CN112162546A - Method, system and storage medium for remote control of vehicle - Google Patents
Method, system and storage medium for remote control of vehicle Download PDFInfo
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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Abstract
The invention discloses a method for remotely controlling a vehicle, which comprises the following steps: when the intelligent terminal is successfully connected with the vehicle through the Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through the Bluetooth by the intelligent terminal; after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, and the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time; responding to the remote control instruction, the intelligent terminal sends the remote control instruction to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control instruction into a control instruction sent to a vehicle body control unit; the vehicle body control unit executes a control instruction to control the behavior of the vehicle. The invention also discloses a remote control vehicle system and a computer readable storage medium, which solve the problem that the traditional remote control vehicle can not be used in a complicated environment area.
Description
Technical Field
The present invention relates to the field of automatic driving, and more particularly, to a method, system, and storage medium for remotely controlling a vehicle.
Background
With the rapid development of the field of automatic driving, the technology of remote control vehicles is also applied more and more widely.
The traditional remote control vehicle applies an automatic obstacle avoidance function, so that the use range of remote control is limited, and the vehicle cannot be controlled by the remote control in a complex environment area.
Disclosure of Invention
The invention mainly aims to provide a remote control vehicle system, a method thereof and a computer storage medium, aiming at solving the problem that the traditional remote control vehicle cannot be used in a complicated environment area.
To achieve the above object, the present invention provides a method of remotely controlling a vehicle, comprising the steps of:
when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time;
responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
the vehicle body control unit executes the control instruction to control the behavior of the vehicle.
In one embodiment, after the step of sending a remote control request to the vehicle-mounted communication unit of the vehicle through bluetooth, the method further includes:
and if the remote control request is illegal, rejecting the remote control request.
In one embodiment, the method further comprises:
and if the vehicle state and the surrounding environment are detected not to be in accordance with the conditions of remote control driving, rejecting the remote control request.
In one embodiment, the step of turning off the active obstacle avoidance function of the vehicle includes:
detecting a vehicle state and a surrounding environment, and if the vehicle state and the surrounding environment accord with remote control driving conditions, detecting whether an obstacle avoidance function is started;
and if the obstacle avoidance function is started, closing the obstacle avoidance function, otherwise, keeping the obstacle avoidance function closed.
In one embodiment, the control command includes a forward command and a backward command, and the step of executing the control command by the vehicle body control unit includes:
when the vehicle is in a static state, if the forward command is continuously sent out, the vehicle is started and is controlled to continuously advance, and if the backward command is continuously sent out, the vehicle is started and is controlled to continuously retreat;
when a vehicle is in a forward state, if the forward command is received, the vehicle is controlled to continuously move forward, if the backward command is received, the vehicle is firstly controlled to stop, and if the backward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move backward;
when the vehicle is in a backward state, if the backward command is received, the vehicle is controlled to continuously backward, if the forward command is received, the vehicle is firstly controlled to stop, and if the forward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously forward.
In one embodiment, the control command further includes a steering command, and the step of executing the control command by the vehicle body control unit further includes:
when the vehicle is in a static state, controlling the vehicle to steer according to the steering command;
when the vehicle is in a motion state, the vehicle is controlled to stop running, and then the vehicle is controlled to steer according to the steering command.
In one embodiment, the method further comprises:
when the intelligent terminal is disconnected with the vehicle, the vehicle key is used for prompting to control the vehicle to stop running, and when the vehicle receives any control instruction sent by the vehicle key, the vehicle is controlled to stop running.
In one embodiment, the method further comprises:
any one of a starting instruction, a power-on instruction, a flameout instruction, a power-off instruction and a vehicle locking instruction is sent to the vehicle body controller through the vehicle-mounted communication unit, and the vehicle is controlled to execute corresponding operation according to the any one instruction.
To achieve the above object, the present invention also provides a remote-controlled vehicle system including a memory, a processor, and a remote-controlled vehicle program stored in the memory and executable on the processor, the remote-controlled vehicle program implementing the steps of the method for remotely controlling a vehicle as described above when executed by the processor.
