CN113759804B - Method and system for vehicle remote control - Google Patents
Method and system for vehicle remote control Download PDFInfo
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- CN113759804B CN113759804B CN202111121022.XA CN202111121022A CN113759804B CN 113759804 B CN113759804 B CN 113759804B CN 202111121022 A CN202111121022 A CN 202111121022A CN 113759804 B CN113759804 B CN 113759804B
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- 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
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The embodiment of the invention discloses a method and a system for vehicle remote control, wherein the method comprises the following steps: collecting control signals of an analog driving kit in a remote cockpit, wherein the control signals comprise an accelerator pedal opening degree and a change rate, and a brake pedal opening degree and a change rate; deciding a vehicle speed control mode according to the opening degree of an accelerator pedal and a brake pedal; receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal, wherein the vehicle state data comprises the actual speed and gear of the vehicle; according to the vehicle speed control mode, calculating an expected vehicle speed by combining vehicle state data; and generating a desired control instruction, and issuing the control instruction to the vehicle-mounted terminal for controlling the operation of the vehicle. According to the embodiment of the invention, the expected speed is determined based on the pedal opening, the change rate and the vehicle state data, and the vehicle state data is applied to calculation of the expected command, so that the change amount of the expected command relative to the vehicle state can be effectively reduced, and the vehicle state change is smoother.
Description
Technical Field
The invention relates to the field of intelligent network automobiles, in particular to a method and a system for remote control of a vehicle.
Background
The development of intelligent networked automobiles now presents new challenges for safety and economy, and the application of remote driving of vehicles is becoming more and more widespread. Under the scenes of severe environments, complex terrains or unknown environmental areas, such as open-air mines, rescue, exploration operations and the like, the remote driving technology of the vehicle can effectively improve the working environment and improve the safety of personnel. Meanwhile, the remote control technology can be used for carrying out emergency connection under the condition that the unmanned system fails, so that a safer and more reliable rear shield is provided for the unmanned automobile, and commercialization of the unmanned automobile is quickened.
The patent with publication number CN107589745A proposes a vehicle remote driving method, which provides driving scene panoramic information and driving auxiliary function for remote personnel to reduce remote operation difficulty. This solution focuses on improving the remote driving experience, but ignores the running state of the vehicle. The publication CN107554517a proposes a vehicle remote driving system in which a communication connection is established between a master vehicle and a controlled vehicle so that the controlled vehicle can perform a corresponding operation according to the operation of the master vehicle, but this solution does not guarantee the actual control effect of the vehicle.
The existing vehicle remote control system and remote control method are mostly used for realizing the basic functions of remote control and improving driving experience, neglecting the actual control effect of the vehicle, and have the problems of frequent acceleration and deceleration of the vehicle, large vehicle speed fluctuation, poor vehicle running smoothness, adverse operation safety and energy consumption reduction.
Disclosure of Invention
Embodiments of the present invention provide a method and system for remote control of a vehicle that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
To achieve the above object, the present invention provides a method for remote control of a vehicle, comprising the steps of:
step 4, calculating the expected vehicle speed according to the vehicle speed control mode determined in the step 2 and the vehicle state data analyzed in the step 3;
and 5, generating a desired control instruction based on the desired vehicle speed calculated in the step 4, and issuing the desired control instruction to the vehicle-mounted terminal, wherein the desired control instruction is used for controlling the running of the vehicle.
Preferably, step 4 includes:
when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
Preferably, when the determined vehicle speed control mode is the braking control or the acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed in step 3 f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
Preferably, the calculation is performed by a pedal ambiguity identifierGenerating the acceleration a f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that a used pedal opening blurring amount and a pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
Preferably, when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act For the absolute value of the actual vehicle speed in step 3, k is a preset transition coefficient, v 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
The embodiment of the invention also provides a system for vehicle remote control, which comprises a remote cockpit 1, a server end 2 and a vehicle-mounted terminal 3, wherein the remote cockpit 1 comprises a simulated driving suite;
the simulated driving kit is for: collecting control signals and converting the control signals into data signals; the control signal comprises an accelerator pedal opening degree and a change rate, a brake pedal opening degree and a change rate;
the server side 2 is configured to: deciding a vehicle speed control mode according to the opening degree of the accelerator pedal and the opening degree of the brake pedal, wherein the vehicle speed control mode comprises brake control, acceleration control and idle speed control; receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal 3, wherein the vehicle state data comprises actual vehicle speed and gear; according to the determined vehicle speed control mode, calculating an expected vehicle speed by combining the analyzed vehicle state data, generating an expected control instruction based on the expected vehicle speed, and issuing the expected control instruction to the vehicle-mounted terminal 3;
the in-vehicle terminal 3 is configured to: and sending the vehicle state data to the server side 2, receiving an expected control instruction sent by the server side 2, and controlling the operation of the vehicle according to the expected control instruction.
