CN112918491B - Parallel driving control system and method - Google Patents
Parallel driving control system and method Download PDFInfo
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- CN112918491B CN112918491B CN202110351506.7A CN202110351506A CN112918491B CN 112918491 B CN112918491 B CN 112918491B CN 202110351506 A CN202110351506 A CN 202110351506A CN 112918491 B CN112918491 B CN 112918491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Abstract
The application relates to a parallel driving control system and a method, which relate to the technical field of parallel driving, and the parallel driving control system comprises: an environment monitoring device for monitoring the surrounding situation of the vehicle and generating environment monitoring information; the bench simulation device is used for displaying the environment monitoring information and the current running state information and inputting a vehicle control command; the vehicle control device is used for receiving a vehicle control command and controlling the vehicle; and the communication transmission device is used for receiving the vehicle control command, forwarding the vehicle control command to the vehicle control device, and receiving the environment monitoring information, and forwarding the environment monitoring information to the bench simulation device. Based on the 5G communication technology, the situation around the vehicle is displayed and the current running state of the vehicle is simulated on the premise of guaranteeing the real-time performance of the parallel driving control, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
Description
Technical Field
The application relates to the technical field of parallel driving, in particular to a parallel driving control system and method.
Background
With the development of technology, some car manufacturers have developed parallel driving functions and use the parallel driving functions on their own cars, so as to provide better use experience for customers.
However, in the current parallel driving system, although the parallel driving function can be realized, the time delay from the vehicle end to the rack end is generally greater than 250ms because the video transmission time delay is large, so that a certain time delay exists in the aspect of control. In addition, in many parallel driving systems, the situation around the vehicle is displayed only by the image display function, but the situation in which the vehicle itself is traveling cannot be displayed, and the actual running state of the vehicle cannot be perceived. Therefore, the existing parallel driving system has certain defects in use experience.
In order to solve the above technical problems, a parallel driving control technique is now provided to improve the user experience.
Disclosure of Invention
The application provides a parallel driving control system and method, based on the 5G communication technology, on the premise of guaranteeing the real-time performance of parallel driving control, the conditions around the vehicle are displayed, the current driving condition of the vehicle is simulated, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
In a first aspect, the present application provides a parallel driving control system, the system comprising:
an environment monitoring device for monitoring the surrounding situation of the vehicle and generating environment monitoring information;
the bench simulation device is used for displaying the environment monitoring information and the current running state information and inputting a vehicle control command;
the vehicle control device is used for receiving the vehicle control command and controlling the vehicle;
the communication transmission device is used for receiving the vehicle control instruction, forwarding the vehicle control instruction to the vehicle control device, receiving the environment monitoring information and forwarding the environment monitoring information to the rack simulation device;
the vehicle control device includes: the inertial navigation system, the power control system, the EPS, the EPB, the Eboost and the ESC are in signal connection with the communication transmission device through a CAN bus;
the signal monitoring device is used for receiving an obstacle alarm signal and controlling the vehicle to brake through the vehicle control device;
the signal monitoring device is also used for controlling the vehicle to stop at the side through the vehicle control device and executing an EPB pull-up instruction when the SIM card signal of the communication transmission device is lost;
the signal monitoring device is also used for sending a braking instruction to the VCU when the CAN signal corresponding to the RCU is detected to be lost, and the VCU executes the braking instruction and classifies the gears into N gears;
the signal monitoring device is also used for sending a braking instruction to the VCU when the power supply signal of the RCU is detected to be lost, and the VCU executes the braking instruction and classifies the gear into N gear; wherein the content of the first and second substances,
the power control system comprises a VCU, an MCU and a MOTOR which are sequentially in signal connection, and the VCU is in signal connection with the communication transmission device through the CAN bus;
the current running state information is data information of the vehicle in the running process, is used for reflecting the running condition of the vehicle, and is fed back to the bench simulation device by the vehicle control device;
the data transmission of the communication transmission device is based on a 5G communication technology;
the RCU is a parallel driving controller.
Based on the 5G communication technology, the situation around the vehicle is displayed and the current running state of the vehicle is simulated on the premise of guaranteeing the real-time performance of parallel driving control, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore user experience of the user is improved.