To achieve the above object, the present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a remote-controlled vehicle program, which when executed by a processor, implements the steps of the method of remotely controlling a vehicle as described above.
According to the remote control vehicle system, the method and the computer storage medium thereof, when the intelligent terminal is successfully connected with the vehicle through the Bluetooth, the intelligent terminal responds to a remote control starting instruction and sends a remote control request to a vehicle-mounted communication unit of the vehicle through the Bluetooth; after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, and the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time; responding to the remote control instruction, the intelligent terminal sends the remote control instruction to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control instruction into a control instruction sent to a vehicle body control unit; the vehicle body control unit executes a control instruction to control the behavior of the vehicle. Because the vehicle receives the remote control request of the terminal, the active obstacle avoidance function of the vehicle can be closed, the behavior of the vehicle can be remotely controlled in real time by a user through the intelligent terminal outside the vehicle, and the purpose of remotely controlling the vehicle in a complex environment area can be achieved, so that the problem that the traditional remote control vehicle cannot be used in the complex environment area is solved.
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FIG. 1 is a schematic diagram of a remote control vehicle system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a method of remotely controlling a vehicle in accordance with the present invention;
FIG. 3 is a schematic flow chart diagram of a second embodiment of a method of remotely controlling a vehicle in accordance with the present invention;
FIG. 4 is a schematic flow chart diagram of a third embodiment of a method of remotely controlling a vehicle in accordance with the present invention;
FIG. 5 is a schematic flow chart diagram of a fourth embodiment of a method of remotely controlling a vehicle in accordance with the present invention;
FIG. 6 is a schematic flow chart diagram of a fifth embodiment of a method of remotely controlling a vehicle in accordance with the present invention;
fig. 7 is a flowchart illustrating a sixth embodiment of a method of remotely controlling a vehicle according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: when the intelligent terminal is successfully connected with the vehicle through the Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through the Bluetooth by the intelligent terminal; after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, and the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time; responding to the remote control instruction, the intelligent terminal sends the remote control instruction to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control instruction into a control instruction sent to a vehicle body control unit; the vehicle body control unit executes a control instruction to control the behavior of the vehicle. Because the vehicle receives the remote control request of the terminal, the active obstacle avoidance function of the vehicle can be closed, the behavior of the vehicle can be remotely controlled in real time by a user through the intelligent terminal outside the vehicle, and the purpose of remotely controlling the vehicle in a complex environment area can be achieved, so that the problem that the traditional remote control vehicle cannot be used in the complex environment area is solved.
As an implementation manner, as shown in fig. 1, fig. 1 is a schematic structural diagram of a remote control vehicle system according to an embodiment of the present invention.
The remote control vehicle system 1000 includes a vehicle 1100, a vehicle-mounted communication unit 1110 mounted on the vehicle, a vehicle body control unit 1120 mounted on the vehicle, a smart terminal 1200, a key 1300; vehicle-mounted communication unit 1110 is connected with intelligent terminal 1200 in a communication manner, vehicle-mounted communication unit 1110 is connected with vehicle body control unit 1120 in a communication manner, vehicle-mounted communication unit 1110 is connected with vehicle body controller 1121 in a communication manner, and key 1300 is connected with vehicle 1100 in a communication manner. The body control unit 1120 includes a body controller 1121, at least one processor (e.g., CPU)1122, and a memory 1123.
It is to be understood that the memory 1123 in embodiments of the present invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 1123 of the systems and methods described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
For a software implementation, the techniques described in this disclosure may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described in this disclosure. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Based on the above structure, an embodiment of the method of remotely controlling a vehicle of the present invention is presented.
Referring to fig. 2, fig. 2 is a first embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S110, when the intelligent terminal successfully establishes Bluetooth connection with a vehicle, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle by the intelligent terminal through Bluetooth;
step S120, after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, the vehicle enters a remote control mode, and a vehicle body control unit monitors a control instruction from a vehicle-mounted communication unit in real time;
step S130, responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
in step S140, the vehicle body control unit executes the control command to control the behavior of the vehicle.
