CN110266572A - A kind of remote vehicle control method and system - Google Patents
A kind of remote vehicle control method and system Download PDFInfo
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- CN110266572A CN110266572A CN201910573172.0A CN201910573172A CN110266572A CN 110266572 A CN110266572 A CN 110266572A CN 201910573172 A CN201910573172 A CN 201910573172A CN 110266572 A CN110266572 A CN 110266572A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- 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
-
- 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
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
-
- 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
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- 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
- H04L67/14—Session management
-
- 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
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Selective Calling Equipment (AREA)
- Telephonic Communication Services (AREA)
Abstract
The invention discloses a kind of method and systems of long-range control vehicle, which includes handheld terminal, car-mounted terminal and cloud server；It is communicated between the handheld terminal, car-mounted terminal and cloud server equipment by wireless network.The present invention also improves control stability while reducing vehicle refitting cost, to push the commercialization of vehicle remote control technology universal by being wirelessly connected the control for realizing handheld terminal to vehicle.
Description
Technical field
The present invention relates to vehicle remote control technology field, specially a kind of remote vehicle control method and system.
Background technique
With the development of artificial intelligence technology, unpiloted technology development is maked rapid progress, however due to external environment wink
Breath ten thousand becomes, and situation is complicated, and the prior art is not able to satisfy the demand of practical commercialization temporarily；And unmanned required vehicle needs
It redesigns, existing vehicle is generally unable to satisfy unmanned requirement, and the unpiloted cost of large-scale promotion is high.
Therefore, research remote vehicle control technology just becomes a kind of unpiloted technique complementary, or even being capable of conduct
Emergency plan when unmanned technical failure, in addition, long-range driving technology can help vehicle operator in some danger
Vehicle drive under situation provides safer operating environment, has ensured the safety of production operation environment.
Summary of the invention
The purpose of the present invention is to provide a kind of remote vehicle control method and systems, to make up the deficiencies in the prior art.
To achieve the above object, the invention provides the following technical scheme:
A kind of remote vehicle control method, which comprises
S1: after car-mounted terminal starting, first check for whether interior tele-control system is opened, if so, to cloud service
Device sends car-mounted terminal address information, and car-mounted terminal opens listening port, waits remote control notification instruction, such as interior long-range control
System processed is not switched on, then does not do any operation；
S2: after cloud server receives car-mounted terminal information, being set to true for long-range control preparation state, and by vehicle-mounted end
Address information is held to be stored in database；
S3: after handheld terminal starting, Xiang Suoshu cloud server requests specified car-mounted terminal information, when long-range control prepares
When state is true, car-mounted terminal address information is sent to handheld terminal by the cloud server；
S4: it after the handheld terminal receives car-mounted terminal address information, is initiated the connection simultaneously to the listening port of car-mounted terminal
Send control request；
S5: after the car-mounted terminal receives control request, reading car status information to vehicle ECU by can bus, when
Vehicle-state is in when can carry out long-range state of a control, is sent and is instructed to ECU by can bus, and line traffic control mode, line traffic control mould are opened
After formula is successfully opened, the car-mounted terminal is sent to the handheld terminal agrees to remote control commands and vehicle's current condition letter
Breath；
S6: after the car-mounted terminal agrees to the control request of the handheld terminal, Xiang Suoshu cloud server sends control
Success instructs, and sets false for the long-range state of a control on the cloud server；
S7: after the handheld terminal receives the agreement control feedback of the car-mounted terminal, the hand-held end can be passed through
The control equipment of end connection is remotely controlled.
Further, in the S7 step, the handheld terminal sends a secondary control to the car-mounted terminal every 20ms
Instruction.
Further, the above method is further comprising the steps of:
S8: after the car-mounted terminal receives control instruction, the instruction received is directly forwarded to vehicle by can bus
ECU, and car status information is forwarded to handheld terminal every 20ms；
S9: the car-mounted terminal sent a timestamp information to handheld terminal every 1 second, the vision for handheld terminal
The calculating of data transmission delay exits distance control mode if the video stream data delay of handheld terminal is greater than 1 second；
S10: the car-mounted terminal does not receive the control instruction that the handheld terminal is sent in 5 seconds and then releases line automatically
Control mode.
