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
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- 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
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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
- G05B19/04—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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention proposes a kind of unmanned vehicle tele-control system and its methods, the control system includes the vehicle displays being provided in simulating vehicle ontology for driver's real time inspection travel path situation, vehicle control end includes driving vehicle ontology, camera shooting head support is provided in traveling vehicle body, it is mounted with the first camera and second camera for captured in real-time travel path situation on the support frame, first camera and second camera constitute binocular camera, the drive parameter of simulating vehicle controller acquisition driver's drive simulation vehicle body, driving vehicle ontology is travelled according to the drive parameter received.The present invention can be realized remote control vehicle, reduces and waits, enhancing experience.
Description
Technical field
The present invention relates to a kind of long-range driving technology fields, more particularly to a kind of unmanned vehicle tele-control system and its side
Method.
Background technique
Currently, global computer network and technology, sensor technology, electronic technology are all being grown rapidly, and are answered
It uses in automotive engineering, so that auto electronic control technology is also mature and perfect constantly, auto electronic control technology is in vapour
The extensive use and development of vehicle industry, so that electronic device more standardizes, to realize the electronization of Hyundai Motor.Automobile
Electron controls technology not only contribute to improve automobile various performances, for example, economy, dynamic property, the feature of environmental protection, safety and
Comfort in driving process pushes the development of automobile industry and also helps the development of electronic industry, so automotive electronics
Control technology is conducive to the fast development of automotive circuit diagram, it is also the key that auto industry continues to develop.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, a kind of unmanned vehicle is especially innovatively proposed
Tele-control system and its method.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of unmanned vehicle tele-control systems, including vehicle
Control terminal and long-range driving manipulation end；
The long-range manipulation end that drives includes simulating vehicle ontology, is provided in simulating vehicle ontology and looks into real time for driver
See the vehicle displays of travel path situation, the display of the display signal input part and simulating vehicle controller of vehicle displays is believed
Number output end is connected；
Vehicle control end includes driving vehicle ontology, is provided with camera shooting head support in traveling vehicle body, is supporting
The first camera and second camera for captured in real-time travel path situation are mounted on frame, the first camera and second are taken the photograph
As head composition binocular camera, the image signal output end of the first camera and the picture signal first of driving vehicle controller are defeated
Enter end to be connected, the image signal output end of second camera is connected with the second input terminal of picture signal of driving vehicle controller；
Simulating vehicle controller acquires the drive parameter of driver's drive simulation vehicle body, and driving vehicle ontology is according to connecing
The drive parameter traveling received.
It in the preferred embodiment of the present invention, further include being set to the intrinsic wireless receiving and dispatching first of driving vehicle
The second module of module and wireless receiving and dispatching, the time delay of first module of wireless receiving and dispatching are lower than the time delay of the second module of wireless receiving and dispatching；
The receiving and transmitting signal end of the first module of wireless receiving and dispatching is connected with the first sending and receiving end of signal of driving vehicle controller, wireless receiving and dispatching second
The receiving and transmitting signal end of module is connected with the second sending and receiving end of signal of driving vehicle controller；
For same data information A, the first module of wireless receiving and dispatching is T at the time of receiving data information A1, wireless to receive
Sending out at the time of the second module receives data information A is T2If T2-T1> | T |, the T is default delay threshold, then travels
Vehicle control device controls driving vehicle ontology and is changed to automatic Pilot by remotely driving, control driving vehicle ontology parking.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology whether to step on for perceiving
The accelerator pedal sensor of lower gas pedal, whether brake pedal brake pedal sensor and whether steer direction disk
One of steering wheel sensor or any combination；
The throttle signal output end of accelerator pedal sensor is connected with the throttle signal input terminal of driving vehicle controller, system
The brake signal output end of dynamic pedal sensor is connected with the brake signal input terminal of driving vehicle controller, steering wheel sensor
Hand-wheel signal output end be connected with the hand-wheel signal input terminal of driving vehicle controller；When accelerator pedal sensor perceives
Driver steps on the throttle pedal in driving vehicle ontology and/or brake pedal sensor is perceived in driving vehicle ontology and driven
The person's of sailing brake pedal and/or steering wheel sensor perceive driver's steer direction disk in driving vehicle ontology, then travel
Vehicle control device control driving vehicle ontology exits long-range driving.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology and/or simulating vehicle
Intrinsic power module, the power module include the first power module and second power supply module；First power module is 12V
On-vehicle battery, second source are 48V vehicle-mounted charge battery；
It further include voltage reduction module and/or boost module, the first anode of electric discharge and the voltage reduction module of 48V vehicle-mounted charge battery
Input anode is connected, and the first cathode of electric discharge of 48V vehicle-mounted charge battery is connected with the input cathode of voltage reduction module, voltage reduction module
Output cathode is connected with the charging anode of 12V on-vehicle battery, the output negative pole of voltage reduction module and the charging cathode of 12V on-vehicle battery
It is connected；The 48V voltage of 48V vehicle-mounted charge battery is converted to the 12V voltage of 12V on-vehicle battery by voltage reduction module；
The second anode of electric discharge of 48V vehicle-mounted charge battery is connected with the input anode of boost module, 48V vehicle-mounted charge battery
The second cathode of electric discharge be connected with the input cathode of boost module；Boost module is by the 48V DC voltage of 48V vehicle-mounted charge battery
Be converted to 220V AC voltage.Wherein, 12V on-vehicle battery can for vehicle-mounted camera (such as the first camera and second camera shooting
Head) and various kinds of sensors power supply；48V vehicle-mounted charge battery can for radio receiving transmitting module (such as the first module of wireless receiving and dispatching and
The second module of wireless receiving and dispatching, wherein the first module of wireless receiving and dispatching is 5GTUE module, and the second module of wireless receiving and dispatching is 4GCPE module,
Also it is CPE terminal) power supply；220V AC voltage can power for signal switcher, industrial personal computer (PC machine).
