CN111538313A - Remote driving device and method based on six-degree-of-freedom dynamic driving stand - Google Patents
Remote driving device and method based on six-degree-of-freedom dynamic driving stand Download PDFInfo
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- CN111538313A CN111538313A CN202010328988.XA CN202010328988A CN111538313A CN 111538313 A CN111538313 A CN 111538313A CN 202010328988 A CN202010328988 A CN 202010328988A CN 111538313 A CN111538313 A CN 111538313A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a remote driving device based on a six-degree-of-freedom dynamic driving stand, wherein a moving stand of the six-degree-of-freedom dynamic driving stand is rigidly connected with a chassis connected with a master vehicle, a master vehicle controller is used for transmitting vehicle operation control information of a driver to the master vehicle to a vehicle end control unit of a controlled vehicle, the vehicle end control unit of the controlled vehicle controls the controlled vehicle to run according to the vehicle operation control information, the master vehicle controller is used for transmitting the posture information of the controlled vehicle fed back by a controlled vehicle inertial navigation device to a control end of the six-degree-of-freedom dynamic driving stand, and the six-degree-of-freedom dynamic driving stand is used for controlling the posture of the master vehicle according to the posture information of the controlled vehicle, so that the posture of the master. The invention can reliably and remotely control vehicles on the road and sense the vehicle postures in real time.
Description
Technical Field
The invention belongs to the technical field of remote driving, and particularly relates to a remote driving device and method based on a six-degree-of-freedom dynamic driving stand.
Technical Field
At present, a conventional remote driving device is divided into three blocks, namely a cockpit part, a wireless communication part and a controlled vehicle, videos of the controlled vehicle (a camera outside the vehicle) are transmitted back to the cockpit in real time, the cockpit issues instructions and transmits the instructions to the controlled vehicle through wireless communication, and therefore the function of remotely controlling vehicle driving is achieved.
The conventional remote driving device can only pay attention to the control of the controlled vehicle, does not consider the expansion of a scene, and does not grasp the vehicle state information such as speed, electric quantity and the like in real time. In addition, the vehicle attitude information is not fed back in real time, the information state of the vehicle road surface cannot be mastered, whether the road surface is smooth or not, whether the road surface goes up or down a slope or not and the like, and the cockpit is not a real vehicle and cannot display the state information of the cockpit.
Disclosure of Invention
The invention aims to solve the technical problems and provides a remote driving device and a remote driving method based on a six-degree-of-freedom dynamic driving stand.
In order to achieve the purpose, the invention designs a remote driving device based on a six-degree-of-freedom dynamic driving stand, which is characterized in that: the six-degree-of-freedom dynamic platform comprises a six-degree-of-freedom dynamic platform, a master control vehicle controller, a controlled vehicle inertial navigation device and a controlled vehicle end control unit, wherein the motion platform of the six-degree-of-freedom dynamic platform is rigidly connected with a chassis connected with a master control vehicle, the master control vehicle controller is used for transmitting vehicle operation control information of a driver to the master control vehicle to the controlled vehicle end control unit, the controlled vehicle end control unit controls the controlled vehicle to run according to the vehicle operation control information, the master control vehicle controller is used for transmitting controlled vehicle attitude information fed back by the controlled vehicle inertial navigation device to a control end of the six-degree-of-freedom dynamic platform, and the six-degree-of-freedom dynamic platform is used for controlling the attitude of the master control vehicle according to the controlled vehicle attitude information so that the attitude.
The remote driving device is formed by upgrading and transforming the existing vehicle and the six-degree-of-freedom rack, the controlled vehicle can be remotely controlled through the main control vehicle, the video image of the controlled vehicle is displayed, the whole vehicle posture of the controlled vehicle can be truly simulated on the main control vehicle, the real driving experience is provided, and the driver can control the controlled vehicle more accurately.