Specifically, the communication transmission device comprises a vehicle-mounted communication device and a network communication device;
the vehicle-mounted communication device is used for receiving the environment monitoring information and the current running state information, forwarding the environment monitoring information and the current running state information to the network communication device, and is also used for receiving the vehicle control instruction and forwarding the vehicle control instruction to the vehicle control device;
the network communication device receives the vehicle control command, forwards the vehicle control command to the vehicle-mounted communication device, and is further used for receiving the environment monitoring information and the current running state information and forwarding the environment monitoring information and the current running state information to the bench simulation device.
Specifically, the environment monitoring device comprises a plurality of cameras;
the camera is used for monitoring the surrounding situation of the vehicle and generating environment video monitoring information.
Specifically, the stage simulation apparatus includes:
a display for displaying the environment video monitoring information;
and the multi-degree-of-freedom cockpit is used for simulating the current running state information and inputting a vehicle control command.
Further, the environment monitoring device further comprises:
and the ultrasonic radars are used for monitoring the surrounding condition of the vehicle, and generating an obstacle alarm signal when obstacles exist in a preset dangerous distance around the vehicle.
In a second aspect, the present application provides a parallel driving control method, the method comprising the steps of:
monitoring the surrounding situation of the vehicle to obtain environment monitoring information;
displaying the image of the environment monitoring information, and simulating the current running condition of the vehicle through a multi-dimensional rack;
an operator views the environment monitoring information after image display, feels the simulation condition of the environment monitoring information, and sends a vehicle control instruction to the vehicle through a 5G communication technology;
the vehicle receives and executes the vehicle control command;
the method further comprises the steps of:
when the signal loss of the environment monitoring device is detected, controlling the vehicle to stop at the side;
receiving an obstacle alarm signal and controlling the vehicle to brake;
when the SIM card signal of the communication transmission device is detected to be lost, controlling the vehicle to stop at the side and executing an EPB pull-up instruction;
when the CAN signal corresponding to the RCU is detected to be lost, a braking instruction is sent to the VCU, the VCU executes the braking instruction, and the gear is classified into N gear;
when the power supply signal of the RCU is detected to be lost, a braking instruction is sent to the VCU, the VCU executes the braking instruction, and the gear is classified into N gear;
the RCU is a parallel driving controller.
The beneficial effect that technical scheme that this application provided brought includes:
based on the 5G communication technology, the situation around the vehicle is displayed and the current running state of the vehicle is simulated on the premise of guaranteeing the real-time performance of the parallel driving control, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of a parallel driving control system provided in an embodiment of the present application;
fig. 2 is a hardware schematic structure diagram of a parallel driving control system provided in an embodiment of the present application;
fig. 3 is a flowchart corresponding to a parallel driving function of the parallel driving control system provided in the embodiment of the present application;
FIG. 4 is a schematic diagram of a functional safety mechanism of the parallel steering control system provided in an embodiment of the present application;
fig. 5 is a flowchart illustrating steps of a parallel driving control method provided in an embodiment of the present application.
Detailed Description
Interpretation of terms:
CAN: controller Area Network, controller Area Network;
and (3) RCU: remote Control Unit, parallel steering controller;
EPS: electric Power Steering, electronic Power assisted Steering;
MCU: a Motor Control Unit, a Motor Control Unit;
VCU: vehicle Control Unit, vehicle Control Unit;
ESC: electronic Speed Controller, automotive Electronic stability control system;
EPB: electrical parkking Brake, electronic Parking;
HMI: human Machine Interface, human-Machine Interface;
5G, 5th Generation Mobile Networks, 5th Generation Wireless Systems, or 5th-Generation, fifth Generation Mobile communication technology;
SIM is Subscriber Identity Module, subscriber Identity Module;
GPS, global Positioning System;
CPE, customer Premise Equipment, customer end device.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a parallel driving control system and method, based on a 5G communication technology, on the premise of guaranteeing the real-time performance of parallel driving control, the conditions around a vehicle are displayed, the current driving condition of the vehicle is simulated, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for parallel driving control, and therefore the user experience of the user is improved.
