CN114237260A - Intelligent driving safety teaching control system and method and teaching trolley - Google Patents
Intelligent driving safety teaching control system and method and teaching trolley Download PDFInfo
- Publication number
- CN114237260A CN114237260A CN202111599332.2A CN202111599332A CN114237260A CN 114237260 A CN114237260 A CN 114237260A CN 202111599332 A CN202111599332 A CN 202111599332A CN 114237260 A CN114237260 A CN 114237260A
- Authority
- CN
- China
- Prior art keywords
- driving
- teaching
- control device
- driving control
- message
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 16
- 230000008447 perception Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 6
- 230000006378 damage Effects 0.000 abstract description 6
- 208000014674 injury Diseases 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a safe teaching control system, a safe teaching control method and a teaching trolley for intelligent driving, wherein the method comprises the steps of acquiring a driving mode signal message sent by at least one driving control device by using a whole vehicle gateway, and determining a target driving control device from all driving control devices according to all driving mode signal messages; acquiring a teaching signal message of a target driving control device by using a finished automobile gateway, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message; the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device. Based on the separated design of the safety teaching control system and the drive-by-wire chassis, the intelligent driving teaching system can realize quick, effective, visual and vivid intelligent driving teaching according to different teaching tasks and courses, and meet different teaching requirements; and safety protection control can be carried out in intelligent driving teaching, personnel injury events caused by misoperation are effectively avoided, and safety teaching is realized.
Description
Technical Field
The invention relates to the field of intelligent driving teaching, in particular to a safety teaching control system and method for intelligent driving and a teaching trolley.
Background
With a new technological revolution and the continuous acceleration of transformation and upgrading of the automobile industry, the enthusiasm of numerous automobile enterprises, electronic information enterprises and enterprises engaged in the communication and internet industries in China on the development of automatic driving automobiles is continuously increased; meanwhile, as the gap of talents related to the automatic driving technology is large, courses related to automatic driving are developed successively in domestic colleges and vocational schools, and relevant talents are cultivated for enterprises related to automatic driving automobiles, so that the problem of talent demand of the enterprises is solved.
The automatic driving technology is wide in professional aspect, and not only covers basic theoretical knowledge of the automobile, but also comprises a hardware framework and a software framework required by automatic driving. Therefore, the teaching of the automatic driving technology has stronger complexity; meanwhile, because the automatic driving teaching process has certain danger, how to enable students to quickly, effectively, intuitively and vividly master related theoretical knowledge, make the theory combine with practice, better promote the enthusiasm of the students, and make safe teaching in the automatic driving teaching practice process is a difficult problem encountered by schools at present.
Disclosure of Invention
The invention aims to solve the technical problem that the defects of the prior art are overcome, and provides a safety teaching control system, a method and a teaching trolley for intelligent driving.
The technical scheme for solving the technical problems is as follows:
a safety teaching control system for intelligent driving comprises a whole vehicle gateway and a plurality of driving control devices, wherein all the driving control devices are in communication connection with the whole vehicle gateway;
each driving control device is used for sending a driving mode signal message to the whole vehicle gateway;
the whole vehicle gateway is used for acquiring at least one driving mode signal message and determining a target driving control device from all driving control devices according to all driving mode signal messages;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device;
and each driving control device is also used for sending a corresponding teaching signal message to the whole vehicle gateway when the driving control device is determined to be the target driving control device, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
On the basis of the technical scheme, the invention also has the following improvements:
further: the remote driving controller is specifically configured to:
acquiring the time delay of the remote control signal;
and according to the time delay, centrally calling a corresponding time delay protection scheme in a preset time delay level protection scheme, and generating the teaching signal message according to the called time delay protection scheme.
Further: the delay level protection scheme set comprises four levels of delay protection schemes.
Further: the manual intervention controller is specifically configured to:
respectively extracting a steering angle in the steering angle intervention signal, the opening degree of an accelerator pedal in the accelerator pedal opening degree intervention signal and the opening degree of a brake pedal in the brake pedal opening degree intervention signal;
and when the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal are all larger than corresponding preset thresholds, generating the teaching signal message according to the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal.
According to another aspect of the present invention, there is also provided a safety teaching control method for intelligent driving, which adopts the safety teaching control system for intelligent driving to perform driving teaching, and comprises the following steps:
step 1: the method comprises the steps that a whole vehicle gateway is utilized to obtain driving mode signal messages sent by at least one driving control device, and a target driving control device is determined from all driving control devices according to all driving mode signal messages;
step 2: acquiring a teaching signal message of the target driving control device by using the finished automobile gateway, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device.
On the basis of the technical scheme, the invention also has the following improvements:
further: the step 2B.2 specifically comprises the following steps:
acquiring the time delay of the remote control signal;
and according to the time delay, centrally calling a corresponding time delay protection scheme in a preset time delay level protection scheme, and generating the teaching signal message according to the called time delay protection scheme.
Further: the delay level protection scheme set comprises four levels of delay protection schemes.