In the present embodiment, the remote control means a technique for controlling a remote controlled object via a communication medium, and includes an operation device, an encoding device, a transmission device, a channel, a reception device, a decoding device, an actuator, and the like. Vehicles include, but are not limited to, cars, SUV vehicles, vans, trucks, JEEP vehicles, and the like. The smart terminal includes, but is not limited to, a smart phone, a tablet computer, a multimedia player, an e-reader, a wearable smart device, and the like. The Bluetooth technology is a global specification for wireless data and voice communication, and is a special short-range wireless technology connection for establishing a communication environment for fixed and mobile equipment based on low-cost short-range wireless connection; bluetooth enables some portable mobile devices and computer devices today to connect to the internet without a cable and have wireless access to the internet. The intelligent terminal and a vehicle successfully establish communication connection through a Bluetooth technology, the intelligent terminal is loaded with a corresponding application program, when a user selects to enter a manual remote control mode, the intelligent terminal sends a remote control request to a vehicle-mounted communication unit through Bluetooth, the vehicle-mounted communication unit is a unit in communication connection with the intelligent terminal, preferably a User Connection Unit (UCU) converts a Bluetooth instruction signal sent by the intelligent terminal into a CAN communication signal, and the CAN is a serial communication protocol of ISO international standardization, which is short for a Controller Area Network (CAN). The remote control request refers to a control request sent by a user to the vehicle-mounted communication unit through the intelligent terminal.
In this embodiment, the vehicle receives the remote control request sent by the intelligent terminal, and the automatic obstacle avoidance function of the vehicle is actively closed. The technical principle of the automatic obstacle avoidance function can be based on a binocular stereoscopic vision technology, and the vision process is described through a vision calculation theory, so that the automatic obstacle avoidance is achieved. The vehicle enters a remote control mode, a vehicle body control unit monitors a control instruction from a vehicle-mounted communication unit in real time, the vehicle body control unit is a unit for receiving the control instruction of the vehicle-mounted communication unit and controlling the vehicle to complete each action according to the control instruction, and the vehicle body control unit is composed of a plurality of controller actuators, preferably an Advanced Driving Assistance System (ADAS) controller, a vehicle Body Controller (BCM), an Electronic Brake System (EBS), an electronic power steering system (EPS), a Vehicle Control Unit (VCU), an electronic parking brake system (EPB), a vehicle body electronic stability control system (ESC) and the like.
In this embodiment, the vehicle responds to the remote control command sent by the intelligent terminal, and it should be noted that the remote control command includes, but is not limited to, a forward command, a backward command, a left turn command, a right turn command, and a pause command. The intelligent terminal sends a remote control command to the vehicle-mounted communication unit through the Bluetooth, the vehicle-mounted communication unit sends the remote control command to the vehicle body control unit, and preferably, the user connection unit converts a Bluetooth remote control command signal sent by the intelligent terminal into a CAN communication signal and sends the CAN communication signal to the vehicle body control unit.
In the embodiment, the vehicle body control unit controls the vehicle to complete various behavior actions according to the control command signal sent by the vehicle-mounted communication unit, for example, the vehicle body control unit controls the vehicle to advance according to an advancing control command signal, controls the vehicle to steer in place according to a steering command signal, and the like.
In the technical scheme provided by the embodiment, when the intelligent terminal is successfully connected with the vehicle through the Bluetooth, the intelligent terminal responds to a remote control starting instruction and sends a remote control request to a vehicle-mounted communication unit of the vehicle through the Bluetooth; after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, and the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time; responding to the remote control instruction, the intelligent terminal sends the remote control instruction to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control instruction into a control instruction sent to a vehicle body control unit; the vehicle body control unit executes a control instruction to control the behavior of the vehicle. Because the vehicle receives the remote control request of the terminal, the active obstacle avoidance function of the vehicle can be closed, the behavior of the vehicle can be remotely controlled in real time by a user through the intelligent terminal outside the vehicle, and the purpose of remotely controlling the vehicle in a complex environment area can be achieved, so that the problem that the traditional remote control vehicle cannot be used in the complex environment area is solved.