In order to achieve the technical effects, the general idea of the application is as follows:
a parallel driving control system, the system comprising:
the environment monitoring device is used for monitoring the surrounding condition of the vehicle and generating environment monitoring information;
the system comprises a rack simulation device, a monitoring device and a vehicle control device, wherein the rack simulation device is used for displaying environment monitoring information and current running state information and inputting vehicle control instructions;
the vehicle control device is used for receiving a vehicle control command and controlling the vehicle;
the communication transmission device is used for receiving the vehicle control instruction, forwarding the vehicle control instruction to the vehicle control device, receiving the environment monitoring information and forwarding the environment monitoring information to the bench simulation device; wherein the content of the first and second substances,
the current running state information is data information of the vehicle in the running process, is used for reflecting the running condition of the vehicle, and is fed back to the bench simulation device by the vehicle control device;
the data transmission of the communication transmission device is based on the 5G communication technology.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In a first aspect, referring to fig. 1 to 4, an embodiment of the present application provides a parallel driving control system, including:
the environment monitoring device is used for monitoring the surrounding condition of the vehicle and generating environment monitoring information;
the bench simulation device is used for displaying the environment monitoring information and the current running state information and inputting a vehicle control command;
the vehicle control device is used for receiving a vehicle control command and controlling the vehicle;
the communication transmission device is used for receiving the vehicle control command, forwarding the vehicle control command to the vehicle control device, receiving the environment monitoring information and forwarding the environment monitoring information to the rack simulation device; wherein the content of the first and second substances,
the current running state information is data information of the vehicle in the running process, is used for reflecting the running condition of the vehicle, and is fed back to the bench simulation device by the vehicle control device;
the data transmission of the communication transmission device is based on the 5G communication technology.
In the embodiment of the application, based on the 5G communication technology, on the premise of guaranteeing the real-time performance of parallel driving control, the conditions around the vehicle are displayed, the current running condition of the vehicle is simulated, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
It should be noted that, the embodiment of the present application is based on the 5G technology, so that the video transmission delay can be controlled within 150ms, and in addition, the rack simulation apparatus can provide a real road condition experience for a user.
Specifically, the communication transmission device comprises a vehicle-mounted communication device and a network communication device;
the vehicle-mounted communication device is used for receiving the environment monitoring information and the current running state information, forwarding the environment monitoring information and the current running state information to the network communication device, and is also used for receiving a vehicle control instruction and forwarding the vehicle control instruction to the vehicle control device;
the network communication device receives the vehicle control command, forwards the vehicle control command to the vehicle-mounted communication device, and is also used for receiving the environment monitoring information and the current running state information and forwarding the environment monitoring information and the current running state information to the bench simulation device.
Specifically, the vehicle-mounted communication device comprises a GPS antenna, a 5G antenna and an RCU (remote control Unit) provided with a 5G module;
the network communication device comprises a 5G base station and a 5G-CPE;
wherein, the 5G-CPE is a CPE based on 5G technology.
Specifically, the environment monitoring device comprises a plurality of cameras;
the camera is used for monitoring the surrounding situation of the vehicle and generating environment video monitoring information.
Preferably, 4 fisheye cameras and 1 narrow-angle camera are adopted;
or 4 fisheye cameras and 1 32-line laser radar.
Further, the environment monitoring device further comprises:
the ultrasonic radars are used for monitoring the surrounding situation of the vehicle, and when obstacles exist in a preset dangerous distance around the vehicle, obstacle alarm signals are generated.
Preferably, 16 ultrasonic radars may be used 。
Specifically, the vehicle control device includes:
the system comprises an inertial navigation system, a power control system, EPS, EPB, eboost and ESC which are in signal connection with a communication transmission device through a CAN bus; wherein the content of the first and second substances,
the power control system comprises a VCU, an MCU and a MOTOR which are sequentially in signal connection, and the VCU is in signal connection with the communication transmission device through a CAN bus;
eboost is an electric power-assisted brake.
Further, the system further comprises:
and the signal monitoring device is used for controlling the vehicle to stop at the side through the vehicle control device when the signal loss of the environment monitoring device is detected.