Further, in step S1, the car-mounted terminal address information includes: the address network ip, vehicle-mounted of car-mounted terminal
The ID number of terminal.
Further, in step S5, the car status information includes vehicle present speed information, engine speed, brake
The information such as car state, steering wheel angle and vehicle-mounted camera vision data collected.
Further, the velocity information in the car status information, engine speed, braking state, steering wheel angle
Deng by information collected by ECU without any processing, original can instruction is directly sent to handheld terminal.
Further, vehicle-mounted camera vision data collected is sent to hand after compressing by H264 compression algorithm
Hold terminal；The video stream data received is thrown to display screen after decompression by the handheld terminal.
Further, in step S5, the vehicle carries out long-range state of a control, is in level land, steering wheel for vehicle
The stationary state that angle is 0.
Further, in step S6 and S7, the control instruction that the handheld terminal is sent follows can command protocols.
Further, the handheld terminal can be used common PC keyboard, game paddle or game stearing wheel etc. as company
The control equipment connect.
A kind of system of long-range control vehicle, which includes handheld terminal, car-mounted terminal and cloud server；The hand
It holds and is communicated between terminal, car-mounted terminal and cloud server equipment by wireless network.
Compared to the prior art, the present invention has the following advantages and beneficial effects:
The present invention is by being wirelessly connected the control for realizing handheld terminal to vehicle, while reducing vehicle refitting cost
Control stability is improved, to push the commercialization of vehicle remote control technology universal.
The technology of the present invention realizes that simply required car-mounted terminal operand is small, can effectively save research and development cost.The present invention
The timestamp that car-mounted terminal and handheld terminal is added compares, and avoids the unlatching of the high lower remote control function that is delayed, it is ensured that answer
With the safety of scene.The present invention saves the address information of car-mounted terminal using cloud server, thus ensure that no matter
It can be realized the company remotely controlled under WLAN (WiFi) or use mobile cellular data network (4G or 5G) scene
It connects.
Detailed description of the invention
Fig. 1 is control system and method schematic diagram of the invention；
Fig. 2 is the status diagram of car-mounted terminal of the invention.
Specific embodiment
In order to enable those skilled in the art to be further understood that feature and technology contents of the invention, below in conjunction with attached drawing
The present invention is described in further detail with specific embodiment:
Embodiment 1:
As shown in Figs. 1-2, a kind of method of long-range control vehicle, comprising the following steps:
S1: after car-mounted terminal starting, into original state, checking whether interior long-range control hardware switch is opened, if
It is in the open state to control hardware switch, the information such as itself address ip, car-mounted terminal ID number are sent to cloud server, if cloud
After server reception information is fed back successfully, then enter listening state, such as interior long-range hardware switch that controls is not switched on, then is not appointed
What is operated, and is stopped in the initial state, is examined vehicle again after waiting 2 seconds and remotely control hardware switch state；
S2: after car-mounted terminal enters listening state, opening listening port, waits remote control notification instruction；
S3: after receiving car-mounted terminal status information on cloud server, long-range control preparation state is set to true, and will
Car-mounted terminal address information is stored in database；
S4: after handheld terminal starting, specified ID car-mounted terminal information is requested to cloud server, such as long-range control prepares shape
State is true, and car-mounted terminal address information is sent to handheld terminal by cloud server；
S5: it after handheld terminal receives return address information, is initiated the connection to the listening port of car-mounted terminal and sends control
Request；
S6: after car-mounted terminal receives control request, reading the status information of vehicle at this time to vehicle ECU by can bus,
Under the stationary state that vehicle-state is at level land, steering wheel angle is 0, it can remotely be controlled, pass through can bus
It sends and instructs to ECU, open line traffic control mode, after line traffic control mode is successfully opened, car-mounted terminal enters state of a control at this time；
S7: it after car-mounted terminal enters state of a control, is sent to handheld terminal agree to remote control commands first, then newly-built end
Mouth and thread are for sending the car status informations such as vehicle-mounted camera vision data collected；And it sends and controls to cloud server
Function instruction is made, wherein vehicle-mounted camera vision data collected is sent to hand-held whole after compressing by H264 compression algorithm
End；
S8: the control that cloud server receives car-mounted terminal successfully instructs, and sets false for long-range state of a control；
S9: it after handheld terminal receives the agreement control feedback of car-mounted terminal, initiates to connect to the newly-built port of car-mounted terminal
Connect, which is displayed on the screen the video flowing received for receiving video stream data, original connection for control instruction and