Referring to fig. 3, fig. 3 is a second embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S210, when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
step S220, if the remote control request is illegal, the remote control request is rejected.
Compared with the first embodiment, the second embodiment includes step S220, and if the remote control request is illegal, the remote control request is rejected. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, if the remote control request sent by the intelligent terminal is illegal, the remote control request sent by the terminal is rejected, for example, a brake system of a vehicle is in a failure state, and at this time, if the vehicle enters a remote control mode, an accident may occur, and the vehicle body control unit rejects the remote control request from the intelligent terminal. The vehicle-mounted communication unit can verify the intelligent terminal sending the remote control request to confirm the identity of the vehicle owner, and if the intelligent terminal sending the remote control request is verified not to be the vehicle owner through the vehicle-mounted communication unit, the remote control request from the intelligent terminal is rejected.
In the technical scheme provided by the embodiment, if the remote control request sent by the intelligent terminal is illegal, the remote control request sent by the terminal is rejected, and the safety of the vehicle is ensured.
Referring to fig. 4, fig. 4 is a third embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S310, when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
step S320, if it is detected that the vehicle state and the surrounding environment do not meet the conditions for remote control driving, rejecting the remote control request.
Compared with the first embodiment, the second embodiment includes step S320, and if it is detected that the vehicle state and the surrounding environment do not meet the conditions for remote control driving, the remote control request is rejected. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, the vehicle body control unit, preferably the ADAS controller, detects the state of the vehicle in real time, and the radar and the camera mounted on the vehicle collect the environmental information around the vehicle in real time, preferably 12 ultrasonic radars, an ultrasonic radar controller, and 4 panoramic cameras mounted on the vehicle collect the environmental information around the vehicle in real time, and transmit the collected environmental information to the vehicle body control unit, and if it is detected that the state of the vehicle and the surrounding environment do not meet the remote control driving condition, the remote control request transmitted by the intelligent terminal is rejected. For example, if the ADAS controller detects that a steering system of the vehicle has a fault, the ADAS controller does not satisfy the remote control driving condition, and rejects the remote control request; and (3) the ADAS controller detects that the electronic stability control system (ESC) of the vehicle body of the vehicle has a fault, if the ESC does not meet the remote control driving condition, the ADAS controller refuses the remote control request. For example, obstacles exist around the vehicle collected through the camera and the radar, and the remote control request is refused if the conditions of remote control driving are not met; the method comprises the steps that objects (such as people, vehicles and animals) moving towards a vehicle in front of the vehicle are collected through a camera and a radar, and if the remote control request of the intelligent terminal is accepted and potential safety hazards possibly exist, the remote control request is refused.
In the technical scheme provided by the embodiment, the vehicle state is detected through the vehicle body control unit, the vehicle surrounding environment information is collected through the camera and the radar, and when the vehicle state and the vehicle surrounding environment information do not meet the remote control driving condition, the remote control request is refused, so that the safety of the vehicle is ensured.
Referring to fig. 5, fig. 5 is a fourth embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S410, when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
step S420, after the vehicle receives the remote control request, detecting a vehicle state and a surrounding environment, and if the vehicle state and the surrounding environment accord with remote control driving conditions, detecting whether an obstacle avoidance function is started;
step S430, if the obstacle avoidance function is started, the obstacle avoidance function is closed, otherwise, the obstacle avoidance function is kept closed, and a remote control mode is entered, and the vehicle body control unit monitors a control instruction from the vehicle-mounted communication unit in real time;
step S440, responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
and step S450, the vehicle body control unit executes the control command to control the behavior of the vehicle.