Furthermore, the signal monitoring device is also used for receiving the obstacle alarm signal and controlling the vehicle brake through the vehicle control device;
the vehicle control device is also used for controlling the vehicle to stop at the side and executing an EPB pull-up instruction when the SIM card signal of the communication transmission device is detected to be lost;
the system is also used for sending a braking instruction to the VCU when the CAN signal corresponding to the RCU is detected to be lost, the VCU executes the braking instruction, and the gear is classified into N gear;
and the VCU is also used for sending a braking instruction to the VCU when the power supply signal of the RCU is detected to be lost, executing the braking instruction by the VCU and classifying the gear into the N gear.
The rack simulation device specifically comprises a rack host, a vehicle control signal collector, a display and a multi-degree-of-freedom cockpit, wherein the rack host is provided with a server in a matching way; wherein the content of the first and second substances,
the display is used for displaying images of the environment video monitoring information;
the multi-degree-of-freedom cockpit can be a 6-degree-of-freedom cockpit, and is used for simulating current running state information and inputting a vehicle control command;
the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6-degree-of-freedom motion.
Based on the hardware foundation, the system can realize the parallel driving function, as shown in fig. 3 of the attached drawings, and the flow corresponding to the parallel driving function is as follows:
firstly, the RCU acquires videos around a vehicle through 4 fisheye cameras and 1 narrow-angle camera, namely environment monitoring information is obtained, and video coding is carried out by adopting an H264/H265 coding format;
secondly, the RCU sequentially transmits the environment monitoring information and the current driving state information of the vehicle to a 5G base station and a 5G-CPE through the Ethernet, and then transmits the environment monitoring information and the current driving state information to a server of the rack host computer, video decoding is carried out through an H264/H265 decoding format, the environment monitoring information is displayed on a UI interface of a display of the rack simulation device, images displayed by the display need to be spliced by 5 cameras to form a 360-degree annular view, and meanwhile, a multi-degree-of-freedom cockpit of the rack simulation device simulates the current driving condition of the vehicle according to the current driving state information;
thirdly, an operator performs operations such as engaging in a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake, turning a steering wheel and the like in the multi-degree-of-freedom cockpit according to a UI (user interface) displayed by the display, and the driving operation of the operator is subjected to serial port acquisition by the vehicle control signal acquisition unit to form a vehicle control instruction and then converted into an Ethernet signal to be transmitted to the server of the rack host;
fourthly, the server of the rack host transmits an Ethernet signal corresponding to the vehicle control instruction to the RCU through the 5G-CPE, the 5G base station and the 5G network, the RCU converts the Ethernet vehicle control signal corresponding to the vehicle control instruction into a CAN signal and transmits the CAN signal to a corresponding execution controller of the vehicle control device, namely, the accelerator stepping and energy recovery operation is executed through the VCU, the MCU and the MOTOR, the steering operation is executed through the EPS, and the electronic hand brake operation is executed through the EPB; the braking operation is performed by Ebooster and ESC.
Based on the hardware foundation, the rack simulation device of the system can simulate the experience of real road conditions, and the realization process of the experience of real road conditions is as follows:
the inertial navigation system of the vehicle control device senses the actual condition of the vehicle, then sends the acceleration in X, Y, Z three directions to the RCU through the CAN bus, the RCU transmits the acceleration in X, Y, Z three directions to the server of the rack host through the 5G Ethernet, and the rack server transmits the acceleration to the vehicle control signal collector through the Ethernet, so that the 6-degree-of-freedom cockpit is controlled, and various actual running conditions (including uphill, downhill, collision and the like) of the vehicle are realized.