It in the preferred embodiment of the present invention, further include No. 1 be arranged in immediately ahead of traveling vehicle body headstock
Vehicle-mounted camera, the image signal output end of No. 1 vehicle-mounted camera and the picture signal third input terminal of driving vehicle controller
It is connected；It and/or further include No. 2 vehicle-mounted cameras being arranged on the left of traveling vehicle body vehicle body, the image of No. 2 vehicle-mounted cameras
Signal output end is connected with the 4th input terminal of picture signal of driving vehicle controller；It and/or further include being arranged in driving vehicle
No. 3 vehicle-mounted cameras on the right side of ontology vehicle body, the image signal output end of No. 3 vehicle-mounted cameras and the figure of driving vehicle controller
As the 5th input terminal of signal is connected；And/or further include No. 4 vehicle-mounted cameras that the traveling vehicle body tailstock is set, No. 4 are vehicle-mounted
The image signal output end of camera is connected with the 6th input terminal of picture signal of driving vehicle controller；It and/or further include setting
Set No. 5 vehicle-mounted cameras in traveling vehicle body car, the image signal output end of No. 5 vehicle-mounted cameras and driving vehicle control
The 7th input terminal of picture signal of device processed is connected.5 vehicle-mounted cameras arranged on traveling vehicle body provide different views
Wild video, wherein No. 1, No. 2, No. 3 and No. 4 this four vehicle-mounted cameras provide front, the left and right sides and rear view respectively
Frequently, No. 5 vehicle-mounted cameras provide interior video；The vision signal of acquisition by interchanger combine after by driving vehicle ontology
5GTUE module is sent to base station, and base station is sent to after receiving to be carried out while being shown on monitoring center large-size screen monitors and simulating vehicle ontology.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology to step on for monitoring throttle
The driving vehicle accelerator open degree sensor of plate opening size and/or for monitoring brake pedal opening size driving vehicle braking
Pedal opening sensor and/or for monitoring direction disk rotational angle driving vehicle steering wheel angle sensor and/or be used for
Monitor the bright driving vehicle left steering lamp sensor of left steering lamp and/or for monitoring the bright driving vehicle right turn of right turn lamp
Lamp sensor and/or velocity sensor for monitoring driving vehicle travel speed and/or for monitoring and front vehicles distance
Radar sensor；
The accelerator opening amount signal output end of driving vehicle accelerator open degree sensor and the accelerator open degree of driving vehicle controller
Signal input part is connected, the braking opening amount signal output end and driving vehicle controller of driving vehicle brake pedal jaw opening sensor
Braking opening amount signal input terminal be connected, the hand-wheel angle signal output end of driving vehicle steering wheel angle sensor and traveling
The hand-wheel angle signal input terminal of vehicle control device is connected, the left steering modulating signal output of driving vehicle left steering lamp sensor
End is connected with the left steering modulating signal input terminal of driving vehicle controller, the right turn lamp letter of driving vehicle right turn lamp sensor
Number output end is connected with the right turn modulating signal input terminal of driving vehicle controller, the speed signal output end of velocity sensor with
The speed signal input terminal of driving vehicle controller is connected, the distance signal output end and driving vehicle controller of radar sensor
Distance signal input terminal be connected；
And it is set in simulating vehicle ontology and is passed for monitoring the simulating vehicle accelerator open degree of gas pedal opening size
Sensor and/or simulating vehicle brake pedal jaw opening sensor for monitoring brake pedal opening size and/or for the side of monitoring
To the simulating vehicle steering wheel angle sensor of disk rotational angle and/or for monitoring the bright simulating vehicle left steering of left steering lamp
Lamp sensor and/or for monitoring the bright simulating vehicle right turn lamp sensor of right turn lamp；
The accelerator opening amount signal output end of simulating vehicle accelerator open degree sensor and the accelerator open degree of simulating vehicle controller
Signal input part is connected, the braking opening amount signal output end and simulating vehicle controller of simulating vehicle brake pedal jaw opening sensor
Braking opening amount signal input terminal be connected, the hand-wheel angle signal output end of simulating vehicle steering wheel angle sensor and simulation
The hand-wheel angle signal input terminal of vehicle control device is connected, the left steering modulating signal output of simulating vehicle left steering lamp sensor
End is connected with the left steering modulating signal input terminal of simulating vehicle controller, the right turn lamp letter of simulating vehicle right turn lamp sensor
Number output end is connected with the right turn modulating signal input terminal of simulating vehicle controller.
The invention also discloses a kind of unmanned vehicle long-range control methods, comprising the following steps:
S1, system initialization；
S2, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle is opened, and/or row
Sail whether vehicle control device detection driving vehicle ontology receives long-range driving request start command；And whether it is delayed more than t1
Second, the t1Positive number；
S3, if driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is opened, and is delayed
More than t1Second；Then automatic Pilot initializes；
S4, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle closes, and/or row
Sail whether vehicle control device detection driving vehicle ontology receives long-range driving request shutdown command；
S5 continues if the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle is not turned off
Automatic Pilot；Execute step S6；
If driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is closed, return step
S1；
Whether S6, driving vehicle controller detection driving vehicle ontology receive long-range drive and request open command；
S7 starts if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests open command
It is long-range to drive；Execute step S8；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests open command, step is returned
Rapid S4；
Whether S8, driving vehicle controller detection driving vehicle ontology receive long-range drive and request shutdown command；
S9 is returned if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests shutdown command
Step S1；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests shutdown command, step is returned
Rapid S7.