Compared with the first embodiment, the third embodiment includes step S420, after the vehicle receives the remote control request, detecting a vehicle state and a surrounding environment, and if the vehicle state and the surrounding environment meet a remote control driving condition, detecting whether an obstacle avoidance function is turned on. And S430, if the obstacle avoidance function is started, closing the obstacle avoidance function, otherwise, keeping the obstacle avoidance function closed, and entering a remote control mode, wherein the vehicle body control unit monitors a control instruction from the vehicle-mounted communication unit in real time. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, after the vehicle receives the remote control request sent by the intelligent terminal, the vehicle body control unit, preferably the ADAS controller, detects the state of the vehicle in real time, the radar and the camera mounted on the vehicle collect the environmental information around the vehicle in real time, preferably, the vehicle body control unit, when the radar and the camera mounted on the vehicle collect the environmental information around the vehicle in real time, and sends the collected environmental information to the vehicle body control unit, if the state of the vehicle is normal and the surrounding environmental information meets the remote control driving condition, for example, if there is no obstacle around the vehicle to prevent the vehicle from operating normally. The vehicle body control unit detects whether the obstacle avoidance function of the vehicle is in an open state. If the obstacle avoidance function of the vehicle is in an opening state, the vehicle body control unit closes the obstacle avoidance function, if the obstacle avoidance function of the vehicle is in a closing state, the obstacle avoidance function closing state is kept, the vehicle enters a remote control mode, the vehicle body control unit, preferably an ADAS controller, monitors a control instruction signal from the vehicle-mounted communication unit in real time, and the control instruction signal of the vehicle-mounted communication unit is a control instruction signal sent by a user through an intelligent terminal.
In the technical scheme provided by the embodiment, the vehicle receives a remote control request of the intelligent terminal, the vehicle body control unit detects the state of the vehicle, the camera and the radar acquire environmental information around the vehicle, the vehicle enters a remote control mode when remote control driving conditions are met, meanwhile, whether the vehicle obstacle avoidance function is started or not is detected, if the vehicle obstacle avoidance function is started, the vehicle body control unit is closed, and if the vehicle body control unit is closed, the vehicle body control unit monitors a control instruction from the vehicle-mounted communication unit in real time. Due to the fact that the obstacle avoidance function is closed, the vehicle can be controlled to operate in a remote control mode under the complex environment, user experience is improved, and the application range of the remote control vehicle is expanded.
Referring to fig. 6, fig. 6 is a fifth embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S510, when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
step S520, after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, the vehicle enters a remote control mode, and a vehicle body control unit monitors a control instruction from a vehicle-mounted communication unit in real time;
step S530, responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
step S540, when the vehicle is in a static state, if the forward command is continuously sent out, the vehicle is started and is controlled to continuously advance, and if the backward command is continuously sent out, the vehicle is started and is controlled to continuously retreat; when a vehicle is in a forward state, if the forward command is received, the vehicle is controlled to continuously move forward, if the backward command is received, the vehicle is firstly controlled to stop, and if the backward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move backward; when the vehicle is in a backward state, if the backward command is received, the vehicle is controlled to continuously backward, if the forward command is received, the vehicle is firstly controlled to stop, and if the forward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously forward.
Compared with the first embodiment, the fourth embodiment comprises a step S540, when the vehicle is in a static state, if the forward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move forward, and if the backward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move backward; when a vehicle is in a forward state, if the forward command is received, the vehicle is controlled to continuously move forward, if the backward command is received, the vehicle is firstly controlled to stop, and if the backward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move backward; when the vehicle is in a backward state, if the backward command is received, the vehicle is controlled to continuously backward, if the forward command is received, the vehicle is firstly controlled to stop, and if the forward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously forward. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, when the vehicle is in a stationary state, if the forward command is continuously sent, it is understood that the intelligent terminal used by the user is loaded with a corresponding application program, and presses the forward control key for a long time, the intelligent terminal sends a bluetooth forward control command signal to the vehicle-mounted communication unit through bluetooth, the vehicle-mounted communication unit converts the bluetooth forward control command signal into a CAN communication signal and sends the CAN communication signal to the vehicle control unit, and the vehicle control unit starts the vehicle and controls the vehicle to continuously advance; if the backward command is continuously sent, namely the backward command is transmitted in the same way as the forward command signal, the vehicle control unit controls the vehicle to continuously backward according to the backward CAN communication signal. For example, when a vehicle is in a parking lot and needs to advance through a straight road, a user presses an advance control key for a long time through an intelligent terminal to send a Bluetooth advance control command signal to a vehicle-mounted communication unit, the vehicle-mounted communication unit converts the Bluetooth advance control command signal into a CAN communication signal and sends the CAN communication signal to a vehicle control unit, and the vehicle control unit controls the vehicle to continuously advance on the straight road.