Further: the step 2cb.2 specifically includes:
respectively extracting a steering angle in the steering angle intervention signal, the opening degree of an accelerator pedal in the accelerator pedal opening degree intervention signal and the opening degree of a brake pedal in the brake pedal opening degree intervention signal;
and when the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal are all larger than corresponding preset thresholds, generating the teaching signal message according to the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal.
According to another aspect of the invention, the invention also provides an intelligent driving teaching trolley which comprises a trolley body, wherein a safety teaching control system for intelligent driving is integrated in the trolley body, and a drive-by-wire chassis is further arranged on the trolley body; and the wire control chassis is in communication connection with a whole vehicle gateway in the intelligent driving safety teaching control system.
The intelligent driving safety teaching control system, the intelligent driving safety teaching control method and the teaching trolley have the beneficial effects that: the method comprises the steps that a whole vehicle gateway is used as a communication junction of all components in the whole control system, a driving control device comprises three types, firstly, driving mode signal messages sent by at least one driving control device are obtained, and a target driving control device under the current condition is determined from the driving control devices of the three types through the driving mode signal messages, namely, which driving mode is used for realizing driving teaching is determined, so that the corresponding teaching signal messages can be obtained subsequently, and teaching is carried out according to the determined driving mode; after the target driving control device is determined, the whole vehicle gateway is used for obtaining a teaching signal message corresponding to the target driving control device, corresponding intelligent driving teaching is carried out on an external drive-by-wire chassis according to the teaching signal message, and driving teaching in multiple driving modes is realized; the whole safety teaching control system and an external drive-by-wire chassis are designed in a separated mode, targeted adjustment and design can be achieved according to different teaching tasks and teaching courses, flexibility and universality are strong, and different teaching requirements can be met; meanwhile, three types of driving control devices correspond to three driving modes, respectively: the automatic driving mode, the remote control driving mode and the manual intervention driving mode can determine the corresponding driving modes according to actual conditions, manual intervention can be performed under certain conditions, man-machine common driving is realized, the safety of teaching and teaching aid operation is improved, and dangerous accidents are avoided;
the safe teaching control system, the safe teaching control method and the teaching trolley for intelligent driving are based on the separated design of the safe teaching control system and the drive-by-wire chassis, can realize quick, effective, visual and vivid intelligent driving teaching according to different teaching tasks and courses, achieve the purpose of combining theories and practice, better promote the enthusiasm of students, have stronger flexibility and universality and can meet different teaching requirements; and safety protection control can be carried out in intelligent driving teaching, personnel injury events caused by misoperation are effectively avoided, and safety teaching is realized.
Drawings
Fig. 1 is a schematic structural diagram of a safety teaching control system for intelligent driving according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a communication network segment of a safety teaching control system in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another safety teaching control system for intelligent driving according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a safety teaching control method for intelligent driving according to a second embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The present invention will be described with reference to the accompanying drawings.
In the first embodiment, as shown in fig. 1, a safety teaching control system for intelligent driving includes a vehicle gateway and a plurality of driving control devices, all of which are in communication connection with the vehicle gateway;
each driving control device is used for sending a driving mode signal message to the whole vehicle gateway;
the whole vehicle gateway is used for acquiring at least one driving mode signal message and determining a target driving control device from all driving control devices according to all driving mode signal messages;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device;
and each driving control device is also used for sending a corresponding teaching signal message to the whole vehicle gateway when the driving control device is determined to be the target driving control device, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
The method comprises the steps that a whole vehicle gateway is used as a communication junction of all components in the whole control system, a driving control device comprises three types, firstly, driving mode signal messages sent by at least one driving control device are obtained, and a target driving control device under the current condition is determined from the driving control devices of the three types through the driving mode signal messages, namely, the driving mode is determined to realize intelligent driving teaching, so that the corresponding teaching signal messages can be obtained subsequently, and teaching is carried out according to the determined driving mode; after the target driving control device is determined, the whole vehicle gateway is used for obtaining a teaching signal message corresponding to the target driving control device, and corresponding intelligent driving teaching is carried out on an external drive-by-wire chassis according to the teaching signal message, so that intelligent driving teaching in multiple driving modes is realized; the whole safety teaching control system and an external drive-by-wire chassis are designed in a separated mode, targeted adjustment and design can be achieved according to different teaching tasks and teaching courses, flexibility and universality are strong, and different teaching requirements can be met; meanwhile, three types of driving control devices correspond to three driving modes, respectively: the automatic driving mode, the remote control driving mode and the manual intervention driving mode can determine the corresponding driving modes according to actual conditions, manual intervention can be performed under certain conditions, man-machine common driving is realized, the safety of teaching and teaching aid operation is improved, and dangerous accidents are avoided;
the intelligent driving safety teaching control system is based on the separated design of the safety teaching control system and the drive-by-wire chassis, so that quick, effective, visual and vivid driving teaching can be realized according to different teaching tasks and courses, the theory is combined with practice, the enthusiasm of students is better promoted, the flexibility and the universality are stronger, and different teaching requirements can be met; and safety protection control can be carried out in intelligent driving teaching, personnel injury events caused by misoperation are effectively avoided, and safety teaching is realized.