In the preferred embodiment of the present invention, in long-range drive, judge that the first module of wireless receiving and dispatching receives
Whether difference at the time of data information A and at the time of sending data information A is less than or equal to default delay threshold T:
If difference at the time of the first module of wireless receiving and dispatching receives data information A and at the time of sending data information A is less than
Or be equal to default delay threshold T, then data information A is received, and continue long-range drive；
Difference at the time of the first module of wireless receiving and dispatching receives data information A and at the time of sending data information A is greater than pre-
If delay threshold T, then give up data information A, is adjusted to automatic Pilot by remotely driving, driving vehicle controller control traveling
Vehicle brake parking；After driving vehicle parking, it is connect again with simulating vehicle.
In the preferred embodiment of the present invention, in long-range drive, if the travel speed of driving vehicle ontology is big
In or equal to default First Speed threshold value, then driving vehicle controller control gas pedal opening size reduces, and throttle is stepped on
The calculation method of plate aperture are as follows:
Wherein, P0Simulating vehicle gas pedal opening value, V are monitored for simulating vehicle accelerator open degree sensor0To preset first
Threshold speed, V1For the travel speed of driving vehicle ontology, P is driving vehicle gas pedal opening value, and δ is accelerator open degree amendment
The factor, and δ ∈ [0.973,1), φ is simulating vehicle throttle maximum opening value and driving vehicle throttle maximum opening value ratio；
When the travel speed of driving vehicle ontology is less than default second speed threshold value, default second speed threshold value be less than or
Equal to default First Speed threshold value, then driving vehicle accelerator open degree value is according to simulating vehicle accelerator open degree value
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default third speed threshold
Value presets third speed threshold value and is greater than default First Speed threshold value, then automatic Pilot is transformed to by remotely driving, by gas pedal
Aperture is reduced to zero, and when the travel speed of driving vehicle ontology is less than default fourth speed threshold value, default fourth speed threshold value is less than
Or be equal to default second speed threshold value, then it is transformed to remotely drive by automatic Pilot；
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default 5th speed threshold
Value presets the 5th threshold speed and is more than or equal to default third speed threshold value, is then transformed to automatic Pilot by remotely driving, will
Gas pedal aperture is reduced to zero, and brakes to driving vehicle；The calculation method of its driving vehicle brake pedal speed are as follows:
Wherein, K is the braking amount before simulating vehicle is not braked, and K ' is the braking amount after simulating vehicle braking, and t ' is simulation
At the time of before vehicle braking, at the time of t is after simulating vehicle is braked, η is driving vehicle brake pedal maximum braking amount and simulation
Vehicle brake pedal maximum braking amount ratio；KnBraking amount when being braked for n-th；ΔtnFor n-th braking when braking when
Between；The speed of trampling of driving vehicle brake pedal is controlled for driving vehicle controller, N is that drive simulating person tramples brake pedal
Total degree simultaneously successfully brakes driving vehicle；
When car speed is zero, then it is transformed to remotely drive by automatic Pilot.
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Xm, the X
For positive number, and the speed of driving vehicle ontology is more than or equal to default 7th threshold speed, and default 7th threshold speed is less than
Default First Speed threshold value, then driving vehicle controller sends alarm signal to simulating vehicle controller；
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Ym, the Y
For the positive number less than X, and the speed of driving vehicle ontology is less than or equal to default 8th threshold speed, presets the 8th speed threshold
Value is less than default 7th threshold speed, then is transformed to automatic Pilot by remotely driving, gas pedal aperture is reduced to zero, and to row
Sail emergency brake of vehicle.
In the preferred embodiment of the present invention, in step s 2, judge that driving vehicle enters long-range driving and includes
Following one or any combination condition:
A) automatic Pilot request switch is active；
B) one of engine management system, body electronics systems stabilisation, electric boosting steering system or combination fault-free；
In step s 4, judging that driving vehicle exits long-range drive includes following one or any combination condition:
A) automatic Pilot request switch is in unactivated state；
B) driving vehicle gas pedal is stepped on；
C) driving vehicle brake pedal is stepped on；
D) driving vehicle steering wheel is operated；
E) electronic parking system is by active activation；
F) key-off.
In conclusion reduction waits by adopting the above-described technical solution, the present invention can be realized remote control vehicle,
Enhancing experience.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is schematic block diagram of the present invention.
Fig. 2 is schematic process flow diagram of the present invention.
Fig. 3 is schematic block diagram of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
The present invention provides a kind of unmanned vehicle tele-control systems, as shown in figures 1 and 3, including vehicle control end (RCU)
Manipulation end (RCP) is driven with long-range；
The long-range manipulation end that drives includes simulating vehicle ontology (driving simulator), is provided with and is used in simulating vehicle ontology
The vehicle displays (driving simulator screen) of driver's real time inspection travel path situation, the display signal of vehicle displays are defeated
Enter end to be connected with the display signal output end of simulating vehicle controller (remote controllers RCP)；
Vehicle control end includes driving vehicle ontology (vehicle), is provided with camera shooting head support in traveling vehicle body,
Be mounted with the first camera and second camera for captured in real-time travel path situation on the support frame, the first camera and
Second camera constitutes binocular camera, and (vehicle end controls for the image signal output end and driving vehicle controller of the first camera
Device RCU) picture signal first input end be connected, the figure of the image signal output end of second camera and driving vehicle controller
As the second input terminal of signal is connected；
Simulating vehicle controller acquires the drive parameter of driver's drive simulation vehicle body, and driving vehicle ontology is according to connecing
The drive parameter traveling received.