In this embodiment, when the vehicle is in a forward state, if the forward command is continuously sent, it is understood that the intelligent terminal used by the user is loaded with a corresponding application program, and presses the forward control key for a long time, the intelligent terminal sends a bluetooth forward control command signal to the vehicle-mounted communication unit through bluetooth, the vehicle-mounted communication unit converts the bluetooth forward control command signal into a CAN communication signal and sends the CAN communication signal to the vehicle control unit, and the vehicle control unit controls the vehicle to continuously advance; if the reverse command is received, the vehicle control unit controls the vehicle to stop firstly, and if the reverse command is continuously sent, the vehicle control unit controls the vehicle to continuously reverse.
In this embodiment, when the vehicle is in a backward state, if a backward command is continuously sent, it is understood that a corresponding application program is loaded on an intelligent terminal used by a user, a backward control key is pressed for a long time, the intelligent terminal sends a bluetooth backward control command signal to a vehicle-mounted communication unit through bluetooth, the vehicle-mounted communication unit converts the bluetooth backward control command signal into a CAN communication signal and sends the CAN communication signal to a vehicle control unit, and the vehicle control unit controls the vehicle to continuously backward; if the forward command is received, the vehicle control unit controls the vehicle to stop firstly, and if the forward command is continuously sent, the vehicle control unit controls the vehicle to continuously advance.
In the technical scheme provided by the embodiment, the vehicle is controlled to move forwards or backwards respectively under three conditions of a static state, a forward state and a backward state, so that the experience of a user is improved.
Referring to fig. 7, fig. 7 is a sixth embodiment of a method of remotely controlling a vehicle according to the present invention, the method including the steps of:
step S610, when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
step S620, after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, the vehicle enters a remote control mode, and a vehicle body control unit monitors a control instruction from a vehicle-mounted communication unit in real time;
step S630, responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
step S640, controlling the vehicle to steer according to the steering command when the vehicle is in a static state; when the vehicle is in a motion state, the vehicle is controlled to stop running, and then the vehicle is controlled to steer according to the steering command.
Compared with the first embodiment, the fifth embodiment comprises a step S640 of controlling the vehicle to steer according to the steering command when the vehicle is in a stationary state; when the vehicle is in a motion state, the vehicle is controlled to stop running, and then the vehicle is controlled to steer according to the steering command. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, when the vehicle is in a stationary state, if a steering command is issued, it is understood that a user presses a direction control key using a corresponding application program on the smart terminal, the smart terminal sends a bluetooth direction control command signal to the vehicle-mounted communication unit through bluetooth, the vehicle-mounted communication unit converts the bluetooth direction control command signal into a CAN communication signal and sends the CAN communication signal to the vehicle control unit, and the vehicle control unit controls the vehicle to turn left or right in place. For example, when a vehicle is in a parking lot, the vehicle needs to turn left to enter another road, a user presses a left turn control key through an intelligent terminal to send a Bluetooth left turn control instruction signal to a vehicle-mounted communication unit, the vehicle-mounted communication unit converts the Bluetooth left turn control instruction signal into a CAN communication signal and sends the CAN communication signal to a vehicle control unit, and the vehicle control unit controls the vehicle to turn left in place.
In this embodiment, when the vehicle is in a moving state, if a steering command is sent, it is understood that a user presses a direction control key by using a corresponding application program on the intelligent terminal, the intelligent terminal sends a bluetooth direction control command signal to the vehicle-mounted communication unit through bluetooth, the vehicle-mounted communication unit converts the bluetooth direction control command signal into a CAN communication signal and sends the CAN communication signal to the vehicle control unit, the vehicle control unit controls the vehicle to stop first, and then the vehicle control unit controls the vehicle to turn left or right in place. For example, when a vehicle is in a parking lot and moves forward on a designated road, the vehicle needs to turn right to enter the next road, a user presses a right turn control key through an intelligent terminal to send a Bluetooth right turn control instruction signal to a vehicle-mounted communication unit, the vehicle-mounted communication unit converts the Bluetooth right turn control instruction signal into a CAN communication signal and sends the CAN communication signal to a vehicle control unit, and the vehicle control unit controls the vehicle to stop moving forward and then controls the vehicle to turn right in place.