The states such as vehicle present speed information, engine speed, braking state, steering wheel angle send and receive；
S10: handheld terminal obtains the status information for connecting control equipment by carrying out periodic polling to control equipment,
The game stearing wheel of connection and the state of accelerator and brake pedal are read out every 20ms in this example, it is referred to according to can
Car-mounted terminal is sent to after enabling coding；
S11: after car-mounted terminal receives control instruction, the instruction received is directly forwarded to vehicle by can bus
ECU, and every 20ms by current vehicle condition information using can protocol code after be sent to handheld terminal；
S12: car-mounted terminal enclosed timestamp information in video stream data and car status information respectively every 1 second, used
In the calculating of the vision data propagation delay time of handheld terminal；
S13: when needing to stop the long-range control of vehicle, handheld device first passes through the car status information received at this time
Carry out judging whether to stop to control, when car status information show vehicle-state be in level land, steering wheel angle be 0 it is quiet
It only when state, is sent to car-mounted terminal and stops control instruction, mobile unit carries out a vehicle-state judgement again, confirms vehicle at this time
After remaining static, line traffic control is exited, exits remote control commands to cloud server transmission, car-mounted terminal enters monitoring shape
State；
S14: after cloud server receives the exit instruction of car-mounted terminal transmission, by the long-range control shape on cloud server
State is set as true；
S15: since vehicle is not in stationary state, cause handheld terminal transmission suspension control instruction failed, after 2 seconds
State judgement is carried out again；
S16: when the continuous 3 times transmissions that fail stop control instruction to handheld terminal in 4 seconds, popping up in handheld terminal is
No progress compulsory withdrawal prompt, selection, which is rear handheld terminal, sends compulsory withdrawal remote control commands to car-mounted terminal；
S17: after car-mounted terminal receives compulsory withdrawal remote control commands, into compulsory withdrawal state, with 50% it is defeated
Vehicle brake is stopped out, and with 0.5 π/s angular speed by steering wheel return to midpoint, after vehicle enters halted state, is taken to cloud
Compulsory withdrawal instruction is exited in business device transmission, and car-mounted terminal enters original state；
S18: after cloud server receives the compulsory withdrawal instruction of car-mounted terminal transmission, by the long-range control on cloud server
State processed is set as false；
S19: in addition, the video stream data delay when handheld terminal is greater than 1 second, then it is not necessarily to manual operation, handheld terminal is certainly
Trend car-mounted terminal sends compulsory withdrawal remote control commands；
S20: in addition, car-mounted terminal does not receive the control instruction of handheld terminal transmission then automatically into pressure in 5 seconds
The mode of secession.
Embodiment 2:
As shown in Figure 1, a kind of system of long-range control vehicle, which includes that handheld terminal, car-mounted terminal and cloud take
Business device；It is communicated between the handheld terminal, car-mounted terminal and cloud server equipment by wireless network；Each unit tool
Method and step in the communication modes such as embodiment of body.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
Embodiment described above is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the scope of protection of the invention.
Claims (10)
1. a kind of remote vehicle control method, which is characterized in that this method comprises:
S1: after car-mounted terminal starting, first checking for whether interior tele-control system is opened, if so, sending out to cloud server
Car-mounted terminal address information is sent, car-mounted terminal opens listening port, waits remote control notification instruction, such as interior long-range control system
System is not switched on, then does not do any operation；
S2: after cloud server receives car-mounted terminal information, long-range control preparation state is set to true, and by car-mounted terminal
Location information is stored in database；
S3: after handheld terminal starting, Xiang Suoshu cloud server requests specified car-mounted terminal information, when long-range control preparation state
When for true, car-mounted terminal address information is sent to handheld terminal by the cloud server；
S4: it after the handheld terminal receives car-mounted terminal address information, initiates the connection and sends to the listening port of car-mounted terminal
Control request；
S5: after the car-mounted terminal receives control request, car status information is read to vehicle ECU by can bus, works as vehicle
State is in when can carry out long-range state of a control, is sent and is instructed to ECU by can bus, opens line traffic control mode, line traffic control mode at
After function is opened, the car-mounted terminal is sent to the handheld terminal agrees to remote control commands and vehicle's current condition information；
S6: after the car-mounted terminal agrees to the control request of the handheld terminal, the transmission of Xiang Suoshu cloud server is controlled successfully
Instruction, sets false for the long-range state of a control on the cloud server；
S7: after the handheld terminal receives the agreement control feedback of the car-mounted terminal, can be connected by the handheld terminal
The control equipment connect is remotely controlled.