Specifically, in this embodiment, the vehicle gateway is abbreviated as VDS, and the external drive-by-wire chassis includes EPS (electronic power steering), EPB (electronic parking), eboster (electronic drive-by-wire brake), MCU (motor controller), and the like. The communication between the VDS and the three driving control devices (automatic driving control device HAD, remote driving control device RCU and manual intervention driving control device RCH) is an independent communication network segment, intelligent driving network segment for short, the communication between the VDS and the drive-by-wire chassis is another independent communication network segment, power network segment for short, the message communication of the two network segments is a CAN communication mode, the two network segments are not influenced by each other, the mutual interference of signals CAN be avoided, and the control effect of the whole safety teaching control system is ensured, as shown in fig. 2.
Preferably, the vehicle preparation gateway is specifically configured to:
determining the message quantity of all driving mode signal messages, judging whether the message quantity is equal to 1, and if so, determining the driving control device sending the driving mode signal messages as the target driving control device;
otherwise, respectively determining the message type of each driving mode signal message;
when the first type exists in the message types, determining the manual intervention driving control device as the target driving control device;
and when the message types are the second types, respectively acquiring the message receiving time of each driving mode signal message, and determining the driving control device corresponding to the driving mode signal message with the latter message receiving time as the target driving control device.
The driving control devices are of three types, and the three types of devices can send driving mode signal messages to the whole vehicle gateway, so that the whole vehicle gateway can receive the driving mode signal messages sent by at least one driving control device at the same time, namely the number of the messages is more than or equal to 1; when the number of the messages is 1, the message indicates that only one driving control device of three types is used for sending the driving mode signal message at the current moment, the driving control device sending the driving mode signal message is directly used as a target driving control device, and the corresponding driving mode is the target driving mode; when the number of the messages is more than 1, the situation that at least two driving control devices send driving mode signal messages is shown, the message type of each driving mode signal message is judged, when the first type exists, the manual intervention driving control device is determined to be a target driving control device, the situation that the priority of the manual intervention mode (or the manual intervention driving control device) is set to be the highest by the whole vehicle gateway is shown, the driving mode signal messages in the manual intervention mode can interrupt the driving mode signal messages in the automatic driving mode and the remote driving mode at any time, and the driving mode signal messages in the automatic driving mode and the remote driving mode can not interrupt the driving mode signal messages corresponding to the manual intervention mode; when the message types are the second type, judging the target driving control device according to the message receiving time, and indicating that the priority of the automatic driving mode (or the automatic driving control device) and the priority of the remote driving mode (or the remote driving control device) are set to be the same by the whole vehicle gateway and are both lower than the priority of the manual intervention mode; after the message receiving time of the two modes is obtained, the driving control device corresponding to the next message is determined as the target driving control device, which indicates that only one driving mode can be adopted at the same time in the two modes, and the finished vehicle gateway takes the message received recently as the standard.
In the embodiment, the message quantity judgment logic, the priority judgment logic and the message receiving time judgment logic designed in the finished vehicle gateway can accurately determine the target driving control device under the current condition from three types of driving control devices, namely determine which driving mode is used for realizing intelligent driving teaching, and realize quick, effective, visual and vivid intelligent driving teaching by using the orderly control logic according to different teaching tasks and courses; the priority of the manual intervention driving control device is set to be the highest, safety protection control can be achieved under emergency or emergency conditions, personnel injury events caused by misoperation are avoided, and safety teaching is guaranteed.
It should be noted that the manual intervention mode is driving teaching corresponding to emergency, and in order to ensure the safety of students, the teaching aid is braking action in the manual intervention mode, that is, the final speed is 0.
Specifically, in this embodiment, when the number of the messages is greater than 1 and the manual intervention driving control device is determined as the target driving control device, the automatic driving control device and the remote driving control device are both further configured to stop sending the corresponding driving mode signal message to the entire vehicle gateway after a preset time.
By the message stop operation, system resources can be effectively saved, and the control efficiency of the whole safety teaching is ensured. The preset time can be set and adjusted according to actual conditions, and is set to be 2s in the embodiment.
Preferably, as shown in fig. 3, the automatic driving control means includes an automatic driving controller and a sensor group;
the sensor group is used for acquiring a vehicle environment perception data set when the automatic driving control device is determined to be the target driving control device;
the autopilot controller is configured to:
planning an automatic driving track of the vehicle according to the vehicle environment perception data set, and generating the teaching signal message according to the automatic driving track of the vehicle;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
Through above-mentioned automatic driving control device be convenient for with automatic driving control mode control teaching aid, realize intelligent driving teaching to the student, lively directly perceived promotes student's enthusiasm.
Specifically, the sensor group in the present embodiment includes, but is not limited to, a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, and an inertial navigation antenna.