In the technical scheme provided by the embodiment, the vehicle is respectively controlled to rotate left or right in place under the two conditions of the vehicle in a static state and the vehicle in a moving state, so that the experience of a user is improved.
In the embodiment, when the intelligent terminal is disconnected with the vehicle, the vehicle key is used for controlling the vehicle to stop running, and when the vehicle receives any control instruction sent by the vehicle key, the vehicle is controlled to stop running.
In the present embodiment, when the smart terminal loses connection with the vehicle, for example, the vehicle communication unit transmits a failure; the intelligent terminal is in failure; the distance between the intelligent terminal and the vehicle exceeds the Bluetooth signal transmission range. The user is prompted to use the vehicle key to control the vehicle to stop running, the user CAN press any control key on the vehicle key, the vehicle key CAN send a control instruction signal to the vehicle control unit, preferably the vehicle key sends an electromagnetic wave signal to a vehicle Body Controller (BCM), the vehicle body controller converts the electromagnetic wave signal into a CAN communication signal and sends the CAN communication signal to an ADAS controller, and the ADAS controller controls the vehicle to stop running.
In the technical scheme provided by the embodiment, when the intelligent terminal is disconnected with the vehicle, a user presses any key of a vehicle key to send an electromagnetic wave signal to the vehicle body controller, the vehicle body controller converts the electromagnetic wave signal into a CAN communication signal and sends the CAN communication signal to the ADAS controller to control the vehicle to stop, and the vehicle is controlled to stop in an emergency to stop running in real time, so that the safety of the process of remotely controlling the vehicle is ensured.
In the above embodiment, the vehicle-mounted communication unit sends any one of a starting instruction, a power-on instruction, a flameout instruction, a power-off instruction and a vehicle locking instruction to the vehicle body controller, and the vehicle is controlled to execute corresponding operation according to the any one of the instructions.
In this embodiment, a user CAN send any one of a start instruction, a power-on instruction, a flameout instruction, a power-off instruction and a vehicle locking instruction to the vehicle-mounted communication unit at an application program corresponding to the intelligent terminal, the vehicle-mounted communication unit converts the bluetooth instruction signals into corresponding CAN communication signals and sends the CAN communication signals to the vehicle body controller and the ADAS controller, and the ADAS controller controls the vehicle to execute any one of start operation, power-on operation, flameout operation, power-off operation and vehicle locking operation according to the signals. For example, after the vehicle is used up, a user forgets to lock the vehicle, and then CAN select to send a bluetooth vehicle locking instruction signal to the vehicle-mounted communication unit in the application program corresponding to the intelligent terminal, the vehicle-mounted communication unit converts the bluetooth vehicle locking instruction signal into a CAN communication signal and sends the CAN communication signal to the vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to execute the vehicle locking operation. For example, in cold winter, when a user needs to use the vehicle, ignition of the vehicle may be slow, the user CAN select to send a bluetooth ignition instruction signal to the vehicle-mounted communication unit in an application program corresponding to the intelligent terminal, the vehicle-mounted communication unit converts the bluetooth ignition instruction signal into a CAN communication signal and sends the CAN communication signal to the vehicle body controller, and the vehicle body controller controls the vehicle to perform ignition operation.
In the technical scheme provided by this embodiment, a user can send any one of a start instruction, a power-on instruction, a flameout instruction, a power-off instruction and a vehicle locking instruction to a vehicle in an application program corresponding to the intelligent terminal, and the vehicle control unit controls the vehicle to execute corresponding operations, so that the user can control the vehicle to complete vehicle start/power-on/flameout/power-off/vehicle locking and other operations at any time on the intelligent terminal, the experience of the user is improved, and the operation of the user is more convenient.