Preferably, the server side 2 is configured to:
when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
Preferably, the server side 2 is configured to:
when the determined vehicle speed control mode is the braking control or acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed in step 3 f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
Preferably, the server side 2 is configured to:
calculating and generating the acceleration a by using a pedal ambiguity identifier f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that pedal opening blurring amount and pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
Preferably, the server side 2 is configured to:
when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act For the absolute value of the actual vehicle speed in step 3, k is a preset transition coefficient, v 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
Due to the adoption of the technical scheme, the invention has the following advantages:
the control signals of the simulation driving suite in the remote cockpit are collected, the control signals comprise the opening degree and the change rate of an accelerator pedal, the opening degree and the change rate of a brake pedal, the expected speed is determined based on the opening degree and the change rate of the pedal and the vehicle state data, the driving intention of a manipulator can be better reflected, the state data of the vehicle is applied to calculation of an expected command, the change amount of the expected command relative to the vehicle state can be effectively reduced, and the vehicle state change is stable.
In the embodiment of the invention, the pedal input information is identified by adopting a fuzzy reasoning method, so that the adverse effect of pedal input fluctuation on motion control is further reduced, and the acceleration change of the vehicle is more gentle. Therefore, the remote control method provided by the embodiment of the invention can effectively reduce the running impact of the controlled vehicle, further improve the running smoothness of the vehicle, and has more obvious effect when the vehicle starts or brakes. The frequent acceleration and deceleration processes of the vehicle are reduced, so that the fuel economy of the vehicle during remote driving is further improved. By adopting a control scheme based on expected control instructions, namely, the remote control is controlled according to vehicle state parameters such as vehicle speed, steering wheel angle and the like, the calibration process between remote cockpit equipment and the vehicle can be avoided theoretically, and the suitability and portability of the whole remote control system are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for remote control of a vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a pedal ambiguity recognition process according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating membership functions of fuzzy recognition variables in accordance with an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a system for remote control of a vehicle according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a system for remote control of a vehicle according to another embodiment of the present invention.
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate an orientation or a positional relationship based on that shown in the drawings, only for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.
In the case of no conflict, the technical features in the embodiments and the implementation modes of the present invention may be combined with each other, and are not limited to the embodiments or implementation modes where the technical features are located.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
An embodiment of the present invention provides a method for remote control of a vehicle, and fig. 1 shows a flow chart of the method, including the following steps:
step S10: and acquiring a control signal of the simulated driving kit in the remote cockpit, and converting the control signal into a data signal. The control signal comprises an accelerator pedal opening degree and a change rate, and a brake pedal opening degree and a change rate.
Wherein, optionally, the pedal opening range is set within [0,100], and the pedal opening change rate range is within [ -5,5 ]. Based on this setting, the pedal opening range and the pedal opening change rate are quantized.
It is easy to understand that the pedal opening range and the range of the pedal opening change rate may also be set as other value ranges, and the present invention may still be implemented without departing from the spirit of the present invention.
Step S20: and deciding a vehicle speed control mode according to the opening degree of the accelerator pedal and the opening degree of the brake pedal.
Executing braking control when the opening degree of the brake pedal is larger than 0; executing acceleration control when the accelerator pedal opening is greater than 0 and the brake pedal opening is equal to 0; when both the brake and the accelerator pedal are equal to 0, idle speed control is performed.
The vehicle speed control decision logic adopted by the embodiment preferentially executes the brake pedal, so that the input conflict between the brake and the accelerator pedal is avoided while the control safety is ensured. The operation of this step may be performed by the control instruction processing unit 23.
Step S30: and receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal, wherein the vehicle state data comprises the actual speed and gear of the vehicle.
Step S40: according to the vehicle speed control mode, the expected vehicle speed is calculated in combination with the vehicle state data.
Step S50: and generating a desired control command based on the desired vehicle speed calculated in the step S4, and issuing the desired control command to the vehicle-mounted terminal, wherein the desired control command is used for controlling the operation of the vehicle.