The instrument of the main control vehicle can synchronously display the vehicle information (electric quantity, gear, accelerator, brake and the like) of the main control vehicle and the controlled vehicle. Through the display information, the vehicle state of the main control vehicle is maintained daily, the state of the controlled vehicle is monitored, and the driving safety is guaranteed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
the system comprises a 1-six-degree-of-freedom dynamic platform, a 2-master control vehicle controller, a 3-controlled vehicle inertial navigation device, a 4-controlled vehicle end control unit, a 5-master control vehicle, a 6-controlled vehicle, a 7-camera, an 8-cloud cockpit and a 9-dispatching console.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples:
as shown in fig. 1, the remote driving device based on the six-degree-of-freedom dynamic driving stand comprises a six-degree-of-freedom dynamic driving stand 1, a master vehicle controller 2, a controlled vehicle inertial navigation device 3 (installed at a chassis position of a controlled vehicle), and a controlled vehicle end control unit 4, wherein a moving stand of the six-degree-of-freedom dynamic driving stand 1 is rigidly connected with a chassis connected with the master vehicle 5, the master vehicle controller 2 is used for transmitting vehicle operation control information (including an accelerator signal, a gear signal, an EPB parking signal, a steering signal, a light signal and a brake signal) of the master vehicle 5 to the controlled vehicle end control unit 4 through a 4G or 5G network, the controlled vehicle end control unit 4 controls the controlled vehicle 6 to run according to the vehicle operation control information, and the master vehicle controller 2 is used for transmitting the posture information of the controlled vehicle fed back by the controlled vehicle inertial navigation device 3 to a control end of the six-degree-of-freedom dynamic driving stand 1 The controller 2 and the controlled vehicle inertial navigation device 3 are in network communication through 4G or 5G), and the six-degree-of-freedom dynamic platform 1 is used for controlling the posture of the main control vehicle 5 according to the posture information of the controlled vehicle, so that the posture of the main control vehicle 5 is kept consistent with the posture of the controlled vehicle 6 in real time, more real driving experience is achieved, and the driver can control the controlled vehicle more accurately.
The attitude information of the controlled vehicle is used for representing the moving freedom degrees of the controlled vehicle in the directions of three orthogonal coordinate axes of x, y and z and the rotating freedom degrees around the three coordinate axes, and specifically comprises the lateral displacement, the longitudinal displacement, the vertical lifting angle, the pitching angle, the rolling angle and the yawing angle of the controlled vehicle.
In the above technical solution, the controlled vehicle end control unit 4 is configured to transmit the entire vehicle state information (for example, the entire vehicle electric quantity, the vehicle speed, the gear, and the like) of the controlled vehicle 6 back to the main control vehicle controller 2, and the main control vehicle controller 2 is configured to transmit the entire vehicle state information of the controlled vehicle 6 to the meter of the main control vehicle 5 for display. The master vehicle controller 2 acquires vehicle operation control information from the master vehicle 5 through a CAN bus, and the controlled vehicle end control unit 4 acquires the whole vehicle state information of the controlled vehicle from the controlled vehicle 6 through the CAN bus.
In the above technical solution, the master control vehicle controller 2 sends the entire vehicle state information of the master control vehicle 5 to the meter of the master control vehicle 5 for display.
In the above technical solution, the vehicle operation control information includes vehicle light control information, vehicle speed limit control signal and vehicle driving control information.
In the above technical solution, the top of the controlled vehicle 6 is further provided with a camera 7, and the camera 7 is used for transmitting the shot images of the environment around the controlled vehicle to the master control vehicle controller 2 through the controlled vehicle end control unit 4, and sending the images to the display screen of the master control vehicle 5 through the master control vehicle controller 2 for displaying.
In the above technical scheme, the vehicle-side control unit 4 of the controlled vehicle is used for transmitting the whole vehicle state information of the controlled vehicle 6 to the cloud cockpit 8 and the dispatching console 9 through a 4G or 5G network. The requirements of centralized dispatching control of remote driving and remote driving teaching are met.
The driver can operate the steering wheel, the accelerator pedal and the brake pedal of the master control vehicle 5 in the master control vehicle 5, the master control vehicle controller 2 converts vehicle operation control information, the control information is transmitted to the controlled vehicle end control unit 4 in the controlled vehicle 6 through the mobile network, and the controlled vehicle end control unit 4 transmits vehicle operation control signals to the vehicle, so that the vehicle is controlled.
In the invention, the main control vehicle 5 can be any fuel vehicle or electric vehicle, and has the advantages of normal starting, gear shifting, acceleration and deceleration, parking and normal instrument display function.