Based on the hardware basis of the signal monitoring device, the system further has a corresponding specific mechanism as shown in fig. 4 of the attached drawings of the specification, which is as follows:
1. when the camera signal is lost, the camera is prompted to be lost by a UI (user interface) of a display of the rack simulation device and an HMI (human machine interface) of a vehicle, the RCU issues an edge parking instruction to the VCU, and in addition, the RCU directly executes an EPB (electronic platform bus) pull-up instruction;
2. when the SIM card signal is lost, the RCU sends an edge parking instruction to the VCU, and the RCU directly executes an EPB pull-up instruction;
3. when a CAN signal corresponding to the RCU is lost, the VCU automatically executes a brake instruction, and the gear is classified into N gear;
4. when the power supply signal of the RCU is lost, the VCU automatically executes a braking instruction, and the gear is classified into N gear;
in addition, the RCU is correspondingly provided with a 32-line laser radar for detecting the front obstacle, and other devices for detecting the obstacle can be arranged to realize the same function if necessary,
when the parallel driving operator has error operation, the distance of the actual obstacle is detected by a plurality of ultrasonic wave radars of the environment monitoring device, when the obstacle exists in the preset dangerous distance around the vehicle, an obstacle alarm signal is generated,
the RCU responds to the obstacle alert signal by sending an immediate brake command to the VCU, eboster and ESC.
Specifically, in practical implementation, the number of the ultrasonic radars of the environment monitoring device may be 16, and specifically, 4 ultrasonic radars are respectively arranged in the front, the back, the left, and the right of the vehicle.
In a second aspect, referring to fig. 5, an embodiment of the present application provides a parallel driving control method based on the parallel driving control system of the first aspect, where the method includes the following steps:
s1, monitoring the surrounding situation of a vehicle to obtain environment monitoring information;
s2, displaying images of the environment monitoring information, and simulating the current running condition of the vehicle through a multi-dimensional rack;
s3, an operator checks the environment monitoring information after image display, feels the simulation condition of the environment monitoring information, and sends a vehicle control instruction to the vehicle through a 5G communication technology;
and S4, the vehicle receives and executes the vehicle control command.
The embodiment of the application is based on the 5G communication technology, and on the premise of guaranteeing the real-time performance of parallel driving control, the conditions around the vehicle are displayed, the current running condition of the vehicle is simulated, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
In the embodiment of the application, the parallel driving control system based on the parallel driving control method comprises:
the environment monitoring device is used for monitoring the surrounding condition of the vehicle and generating environment monitoring information;
the system comprises a rack simulation device, a monitoring device and a vehicle control device, wherein the rack simulation device is used for displaying environment monitoring information and current running state information and inputting vehicle control instructions;
the vehicle control device is used for receiving a vehicle control command and controlling the vehicle;
the communication transmission device is used for receiving the vehicle control instruction, forwarding the vehicle control instruction to the vehicle control device, receiving the environment monitoring information and forwarding the environment monitoring information to the bench simulation device; wherein the content of the first and second substances,
the current running state information is data information of the vehicle in the running process, is used for reflecting the running condition of the vehicle, and is fed back to the bench simulation device by the vehicle control device;
the data transmission of the communication transmission device is based on the 5G communication technology.
In the embodiment of the application, based on the 5G communication technology, on the premise of guaranteeing the real-time performance of parallel driving control, the conditions around the vehicle are displayed, the current running condition of the vehicle is simulated, a more real driving environment simulation effect is provided for a user, an accurate reference basis is provided for the parallel driving control, and therefore the user experience of the user is improved.
It should be noted that, the embodiment of the present application is based on the 5G technology, so that the video transmission delay can be controlled within 150ms, and in addition, the rack simulation apparatus can provide the user with the experience of real road conditions.
Specifically, the communication transmission device comprises a vehicle-mounted communication device and a network communication device;
the vehicle-mounted communication device is used for receiving the environment monitoring information and the current running state information, forwarding the environment monitoring information and the current running state information to the network communication device, and is also used for receiving a vehicle control instruction and forwarding the vehicle control instruction to the vehicle control device;
the network communication device receives the vehicle control command, forwards the vehicle control command to the vehicle-mounted communication device, and is also used for receiving the environment monitoring information and the current running state information and forwarding the environment monitoring information and the current running state information to the bench simulation device.
Specifically, the vehicle-mounted communication device comprises a GPS antenna, a 5G antenna and an RCU (radar cross unit) configured with a 5G module;
the network communication device comprises a 5G base station and a 5G-CPE;
wherein, the 5G-CPE is a CPE based on 5G technology.