It in the preferred embodiment of the present invention, further include being set to the intrinsic wireless receiving and dispatching first of driving vehicle
The second module of module and wireless receiving and dispatching, the time delay of first module of wireless receiving and dispatching are lower than the time delay of the second module of wireless receiving and dispatching；
The receiving and transmitting signal end of the first module of wireless receiving and dispatching is connected with the first sending and receiving end of signal of driving vehicle controller, wireless receiving and dispatching second
The receiving and transmitting signal end of module is connected with the second sending and receiving end of signal of driving vehicle controller；
For same data information A, the first module of wireless receiving and dispatching is T at the time of receiving data information A1, wireless to receive
Sending out at the time of the second module receives data information A is T2If T2-T1> | T |, the T is default delay threshold, then travels
Vehicle control device controls driving vehicle ontology and is changed to automatic Pilot by remotely driving, control driving vehicle ontology parking.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology whether to step on for perceiving
The accelerator pedal sensor of lower gas pedal, whether brake pedal brake pedal sensor and whether steer direction disk
One of steering wheel sensor or any combination；
The throttle signal output end of accelerator pedal sensor is connected with the throttle signal input terminal of driving vehicle controller, system
The brake signal output end of dynamic pedal sensor is connected with the brake signal input terminal of driving vehicle controller, steering wheel sensor
Hand-wheel signal output end be connected with the hand-wheel signal input terminal of driving vehicle controller；When accelerator pedal sensor perceives
Driver steps on the throttle pedal in driving vehicle ontology and/or brake pedal sensor is perceived in driving vehicle ontology and driven
The person's of sailing brake pedal and/or steering wheel sensor perceive driver's steer direction disk in driving vehicle ontology, then travel
Vehicle control device control driving vehicle ontology exits long-range driving.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology and/or simulating vehicle
Intrinsic power module, the power module include the first power module and second power supply module；First power module is 12V
On-vehicle battery, second source are 48V vehicle-mounted charge battery；
It further include voltage reduction module and/or boost module, the first anode of electric discharge and the voltage reduction module of 48V vehicle-mounted charge battery
Input anode is connected, and the first cathode of electric discharge of 48V vehicle-mounted charge battery is connected with the input cathode of voltage reduction module, voltage reduction module
Output cathode is connected with the charging anode of 12V on-vehicle battery, the output negative pole of voltage reduction module and the charging cathode of 12V on-vehicle battery
It is connected；The 48V voltage of 48V vehicle-mounted charge battery is converted to the 12V voltage of 12V on-vehicle battery by voltage reduction module；
The second anode of electric discharge of 48V vehicle-mounted charge battery is connected with the input anode of boost module, 48V vehicle-mounted charge battery
The second cathode of electric discharge be connected with the input cathode of boost module；Boost module is by the 48V DC voltage of 48V vehicle-mounted charge battery
Be converted to 220V AC voltage.
It in the preferred embodiment of the present invention, further include No. 1 be arranged in immediately ahead of traveling vehicle body headstock
Vehicle-mounted camera, the image signal output end of No. 1 vehicle-mounted camera and the picture signal third input terminal of driving vehicle controller
It is connected；It and/or further include No. 2 vehicle-mounted cameras being arranged on the left of traveling vehicle body vehicle body, the image of No. 2 vehicle-mounted cameras
Signal output end is connected with the 4th input terminal of picture signal of driving vehicle controller；It and/or further include being arranged in driving vehicle
No. 3 vehicle-mounted cameras on the right side of ontology vehicle body, the image signal output end of No. 3 vehicle-mounted cameras and the figure of driving vehicle controller
As the 5th input terminal of signal is connected；And/or further include No. 4 vehicle-mounted cameras that the traveling vehicle body tailstock is set, No. 4 are vehicle-mounted
The image signal output end of camera is connected with the 6th input terminal of picture signal of driving vehicle controller；It and/or further include setting
Set No. 5 vehicle-mounted cameras in traveling vehicle body car, the image signal output end of No. 5 vehicle-mounted cameras and driving vehicle control
The 7th input terminal of picture signal of device processed is connected.