In one embodiment, step S40 includes: when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
In one embodiment, step S40 includes: when the determined vehicle speed control mode is the brake control or the acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed in step 3 f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
In one embodiment, step S40 includes: when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act For the absolute value of the actual vehicle speed in step 3, k is a preset transition coefficient, v 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
In one embodiment, step S40 includes: presetting a f Corresponding relation between pedal opening and pedal opening change rate, and determining corresponding quantized acceleration a according to the acquired pedal opening and pedal opening change rate f 。
In one embodiment, step S40 includes: calculating and generating the acceleration a by a pedal ambiguity identifier f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that a used pedal opening blurring amount and a pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
The method for remote control of a vehicle provided by the embodiment of the invention is described below by way of specific examples.
In this example, the vehicle state data includes the actual vehicle speed and/or gear, where gears typically include P (park), R (reverse), N (neutral), D (forward). When the actual gear is R, D, the desired vehicle speeds of not more than 0 and not less than 0 are output, respectively. Specifically, when the actual gear is P or N, the desired vehicle speed 0 is directly output.
Wherein, the calculation of the expected vehicle speed may include:
first, a desired vehicle speed value is determined from an actual gear of the vehicle. Specifically, when the actual gear of the vehicle is the P gear or the N gear, the desired vehicle speed is directly determined to be 0. When the vehicle gear is R gear, the expected vehicle speed not greater than 0 is output, and when the vehicle gear is D gear, the expected vehicle speed not less than 0 is output.
Next, a desired vehicle speed value is determined in accordance with the vehicle control mode in combination with the vehicle gear.
When the vehicle control mode is idle speed control, the control vehicle is smoothly transitioned from the current vehicle speed to the set creep speed and maintained until the vehicle speed control mode is changed. Desired vehicle speed v during idle speed control, vehicle speed transition and holding phase des Calculated from the following formula,
v des ＝v act +k×(v 0 -v act )
wherein v is act For resolved actual vehicle speed (absolute value), k is the transition coefficient, v 0 The creep speed (absolute value) is set. Wherein v is 0 The creep speed can be preset, and the specific value can be flexibly set according to actual requirements.
In this example, setting k to 0.1, a larger k means that the vehicle speed transitions faster, but the transition is greater when the actual vehicle speed differs significantly from the creep vehicle speed. At the same time, v 0 Depending on the vehicle model and driving environment, in this example, v will be 0 Set to 1.5m/s. In particular, when the actual gear of the vehicle is the R gear, the calculation result of the above formula takes the opposite number. The idle speed control scheme in the embodiment of the invention not only can realize stable transition of the vehicle speed, but also can ensure that the vehicle passes through a severe road surface or a complex environment at a sufficiently slow speed, and effectively reduces longitudinal impact when the vehicle runs at a low speed.
When the vehicle control mode is acceleration control or braking control, if the actual gear of the vehicle is not R gear, the vehicle speed v is expected des Calculated from the following formula,
v des ＝v act +a f ×τ
wherein v is act For resolving the actual vehicle speed (absolute value), a f For quantifying acceleration, τ is a preset time gain constant, which is calculated by a pedal ambiguity identifier. In this example, τ is set to the issue cycle length of the control instruction, and its value is flexibly set according to actual needs.
And if the vehicle gear is R gear, the calculation result of the formula is the opposite number.
In this example, referring to FIG. 2, a quantized acceleration a is calculated by a pedal ambiguity identifier f The method comprises the following steps:
step S41: and (5) blurring the input parameter pedal opening e and the pedal opening change rate de.
And performing blurring processing on the acquired pedal opening and the acquired pedal opening change rate to obtain a pedal opening blurring amount and a pedal opening change rate blurring amount.
For example, in the present embodiment, the argument of the pedal opening e is set to [0,100], and the fuzzy set is { small (S), medium (M), large (B) }. The argument of the pedal opening change rate de is set to [ -5,5], and the fuzzy set is { negative (N), positive Small (PS), median (PM), positive large (PB) }. FIG. 3 illustrates a membership function diagram of fuzzy recognition variables in one embodiment of the present invention. The membership functions of the pedal opening e and the pedal opening change rate de refer to 31 and 32 in fig. 3, respectively. Assuming that the current pedal opening e is 50 and the pedal opening change rate de is +2, the degrees of pedal opening belonging to S, M, B are 0.14, 1, 0.14, respectively, and the degrees of pedal opening change rate belonging to N, PS, PM, PB are 0, 0.5, 1, 0, respectively, according to the membership function. In this embodiment, on the input processing of the pedal of the operator, the opening degree and the opening degree change rate of the pedal are considered at the same time, so that the change trend of the control requirement of the operator can be reflected better, and the driving intention of the operator can be reflected better.
