of controlled vehicle and whole vehicle state information may include controlled vehicle
Operating seat visual information and body-sensing information.Wherein, body-sensing information may include that sound is believed in the driver's cabin of controlled vehicle
Each directional acceleration information of breath, the vibration information of operating seat and operating seat.
In one embodiment of the invention, as shown in figure 4, analog module 22 may include to be integrated in the control seat of vehicle 20
On speech simulation module, vibration simulation module and acceleration simulation module, wherein, noise simulation module be used for simulate controlled vehicle
Driver's cabin in acoustic environment to obtain speech simulation information in the driver's cabin of control vehicle 20, vibration simulation module is used for mould
Intend the vibration information of the operating seat of controlled vehicle to obtain the vibration simulation information of the operating seat of control vehicle 20, add
Each directional acceleration information that speed analog module is used to simulate the operating seat of controlled vehicle controls vehicle 20 to obtain
Operating seat each directional acceleration analog information.
Control vehicle according to embodiments of the present invention, can receive and simulate more comprehensive controlled vehicle environment and
Status information, to carry out more suitable control operation, so as to greatly improve the convenience of vehicle remote control, accurate
Property and security.
In addition, in the tele-control system of control vehicle 20 and controlled vehicle 10 is included, information and the biography of instruction etc.
Defeated to can refer to Fig. 8, the direction of arrow can represent the transmission direction of information and instruction etc. in figure.Specific information and the biography of instruction etc.
Defeated mode can refer to above-mentioned multiple embodiments, will not be repeated here.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (17)
1. a kind of long-range control method of vehicle, it is characterised in that comprise the following steps：
The remote control relation established between control vehicle and controlled vehicle；
The environment of itself and whole vehicle state information that controlled vehicle described in the control vehicle receiver is detected；
The control vehicle is according to the environment of the controlled vehicle and whole vehicle state information to itself environment and whole
Car state is simulated to obtain corresponding analog information, to generate remote control commands according to the analog information；
The control vehicle sends the remote control commands to the controlled vehicle, long-range to be carried out to the controlled vehicle
Control.
2. the long-range control method of vehicle according to claim 1, it is characterised in that the environment of the controlled vehicle
And whole vehicle state information includes the visual information and body-sensing information of the operating seat of the controlled vehicle.
3. the long-range control method of vehicle according to claim 2, it is characterised in that the body-sensing information include it is described by
Control each directional acceleration letter of acoustic information, the vibration information of operating seat and operating seat in the driver's cabin of vehicle
Breath.
4. the long-range control method of vehicle according to claim 3, it is characterised in that the control vehicle passes through noise mode
Intend module simulation described in controlled vehicle driver's cabin in acoustic environment with obtain it is described control vehicle driver's cabin in speech simulation
Information, and by the vibration information of the operating seat of controlled vehicle described in vibration simulation module simulation to obtain the control car
Operating seat vibration simulation information, and the operator's seat by controlled vehicle described in acceleration simulation module simulation
Position each directional acceleration information with obtain it is described control vehicle operating seat each directional acceleration analog information.
5. the long-range control method of vehicle according to claim 1, it is characterised in that it is described establish control vehicle with it is controlled
Remote control relation between vehicle, including：
After the control vehicle accesses wireless network with the controlled vehicle, controlled vehicle described in the control vehicle receiver is sent
Remote control notification；
The control vehicle is being established after receiving the remote control notification between the control vehicle and the controlled vehicle
Remote control relation, or, the control vehicle is sent after the remote control notification is received to the controlled vehicle
Agree to solicited message, the remote control relation established by the controlled vehicle between the control vehicle and the controlled vehicle.
A kind of 6. tele-control system of vehicle, it is characterised in that including establish remote control relation control vehicle and by
Vehicle is controlled, wherein,
The controlled vehicle is used to detect the environment and whole vehicle state information of itself, and by the environment and vehicle shape
State information is sent to the control vehicle；
The control vehicle is used for environment and whole vehicle state information according to the controlled vehicle to the environment of itself
And whole vehicle state is simulated to obtain corresponding analog information, to generate remote control commands according to the analog information,
And send the remote control commands to the controlled vehicle, to carry out remote control to the controlled vehicle.
7. the tele-control system of vehicle according to claim 6, it is characterised in that the environment of the controlled vehicle
And whole vehicle state information includes the visual information and body-sensing information of the operating seat of the controlled vehicle.
8. the tele-control system of vehicle according to claim 7, it is characterised in that the body-sensing information include it is described by
Control each directional acceleration letter of acoustic information, the vibration information of operating seat and operating seat in the driver's cabin of vehicle
Breath.
9. the tele-control system of vehicle according to claim 8, it is characterised in that the control vehicle includes noise mode
Intend module, vibration simulation module and acceleration simulation module, the control vehicle passes through described in the noise simulation module simulation
Acoustic environment is to obtain speech simulation information in the driver's cabin of the control vehicle in the driver's cabin of controlled vehicle, and by described
The vibration information of the operating seat of controlled vehicle described in vibration simulation module simulation with obtain it is described control vehicle driver
The vibration simulation information at seat, and pass through the every of the operating seat of controlled vehicle described in the acceleration simulation module simulation
Individual directional acceleration information with obtain it is described control vehicle operating seat each directional acceleration analog information.