It in the preferred embodiment of the present invention, further include being set in driving vehicle ontology to step on for monitoring throttle
The driving vehicle accelerator open degree sensor of plate opening size and/or for monitoring brake pedal opening size driving vehicle braking
Pedal opening sensor and/or for monitoring direction disk rotational angle driving vehicle steering wheel angle sensor and/or be used for
Monitor the bright driving vehicle left steering lamp sensor of left steering lamp and/or for monitoring the bright driving vehicle right turn of right turn lamp
Lamp sensor and/or velocity sensor for monitoring driving vehicle travel speed and/or for monitoring and front vehicles distance
Radar sensor；
The accelerator opening amount signal output end of driving vehicle accelerator open degree sensor and the accelerator open degree of driving vehicle controller
Signal input part is connected, the braking opening amount signal output end and driving vehicle controller of driving vehicle brake pedal jaw opening sensor
Braking opening amount signal input terminal be connected, the hand-wheel angle signal output end of driving vehicle steering wheel angle sensor and traveling
The hand-wheel angle signal input terminal of vehicle control device is connected, the left steering modulating signal output of driving vehicle left steering lamp sensor
End is connected with the left steering modulating signal input terminal of driving vehicle controller, the right turn lamp letter of driving vehicle right turn lamp sensor
Number output end is connected with the right turn modulating signal input terminal of driving vehicle controller, the speed signal output end of velocity sensor with
The speed signal input terminal of driving vehicle controller is connected, the distance signal output end and driving vehicle controller of radar sensor
Distance signal input terminal be connected；
And it is set in simulating vehicle ontology and is passed for monitoring the simulating vehicle accelerator open degree of gas pedal opening size
Sensor and/or simulating vehicle brake pedal jaw opening sensor for monitoring brake pedal opening size and/or for the side of monitoring
To the simulating vehicle steering wheel angle sensor of disk rotational angle and/or for monitoring the bright simulating vehicle left steering of left steering lamp
Lamp sensor and/or for monitoring the bright simulating vehicle right turn lamp sensor of right turn lamp；
The accelerator opening amount signal output end of simulating vehicle accelerator open degree sensor and the accelerator open degree of simulating vehicle controller
Signal input part is connected, the braking opening amount signal output end and simulating vehicle controller of simulating vehicle brake pedal jaw opening sensor
Braking opening amount signal input terminal be connected, the hand-wheel angle signal output end of simulating vehicle steering wheel angle sensor and simulation
The hand-wheel angle signal input terminal of vehicle control device is connected, the left steering modulating signal output of simulating vehicle left steering lamp sensor
End is connected with the left steering modulating signal input terminal of simulating vehicle controller, the right turn lamp letter of simulating vehicle right turn lamp sensor
Number output end is connected with the right turn modulating signal input terminal of simulating vehicle controller.
The invention also discloses a kind of unmanned vehicle long-range control methods, as shown in Figure 2, comprising the following steps:
S1, system initialization；
S2, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle is opened, and/or row
Sail whether vehicle control device detection driving vehicle ontology receives long-range driving request start command；And whether it is delayed more than t1
Second, the t1Positive number；In the present embodiment, t1It is not limited to take 1.
S3, if driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is opened, and is delayed
More than t1Second；Then automatic Pilot initializes；
S4, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle closes, and/or row
Sail whether vehicle control device detection driving vehicle ontology receives long-range driving request shutdown command；
S5 continues if the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle is not turned off
Automatic Pilot；Execute step S6；
If driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is closed, return step
S1；
Whether S6, driving vehicle controller detection driving vehicle ontology receive long-range drive and request open command；
S7 starts if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests open command
It is long-range to drive；Execute step S8；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests open command, step is returned
Rapid S4；
Whether S8, driving vehicle controller detection driving vehicle ontology receive long-range drive and request shutdown command；
S9 is returned if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests shutdown command
Step S1；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests shutdown command, step is returned
Rapid S7.In the present embodiment, further include step S0, search target position locating for rider, search for a distance from rider most
Close vehicle, using the vehicle as driving vehicle；Remote control vehicle can reduce the waiting time of rider, reinforcement in this way
It tests.
In the preferred embodiment of the present invention, in long-range drive, judge that the first module of wireless receiving and dispatching receives
Whether difference at the time of data information A and at the time of sending data information A is less than or equal to default delay threshold T:
If difference at the time of the first module of wireless receiving and dispatching receives data information A and at the time of sending data information A is less than
Or be equal to default delay threshold T, then data information A is received, and continue long-range drive；
Difference at the time of the first module of wireless receiving and dispatching receives data information A and at the time of sending data information A is greater than pre-
If delay threshold T, then give up data information A, is adjusted to automatic Pilot by remotely driving, driving vehicle controller control traveling
Vehicle brake parking；After driving vehicle parking, it is connect again with simulating vehicle.
And/or further include working as driving vehicle left steering lamp sensor to monitor that the left steering lamp on driving vehicle ontology is bright,
Then the bright signal of left steering lamp is sent simulating vehicle controller by driving vehicle controller, the left steering on simulating vehicle ontology
Indicator light is bright；When driving vehicle right turn lamp sensor monitors that the right turn lamp on driving vehicle ontology is bright, then driving vehicle
The bright signal of right turn lamp is sent simulating vehicle controller by controller, and the right turn indicator lamp on simulating vehicle ontology is bright.