Step S42: and fuzzy reasoning is carried out on the acceleration by utilizing the pedal opening and the change rate fuzzy quantity.
In the present embodiment, the acceleration domain is set to [0,2 ]]The fuzzy set is { gentle (S), medium (M), urgent (B) }. The pedal opening has 3 fuzzy subsets, the pedal opening change rate has 4 fuzzy subsets, and 12 fuzzy rules can be established altogether, and the acceleration fuzzy quantity is inferred by adopting a Mamdani inference method, for example, and the method adopts min-max (minimum is firstly taken and then maximum is taken) operation. Here, an example of the case of reasoning that the acceleration is gentle (S) is described, which corresponds to two rules, respectively R 1 = { if e is S and de is N, a is S }, R 2 = { if e is S and de is PS, a is S }, for R 1 E is 0.14, de is 0, the minimum value of the two is 0, and the same applies to R 2 The degree of membership of acceleration a to S is 0.14, and the final degree of membership of acceleration a to S will take R 1 、R 2 The maximum value of the reasoning result is 0.14. Similarly, the degree of membership of the acceleration a to M is 1, and the degree of membership of the acceleration a to B is 0.14.
Step S43: and performing defuzzification processing on the acceleration by using a gravity center method to obtain a quantized acceleration value.
For example, the quantized acceleration value is calculated by the following formula:
wherein a is the quantized acceleration; n is the number of the fuzzy quantity of the output acceleration; s is S i The membership curve of the ith fuzzy set is encircled to form an area of the graph cut by the reasoning value, and the membership function of the acceleration is referred to 33 in FIG. 3; a, a i The abscissa value corresponding to the center of gravity of the area. In particular, in the case of braking control, the resultant quantized acceleration will be taken as the opposite. For example, for the example in steps S41, S42, in combination with 33, S in FIG. 3 1 ＝0.11，a 1 ＝0.39，S 2 ＝1，a 2 ＝1，S 3 ＝0.11，a 3 =1.61, and the acceleration a=1 is obtained by the above equation.
According to the vehicle remote motion control method disclosed by the embodiment, not only can the driving intention of a remote operator be effectively reflected, the fluctuation of an input signal of an pedal of the operator be filtered, but also the calculation of a vehicle expected control instruction is based on the current vehicle state, so that frequent acceleration and deceleration processes of the vehicle can be reduced, the smoothness of the vehicle in running during remote control can be improved, and meanwhile, the fuel economy of the vehicle can be improved.
Based on the same technical concept as the above-described method embodiment, the present embodiment provides a system for remote control of a vehicle, as shown in fig. 4, the system includes a remote cockpit 1, a server side 2, and a vehicle-mounted terminal 3, wherein the remote cockpit 1 includes a simulated driving suite 11;
the simulated driving kit 11 is for: collecting control signals and converting the control signals into data signals; the control signal comprises an accelerator pedal opening degree and a change rate, a brake pedal opening degree and a change rate;
the server side 2 is configured to: deciding a vehicle speed control mode according to the opening degree of the accelerator pedal and the opening degree of the brake pedal, wherein the vehicle speed control mode comprises brake control, acceleration control and idle speed control; receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal 3, wherein the vehicle state data comprises actual vehicle speed and gear; according to the determined vehicle speed control mode, calculating an expected vehicle speed by combining the analyzed vehicle state data, generating an expected control instruction based on the expected vehicle speed, and issuing the expected control instruction to the vehicle-mounted terminal 3;
the in-vehicle terminal 3 is configured to: and sending the vehicle state data to the server side 2, receiving an expected control instruction sent by the server side 2, and controlling the operation of the vehicle according to the expected control instruction.
In one embodiment, the server side 2 is configured to:
when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
In one embodiment, the server side 2 is configured to:
when the determined vehicle speed control mode is the brake control or the acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed in step 3 f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
The server side 2 is configured to:
calculating and generating the acceleration a by using a pedal ambiguity identifier f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that a used pedal opening blurring amount and a pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
In one embodiment, the server side 2 is configured to:
when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act For the absolute value of the actual vehicle speed in step 3, k is a preset transition coefficient, v 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
Fig. 5 shows a system for remote control of a vehicle according to another embodiment of the present invention, which includes a remote cockpit 1, a server side 2 and a vehicle terminal 3.