10. the tele-control system of vehicle according to claim 6, it is characterised in that it is described control vehicle with it is described by
After controlling vehicle access wireless network, the controlled vehicle sends remote control notification, the control vehicle to the control vehicle
The remote control relation between the control vehicle and the controlled vehicle is being established after receiving the remote control notification, or
Person, the control vehicle is sent after the remote control notification is received to the controlled vehicle agrees to solicited message, by institute
State the remote control relation that controlled vehicle is established between the control vehicle and the controlled vehicle.
A kind of 11. controlled vehicle, it is characterised in that being established between the controlled vehicle and control vehicle has remote control relation,
The controlled vehicle includes：
Detection module, the detection module are used for the environment and whole vehicle state information for detecting the controlled vehicle itself；
First sending module, first sending module are used to send the environment and whole vehicle state information to the control
Vehicle processed；
First receiving module, in the control vehicle according to the environment and whole vehicle state information of the controlled vehicle to itself
Environment and whole vehicle state simulated to obtain corresponding analog information, and long-range control is generated according to the analog information
After system instruction, first receiving module receives the remote control commands；
Execution module, the execution module be used for perform the remote control commands, with realize it is described control vehicle to it is described by
Control the remote control of vehicle.
12. controlled vehicle according to claim 11, it is characterised in that the environment and vehicle shape of the controlled vehicle
State information includes the visual information and body-sensing information of the operating seat of the controlled vehicle.
13. controlled vehicle according to claim 12, it is characterised in that the body-sensing information includes the controlled vehicle
Each directional acceleration information of acoustic information, the vibration information of operating seat and operating seat in driver's cabin.
14. one kind control vehicle, it is characterised in that being established between the control vehicle and controlled vehicle has remote control relation,
The control vehicle includes：
Second receiving module, second receiving module are used for the environment for receiving the controlled vehicle and whole vehicle state letter
Breath；
Analog module, the analog module be used for according to the environment of the controlled vehicle and whole vehicle state information to itself
Environment and whole vehicle state are simulated to obtain corresponding analog information, to generate long-range control according to the analog information
System instruction；
Second sending module, second sending module are used to send the remote control commands to the controlled vehicle, with
Just remote control is carried out to the controlled vehicle.
15. control vehicle according to claim 14, it is characterised in that the environment and vehicle shape of the controlled vehicle
State information includes the visual information and body-sensing information of the operating seat of the controlled vehicle.
16. control vehicle according to claim 15, it is characterised in that the body-sensing information includes the controlled vehicle
Each directional acceleration information of acoustic information, the vibration information of operating seat and operating seat in driver's cabin.
17. control vehicle according to claim 16, it is characterised in that the analog module include noise simulation module,
Vibration simulation module and acceleration simulation module, wherein,
The noise simulation module is used to simulate in the driver's cabin of the controlled vehicle acoustic environment to obtain the control vehicle
Driver's cabin in speech simulation information, the vibration simulation module be used for simulate the controlled vehicle operating seat vibration
To obtain the vibration simulation information of the operating seat of the control vehicle, the acceleration simulation module is used to simulate institute information
Each directional acceleration information of the operating seat of controlled vehicle is stated to obtain the every of the operating seat of the control vehicle
Individual directional acceleration analog information.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617276.3A CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
| PCT/CN2017/093045 WO2018019142A1 (en) | 2016-07-28 | 2017-07-14 | Vehicle remote control method and system, controlled vehicle and control vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617276.3A CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107662605A true CN107662605A (en) | 2018-02-06 |
| CN107662605B CN107662605B (en) | 2020-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610617276.3A Active CN107662605B (en) | 2016-07-28 | 2016-07-28 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107662605B (en) |
| WO (1) | WO2018019142A1 (en) |
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| CN110712647A (en) * | 2019-09-23 | 2020-01-21 | 上海理工大学 | Remote vehicle control system |
| CN110716481A (en) * | 2019-11-15 | 2020-01-21 | 徐州合卓机械科技有限公司 | Lorry-mounted crane remote control system based on 5g network |
| CN111016905A (en) * | 2019-12-06 | 2020-04-17 | 中国科学院自动化研究所 | Interaction method and system for automatic driving vehicle and driving remote control terminal |
| CN111688719A (en) * | 2020-06-28 | 2020-09-22 | 广州小鹏汽车科技有限公司 | Driving method and device |
| WO2020191756A1 (en) * | 2019-03-28 | 2020-10-01 | 深圳市大疆创新科技有限公司 | Driving device, control method and apparatus, and storage medium |
| CN112305956A (en) * | 2019-07-30 | 2021-02-02 | 丰田自动车株式会社 | Remote driving system and remote driving method |
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| CN113660148B (en) * | 2021-06-30 | 2023-06-02 | 华人运通(上海)自动驾驶科技有限公司 | Real-time remote driving system and method |
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Also Published As
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| CN107662605B (en) | 2020-07-10 |
| WO2018019142A1 (en) | 2018-02-01 |
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