Preferably, as shown in fig. 3, the remote driving control device includes a remote driving controller and a 5G antenna;
the 5G antenna is used for acquiring a remote control signal of a remote end when the remote driving control device is determined to be the target driving control device;
the remote driving controller is configured to:
generating the teaching signal message according to the remote control signal;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
Can realize the remote driving teaching at remote end through above-mentioned remote driving controlling means, richen intelligent driving's teaching mode, be convenient for realize quick effective, the vivid intelligent driving teaching directly perceived according to different teaching task and course, accomplish theoretical combination practice.
Specifically, as shown in fig. 3, the remote driving control device in this embodiment further includes a camera;
the camera is used for collecting vehicle environment images, and the 5G antenna is utilized to feed the vehicle environment images back to the remote end.
Can accomplish the real time monitoring of remote driving teaching through the camera, the vehicle environmental conditions in the in-process of in time feeding back the teaching is convenient for improve the teaching quality.
Preferably, as shown in fig. 3, the manual intervention driving control device comprises a manual intervention controller, a remote controller, a steering wheel, an accelerator pedal and a brake pedal;
the remote controller is used for sending an emergency braking intervention signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the steering wheel is used for sending a steering angle intervention signal to the manual intervention driving control device when the manual intervention driving control device is determined to be the target driving control device;
the accelerator pedal is used for sending an accelerator pedal opening and closing degree interference signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the brake pedal is used for sending a brake pedal opening and closing degree interference signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the manual intervention controller is used for:
generating the teaching signal message according to the emergency braking intervention signal, or generating the teaching signal message according to the steering angle intervention signal, the accelerator pedal opening degree intervention signal and the brake pedal opening degree intervention signal;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
The manual intervention driving control device comprises two types of control components, one type is the combination of a manual intervention controller and a remote controller, and the manual intervention driving control device can realize the emergency stop control of the teaching aid in a manual intervention mode by operating the remote controller under an emergency condition, namely the speed of the teaching aid is immediately 0; the other type is the combination of an artificial intervention controller and a steering wheel, an accelerator pedal and a brake pedal, and can realize the fine control of a teaching aid by operating the accelerator pedal, the brake pedal and the steering wheel and respectively adjusting the steering wheel, the accelerator pedal and the brake pedal in an artificial intervention mode under the emergency condition, namely, the speed of the teaching aid is reduced to 0 at a certain acceleration; the manual intervention driving control device further enriches intelligent driving teaching modes, further realizes quick, effective and vivid intelligent driving teaching according to different teaching tasks and courses, meets different teaching requirements, and quickly takes safety protection control to guarantee the safety of driving teaching under emergency situations in teaching practice.
Preferably, the remote driving controller is specifically configured to:
acquiring the time delay of the remote control signal;
and according to the time delay, centrally calling a corresponding time delay protection scheme in a preset time delay level protection scheme, and generating the teaching signal message according to the called time delay protection scheme.
Different time delay protection schemes are set through different time delay sizes, corresponding safety protection can be carried out according to the difference of safety levels caused by time delay, multi-level private network time delay safety protection is achieved, safety protection mechanisms are richer, and more teaching requirements can be met.
Further: the delay level protection scheme set comprises four levels of delay protection schemes.
Specifically, the four-level delay protection schemes respectively correspond to the four-level delay sizes, and the delay sizes are set to betThen the delay sizes of the four levels are respectivelyt＜200ms、200≤t＜500（ms）、500≤tLess than or equal to 800 (ms) andtmore than 800 ms; the four-level delay protection scheme specifically includes:
twhen the time is less than 200ms, the throttle of the teaching aid is not limited by the maximum value (namely the maximum value of the throttle at the time can be a preset original maximum value);
200≤twhen the throttle is less than 500 (ms), the maximum throttle value of the teaching aid is limited to 50 percent (namely the maximum throttle value needs to be reduced to half of the preset original maximum value at the moment);
500≤twhen the speed is less than or equal to 800 (ms), the gear of the teaching aid is set to be N (namely neutral);
tand when the time is more than 800ms, the driving enable of the teaching aid for the parallel teaching is closed.
Through the time delay grade protection scheme set, different safety protection can be carried out according to different safety grades caused by time delay, speed reduction safety protection is adopted when the time delay is small, and the vehicle cannot be stopped due to accidental short-time signals of the vehicle when the time delay is long until the vehicle is stopped for protection, so that the driving smoothness is facilitated.
Further: the manual intervention controller is specifically configured to:
respectively extracting a steering angle in the steering angle intervention signal, the opening degree of an accelerator pedal in the accelerator pedal opening degree intervention signal and the opening degree of a brake pedal in the brake pedal opening degree intervention signal;
and when the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal are all larger than corresponding preset thresholds, generating the teaching signal message according to the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal.
Through the comparison of the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal with the corresponding preset threshold values, misoperation in a manual intervention mode can be effectively avoided. The preset threshold values can be set and adjusted according to actual conditions.