Specifically, the environment monitoring device comprises a plurality of cameras;
the camera is used for monitoring the surrounding situation of the vehicle and generating environment video monitoring information.
Preferably, 4 fisheye cameras and 1 narrow-angle camera are adopted;
or 4 fisheye cameras and 1 32-line laser radar.
Further, the environment monitoring device further comprises:
the ultrasonic radars are used for monitoring the surrounding situation of the vehicle, and when obstacles exist in a preset dangerous distance around the vehicle, obstacle alarm signals are generated.
Preferably, 16 ultrasonic radars may be used 。
Specifically, the vehicle control device includes:
the system comprises an inertial navigation system, a power control system, EPS, EPB, eboost and ESC which are in signal connection with a communication transmission device through a CAN bus; wherein the content of the first and second substances,
the power control system comprises a VCU, an MCU and a MOTOR which are sequentially in signal connection, and the VCU is in signal connection with the communication transmission device through a CAN bus.
Further, the system further comprises:
and the signal monitoring device is used for controlling the vehicle to stop at the side through the vehicle control device when the signal loss of the environment monitoring device is detected.
Furthermore, the signal monitoring device is also used for receiving the obstacle alarm signal and controlling the vehicle to brake through the vehicle control device;
the vehicle control device is also used for controlling the vehicle to stop at the side and executing an EPB pull-up instruction when the SIM card signal of the communication transmission device is detected to be lost;
the system is also used for sending a braking instruction to the VCU when the CAN signal corresponding to the RCU is detected to be lost, the VCU executes the braking instruction, and the gear is classified into N gear;
and the VCU is also used for sending a braking instruction to the VCU when the power supply signal of the RCU is detected to be lost, executing the braking instruction by the VCU and classifying the gear into the N gear.
The rack simulation device specifically comprises a rack host, a vehicle control signal collector, a display and a multi-degree-of-freedom cockpit, wherein the rack host is provided with a server in a matching way; wherein the content of the first and second substances,
the display is used for displaying the image of the environment video monitoring information;
the multi-degree-of-freedom cockpit can be a 6-degree-of-freedom cockpit, and is used for simulating current running state information and inputting a vehicle control command;
the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6-degree-of-freedom motion.
Based on the hardware foundation, the method can realize the parallel driving function, and the flow corresponding to the parallel driving function is as follows:
firstly, the RCU acquires videos around a vehicle through 4 fisheye cameras and 1 narrow-angle camera, namely environment monitoring information is obtained, and video coding is carried out by adopting an H264/H265 coding format;
secondly, the RCU sequentially transmits the environment monitoring information and the current driving state information of the vehicle to a 5G base station and a 5G-CPE through the Ethernet, and then transmits the environment monitoring information and the current driving state information to a server of the rack host computer, video decoding is carried out through an H264/H265 decoding format, the environment monitoring information is displayed on a UI interface of a display of the rack simulation device, images displayed by the display need to be spliced by 5 cameras to form a 360-degree annular view, and meanwhile, a multi-degree-of-freedom cockpit of the rack simulation device simulates the current driving condition of the vehicle according to the current driving state information;
thirdly, an operator performs operations such as engaging in a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake, turning a steering wheel and the like in the multi-degree-of-freedom cockpit according to a UI (user interface) displayed by the display, and the driving operation of the operator is subjected to serial port acquisition by the vehicle control signal acquisition unit to form a vehicle control instruction and then converted into an Ethernet signal to be transmitted to the server of the rack host;
fourthly, the server of the rack host transmits an Ethernet signal corresponding to the vehicle control instruction to the RCU through the 5G-CPE, the 5G base station and the 5G network, the RCU converts the Ethernet vehicle control signal corresponding to the vehicle control instruction into a CAN signal and transmits the CAN signal to a corresponding execution controller of the vehicle control device, namely, the accelerator stepping and energy recovery operations are executed through the VCU, the MCU and the MOTOR, the steering operation is executed through the EPS, and the electronic hand brake operation is executed through the EPB; the braking operation is performed by Ebooster and ESC.