A remote driving method according to the above apparatus, characterized in that it comprises the steps of:
step 1: rigidly connecting a chassis of a master control vehicle 5 with a motion stand of a six-degree-of-freedom dynamic stand 1;
step 2: the method comprises the steps that an image of the surrounding environment of a controlled vehicle, shot by a camera 7 of the controlled vehicle 6, is transmitted to a master control vehicle controller 2 through a controlled vehicle end control unit 4 and is sent to a display screen of a master control vehicle 5 through the master control vehicle controller 2 to be displayed;
and step 3: the master control vehicle controller 2 transmits vehicle operation control information of a driver to the master control vehicle 5 to the controlled vehicle end control unit 4, the controlled vehicle end control unit 4 controls the controlled vehicle 6 to run according to the vehicle operation control information, meanwhile, the controlled vehicle end control unit 4 is used for returning the whole vehicle state information of the controlled vehicle 6 to the master control vehicle controller 2, and the master control vehicle controller 2 transmits the whole vehicle state information of the controlled vehicle 6 to an instrument of the master control vehicle 5 for display;
and 4, step 4: the master control vehicle controller 2 transmits the attitude information of the controlled vehicle fed back by the controlled vehicle inertial navigation device 3 to the control end of the six-degree-of-freedom dynamic platform 1, and the six-degree-of-freedom dynamic platform 1 is used for controlling the attitude of the master control vehicle 5 according to the attitude information of the controlled vehicle, so that the attitude of the master control vehicle 5 is kept consistent with the attitude of the controlled vehicle 6 in real time.
In step 3 of the above technical solution, the master vehicle controller 2 sends the vehicle completion state information of the master vehicle 5 to the meter of the master vehicle 5 for display.
In step 2 of the above technical solution, the controlled vehicle end control unit 4 controls the controlled vehicle 6 to run in a vehicle parallel driving mode according to the vehicle operation control information, and can realize light control of the vehicle according to remote control instructions (low beam, high beam, brake, profile indication) and the like; the running control of the vehicle can be realized according to remote control instructions (forward, backward, acceleration, deceleration, steering, braking) and the like, the response time is less than 20ms, and the vehicle speed is controlled within 30 km/h.
The six-degree-of-freedom dynamic platform is suitable for remote driving of vehicles in dangerous areas or severe environments, such as unmanned mine cars and the like, and the six-degree-of-freedom dynamic platform 1 and the master control vehicle 5 are all existing products, so that the development cost is low. Through the reliable remote driving control of the invention, the casualty index of the driver in a dangerous area or a severe environment is greatly reduced.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (10)
1. The utility model provides a remote driving device based on active driver's rack of six degrees of freedom which characterized in that: the six-degree-of-freedom dynamic platform comprises a six-degree-of-freedom dynamic platform (1), a master control vehicle controller (2), a controlled vehicle inertial navigation device (3) and a controlled vehicle end control unit (4), wherein a moving platform of the six-degree-of-freedom dynamic platform (1) is rigidly connected with a chassis connected with a master control vehicle (5), the master control vehicle controller (2) is used for transmitting vehicle operation control information of a driver to the master control vehicle (5) to the controlled vehicle end control unit (4), the controlled vehicle end control unit (4) controls a controlled vehicle (6) to run according to the vehicle operation control information, the master control vehicle controller (2) is used for transmitting the controlled vehicle attitude information fed back by the controlled vehicle navigation device (3) to a control end of the six-degree-of-freedom dynamic platform (1), the six-degree-of-freedom dynamic platform (1) is used for controlling the attitude of the master control vehicle (5) according, the posture of the master vehicle (5) is kept consistent with the posture of the controlled vehicle (6) in real time.
2. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 1, characterized in that: the attitude information of the controlled vehicle comprises lateral displacement, longitudinal displacement, vertical lifting and pitching angles, rolling angles and yawing angles of the controlled vehicle.
3. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 1, characterized in that: the controlled vehicle end control unit (4) is used for returning the whole vehicle state information of the controlled vehicle (6) to the master control vehicle controller (2), and the master control vehicle controller (2) is used for sending the whole vehicle state information of the controlled vehicle (6) to the instrument of the master control vehicle (5) for display.
4. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 3, characterized in that: and the master control vehicle controller (2) sends the whole vehicle state information of the master control vehicle (5) to an instrument of the master control vehicle (5) for display.
5. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 1, characterized in that: the vehicle operation control information comprises vehicle light control information, a vehicle speed limit control signal and vehicle running control information.
6. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 4, characterized in that: the top of the controlled vehicle (6) is also provided with a camera (7), and the camera (7) is used for transmitting the shot images of the surrounding environment of the controlled vehicle to the master control vehicle controller (2) through the vehicle end control unit (4) of the controlled vehicle and transmitting the images to the display screen of the master control vehicle (5) through the master control vehicle controller (2) for displaying.
7. The remote steering device based on six-degree-of-freedom dynamic driving stand according to claim 1, characterized in that: the vehicle-end control system of the controlled vehicle further comprises a cloud-end cockpit (8), and the vehicle-end control unit (4) of the controlled vehicle is used for transmitting the whole vehicle state information of the controlled vehicle (6) to the cloud-end cockpit (8).
8. A remote driving method of the apparatus according to claim 1, comprising the steps of:
step 1: rigidly connecting a chassis of a master control vehicle (5) with a motion rack of a six-degree-of-freedom dynamic rack (1);
step 2: the method comprises the steps that images of the surrounding environment of a controlled vehicle, shot by a camera (7) of the controlled vehicle (6), of the controlled vehicle are transmitted to a master control vehicle controller (2) through a controlled vehicle end control unit (4), and are transmitted to a display screen of a master control vehicle (5) through the master control vehicle controller (2) to be displayed;
and step 3: the master control vehicle controller (2) transmits vehicle operation control information of a driver to the master control vehicle (5) to the controlled vehicle end control unit (4), the controlled vehicle end control unit (4) controls the controlled vehicle (6) to run according to the vehicle operation control information, meanwhile, the controlled vehicle end control unit (4) is used for returning the whole vehicle state information of the controlled vehicle (6) to the master control vehicle controller (2), and the master control vehicle controller (2) transmits the whole vehicle state information of the controlled vehicle (6) to an instrument of the master control vehicle (5) for display;
and 4, step 4: the master control vehicle controller (2) transmits the attitude information of the controlled vehicle fed back by the controlled vehicle inertial navigation device (3) to the control end of the six-degree-of-freedom dynamic table frame (1), and the six-degree-of-freedom dynamic table frame (1) is used for controlling the attitude of the master control vehicle (5) according to the attitude information of the controlled vehicle, so that the attitude of the master control vehicle (5) is kept consistent with the attitude of the controlled vehicle (6) in real time.
9. The remote driving method according to claim 8, wherein: and in the step 3, the master control vehicle controller (2) sends the whole vehicle state information of the master control vehicle (5) to an instrument of the master control vehicle (5) for display.
10. The remote driving method according to claim 8, wherein: in the step 2, the controlled vehicle end control unit (4) controls the controlled vehicle (6) to run according to the vehicle operation control information and controls the vehicle speed to be within 30 km/h.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010328988.XA CN111538313A (en) | 2020-04-23 | 2020-04-23 | Remote driving device and method based on six-degree-of-freedom dynamic driving stand |
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| CN202010328988.XA CN111538313A (en) | 2020-04-23 | 2020-04-23 | Remote driving device and method based on six-degree-of-freedom dynamic driving stand |
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| CN111538313A true CN111538313A (en) | 2020-08-14 |
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| CN202010328988.XA Pending CN111538313A (en) | 2020-04-23 | 2020-04-23 | Remote driving device and method based on six-degree-of-freedom dynamic driving stand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433875A (en) * | 2021-07-22 | 2021-09-24 | 东风悦享科技有限公司 | Remote cockpit applied to parallel driving system |
| CN113805509A (en) * | 2021-09-09 | 2021-12-17 | 东风悦享科技有限公司 | Remote driving system and method based on V2X |
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| US20100198513A1 (en) * | 2009-02-03 | 2010-08-05 | Gm Global Technology Operations, Inc. | Combined Vehicle-to-Vehicle Communication and Object Detection Sensing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113433875A (en) * | 2021-07-22 | 2021-09-24 | 东风悦享科技有限公司 | Remote cockpit applied to parallel driving system |
| CN113805509A (en) * | 2021-09-09 | 2021-12-17 | 东风悦享科技有限公司 | Remote driving system and method based on V2X |
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Application publication date: 20200814 |