Specifically, in this embodiment, when at least one of the steering angle, the opening degree of the accelerator pedal, and the opening degree of the brake pedal is equal to or smaller than a corresponding preset threshold, the teaching signal message is not generated. When at least one of the three indexes does not exceed a preset threshold value, a manual intervention mode is not triggered, and if the whole vehicle gateway also receives driving mode signal messages of other driving control devices, driving teaching is carried out on the line control chassis according to other driving modes; and if the whole vehicle gateway does not receive the driving mode signal messages of other driving control devices, stopping the driving teaching.
Specifically, in this embodiment, the preset threshold of the steering angle is set to 90 °, the preset threshold of the opening degree of the accelerator pedal is set to 20% of the maximum value of the opening degree of the accelerator pedal, and the preset threshold of the opening degree of the brake pedal is set to 30% of the maximum value of the opening degree of the brake pedal, that is, under the preset threshold, only when the steering angle is greater than 90 °, the opening degree of the accelerator pedal reaches more than 20% of the maximum value of the opening degree of the accelerator pedal, and the opening degree of the brake pedal reaches more than 30% of the maximum value of the opening degree of the brake pedal, the manual intervention mode is triggered, and the driving teaching in the subsequent manual intervention mode is performed.
It should be noted that, in this embodiment, the manual intervention controller is in a silent state in an initial state, and does not actively send a CAN message to an intelligent driving network segment under the condition that a remote controller is not received or a physical pedal (including an accelerator pedal and a brake pedal) and a steering wheel send a CAN sending instruction, and in an emergency, such as an automatic driving error or a remote driving error or an emergency, after an enable channel on the remote controller is pressed, the remote controller sends the CAN message to a teaching aid (usually a teaching trolley), and immediately executes to make an accelerator be 0 and keep steering unchanged; or operating the steering wheel and the physical pedal, reducing the accelerator to 0 at a certain acceleration, and adjusting the steering angle.
In a second embodiment, as shown in fig. 4, a safety teaching control method for intelligent driving, which performs driving teaching by using the safety teaching control system for intelligent driving in the first embodiment, includes the following steps:
s1: the method comprises the steps that a whole vehicle gateway is utilized to obtain driving mode signal messages sent by at least one driving control device, and a target driving control device is determined from all driving control devices according to all driving mode signal messages;
s2: acquiring a teaching signal message of the target driving control device by using the finished automobile gateway, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device.
Based on the separated design of the safety teaching control system and the drive-by-wire chassis, the quick, effective, visual and vivid intelligent driving teaching can be realized according to different teaching tasks and courses, the theory is combined with practice, the enthusiasm of students is better promoted, the flexibility and the universality are stronger, and different teaching requirements can be met; and safety protection control can be carried out in intelligent driving teaching, personnel injury events caused by misoperation are effectively avoided, and safety teaching is realized.
Preferably, in S1, the specific step of determining the target driving control device from all the driving control devices includes:
s11: determining the message quantity of all the driving mode signal messages, judging whether the message quantity is equal to 1, and if so, executing S12; otherwise, executing S13;
s12: determining the driving control device which sends out the driving mode signal message as the target driving control device;
s13: respectively determining the message type of each driving mode signal message;
when the first type exists in the message types, determining the manual intervention driving control device as the target driving control device;
and when the message types are the second types, respectively acquiring the message receiving time of each driving mode signal message, and determining the driving control device corresponding to the driving mode signal message with the latter message receiving time as the target driving control device.
Preferably, the automatic driving control device comprises an automatic driving controller and a sensor group; when the automatic driving control means is determined as the target driving control means, the specific step of S2 includes:
S2A.1: acquiring a vehicle environment perception data set by utilizing the sensor group;
S2A.2: planning an automatic driving track of the vehicle according to the vehicle environment perception data set by using the automatic driving controller, and generating the teaching signal message according to the automatic driving track of the vehicle;
S2A.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the automatic driving controller; controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway;
the remote driving control device comprises a remote driving controller and a 5G antenna; when the remote driving control device is determined to be the target driving control device, the specific step of S2 includes:
S2B.1: acquiring a remote control signal of a remote end by using the 5G antenna;
S2B.2: generating the teaching signal message according to the remote control signal by using the remote driving controller;
S2B.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the remote driving controller; and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
Preferably, the manual intervention driving control device comprises a manual intervention controller, a remote controller, a steering wheel, an accelerator pedal and a brake pedal; when the human intervention driving control means is determined as the target driving control means, the specific step of S2 includes:
S2Ca.1: sending an emergency braking intervention signal to the manual intervention controller by using the remote controller;
S2Ca.2: generating the teaching signal message according to the emergency braking intervention signal by using the manual intervention controller;
S2Ca.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the manual intervention controller; and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
Alternatively, the first and second electrodes may be,
S2Cb.1: transmitting a steering angle intervention signal to the manual intervention controller by using the steering wheel; sending an accelerator pedal opening and closing degree intervention signal to the manual intervention controller by using the accelerator pedal; sending a brake pedal opening and closing degree intervention signal to the manual intervention controller by using the brake pedal;
S2Cb.2: generating the teaching signal message according to the steering angle intervention signal, the accelerator pedal opening degree intervention signal and the brake pedal opening degree intervention signal;
S2Cb.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the manual intervention controller; and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
Preferably, s2b.2 specifically comprises:
acquiring the time delay of the remote control signal;
and according to the time delay, centrally calling a corresponding time delay protection scheme in a preset time delay level protection scheme, and generating the teaching signal message according to the called time delay protection scheme.