Based on the hardware foundation, the bench simulation device of the parallel driving control system based on the method can simulate the experience of real road conditions, so the method also has a real road condition experience realization process, and the real road condition experience realization process is as follows:
the inertial navigation system of the vehicle control device senses the actual condition of the vehicle, then sends the acceleration in X, Y, Z three directions to the RCU through the CAN bus, the RCU transmits the acceleration in X, Y, Z three directions to the server of the rack host through the 5G Ethernet, and the rack server transmits the acceleration to the vehicle control signal collector through the Ethernet, so that the 6-degree-of-freedom cockpit is controlled, and various actual running conditions (including uphill, downhill, collision and the like) of the vehicle are realized.
Based on the hardware basis of the signal monitoring device, the method also has a corresponding functional safety mechanism, and the specific mechanism is as follows:
1. when the camera signal is lost, the camera is prompted to be lost by a UI (user interface) of a display of the rack simulation device and an HMI (human machine interface) of a vehicle, the RCU issues an edge parking instruction to the VCU, and in addition, the RCU directly executes an EPB (electronic platform bus) pull-up instruction;
2. when the SIM card signal is lost, the RCU issues an edge parking instruction to the VCU, and the RCU directly executes an EPB pull-up instruction;
3. when a CAN signal corresponding to the RCU is lost, the VCU automatically executes a brake instruction, and the gear is classified into N gear;
4. when the power supply signal of the RCU is lost, the VCU automatically executes a braking instruction, and the gear is classified into N gear;
in addition, a 32-line laser radar is correspondingly configured on the RCU and is used for detecting the front obstacle,
when the parallel driving operator has error operation, the distance of the actual obstacle is detected by a plurality of ultrasonic wave radars of the environment monitoring device, when the obstacle exists in the preset dangerous distance around the vehicle, an obstacle alarm signal is generated,
the RCU responds to the obstacle alert signal by sending an immediate brake command to the VCU, eboster and ESC.
Specifically, in practical implementation, the number of the ultrasonic radars of the environment monitoring device may be 16, and specifically, 4 ultrasonic radars are respectively arranged in the front, the back, the left, and the right of the vehicle.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A parallel driving control system, characterized in that the system comprises:
the environment monitoring device is used for monitoring the surrounding condition of the vehicle and generating environment monitoring information;
the bench simulation device is used for displaying the environment monitoring information and the current running state information and inputting a vehicle control command;
the vehicle control device is used for receiving the vehicle control command and controlling the vehicle;
the communication transmission device is used for receiving the vehicle control command, forwarding the vehicle control command to the vehicle control device, receiving the environment monitoring information and forwarding the environment monitoring information to the bench simulation device;
the vehicle control device includes: the inertial navigation system, the power control system, the EPS, the EPB, the Eboost and the ESC are in signal connection with the communication transmission device through a CAN bus;
the signal monitoring device is used for receiving an obstacle alarm signal and controlling the vehicle to brake through the vehicle control device;
the signal monitoring device is also used for controlling the vehicle to stop at the side through the vehicle control device when the signal loss of the environment monitoring device is detected;
the signal monitoring device is also used for controlling the vehicle to stop at the side through the vehicle control device and executing an EPB pull-up instruction when the SIM card signal of the communication transmission device is lost;
the signal monitoring device is also used for sending a brake instruction to the VCU when the CAN signal corresponding to the RCU is detected to be lost, and the VCU executes the brake instruction and classifies the gear into N gear;
the signal monitoring device is also used for sending a braking instruction to the VCU when the power supply signal loss of the RCU is detected, and the VCU executes the braking instruction and classifies the gear into N gear; wherein the content of the first and second substances,
the power control system comprises a VCU, an MCU and a MOTOR which are sequentially in signal connection, and the VCU is in signal connection with the communication transmission device through the CAN bus;
the current running state information is data information of a vehicle in the running process, is used for reflecting the running condition of the vehicle, and is fed back to the rack simulation device by the vehicle control device;
the data transmission of the communication transmission device is based on a 5G communication technology;
the RCU is a parallel driving controller.