The remote cockpit 1 is electrically connected with a server end 2, and the server end 2 is respectively connected with a vehicle-mounted terminal 3 through a mobile network. In one example, the remote cockpit 1 is connected to the server side 2 via a USB interface.
The remote cockpit 1 comprises a simulated driving suite 11 and an interactive display screen 12.
The server side 2 includes a video receiving unit 21, a vehicle state analyzing unit 22, and a control instruction processing unit 23. In one embodiment, the remote cockpit 1 and the server side 2 are installed and configured in a remote cockpit center.
The in-vehicle terminal 3 includes a video acquisition unit 31, a data relay unit 32, and a CAN communication unit 33. The in-vehicle terminal 3 is mounted and disposed on the target vehicle. In the embodiment of the present invention, the video capturing unit 31 includes five cameras for front view, rear view, left rear side view, right rear side view, and in-vehicle driving position viewing angle.
Wherein:
an interactive display screen 12, configured to receive the vehicle-mounted video information sent by the video receiving unit 21 of the server side 2 and the vehicle state data sent by the vehicle state analyzing unit 22, and display the vehicle-mounted video information and the vehicle state data through the display screen;
the driving simulation suite 11 is configured to collect control signals of a remote operator, including an accelerator pedal opening and a change rate, a brake pedal opening and a change rate, and may further include one or more of a gear shift, a steering wheel, an emergency stop button, and a light control button, send the control signals to the control instruction processing unit 23, and receive a steering wheel force feedback signal generated by the control instruction processing unit 23. Wherein, optionally, the pedal opening range is set within [0,100], and the pedal opening change rate range is within [ -5,5 ].
The video receiving unit 21 is configured to receive the in-vehicle video information sent by the video capturing unit 31 of the in-vehicle terminal 3, and send the in-vehicle video information to the interactive display screen 12.
The vehicle state analyzing unit 22 is configured to analyze the sensor data received from the data relay unit 32 of the in-vehicle terminal 3, obtain vehicle state data, and send the analyzed vehicle state data to the interactive display 12.
The control command processing unit 23 is configured to receive the control signal sent from the simulated driving kit 11, calculate a desired control command based on the control signal and the vehicle state data output from the vehicle state analyzing unit 22, and send the desired control command to the data relay unit 32 in the in-vehicle terminal 3. Wherein, optionally, when the opening degree of the brake pedal is greater than 0, the brake control is executed; executing acceleration control when the accelerator pedal opening is greater than 0 and the brake pedal opening is equal to 0; when both the brake and the accelerator pedal are equal to 0, idle speed control is performed. The specific process of generating the desired control instruction by the control instruction processing unit 23 may refer to the operations of steps S141 to S143 below, and will not be described here.
The video capturing unit 31 is configured to capture vehicle running image information (e.g., vehicle surrounding environment information), generate vehicle-mounted video information, and transmit the vehicle-mounted video information to the video receiving unit 21 via the mobile network.
A data relay unit 32 for receiving the sensor data sent by the CAN communication unit 33 and sending the sensor data to the vehicle state analysis unit 22; the reception control instruction processing unit 23 transmits a desired control instruction to the CAN communication unit 33.
A CAN communication unit 33 for collecting sensor data installed on the vehicle and transmitting the sensor data to the vehicle state analysis unit 22 via the data relay unit 32; the desired control instruction sent by the data transfer unit 32 is received, and is sent to the automatic driving controller 4 to realize control of the vehicle. Wherein the above sensor data may be acquired by a controller (e.g., an autopilot controller) 4 mounted on the vehicle.
In one embodiment, the adopted mobile network is a 5G communication network, which has the characteristics of low time delay, high bandwidth and wide transmission range, and can well meet the remote driving requirement of the vehicle. Meanwhile, the server side and the vehicle-mounted terminal communicate by adopting UDP (user datagram protocol) and are realized by adopting Socket (Socket technology). It will be readily appreciated that other communication techniques may also implement the remote control scheme provided by embodiments of the present invention, as this is not limiting.