Preferably, the set of delay level protection schemes includes four levels of delay protection schemes.
Preferably, s2cb.2 specifically comprises:
respectively extracting a steering angle in the steering angle intervention signal, the opening degree of an accelerator pedal in the accelerator pedal opening degree intervention signal and the opening degree of a brake pedal in the brake pedal opening degree intervention signal;
and when the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal are all larger than corresponding preset thresholds, generating the teaching signal message according to the steering angle, the opening degree of the accelerator pedal and the opening degree of the brake pedal.
Details of the embodiment are not described in detail in the first embodiment and the specific descriptions in fig. 1 to 3, which are not repeated herein.
The intelligent driving teaching trolley comprises a trolley body, wherein a safety teaching control system for intelligent driving in the embodiment I is integrated in the trolley body, and a drive-by-wire chassis is further arranged on the trolley body; and the wire control chassis is in communication connection with a whole vehicle gateway in the intelligent driving safety teaching control system.
Based on the separated design of the safety teaching control system and the drive-by-wire chassis, the quick, effective, visual and vivid intelligent driving teaching can be realized according to different teaching tasks and courses, the theory is combined with practice, the enthusiasm of students is better promoted, the flexibility and the universality are stronger, and different teaching requirements can be met; and safety protection control can be carried out in intelligent driving teaching, personnel injury events caused by misoperation are effectively avoided, and safety teaching is realized.
Details of the embodiment are not described in detail in the first embodiment and the specific descriptions in fig. 1 to 3, which are not repeated herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A safety teaching control system for intelligent driving is characterized by comprising a whole vehicle gateway and a plurality of driving control devices, wherein all the driving control devices are in communication connection with the whole vehicle gateway;
each driving control device is used for sending a driving mode signal message to the whole vehicle gateway;
the whole vehicle gateway is used for acquiring at least one driving mode signal message and determining a target driving control device from all driving control devices according to all driving mode signal messages;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device;
and each driving control device is also used for sending a corresponding teaching signal message to the whole vehicle gateway when the driving control device is determined to be the target driving control device, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
2. The intelligent driving safety teaching control system according to claim 1, wherein the entire vehicle gateway is specifically configured to:
determining the message quantity of all driving mode signal messages, judging whether the message quantity is equal to 1, and if so, determining the driving control device sending the driving mode signal messages as the target driving control device;
otherwise, respectively determining the message type of each driving mode signal message;
when the first type exists in the message types, determining the manual intervention driving control device as the target driving control device;
and when the message types are the second types, respectively acquiring the message receiving time of each driving mode signal message, and determining the driving control device corresponding to the driving mode signal message with the latter message receiving time as the target driving control device.
3. The safety instructional control system for intelligent driving of claim 2, wherein the automatic driving control means comprises an automatic driving controller and a sensor group;
the sensor group is used for acquiring a vehicle environment perception data set when the automatic driving control device is determined to be the target driving control device;
the autopilot controller is configured to:
planning an automatic driving track of the vehicle according to the vehicle environment perception data set, and generating the teaching signal message according to the automatic driving track of the vehicle;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
4. The safety teaching control system of intelligent driving according to claim 2, wherein the remote driving control device comprises a remote driving controller and a 5G antenna;
the 5G antenna is used for acquiring a remote control signal of a remote end when the remote driving control device is determined to be the target driving control device;
the remote driving controller is configured to:
generating the teaching signal message according to the remote control signal;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
5. The safety teaching control system for intelligent driving according to claim 2, wherein the manual intervention driving control device comprises a manual intervention controller, a remote controller, a steering wheel, an accelerator pedal and a brake pedal;
the remote controller is used for sending an emergency braking intervention signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the steering wheel is used for sending a steering angle intervention signal to the manual intervention driving control device when the manual intervention driving control device is determined to be the target driving control device;
the accelerator pedal is used for sending an accelerator pedal opening and closing degree interference signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the brake pedal is used for sending a brake pedal opening and closing degree interference signal to the manual intervention controller when the manual intervention driving control device is determined to be the target driving control device;
the manual intervention controller is used for:
generating the teaching signal message according to the emergency braking intervention signal, or generating the teaching signal message according to the steering angle intervention signal, the accelerator pedal opening degree intervention signal and the brake pedal opening degree intervention signal;
and sending the corresponding teaching signal message to the whole vehicle gateway, and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
6. A safety teaching control method for intelligent driving, characterized in that a safety teaching control system for intelligent driving according to any one of claims 1 to 5 is used for driving teaching, comprising the steps of:
step 1: the method comprises the steps that a whole vehicle gateway is utilized to obtain driving mode signal messages sent by at least one driving control device, and a target driving control device is determined from all driving control devices according to all driving mode signal messages;
step 2: acquiring a teaching signal message of the target driving control device by using the finished automobile gateway, and controlling an external drive-by-wire chassis to carry out driving teaching according to the teaching signal message;
the driving control device comprises an automatic driving control device, a remote driving control device and a manual intervention driving control device.