2. the method as described in claim 1, which is characterized in that in the S7 step, the handheld terminal is every 20ms to institute
It states car-mounted terminal and sends a control instruction.
3. the method as described in claim 1, which is characterized in that the method also includes following steps:
S8: after the car-mounted terminal receives control instruction, the instruction received is directly forwarded to vehicle by can bus
ECU, and car status information is forwarded to handheld terminal every 20ms；
S9: the car-mounted terminal sent a timestamp information to handheld terminal every 1 second, the vision data for handheld terminal
The calculating of propagation delay time exits distance control mode if the video stream data delay of handheld terminal is greater than 1 second；
S10: the car-mounted terminal does not receive the control instruction that the handheld terminal is sent in 5 seconds and then releases line traffic control mould automatically
Formula.
4. the method as described in claim 1, which is characterized in that in step S1, the car-mounted terminal address information includes: vehicle-mounted
The address network ip of terminal, car-mounted terminal ID number.
5. the method as described in claim 1, which is characterized in that in step S5, the car status information includes that vehicle is current
Velocity information, engine speed, braking state, steering wheel angle and vehicle-mounted camera vision data collected.
6. the method as described in claim 1, which is characterized in that velocity information, engine in the car status information turn
Speed, braking state, steering wheel angle etc., without any processing, are directly instructed original can by information collected by ECU
It is sent to handheld terminal.
7. the method as described in claim 1, which is characterized in that the vehicle-mounted camera vision data collected passes through H264
Handheld terminal is sent to after compression algorithm compression；The video stream data received is thrown to by the handheld terminal after decompression
Show screen.
8. the method as described in claim 1, which is characterized in that in step S5, the vehicle carries out long-range state of a control,
For the stationary state that vehicle is in level land, steering wheel angle is 0.
9. the method as described in claim 1, which is characterized in that in step S6 and S7, the control that the handheld terminal is sent refers to
Order follows can command protocols.
10. a kind of system of long-range control vehicle, which includes handheld terminal, car-mounted terminal and cloud server；The hand
It holds and is communicated between terminal, car-mounted terminal and cloud server equipment by wireless network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910573172.0A CN110266572B (en) | 2019-06-28 | 2019-06-28 | Remote vehicle control method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910573172.0A CN110266572B (en) | 2019-06-28 | 2019-06-28 | Remote vehicle control method and system |
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| CN110266572A true CN110266572A (en) | 2019-09-20 |
| CN110266572B CN110266572B (en) | 2021-08-13 |
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| CN110824982A (en) * | 2019-10-23 | 2020-02-21 | 武汉光庭信息技术股份有限公司 | ECU remote debugging method, server and storage medium |
| CN112068527A (en) * | 2020-08-14 | 2020-12-11 | 开沃新能源汽车集团股份有限公司 | Remote driving system and method |
| CN112492094A (en) * | 2020-12-01 | 2021-03-12 | 宁波波导易联电子有限公司 | Remote driving mobile terminal, remote driving system and remote driving method |
| WO2022127529A1 (en) * | 2020-12-16 | 2022-06-23 | 华为技术有限公司 | Communication system, method and apparatus |
| CN114884848A (en) * | 2022-03-18 | 2022-08-09 | 潍柴动力股份有限公司 | Vehicle-mounted networking terminal, debugging method, debugging device and debugging system thereof |
| WO2022227883A1 (en) * | 2021-04-25 | 2022-11-03 | 华为技术有限公司 | Method and apparatus for remote control |
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| Publication number | Publication date |
|---|---|
| CN110266572B (en) | 2021-08-13 |
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