The present invention also provides a remote-controlled vehicle system comprising a memory, a processor, and a remote-controlled vehicle program stored in the memory and executable on the processor, the remote-controlled vehicle program, when executed by the processor, implementing the steps of the method of remotely controlling a vehicle as described above.
The present invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a remote-controlled vehicle program, which when executed by a processor implements the steps of the method of remotely controlling a vehicle as described above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of remotely controlling a vehicle, comprising the steps of:
when the intelligent terminal is successfully connected with the vehicle through Bluetooth, responding to a remote control starting instruction, and sending a remote control request to a vehicle-mounted communication unit of the vehicle through Bluetooth by the intelligent terminal;
after the vehicle receives the remote control request, the active obstacle avoidance function of the vehicle is closed, the vehicle enters a remote control mode, and a vehicle body control unit on the vehicle monitors a control instruction from a vehicle-mounted communication unit in real time;
responding to a remote control command, the intelligent terminal sends the remote control command to a vehicle-mounted communication unit of the vehicle through Bluetooth, and the vehicle-mounted communication unit converts the remote control command into a control command sent to a vehicle body control unit;
the vehicle body control unit executes the control instruction to control the behavior of the vehicle.
2. The method of claim 1, wherein after the step of the smart terminal sending a remote control request to the vehicle's on-board communication unit via bluetooth, further comprising:
and if the remote control request is illegal, rejecting the remote control request.
3. The method of remotely controlling a vehicle of claim 1, further comprising:
and if the vehicle state and the surrounding environment are detected not to be in accordance with the conditions of remote control driving, rejecting the remote control request.
4. The method of remotely controlling a vehicle as described in claim 1, wherein said step of disabling an active obstacle avoidance function of the vehicle comprises:
detecting a vehicle state and a surrounding environment, and if the vehicle state and the surrounding environment accord with remote control driving conditions, detecting whether an obstacle avoidance function is started;
and if the obstacle avoidance function is started, closing the obstacle avoidance function, otherwise, keeping the obstacle avoidance function closed.
5. The method of remotely controlling a vehicle of claim 1, wherein the control commands include a forward command, a reverse command, and the step of the body control unit executing the control commands includes:
when the vehicle is in a static state, if the forward command is continuously sent out, the vehicle is started and is controlled to continuously advance, and if the backward command is continuously sent out, the vehicle is started and is controlled to continuously retreat;
when a vehicle is in a forward state, if the forward command is received, the vehicle is controlled to continuously move forward, if the backward command is received, the vehicle is firstly controlled to stop, and if the backward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously move backward;
when the vehicle is in a backward state, if the backward command is received, the vehicle is controlled to continuously backward, if the forward command is received, the vehicle is firstly controlled to stop, and if the forward command is continuously sent, the vehicle is started and the vehicle is controlled to continuously forward.
6. The method of remotely controlling a vehicle of claim 1, wherein the control instructions further comprise steering instructions, the step of the body control unit executing the control instructions further comprising:
when the vehicle is in a static state, controlling the vehicle to steer according to the steering command;
when the vehicle is in a motion state, the vehicle is controlled to stop running, and then the vehicle is controlled to steer according to the steering command.
7. The method of remotely controlling a vehicle of claim 1, further comprising:
when the intelligent terminal is disconnected with the vehicle, the vehicle key is prompted to control the vehicle to stop running, and when the vehicle receives any control instruction sent by the vehicle key, the vehicle is controlled to stop running.
8. The method of remotely controlling a vehicle of claim 1, further comprising:
any one of a starting instruction, a power-on instruction, a flameout instruction, a power-off instruction and a vehicle locking instruction is sent to the vehicle body controller through the vehicle-mounted communication unit, and the vehicle is controlled to execute corresponding operation according to the any one instruction.
9. A remotely controlled vehicle system comprising a memory, a processor, and a remotely controlled vehicle program stored in said memory and executable on said processor, said remotely controlled vehicle program when executed by said processor implementing the steps of the method of remotely controlling a vehicle as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a remotely controlled vehicle program which, when executed by a processor, carries out the steps of the method of remotely controlling a vehicle according to any one of claims 1-8.
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