7. The safety teaching control method for intelligent driving according to claim 6, wherein in the step 1, the specific step of determining the target driving control device from all the driving control devices comprises:
step 11: determining the message quantity of all the driving mode signal messages, judging whether the message quantity is equal to 1, and if so, executing the step 12; otherwise, executing step 13;
step 12: determining the driving control device which sends out the driving mode signal message as the target driving control device;
step 13: respectively determining the message type of each driving mode signal message;
when the first type exists in the message types, determining the manual intervention driving control device as the target driving control device;
and when the message types are the second types, respectively acquiring the message receiving time of each driving mode signal message, and determining the driving control device corresponding to the driving mode signal message with the latter message receiving time as the target driving control device.
8. The safety teaching control method of intelligent driving according to claim 7, wherein the automatic driving control device includes an automatic driving controller and a sensor group; when the automatic driving control device is determined as the target driving control device, the specific steps of step 2 include:
step 2 A.1: acquiring a vehicle environment perception data set by utilizing the sensor group;
step 2 A.2: planning an automatic driving track of the vehicle according to the vehicle environment perception data set by using the automatic driving controller, and generating the teaching signal message according to the automatic driving track of the vehicle;
step 2 A.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the automatic driving controller; controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway;
the remote driving control device comprises a remote driving controller and a 5G antenna; when the remote driving control device is determined to be the target driving control device, the specific steps of step 2 include:
step 2 B.1: acquiring a remote control signal of a remote end by using the 5G antenna;
step 2 B.2: generating the teaching signal message according to the remote control signal by using the remote driving controller;
step 2 B.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the remote driving controller; and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
9. The safety teaching control method for intelligent driving according to claim 7, wherein the manual intervention driving control device comprises a manual intervention controller, a remote controller, a steering wheel, an accelerator pedal and a brake pedal; when the human intervention driving control device is determined as the target driving control device, the specific step of the step 2 comprises:
step 2, Ca.1: sending an emergency braking intervention signal to the manual intervention controller by using the remote controller;
step 2, Ca.2: generating the teaching signal message according to the emergency braking intervention signal by using the manual intervention controller;
step 2, Ca.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the manual intervention controller; controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway;
alternatively, the first and second electrodes may be,
step 2 Cb.1: transmitting a steering angle intervention signal to the manual intervention controller by using the steering wheel; sending an accelerator pedal opening and closing degree intervention signal to the manual intervention controller by using the accelerator pedal; sending a brake pedal opening and closing degree intervention signal to the manual intervention controller by using the brake pedal;
step 2 Cb.2: generating the teaching signal message according to the steering angle intervention signal, the accelerator pedal opening degree intervention signal and the brake pedal opening degree intervention signal;
step 2 Cb.3: sending the corresponding teaching signal message to the whole vehicle gateway by using the manual intervention controller; and controlling the external drive-by-wire chassis to carry out driving teaching according to the teaching signal message by using the whole vehicle gateway.
10. The intelligent driving teaching trolley is characterized by comprising a trolley body, wherein a safety teaching control system for intelligent driving as claimed in any one of claims 1 to 5 is integrated in the trolley body, and a drive-by-wire chassis is further arranged on the trolley body; and the wire control chassis is in communication connection with a whole vehicle gateway in the intelligent driving safety teaching control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599332.2A CN114237260A (en) | 2021-12-24 | 2021-12-24 | Intelligent driving safety teaching control system and method and teaching trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599332.2A CN114237260A (en) | 2021-12-24 | 2021-12-24 | Intelligent driving safety teaching control system and method and teaching trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114237260A true CN114237260A (en) | 2022-03-25 |
Family