In the preferred embodiment of the present invention, in long-range drive, if the travel speed of driving vehicle ontology is big
In or equal to default First Speed threshold value, then driving vehicle controller control gas pedal opening size reduces, and throttle is stepped on
The calculation method of plate aperture are as follows:
Wherein, P0Simulating vehicle gas pedal opening value, V are monitored for simulating vehicle accelerator open degree sensor0To preset first
Threshold speed, V1For the travel speed of driving vehicle ontology, P is driving vehicle gas pedal opening value, and δ is accelerator open degree amendment
The factor, and δ ∈ [0.973,1), φ is simulating vehicle throttle maximum opening value and driving vehicle throttle maximum opening value ratio；
When the travel speed of driving vehicle ontology is less than default second speed threshold value, default second speed threshold value be less than or
Equal to default First Speed threshold value, then driving vehicle accelerator open degree value is according to simulating vehicle accelerator open degree value
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default third speed threshold
Value presets third speed threshold value and is greater than default First Speed threshold value, then automatic Pilot is transformed to by remotely driving, by gas pedal
Aperture is reduced to zero, and when the travel speed of driving vehicle ontology is less than default fourth speed threshold value, default fourth speed threshold value is less than
Or be equal to default second speed threshold value, then it is transformed to remotely drive by automatic Pilot；
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default 5th speed threshold
Value presets the 5th threshold speed and is more than or equal to default third speed threshold value, is then transformed to automatic Pilot by remotely driving, will
Gas pedal aperture is reduced to zero, and brakes to driving vehicle；The calculation method of its driving vehicle brake pedal speed are as follows:
Wherein, K is the braking amount before simulating vehicle is not braked, and K ' is the braking amount after simulating vehicle braking, and t ' is simulation
At the time of before vehicle braking, at the time of t is after simulating vehicle is braked, η is driving vehicle brake pedal maximum braking amount and simulation
Vehicle brake pedal maximum braking amount ratio；KnBraking amount when being braked for n-th；ΔtnFor n-th braking when braking when
Between；The speed of trampling of driving vehicle brake pedal is controlled for driving vehicle controller, N is that drive simulating person tramples brake pedal
Total degree simultaneously successfully brakes driving vehicle；
When car speed is zero, then it is transformed to remotely drive by automatic Pilot.In the present embodiment, the first speed is preset
Spending threshold value can be 20km/h, preset third speed threshold value and default 5th threshold speed can be 30km/h, preset the second speed
It spends threshold value and default fourth speed threshold value can be 5km/h.
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Xm, the X
For positive number, and the speed of driving vehicle ontology is more than or equal to default 7th threshold speed, and default 7th threshold speed is less than
Default First Speed threshold value, then driving vehicle controller sends alarm signal to simulating vehicle controller；
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Ym, the Y
For the positive number less than X, and the speed of driving vehicle ontology is less than or equal to default 8th threshold speed, presets the 8th speed threshold
Value is less than default 7th threshold speed, then is transformed to automatic Pilot by remotely driving, gas pedal aperture is reduced to zero, and to row
Sail emergency brake of vehicle.In the present embodiment, Y is not limited to take 1, and default 8th threshold speed is not limited to take 2~3km/h.
In the preferred embodiment of the present invention, in step s 2, judge that driving vehicle enters long-range driving and includes
Following one or any combination condition:
A) automatic Pilot (ACC) request switch is active；
B) one of engine management system (EMS), body electronics systems stabilisation (ESP), electric boosting steering system (EPS)
Or combination fault-free；
In step s 4, judging that driving vehicle exits long-range drive includes following one or any combination condition:
A) automatic Pilot request switch is in unactivated state；
B) driving vehicle gas pedal is stepped on；
C) driving vehicle brake pedal is stepped on；
D) driving vehicle steering wheel is operated；
E) electronic parking system (EPB) is by active activation；
F) key-off.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of unmanned vehicle tele-control system, which is characterized in that including vehicle control end and long-range driving manipulation end；
The long-range manipulation end that drives includes simulating vehicle ontology, is provided in simulating vehicle ontology for driver's real time inspection row
The vehicle displays of condition of road surface are sailed, the display signal of the display signal input part and simulating vehicle controller of vehicle displays is defeated
Outlet is connected；
Vehicle control end includes driving vehicle ontology, is provided with camera shooting head support in traveling vehicle body, on the support frame
It is mounted with the first camera and second camera for captured in real-time travel path situation, the first camera and second camera
Constitute binocular camera, the image signal output end of the first camera and the picture signal first input end of driving vehicle controller
It is connected, the image signal output end of second camera is connected with the second input terminal of picture signal of driving vehicle controller；
Simulating vehicle controller acquires the drive parameter of driver's drive simulation vehicle body, and driving vehicle ontology is according to receiving
Drive parameter traveling.
2. unmanned vehicle tele-control system according to claim 1, which is characterized in that further include being set to driving vehicle sheet
The time delay of intracorporal the first module of wireless receiving and dispatching and the second module of wireless receiving and dispatching, first module of wireless receiving and dispatching is received lower than wireless
Send out the time delay of the second module；The receiving and transmitting signal end of the first module of wireless receiving and dispatching and the first sending and receiving end of signal of driving vehicle controller
It is connected, the receiving and transmitting signal end of the second module of wireless receiving and dispatching is connected with the second sending and receiving end of signal of driving vehicle controller；
For same data information A, the first module of wireless receiving and dispatching is T at the time of receiving data information A1, wireless receiving and dispatching second
Module is T at the time of receiving data information A2If T2-T1> | T |, the T is default delay threshold, then driving vehicle control
Device control driving vehicle ontology processed is changed to automatic Pilot by remotely driving, control driving vehicle ontology parking.
3. unmanned vehicle tele-control system according to claim 1, which is characterized in that further include being set to driving vehicle sheet
In vivo for perceive pedal of whether stepping on the throttle accelerator pedal sensor, whether the brake pedal sensor of brake pedal
And whether one of the steering wheel sensor of steer direction disk or any combination；
The throttle signal output end of accelerator pedal sensor is connected with the throttle signal input terminal of driving vehicle controller, and braking is stepped on
The brake signal output end of plate sensor is connected with the brake signal input terminal of driving vehicle controller, the side of steering wheel sensor
It is connected to disk signal output end with the hand-wheel signal input terminal of driving vehicle controller；When accelerator pedal sensor perceives row
Sail that driver in vehicle body steps on the throttle pedal and/or brake pedal sensor perceives driver in driving vehicle ontology
Brake pedal and/or steering wheel sensor perceive driver's steer direction disk in driving vehicle ontology, then driving vehicle
Controller control driving vehicle ontology exits long-range driving.
4. unmanned vehicle tele-control system according to claim 1, which is characterized in that further include being set to driving vehicle sheet
In vivo and/or the intrinsic power module of simulating vehicle, the power module include the first power module and second power supply module；
First power module is 12V on-vehicle battery, and second source is 48V vehicle-mounted charge battery；
It further include voltage reduction module and/or boost module, the input of electric discharge first anode and voltage reduction module of 48V vehicle-mounted charge battery
Anode is connected, and the first cathode of electric discharge of 48V vehicle-mounted charge battery is connected with the input cathode of voltage reduction module, the output of voltage reduction module
Anode is connected with the charging anode of 12V on-vehicle battery, the charging cathode phase of the output negative pole and 12V on-vehicle battery of voltage reduction module
Even；The 48V voltage of 48V vehicle-mounted charge battery is converted to the 12V voltage of 12V on-vehicle battery by voltage reduction module；
The second anode of electric discharge of 48V vehicle-mounted charge battery is connected with the input anode of boost module, and 48V vehicle-mounted charge battery is put
Electric second cathode is connected with the input cathode of boost module；Boost module converts the 48V DC voltage of 48V vehicle-mounted charge battery
For 220V AC voltage.
5. unmanned vehicle tele-control system according to claim 1, which is characterized in that further include being arranged in driving vehicle sheet
No. 1 vehicle-mounted camera immediately ahead of body headstock, the image signal output end of No. 1 vehicle-mounted camera and the figure of driving vehicle controller
As signal third input terminal is connected；And/or further include that No. 2 vehicle-mounted cameras travelled on the left of vehicle body vehicle body are set, No. 2
The image signal output end of vehicle-mounted camera is connected with the 4th input terminal of picture signal of driving vehicle controller；And/or it also wraps
Include No. 3 vehicle-mounted cameras being arranged on the right side of traveling vehicle body vehicle body, the image signal output end and row of No. 3 vehicle-mounted cameras
The 5th input terminal of picture signal for sailing vehicle control device is connected；It and/or further include No. 4 vehicles that the traveling vehicle body tailstock is set
Carry camera, the 6th input terminal phase of picture signal of the image signal output end and driving vehicle controller of No. 4 vehicle-mounted cameras
Even；And/or further include No. 5 vehicle-mounted cameras that traveling vehicle body car is set, the picture signal of No. 5 vehicle-mounted cameras is defeated
Outlet is connected with the 7th input terminal of picture signal of driving vehicle controller.
6. unmanned vehicle tele-control system according to claim 1, which is characterized in that further include being set to driving vehicle sheet
In vivo for monitoring the driving vehicle accelerator open degree sensor of gas pedal opening size and/or for monitoring brake pedal aperture
The driving vehicle brake pedal jaw opening sensor of size and/or driving vehicle steering wheel angle for monitoring direction disk rotational angle
Spend sensor and/or for monitoring the bright driving vehicle left steering lamp sensor of left steering lamp and/or for monitoring right turn lamp
It bright driving vehicle right turn lamp sensor and/or the velocity sensor for monitoring driving vehicle travel speed and/or is used for
The radar sensor of monitoring and front vehicles distance；
The accelerator opening amount signal output end of driving vehicle accelerator open degree sensor and the accelerator opening amount signal of driving vehicle controller
Input terminal is connected, the system of braking the opening amount signal output end and driving vehicle controller of driving vehicle brake pedal jaw opening sensor
Dynamic opening amount signal input terminal is connected, the hand-wheel angle signal output end and driving vehicle of driving vehicle steering wheel angle sensor
The hand-wheel angle signal input terminal of controller is connected, the left steering modulating signal output end of driving vehicle left steering lamp sensor with
The left steering modulating signal input terminal of driving vehicle controller is connected, and the right turn modulating signal of driving vehicle right turn lamp sensor is defeated
Outlet is connected with the right turn modulating signal input terminal of driving vehicle controller, the speed signal output end and traveling of velocity sensor
The speed signal input terminal of vehicle control device is connected, the distance signal output end of radar sensor and driving vehicle controller away from
It is connected from signal input part；
And it is set in simulating vehicle ontology for monitoring the simulating vehicle accelerator open degree sensor of gas pedal opening size
And/or simulating vehicle brake pedal jaw opening sensor for monitoring brake pedal opening size and/or it is used for monitoring direction disk
It the simulating vehicle steering wheel angle sensor of rotational angle and/or is passed for monitoring the bright simulating vehicle left steering lamp of left steering lamp
Sensor and/or for monitoring the bright simulating vehicle right turn lamp sensor of right turn lamp；
The accelerator opening amount signal output end of simulating vehicle accelerator open degree sensor and the accelerator opening amount signal of simulating vehicle controller
Input terminal is connected, the system of braking the opening amount signal output end and simulating vehicle controller of simulating vehicle brake pedal jaw opening sensor
Dynamic opening amount signal input terminal is connected, the hand-wheel angle signal output end and simulating vehicle of simulating vehicle steering wheel angle sensor
The hand-wheel angle signal input terminal of controller is connected, the left steering modulating signal output end of simulating vehicle left steering lamp sensor with
The left steering modulating signal input terminal of simulating vehicle controller is connected, and the right turn modulating signal of simulating vehicle right turn lamp sensor is defeated
Outlet is connected with the right turn modulating signal input terminal of simulating vehicle controller.
7. a kind of unmanned vehicle long-range control method, which comprises the following steps:
S1, system initialization；
S2, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle opens and/or Travel vehicle
Whether controller detection driving vehicle ontology, which receives, long-range drives request start command；And whether it is delayed more than t1Second, institute
State t1Positive number；
S3, if driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is opened, and is delayed more than t1
Second；Then automatic Pilot initializes；
S4, whether the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle closes and/or Travel vehicle
Whether controller detection driving vehicle ontology, which receives, long-range drives request shutdown command；
S5 continues automatic if the intrinsic automatic Pilot request switch of driving vehicle controller detection driving vehicle is not turned off
It drives；Execute step S6；
If driving vehicle controller detects driving vehicle, intrinsic automatic Pilot request switch is closed, return step S1；
Whether S6, driving vehicle controller detection driving vehicle ontology receive long-range drive and request open command；
S7 starts long-range if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests open command
It drives；Execute step S8；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests open command, return step
S4；
Whether S8, driving vehicle controller detection driving vehicle ontology receive long-range drive and request shutdown command；
S9, if driving vehicle controller detection driving vehicle ontology, which receives long-range drive, requests shutdown command, return step
S1；
If driving vehicle controller detection driving vehicle ontology does not receive long-range drive and requests shutdown command, return step
S7。
8. unmanned vehicle long-range control method according to claim 7, which is characterized in that in long-range drive, judgement is wireless
It is pre- whether difference at the time of receiving and dispatching at the time of the first module receives data information A and send data information A is less than or equal to
If delay threshold T:
At the time of if the first module of wireless receiving and dispatching receives data information A and send data information A at the time of difference be less than or
Equal to default delay threshold T, then data information A is received, and continues long-range drive；
When difference at the time of the first module of wireless receiving and dispatching receives data information A and at the time of sending data information A is greater than default
Prolong threshold value T, then give up data information A, be adjusted to automatic Pilot by remotely driving, driving vehicle controller controls driving vehicle
Brake stop；After driving vehicle parking, it is connect again with simulating vehicle.
9. unmanned vehicle long-range control method according to claim 7, which is characterized in that in long-range drive, if Travel vehicle
The travel speed of ontology is more than or equal to default First Speed threshold value, then driving vehicle controller controls gas pedal aperture
Size reduces, the calculation method of gas pedal aperture are as follows:
Wherein, P0Simulating vehicle gas pedal opening value, V are monitored for simulating vehicle accelerator open degree sensor0To preset First Speed
Threshold value, V1For the travel speed of driving vehicle ontology, P is driving vehicle gas pedal opening value, and δ is accelerator open degree modifying factor
Son, and δ ∈ [0.973,1), φ is simulating vehicle throttle maximum opening value and driving vehicle throttle maximum opening value ratio；
When the travel speed of driving vehicle ontology is less than default second speed threshold value, default second speed threshold value is less than or equal to
Default First Speed threshold value, then driving vehicle accelerator open degree value is according to simulating vehicle accelerator open degree value
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default third speed threshold value, in advance
If third speed threshold value is greater than default First Speed threshold value, then it is transformed to automatic Pilot by remotely driving, by gas pedal aperture
Be reduced to zero, when the travel speed of driving vehicle ontology is less than default fourth speed threshold value, default fourth speed threshold value be less than or
Equal to default second speed threshold value, then it is transformed to remotely drive by automatic Pilot；
And/or in long-range drive, if the travel speed of driving vehicle ontology is more than or equal to default 5th threshold speed, in advance
If the 5th threshold speed is more than or equal to default third speed threshold value, then it is transformed to automatic Pilot by remotely driving, by throttle
Pedal opening is reduced to zero, and brakes to driving vehicle；The calculation method of its driving vehicle brake pedal speed are as follows:
Wherein, K is the braking amount before simulating vehicle is not braked, and K ' is the braking amount after simulating vehicle braking, and t ' is simulating vehicle
At the time of before braking, at the time of t is after simulating vehicle is braked, η is driving vehicle brake pedal maximum braking amount and simulating vehicle
Brake pedal maximum braking amount ratio；KnBraking amount when being braked for n-th；ΔtnBraking time when being braked for n-th；
Speed is trampled for what driving vehicle controller controlled driving vehicle brake pedal, and it is always secondary that N is that drive simulating person tramples brake pedal
Number simultaneously successfully brakes driving vehicle；When car speed is zero, then it is transformed to remotely drive by automatic Pilot；
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Xm, the X is positive
Number, and the speed of driving vehicle ontology is more than or equal to default 7th threshold speed, presets the 7th threshold speed less than default
First Speed threshold value, then driving vehicle controller sends alarm signal to simulating vehicle controller；
And/or in long-range drive, if driving vehicle ontology and front vehicles distance are less than or equal to Ym, the Y is small
In the positive number of X, and the speed of driving vehicle ontology is less than or equal to default 8th threshold speed, and it is small to preset the 8th threshold speed
In default 7th threshold speed, then it is transformed to automatic Pilot by remotely driving, gas pedal aperture is reduced to zero, and to Travel vehicle
Emergency braking.
10. unmanned vehicle long-range control method according to claim 7, which is characterized in that in step s 2, judge Travel vehicle
Entering long-range drive includes following one or any combination condition:
A) automatic Pilot request switch is active；
B) one of engine management system, body electronics systems stabilisation, electric boosting steering system or combination fault-free；
In step s 4, judging that driving vehicle exits long-range drive includes following one or any combination condition:
A) automatic Pilot request switch is in unactivated state；
B) driving vehicle gas pedal is stepped on；
C) driving vehicle brake pedal is stepped on；
D) driving vehicle steering wheel is operated；
E) electronic parking system is by active activation；
F) key-off.
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| 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 |
| 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 |
| 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 |
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