In an embodiment of the present invention, the data received and parsed by the vehicle state parsing unit 22 may include one or more of a vehicle speed, an acceleration, an actual steering wheel angle, an actual gear, and a vehicle driving mode, wherein the vehicle driving mode includes remote take over driving, and may also include automatic driving. The desired control command output by the control command processing unit 23 may include one or more of a desired vehicle speed, a desired steering wheel angle, a desired gear, and a function control signal.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A method for remote control of a vehicle, applied to a remote cockpit for remotely controlling operation of the vehicle, comprising the steps of:
step 1, collecting control signals of an analog driving kit in the remote cockpit, and converting the control signals into data signals; the control signal comprises an accelerator pedal opening degree and a change rate, a brake pedal opening degree and a change rate;
step 2, deciding a vehicle speed control mode according to the opening degree of the accelerator pedal and the opening degree of the brake pedal; the vehicle speed control mode comprises braking control, acceleration control and idle speed control;
step 3, receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal; the vehicle state data comprises the actual speed and gear of the vehicle;
step 4, calculating the expected vehicle speed according to the vehicle speed control mode determined in the step 2 and the vehicle state data analyzed in the step 3;
step 5, generating a desired control instruction based on the desired vehicle speed calculated in the step 4, and issuing the desired control instruction to the vehicle-mounted terminal, wherein the desired control instruction is used for controlling the running of the vehicle;
when the vehicle speed control mode decided in step 2 is the braking control or acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed in step 3 f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is the opposite of (a);
wherein the acceleration a is calculated and generated by a pedal ambiguity identifier f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that a used pedal opening blurring amount and a pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
2. The method for vehicle remote control according to claim 1, wherein step 4 includes:
when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
3. The method for vehicle remote control according to claim 1 or 2, characterized in that when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act For the absolute value of the actual vehicle speed in step 3, k is a preset transition coefficient, v 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
4. A system for remote control of a vehicle, characterized by comprising a remote cockpit (1), a server side (2) and a vehicle terminal (3), wherein the remote cockpit (1) comprises a simulated driving suite;
the simulated driving kit is for: collecting control signals and converting the control signals into data signals; the control signal comprises an accelerator pedal opening degree and a change rate, a brake pedal opening degree and a change rate;
the server side (2) is used for: deciding a vehicle speed control mode according to the opening degree of the accelerator pedal and the opening degree of the brake pedal, wherein the vehicle speed control mode comprises brake control, acceleration control and idle speed control; receiving and analyzing vehicle state data fed back by the vehicle-mounted terminal (3), wherein the vehicle state data comprises actual vehicle speed and gear; according to the determined vehicle speed control mode, calculating an expected vehicle speed by combining the analyzed vehicle state data, generating an expected control instruction based on the expected vehicle speed, and issuing the expected control instruction to the vehicle-mounted terminal (3);
the in-vehicle terminal (3) is configured to: the vehicle state data are sent to the server side (2), an expected control instruction sent by the server side (2) is received, and the operation of the vehicle is controlled according to the expected control instruction;
the server side (2) is used for:
when the determined vehicle speed control mode is the brake control or the acceleration control:
if the gear is a forward gear, calculating the expected vehicle speed by the following formula:
v des ＝v act +a f ×τ
wherein v is act A is the absolute value of the actual vehicle speed f For acceleration, τ is a preset time gain constant;
if the gear is the reverse gear, the expected vehicle speed is v des Is the opposite of (a);
the server (2) calculates and generates the acceleration a by using a pedal ambiguity identifier f Comprising:
blurring processing is carried out on the acquired pedal opening and pedal opening change rate according to a preset pedal opening range value and a pedal opening change rate range value, so that a used pedal opening blurring amount and a pedal opening change rate blurring amount are obtained;
performing fuzzy reasoning on acceleration by using the pedal opening fuzzy quantity and the pedal opening change rate fuzzy quantity; and
and performing defuzzification processing on the acceleration obtained through the fuzzy reasoning by using a gravity center method to obtain a quantized acceleration value.
5. The system for remote control of a vehicle according to claim 4, wherein the server side (2) is configured to:
when the gear is a forward gear or a reverse gear, respectively outputting expected vehicle speeds not less than 0 and not more than 0; and when the gear is a parking gear or a neutral gear, outputting a desired vehicle speed 0.
6. The system for remote control of a vehicle according to claim 4 or 5, characterized in that the server side (2) is adapted to:
when the determined vehicle speed control mode is the idle speed control:
if the gear is a forward gear, the expected vehicle speed v is calculated by the following formula des ：
v des ＝v act +k×(v 0 -v act )
Wherein v is act K is a preset transition coefficient, v, which is the absolute value of the actual vehicle speed 0 Is the absolute value of the preset creep speed;
if the gear is the reverse gear, the expected vehicle speed is v des Is a counter number to the above.
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