2. The parallel driving control system according to claim 1, wherein the communication transmission means includes an in-vehicle communication means and a network communication means;
the vehicle-mounted communication device is used for receiving the environment monitoring information and the current running state information, forwarding the environment monitoring information and the current running state information to the network communication device, and is also used for receiving the vehicle control instruction and forwarding the vehicle control instruction to the vehicle control device;
the network communication device receives the vehicle control command, forwards the vehicle control command to the vehicle-mounted communication device, and is further used for receiving the environment monitoring information and the current running state information and forwarding the environment monitoring information and the current running state information to the bench simulation device.
3. The parallel driving control system of claim 1, wherein the environmental monitoring device comprises a plurality of cameras;
the camera is used for monitoring the surrounding situation of the vehicle and generating environment video monitoring information.
4. A parallel steering control system according to claim 3, wherein the stand simulator comprises:
a display for displaying the environment video monitoring information;
and the multi-degree-of-freedom cockpit is used for simulating the current running state information and inputting a vehicle control command.
5. The parallel driving control system according to claim 3, wherein the environment monitoring device further comprises:
and the ultrasonic radars are used for monitoring the surrounding situation of the vehicle, and generating an obstacle alarm signal when obstacles exist in a preset dangerous distance around the vehicle.
6. A parallel driving control method, characterized by comprising the steps of:
monitoring the surrounding condition of the vehicle to obtain environment monitoring information;
displaying the image of the environment monitoring information, and simulating the current running condition of the vehicle through a multi-dimensional rack;
an operator views the environment monitoring information after image display, feels the simulation condition of the environment monitoring information, and sends a vehicle control instruction to the vehicle through a 5G communication technology;
the vehicle receives and executes the vehicle control command;
the method further comprises the steps of:
when the signal loss of the environment monitoring device is detected, controlling the vehicle to stop alongside;
receiving an obstacle alarm signal and controlling the vehicle to brake;
when the SIM card signal of the communication transmission device is detected to be lost, controlling the vehicle to stop at the side and executing an EPB pull-up instruction;
when the CAN signal corresponding to the RCU is detected to be lost, a braking instruction is sent to the VCU, the VCU executes the braking instruction, and the gear is classified into N gear;
when the power supply signal of the RCU is detected to be lost, a braking instruction is sent to the VCU, the VCU executes the braking instruction, and the gear is classified into N gear;
the RCU is a parallel driving controller.
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| CN113189969B (en) * | 2021-05-08 | 2022-09-27 | 东风汽车集团股份有限公司 | Upper computer system for real-time monitoring and early warning of unmanned vehicle |
| CN113467324B (en) * | 2021-07-22 | 2023-12-05 | 东风悦享科技有限公司 | Adaptive 5G network cell switching parallel driving system and method |
| CN113419520A (en) * | 2021-07-28 | 2021-09-21 | 东风悦享科技有限公司 | Parallel driving system and method based on public network condition |
| CN113448276B (en) * | 2021-08-18 | 2023-12-05 | 东风悦享科技有限公司 | Parallel driving control circuit and system with signal acquisition instrument function |
| 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 |
| CN115165400B (en) * | 2022-09-08 | 2022-11-18 | 江苏天一航空工业股份有限公司 | Parallel driving test system and method for automatic driving test field |
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| JP6408832B2 (en) * | 2014-08-27 | 2018-10-17 | ルネサスエレクトロニクス株式会社 | Control system, relay device, and control method |
| CN109017726B (en) * | 2018-07-24 | 2020-12-01 | 东南大学 | Universal braking system for unmanned vehicle and control method |
| CN109808705B (en) * | 2019-01-23 | 2021-11-02 | 青岛慧拓智能机器有限公司 | System for remotely controlling driving |
| JP2021015565A (en) * | 2019-07-16 | 2021-02-12 | トヨタ自動車株式会社 | Vehicle control device |
| CN210454716U (en) * | 2019-08-19 | 2020-05-05 | 长沙智能驾驶研究院有限公司 | 5G remote driving system |
| CN112519766B (en) * | 2020-12-09 | 2022-04-22 | 恒大新能源汽车投资控股集团有限公司 | Vehicle safety control method, device and system |
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