ID=80762644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111599332.2A Pending CN114237260A (en) | 2021-12-24 | 2021-12-24 | Intelligent driving safety teaching control system and method and teaching trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114237260A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591787A (en) * | 2018-10-31 | 2019-04-09 | 清华大学苏州汽车研究院（相城） | Intelligent driving driving safety protector, guard method and intelligent driving vehicle |
| CN110032176A (en) * | 2019-05-16 | 2019-07-19 | 广州文远知行科技有限公司 | Remote take-over method, device, equipment and storage medium for unmanned vehicle |
| CN110349478A (en) * | 2019-07-16 | 2019-10-18 | 天津卡达克数据有限公司 | A kind of lane holding auxiliary system actual training device for intelligent network connection automobile major teaching |
| CN110568848A (en) * | 2019-09-10 | 2019-12-13 | 东风商用车有限公司 | teaching automatic driving operation system of sweeper |
| CN111994094A (en) * | 2020-08-10 | 2020-11-27 | 北京三快在线科技有限公司 | Remote control take-over method, device, system, medium and unmanned vehicle |
| CN113140140A (en) * | 2021-05-07 | 2021-07-20 | 思博智能科技(中山)有限公司 | Education training is with driving car with autopilot function |
| CN213843893U (en) * | 2020-12-25 | 2021-07-30 | 广州市威控机器人有限公司 | A autopilot dolly for teaching |
| CN113276886A (en) * | 2021-05-28 | 2021-08-20 | 华能煤炭技术研究有限公司 | Vehicle driving mode determining method and device and unmanned vehicle |
| CN113539009A (en) * | 2021-06-08 | 2021-10-22 | 中兴智能汽车有限公司 | Remote driving training platform based on 5G |
| CN113635911A (en) * | 2021-09-07 | 2021-11-12 | 阿波罗智能技术(北京)有限公司 | Vehicle control method, device, equipment, storage medium and automatic driving vehicle |
-
2021
- 2021-12-24 CN CN202111599332.2A patent/CN114237260A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591787A (en) * | 2018-10-31 | 2019-04-09 | 清华大学苏州汽车研究院（相城） | Intelligent driving driving safety protector, guard method and intelligent driving vehicle |
| CN110032176A (en) * | 2019-05-16 | 2019-07-19 | 广州文远知行科技有限公司 | Remote take-over method, device, equipment and storage medium for unmanned vehicle |
| CN110349478A (en) * | 2019-07-16 | 2019-10-18 | 天津卡达克数据有限公司 | A kind of lane holding auxiliary system actual training device for intelligent network connection automobile major teaching |
| CN110568848A (en) * | 2019-09-10 | 2019-12-13 | 东风商用车有限公司 | teaching automatic driving operation system of sweeper |
| CN111994094A (en) * | 2020-08-10 | 2020-11-27 | 北京三快在线科技有限公司 | Remote control take-over method, device, system, medium and unmanned vehicle |
| CN213843893U (en) * | 2020-12-25 | 2021-07-30 | 广州市威控机器人有限公司 | A autopilot dolly for teaching |
| CN113140140A (en) * | 2021-05-07 | 2021-07-20 | 思博智能科技(中山)有限公司 | Education training is with driving car with autopilot function |
| CN113276886A (en) * | 2021-05-28 | 2021-08-20 | 华能煤炭技术研究有限公司 | Vehicle driving mode determining method and device and unmanned vehicle |
| CN113539009A (en) * | 2021-06-08 | 2021-10-22 | 中兴智能汽车有限公司 | Remote driving training platform based on 5G |
| CN113635911A (en) * | 2021-09-07 | 2021-11-12 | 阿波罗智能技术(北京)有限公司 | Vehicle control method, device, equipment, storage medium and automatic driving vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109556885B (en) | Automatic driving control method and system for electric vehicle performance test | |
| CN109318834B (en) | Power chassis domain control framework and automobile | |
| CN106828152B (en) | Automatic battery charging and replacing method for electric vehicle | |
| CN107315359B (en) | Control method for vehicle and system | |
| CN109878557B (en) | Method and system for realizing peristaltic driving mode in full-automatic operation system | |
| CN110368682A (en) | A kind of interactive system and method for vehicle-mounted game | |
| CN108790945A (en) | Single-pedal brake control method, device and equipment for electric automobile and automobile | |
| CN110696833A (en) | Vehicle self-adaptive speed limit control method | |
| CN105083266B (en) | A kind of automobile autocontrol method and automobile is man-machine double drives system | |
| CN108974004B (en) | Power system control method | |
| CN103600670B (en) | A kind of AMT types pure electric vehicle gear-shifting control method | |
| CN211710935U (en) | Electric steering control system suitable for automatic driving automobile | |
| CN110356399A (en) | A kind of method and apparatus of dynamical system torque monitoring | |
| CN110341492A (en) | A kind of method and apparatus of dynamical system torque monitoring | |
| CN114237260A (en) | Intelligent driving safety teaching control system and method and teaching trolley | |
| CN108482373B (en) | Method and system for determining overrunning mode of adaptive cruise system | |
| CN114248805A (en) | Intelligent driving control weight distribution method and system for relieving man-machine conflict | |
| CN106341388A (en) | Vehicle remote monitoring system and networked control method | |
| CN105644389A (en) | Redundancy control method and system of vehicle | |
| CN109130885B (en) | System and method for reducing ASIL (automatic service interface il) level of electric vehicle motor controller | |
| CN105599638B (en) | For the method for controlling torque of motor in electric automobile magnetic fade characteristics | |
| CN111890896A (en) | School bus passenger door safety control system | |
| CN203246327U (en) | System for judging and correcting phenomenon of stepping on accelerator instead of brake by mistake | |
| CN114347803A (en) | New energy vehicle torque safety monitoring and processing method | |
| CN113539009A (en) | Remote driving training platform based on 5G |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |