CN116743817A - Remote speed limit control system, control method and computer readable storage medium - Google Patents

Remote speed limit control system, control method and computer readable storage medium Download PDF

Info

Publication number
CN116743817A
CN116743817A CN202210195700.5A CN202210195700A CN116743817A CN 116743817 A CN116743817 A CN 116743817A CN 202210195700 A CN202210195700 A CN 202210195700A CN 116743817 A CN116743817 A CN 116743817A
Authority
CN
China
Prior art keywords
vehicle
speed
target
instruction
remote
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
Application number
CN202210195700.5A
Other languages
Chinese (zh)
Inventor
王力
李镇
何忠贺
张晓平
全振
邢更力
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
North China University of Technology
Original Assignee
North China University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by North China University of Technology filed Critical North China University of Technology
Priority to CN202210195700.5A priority Critical patent/CN116743817A/en
Publication of CN116743817A publication Critical patent/CN116743817A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a remote speed limit control system, a control method and a computer readable storage medium, which are used for executing remote speed limit operation on public passenger vehicles, wherein the remote speed limit control system comprises: the system comprises a remote control terminal, a vehicle-mounted communication terminal, a vehicle-mounted gateway and a vehicle-mounted controller; the remote control terminal is in communication connection with the vehicle-mounted communication terminal, the vehicle-mounted communication terminal is in communication connection with the vehicle-mounted gateway, and the vehicle-mounted gateway is in communication connection with the vehicle-mounted controller; the vehicle-mounted terminal is used for monitoring the real-time running state of the public passenger vehicle, sending confirmation information to the remote control terminal when the vehicle is in an abnormal state, carrying out data conversion through the vehicle-mounted gateway, and carrying out brake limiting operation through the vehicle-mounted controller so as to limit the speed of the public passenger vehicle to be the target running speed, thereby carrying out corresponding adjustment according to the actual running state in the public passenger vehicle and realizing the remote speed limit of the vehicle more safely.

Description

Remote speed limit control system, control method and computer readable storage medium
Technical Field
The invention belongs to the technical field of data communication, and particularly relates to a remote speed limit control system, a control method and a computer readable storage medium.
Background
The risk prevention and control of urban public bus and road passenger transport is an important problem that needs to be prevented and noticed, and when sudden conditions occur in public vehicles, serious influence can be caused if effective regulation and control cannot be carried out. If the speed of the vehicle can be flexibly and remotely controlled in a limiting way according to actual conditions when the vehicle encounters an emergency, the safety technical protection capability of the vehicle can be greatly enhanced. At present, the existing remote speed limiting method related to the public transportation vehicle can only realize remote parking control of the public transportation vehicle.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present application provide a remote speed limit control system, a control method, and a computer readable storage medium, where the specific scheme is as follows:
in a first aspect, an embodiment of the present application provides a remote speed limit control system for performing a remote speed limit operation on a public passenger vehicle, the remote speed limit control system comprising: the system comprises a remote control terminal, a vehicle-mounted communication terminal, a vehicle-mounted gateway and a vehicle-mounted controller;
the remote control terminal is in communication connection with the vehicle-mounted communication terminal, the vehicle-mounted communication terminal is in communication connection with the vehicle-mounted gateway, and the vehicle-mounted gateway is in communication connection with the vehicle-mounted controller;
The vehicle-mounted communication terminal is used for monitoring the running state of the public passenger vehicle, and when the running state of the public passenger vehicle is converted from a normal running state to an abnormal running state, a speed limiting request instruction and vehicle running information are sent to the remote control terminal;
the remote control terminal is used for carrying out real-time verification according to the request speed limit instruction, and when the request speed limit instruction passes the verification, the remote control terminal sends a target speed limit instruction to the vehicle-mounted terminal according to the vehicle running information;
the vehicle-mounted communication terminal is also used for forwarding the target speed limit instruction to the vehicle-mounted gateway;
the vehicle-mounted gateway is used for converting the target speed limit instruction into a target message according to a preset message conversion rule and forwarding the target message to the vehicle-mounted controller;
and the vehicle-mounted controller is used for executing corresponding braking speed limiting operation on the public passenger vehicle according to the target message so as to limit the speed of the public passenger vehicle to be the target running speed.
According to a specific implementation manner of the embodiment of the present application, the vehicle-mounted communication terminal includes: the device comprises a video acquisition unit, a video analysis unit, a storage unit and a communication unit;
The video acquisition unit is respectively in communication connection with the video analysis unit and the storage unit, and the video analysis unit is respectively in communication connection with the storage unit and the communication unit;
the video acquisition unit is used for acquiring real-time video data of a target area in the vehicle in real time;
the video analysis unit is used for searching the characteristic data matched with the real-time video data in the abnormal data set stored in the storage unit, and outputting an abnormal analysis result of the public passenger vehicle entering an abnormal running state when the characteristic data are searched;
the storage unit is used for storing an abnormal data set and the real-time video data;
the communication unit is used for transmitting instructions with the remote control terminal and the vehicle-mounted gateway.
According to a specific implementation manner of the embodiment of the application, an encryption unit and a decryption unit are arranged in the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller;
before the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller send the instruction, the instruction is subjected to preset encryption operation through the encryption unit;
Before receiving the instruction, the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller all judge whether the instruction is an encryption instruction, and if the instruction is the encryption instruction, the decryption unit is used for carrying out preset decryption operation on the instruction.
According to a specific implementation manner of the embodiment of the present application, the remote control terminal is specifically configured to verify the request speed limit instruction according to the real-time video data sent by the vehicle-mounted communication terminal, and after receiving a user confirmation instruction, send the target speed limit instruction to the vehicle-mounted communication terminal, where the target speed limit instruction includes a speed limit level and the target running speed.
According to a specific implementation manner of the embodiment of the application, the public passenger vehicle further comprises an on-board diagnosis system, and the on-board controller is used for being in communication connection with the on-board diagnosis system;
the vehicle-mounted controller is specifically used for sending a safety authentication instruction to the vehicle-mounted diagnosis system when receiving the target message sent by the vehicle-mounted gateway;
when the vehicle-mounted diagnosis system feeds back an authentication success instruction, the vehicle-mounted controller sends the target message to each actuator in the public passenger vehicle so that each actuator carries out speed limiting operation according to the target message.
According to a specific implementation manner of the embodiment of the present application, the vehicle-mounted gateway is specifically configured to detect whether the target speed limit instruction includes a first message indicating the target running speed;
if the target speed limiting instruction does not comprise the first message indicating the target running speed, sending a second message according to a preset speed;
and if the target speed limiting instruction comprises a first message indicating the target running speed, sending a second message according to the target running speed.
According to a specific implementation manner of the embodiment of the present application, the vehicle-mounted gateway is specifically configured to compare the target running speed with a real-time speed of the public passenger vehicle when the target speed limit instruction includes a first message indicating the target running speed;
when the target running speed is greater than the real-time vehicle speed, sending the second message according to a first mode;
and when the target running speed is smaller than or equal to the real-time vehicle speed, sending the second message according to a second mode.
In a second aspect, an embodiment of the present application provides a remote speed limit control method, which is applied to the remote speed limit control system in the first aspect or any implementation manner of the first aspect, where the remote speed limit control method includes:
The vehicle-mounted communication terminal monitors the running state of the public passenger vehicle, and when the running state of the public passenger vehicle is converted from a normal running state to an abnormal running state, the vehicle-mounted communication terminal sends a speed limiting request instruction and vehicle running information to the remote control terminal;
the remote control terminal performs real-time verification according to the request speed limit instruction, and when the request speed limit instruction passes the verification, the remote control terminal sends a target speed limit instruction to the vehicle-mounted terminal according to the vehicle running information;
the vehicle-mounted communication terminal forwards the target speed limiting instruction to the vehicle-mounted gateway;
the vehicle-mounted gateway converts the target speed limit instruction into a target message according to a preset message conversion rule, and forwards the target message to the vehicle-mounted controller;
and the vehicle-mounted controller executes corresponding braking speed limiting operation on the public passenger vehicle according to the target message so as to limit the speed of the public passenger vehicle to be the target running speed.
In a third aspect, embodiments of the present application further provide a vehicle including the remote speed limit control system of the foregoing first aspect or any implementation manner of the first aspect.
In a fourth aspect, embodiments of the present application also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the remote speed limit control method of the second aspect.
The remote speed limiting control system, the control method and the computer readable storage medium in the embodiment of the application are used for executing remote speed limiting operation on public passenger vehicles, and the remote speed limiting control system comprises: the system comprises a remote control terminal, a vehicle-mounted communication terminal, a vehicle-mounted gateway and a vehicle-mounted controller; the remote control terminal is in communication connection with the vehicle-mounted communication terminal, the vehicle-mounted communication terminal is in communication connection with the vehicle-mounted gateway, and the vehicle-mounted gateway is in communication connection with the vehicle-mounted controller; the vehicle-mounted terminal is used for monitoring the real-time running state of the public passenger vehicle, sending confirmation information to the remote control terminal when the vehicle is in an abnormal state, carrying out data conversion through the vehicle-mounted gateway, and carrying out brake limiting operation through the vehicle-mounted controller so as to limit the speed of the public passenger vehicle to be the target running speed, thereby carrying out corresponding adjustment according to the actual running state in the public passenger vehicle, and realizing the remote speed limit of the vehicle more safely and effectively.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a system module of a remote speed limit control system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of system interaction of a remote speed limit control system according to an embodiment of the present application;
FIG. 3 is an interactive schematic diagram for implementing a target operation speed control in a remote speed limit control system according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a method for remote speed limit control according to an embodiment of the present application.
Summarizing the reference numerals:
a remote speed limit control system-100; a remote control terminal-110; an on-vehicle communication terminal-120; an on-board gateway-130; an onboard controller-140.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Referring to fig. 1, a schematic diagram of a system module of a remote speed limit control system 100 according to an embodiment of the present application is provided, where the remote speed limit control system 100 according to the embodiment of the present application is configured to perform a remote speed limit operation on a public passenger vehicle, and the remote speed limit control system 100 includes: remote control terminal 110, in-vehicle communication terminal 120, in-vehicle gateway 130, and in-vehicle controller 140;
the remote control terminal 110 is in communication connection with the vehicle-mounted communication terminal 120, the vehicle-mounted communication terminal 120 is in communication connection with the vehicle-mounted gateway 130, and the vehicle-mounted gateway 130 is in communication connection with the vehicle-mounted controller 140;
the vehicle-mounted communication terminal 120 is configured to monitor a running state of the public passenger vehicle, and send a request speed limit instruction and vehicle running information to the remote control terminal 110 when the running state of the public passenger vehicle is converted from a normal running state to an abnormal running state;
the remote control terminal 110 is configured to perform real-time verification according to the requested speed limit instruction, and send a target speed limit instruction to the vehicle-mounted terminal according to the vehicle driving information when the requested speed limit instruction passes the verification;
The vehicle-mounted communication terminal 120 is further configured to forward the target speed limit instruction to the vehicle-mounted gateway 130;
the vehicle-mounted gateway 130 is configured to convert the target speed limit instruction into a target message according to a preset message conversion rule, and forward the target message to the vehicle-mounted controller 140;
the vehicle-mounted controller 140 is configured to perform a corresponding braking speed limiting operation on the public passenger vehicle according to the target message, so as to limit the speed of the public passenger vehicle to be a target running speed.
In a specific embodiment, the remote control terminal 110 has the highest priority, and the order of priority of the commands among the remote control terminal 110, the vehicle-mounted terminal, the vehicle-mounted gateway 130 and the vehicle-mounted controller 140 is that the remote control terminal 110 is larger than the vehicle-mounted terminal, the vehicle-mounted terminal is larger than the vehicle-mounted gateway 130, and the vehicle-mounted gateway 130 is larger than the vehicle-mounted controller 140.
The remote control terminal 110 is in communication connection with the vehicle-mounted terminal, and specifically, the remote control terminal 110 realizes communication with the vehicle-mounted terminal through an interaction server. The in-vehicle terminal may transmit a request instruction and vehicle driving data to the remote control terminal 110 through the interaction server. The remote control terminal 110 may issue a speed limit control command to the vehicle-mounted terminal according to the real-time vehicle speed reported by the vehicle-mounted terminal and the actual requirement.
The vehicle gateway 130 is configured to convert the command sent by the vehicle terminal into a message, and transmit the command to the vehicle controller 140 in the form of a message.
The vehicle-mounted controller 140 controls the corresponding braking system to limit the speed of the vehicle to the target running speed after receiving the target speed limit command.
According to a specific implementation manner of the embodiment of the present application, the vehicle-mounted communication terminal 120 includes: the device comprises a video acquisition unit, a video analysis unit, a storage unit and a communication unit;
the video acquisition unit is respectively in communication connection with the video analysis unit and the storage unit, and the video analysis unit is respectively in communication connection with the storage unit and the communication unit;
the video acquisition unit is used for acquiring real-time video data of a target area in the vehicle in real time;
the video analysis unit is used for searching the characteristic data matched with the real-time video data in the abnormal data set stored in the storage unit, and outputting an abnormal analysis result of the public passenger vehicle entering an abnormal running state when the characteristic data are searched;
the storage unit is used for storing an abnormal data set and the real-time video data;
The communication unit is used for transmitting instructions with the remote control terminal 110 and the vehicle gateway 130.
In a specific embodiment, the actual condition in the vehicle needs to be judged first, and if and only if an abnormal condition occurs in the interior of the public passenger vehicle, the remote speed limiting control is started.
Among these, abnormal conditions include vehicle pinching, collision, other emergency situations, etc. occurring in the vehicle.
The vehicle-mounted terminal comprises a video acquisition unit and a video analysis unit, and whether abnormal conditions occur in the vehicle can be judged by acquiring video data in the vehicle.
Specifically, the video acquisition unit may be an image capturing apparatus such as a monitoring camera, and may be configured to directly acquire video data and send the video data to a corresponding unit or terminal. The video acquisition unit is respectively connected with the video analysis unit, the storage unit and the communication unit.
After the video acquisition unit acquires the video data, the video data are sent to the video analysis unit, so that the video analysis unit performs real-time analysis according to the video data, and whether the real-time video data have abnormal conditions is judged.
After the video acquisition unit acquires the video data, the video data is sent to the storage unit, so that the storage unit stores and records the corresponding video data, and real-time video data in a vehicle can be backed up for the video analysis unit to retrieve at any time.
After the video acquisition unit acquires the video book, the video data can be sent to the communication unit, so that the communication unit forwards the video data to other terminals, for example, a monitoring module of the remote control terminal 110, so that a user of the remote control terminal 110 can check the passenger traffic situation on the public passenger traffic vehicle at any time and monitor the abnormal situation to perform real-time regulation.
It is to be noted that the user may set the video acquisition unit at an arbitrary position in the vehicle in advance, and may acquire the position priority of the maximum shooting range, and the set position of the video acquisition unit is not particularly limited here.
The video analysis unit judges whether abnormal conditions exist in the real-time video data according to a pre-stored abnormal data set, wherein the abnormal data set comprises video features of various emergency conditions in the vehicle. For example, a person in a car holds a control cutter in his hand, inflammable and explosive articles appear in the car, passengers in the car fall over a large area, and the like. The setting of the abnormal data set may be set according to the learning neural network, which is not limited herein.
When the video analysis unit finds that the real-time video data is matched with the abnormal characteristics in the abnormal data set, an abnormal analysis result of the abnormal running state of the vehicle is output to the communication unit, so that the communication unit sends a speed limiting request instruction to the remote control terminal 110.
The storage unit is a mass memory capable of storing a large amount of video data.
According to a specific implementation manner of the embodiment of the present application, an encryption unit and a decryption unit are respectively disposed in the remote control terminal 110, the vehicle-mounted communication terminal 120 and the vehicle-mounted controller 140;
before the remote control terminal 110, the vehicle-mounted communication terminal 120 and the vehicle-mounted controller 140 send the instruction, the instruction is subjected to preset encryption operation by the encryption unit;
before receiving the instruction, the remote control terminal 110, the vehicle-mounted communication terminal 120 and the vehicle-mounted controller 140 all determine whether the instruction is an encrypted instruction, and if the instruction is an encrypted instruction, the decryption unit performs a preset decryption operation on the instruction.
In a specific embodiment, each implementation device in the remote speed limit control system 100 is provided with an encryption unit and a decryption unit, so as to perform corresponding encryption processing and decryption processing on the transmitted data and instructions.
Specifically, the encryption and decryption processes may be that plaintext data is encrypted by a key and ciphertext data is decrypted by the same key. In this embodiment, the encryption and decryption process may be an implementation process based on AES encryption operation and AES decryption operation.
It should be noted that the encryption key and the decryption key stored in the remote control terminal 110, the vehicle-mounted communication terminal 120, and the vehicle-mounted controller 140 are the same, so as to facilitate signal communication between the devices.
Command data issued to the vehicle is protected by encryption, and the encryption method is as follows:
based on the permutation and permutation operations, the data is rearranged on the byte matrix and the data units are replaced to either rearrange the data or replace it with another entirely different data so that the same key can be used for the rotation.
As shown in fig. 2, in the present embodiment, the encrypted target speed limit command is sent from the remote control terminal 110 to the vehicle-mounted communication terminal 120 and the vehicle-mounted information system mounted in the vehicle-mounted communication terminal 120, where the vehicle-mounted information system may be an IVI system.
Specifically, the target speed limit instruction sent to the IVI system may be encrypted by the CPK again, and the user may also issue a control instruction to the vehicle-mounted communication terminal 120 through the IVI system. The target speed limit instruction is transmitted to the vehicle-mounted gateway 130 by the vehicle-mounted communication terminal 120 or the vehicle-mounted communication system, and the vehicle-mounted gateway 130 performs message conversion and forwards the target message to the corresponding vehicle-mounted controller 140.
According to a specific implementation manner of the embodiment of the present application, the remote control terminal 110 is specifically configured to verify the request speed limit instruction according to the real-time video data sent by the vehicle-mounted communication terminal 120, and after receiving a user confirmation instruction, send the target speed limit instruction to the vehicle-mounted communication terminal 120, where the target speed limit instruction includes a speed limit level and the target running speed.
In a specific embodiment, after receiving the request speed limit command sent by the vehicle-mounted communication terminal 120, the remote control terminal 110 performs a verification action on the request command, so as to prevent the occurrence of erroneous transmission of the vehicle-mounted communication terminal 120.
And according to the description of the foregoing embodiments, the control command of the remote control terminal 110 has the highest priority, and the accuracy of the speed limit control can be ensured to the greatest extent by the remote monitoring user to judge the condition of the vehicle interior.
Specifically, the user may acquire the video data in the vehicle at the remote control terminal 110, and confirm the video data with the request speed limit command, thereby judging whether the abnormal situation in the vehicle is true. In addition, the user can also directly acquire the running route and the running speed of the public passenger vehicle through the interaction server, and judge whether the vehicle is in an abnormal condition according to whether the running route deviates and whether the running speed is abnormal.
In particular, the public passenger vehicle can acquire and send positioning data by setting a GPS positioning unit.
Upon confirming that the public passenger vehicle is in an abnormal condition, a user may issue a target speed limit command to the vehicle through the remote control terminal 110, wherein the target speed limit command includes a speed limit level and the target operation speed.
The speed limit level is the degree of reducing the speed of the vehicle, for example, the speed is defined as 60km/h, and the emergency speed limit amplitude is-8 m/s 2 U (k) represents the opening degree of a valve of the braking device, and is used as a percentageThe larger the value, the larger the brake valve opening, i.e. the more urgent the brake is stepped on. The definition for u (k) is as follows:
a (k) represents it as a non-emergency situation; b (k) represents this as a general emergency; c (k) represents it as an emergency;
The target running speed can be adaptively set in a replacement mode according to an actual application scene, and the speed value is not specifically limited here.
Specifically, the embodiment provides a remote speed limiting control algorithm, which can effectively realize remote one-key speed limiting, has smaller steady-state error after response, and can well track an error expected value. The overshoot generated by the control algorithm is smaller, when a random interference signal is given to the whole control system, the system can quickly recover to a balanced stable state, and the designed controller is proved to have stronger robustness and anti-interference performance.
The controllers are connected to the remote control terminal 110 and the in-vehicle communication terminal 120, respectively. The signals output by the controller are sent to the vehicle-mounted controller 140 to realize remote speed control and speed limiting control. The control algorithm is as follows:
a typical SISO discrete-time nonlinear system is as follows:
y(k+1)＝f(y(k),...,y(k-n y ),u(k),...,u(k-n u ))
wherein u (k) ε R, y (k) ε R represent the output and input at time k respectively; n is n y And n u Is two unknown positive integers;representing a nonlinear function of the system, y (k) is the speed of the vehicle at that moment. Consider the whole control process, here the idea of multi-model switching control is employed.
The idea of multi-mode switching is first proposed by Martensson, and there are two main switching methods:
The first is direct switching, a plurality of controllers are firstly established according to the parameter uncertainty of a controlled object, the selection of the next controller is known in advance, the controllers are switched one by one based on a switching function, and the sliding mode variable structure control is the switching.
The second method is indirect switching, each sampling time selects the model closest to the actual controlled object according to the performance index switching function value, and switches the controller based on the model to the current controller. The second idea is mainly adopted in this embodiment.
As shown in fig. 3, the desired speed of the vehicle is defined as y * (k) When the speed limit command is issued, y (k), the actual speed y (k) of the vehicle is equal to the expected speed y * (k) An error e (k) is generated, the error e (k) is converted into an acceleration deviation after passing through the controller, the controller sends out an instruction through the remote control terminal 110, the interactive server data is converted, the instruction is transmitted to the vehicle-mounted communication terminal 120, the vehicle-mounted communication terminal 120 converts the instruction into a message through the vehicle-mounted gateway 130 and acts on a control object, and finally the acceleration is regulated by regulating the opening of the braking device, so that the acceleration deviation reaches an ideal state at the fastest and optimal degree, the remote intelligent one-key speed limitation is realized, and the speed of the vehicle is limited to an expected value.
According to a specific implementation manner of the embodiment of the present application, the public passenger vehicle further includes an on-board diagnosis system, and the on-board controller 140 is configured to be communicatively connected to the on-board diagnosis system;
the vehicle-mounted controller 140 is specifically configured to send a security authentication instruction to the vehicle-mounted diagnostic system when receiving the target message sent by the vehicle-mounted gateway 130;
when the on-board diagnostic system feeds back an authentication success instruction, the on-board controller 140 sends the target message to each actuator in the public passenger vehicle, so that each actuator performs speed limiting operation according to the target message.
In a specific embodiment, as shown in FIG. 2, the onboard controller 140 (Electronic Control Unit, ECU) is also communicatively coupled to an onboard diagnostic system (On-Board Diagnostics, OBD).
After receiving the target speed limit command forwarded by the vehicle gateway 130, the vehicle controller 140 sends a query command to the vehicle diagnostic system to perform vehicle safety authentication, and after the vehicle diagnostic system feeds back an authentication error-free command, the vehicle controller 140 sends a speed limit control command to other controllers in the vehicle through channels such as BCAN, CCAN and PCAN, so as to realize speed control of the vehicle.
It should be noted that, when the vehicle-mounted controller 140 performs security authentication on the vehicle-mounted diagnostic system, the real-time running speed of the vehicle is obtained through the vehicle-mounted diagnostic system, and the vehicle-mounted controller 140 feeds back the real-time running speed of the vehicle to the vehicle communication terminal. The vehicle-mounted communication terminal 120 may send the running information of the vehicle to the remote control terminal 110 in real time, where the running information includes the real-time running speed, so that the user may perform speed limit adjustment on the real-time running speed of the vehicle according to the real-time running speed of the vehicle.
According to a specific implementation manner of the embodiment of the present application, the vehicle gateway 130 is specifically configured to detect whether the target speed limit instruction includes a first message indicating the target running speed;
if the target speed limiting instruction does not comprise the first message indicating the target running speed, sending a second message according to a preset speed;
and if the target speed limiting instruction comprises a first message indicating the target running speed, sending a second message according to the target running speed.
In a specific embodiment, when the vehicle-mounted gateway 130 converts the instruction of the vehicle-mounted communication terminal 120, the format of the transmission message is determined according to the specific content of the instruction transmitted by the vehicle-mounted communication terminal 120.
Specifically, for example, when the vehicle gateway 130 forwards the message, the ID number of the message is 0x18FFD0AB, the length of the message is 8 bytes, the transmission period is 500ms, the reserved bytes transmit 0, and the reserved bits transmit 0.
The message format of 0x18FFD0AB is shown in table 1.
TABLE 1
The message ID sent by the vehicle-mounted communication terminal 120 to the vehicle-mounted gateway 130 is 0x18FFD02C, the length of the message is 8 bytes, and the sending period is 500ms.
The message format of 0x18FFD02C is shown in table 2.
TABLE 2
Specifically, as shown in table 1 and table 2, when the vehicle gateway 130 does not receive the message 0x18FFD02C, the message 0x18FFD0AB is sent at a speed of 99km/h, and it should be appreciated that the preset speed may be replaced according to the actual application scenario, which is not limited only herein.
When the vehicle gateway 130 receives the message 0x18FFD02C, the message 0x18FFD0AB is sent according to the Byte1 vehicle speed value in the message 0x18FFD 02C.
According to a specific implementation manner of the embodiment of the present application, the vehicle-mounted gateway 130 is specifically configured to, when the target speed limit instruction includes a first message indicating the target running speed, compare the target running speed with the real-time speed of the public passenger vehicle by the vehicle-mounted gateway 130;
When the target running speed is greater than the real-time vehicle speed, sending the second message according to a first mode;
and when the target running speed is smaller than or equal to the real-time vehicle speed, sending the second message according to a second mode.
In a specific embodiment, when forwarding the target message indicating the target speed limit instruction, the vehicle gateway 130 may indicate the magnitude relation between the target running speed and the real-time vehicle speed through different forwarding modes.
Specifically, the difference between the first mode and the second mode may be a transmission order or a transmission link, and the definition of the first mode and the second mode may be adaptively changed according to an actual transmission scenario of the message.
The remote speed-limiting control system provided by the embodiment of the application can protect the safety of transmitting the command among the devices in the remote speed-limiting control system through the arrangement of the encryption system and prevent other information interference and attack from being received in the command issuing process. Through multiple verification modes, accurate issuing of the target speed limit instruction can be guaranteed, and erroneous transmission and erroneous judgment of the instruction are prevented. And based on the remote speed limiting control system of the embodiment, the public passenger vehicles can be flexibly limited in speed, so that the vehicles are safer and more effectively protected.
Referring to fig. 4, a remote speed limit control method according to an embodiment of the present application is applied to the remote speed limit control system 100 in the foregoing embodiment, and as shown in fig. 4, the remote speed limit control method includes:
step S401, the vehicle-mounted communication terminal 120 monitors the running state of the public passenger vehicle, and when the running state of the public passenger vehicle is converted from the normal running state to the abnormal running state, sends a request speed limit instruction and vehicle running information to the remote control terminal 110;
step S402, the remote control terminal 110 performs real-time verification according to the request speed limit command, and when the request speed limit command passes the verification, sends a target speed limit command to the vehicle-mounted terminal according to the vehicle running information;
step S403, the vehicle-mounted communication terminal 120 forwards the target speed limit instruction to the vehicle-mounted gateway 130;
step S404, the vehicle gateway 130 converts the target speed limit instruction into a target message according to a preset message conversion rule, and forwards the target message to the vehicle controller 140;
in step S405, the vehicle-mounted controller 140 executes a corresponding braking speed limiting operation on the public passenger vehicle according to the target message, so as to limit the speed of the public passenger vehicle to be the target running speed.
The remote speed limit control method provided in this embodiment may be executed by a computing device, which may be implemented as software, or as a combination of software and hardware, and the computing device may be integrally provided in a server, a terminal device, or the like.
The specific implementation process of the remote speed limit control method provided in this embodiment may refer to the specific implementation process of the above system embodiment, and will not be described in detail herein.
Embodiments of the present application also provide a vehicle including the remote speed limit control system 100 of the previous embodiments.
The embodiment of the application also provides a non-transitory computer readable storage medium, which stores computer instructions for causing the computer to execute the remote speed limit control method in the foregoing method embodiment.
In summary, the remote speed limit control system, the control method and the computer readable storage medium provided by the embodiment of the application can flexibly limit the speed of the vehicle according to actual needs under special emergency conditions, and simultaneously, the data transmitted by the vehicle can be protected by encryption, so that the vehicle can be controlled by the remote command terminal effectively. In addition, the specific implementation process of the vehicle and the non-transitory computer readable storage medium in this embodiment may refer to the specific implementation process of the above system embodiment, and will not be described herein in detail.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented in software or in hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (10)

1. A remote speed limit control system for performing a remote speed limit operation on a public passenger vehicle, the remote speed limit control system comprising: the system comprises a remote control terminal, a vehicle-mounted communication terminal, a vehicle-mounted gateway and a vehicle-mounted controller;
the remote control terminal is in communication connection with the vehicle-mounted communication terminal, the vehicle-mounted communication terminal is in communication connection with the vehicle-mounted gateway, and the vehicle-mounted gateway is in communication connection with the vehicle-mounted controller;
The vehicle-mounted communication terminal is used for monitoring the running state of the public passenger vehicle, and when the running state of the public passenger vehicle is converted from a normal running state to an abnormal running state, a speed limiting request instruction and vehicle running information are sent to the remote control terminal;
the remote control terminal is used for carrying out real-time verification according to the request speed limit instruction, and when the request speed limit instruction passes the verification, the remote control terminal sends a target speed limit instruction to the vehicle-mounted terminal according to the vehicle running information;
the vehicle-mounted communication terminal is also used for forwarding the target speed limit instruction to the vehicle-mounted gateway;
the vehicle-mounted gateway is used for converting the target speed limit instruction into a target message according to a preset message conversion rule and forwarding the target message to the vehicle-mounted controller;
and the vehicle-mounted controller is used for executing corresponding braking speed limiting operation on the public passenger vehicle according to the target message so as to limit the speed of the public passenger vehicle to be the target running speed.
2. The remote rate limiting control system according to claim 1, wherein the in-vehicle communication terminal includes: the device comprises a video acquisition unit, a video analysis unit, a storage unit and a communication unit;
The video acquisition unit is respectively in communication connection with the video analysis unit and the storage unit, and the video analysis unit is respectively in communication connection with the storage unit and the communication unit;
the video acquisition unit is used for acquiring real-time video data of a target area in the vehicle in real time;
the video analysis unit is used for searching the characteristic data matched with the real-time video data in the abnormal data set stored in the storage unit, and outputting an abnormal analysis result of the public passenger vehicle entering an abnormal running state when the characteristic data are searched;
the storage unit is used for storing an abnormal data set and the real-time video data;
the communication unit is used for transmitting instructions with the remote control terminal and the vehicle-mounted gateway.
3. The remote speed limit control system according to claim 1, wherein an encryption unit and a decryption unit are provided in each of the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller;
before the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller send the instruction, the instruction is subjected to preset encryption operation through the encryption unit;
Before receiving the instruction, the remote control terminal, the vehicle-mounted communication terminal and the vehicle-mounted controller all judge whether the instruction is an encryption instruction, and if the instruction is the encryption instruction, the decryption unit is used for carrying out preset decryption operation on the instruction.
4. The remote speed limit control system according to claim 2, wherein the remote control terminal is specifically configured to verify the requested speed limit command according to the real-time video data sent by the vehicle-mounted communication terminal, and after receiving a user confirmation command, send the target speed limit command to the vehicle-mounted communication terminal, where the target speed limit command includes a speed limit level and the target running speed.
5. The remote rate-limiting control system of claim 1, wherein the public passenger vehicle further comprises an on-board diagnostic system, the on-board controller being for communication connection with the on-board diagnostic system;
the vehicle-mounted controller is specifically used for sending a safety authentication instruction to the vehicle-mounted diagnosis system when receiving the target message sent by the vehicle-mounted gateway;
when the vehicle-mounted diagnosis system feeds back an authentication success instruction, the vehicle-mounted controller sends the target message to each actuator in the public passenger vehicle so that each actuator carries out speed limiting operation according to the target message.
6. The remote speed limit control system according to claim 1, wherein the vehicle gateway is specifically configured to detect whether the target speed limit command includes a first message indicating the target operation speed;
if the target speed limiting instruction does not comprise the first message indicating the target running speed, sending a second message according to a preset speed;
and if the target speed limiting instruction comprises a first message indicating the target running speed, sending a second message according to the target running speed.
7. The remote rate-limiting control system of claim 6, wherein the on-board gateway is specifically configured to compare the target operating speed with a real-time speed of the public passenger vehicle when the target rate-limiting command includes a first message indicating the target operating speed;
when the target running speed is greater than the real-time vehicle speed, sending the second message according to a first mode;
and when the target running speed is smaller than or equal to the real-time vehicle speed, sending the second message according to a second mode.
8. A remote speed limit control method applied to the remote speed limit control system according to any one of the preceding claims 1 to 7, the remote speed limit control method comprising:
The vehicle-mounted communication terminal monitors the running state of the public passenger vehicle, and when the running state of the public passenger vehicle is converted from a normal running state to an abnormal running state, the vehicle-mounted communication terminal sends a speed limiting request instruction and vehicle running information to the remote control terminal;
the remote control terminal performs real-time verification according to the request speed limit instruction, and when the request speed limit instruction passes the verification, the remote control terminal sends a target speed limit instruction to the vehicle-mounted terminal according to the vehicle running information;
the vehicle-mounted communication terminal forwards the target speed limiting instruction to the vehicle-mounted gateway;
the vehicle-mounted gateway converts the target speed limit instruction into a target message according to a preset message conversion rule, and forwards the target message to the vehicle-mounted controller;
and the vehicle-mounted controller executes corresponding braking speed limiting operation on the public passenger vehicle according to the target message so as to limit the speed of the public passenger vehicle to be the target running speed.
9. A vehicle comprising a remote rate limiting control system as claimed in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the remote rate-limiting control method of claim 8.
CN202210195700.5A 2022-03-01 2022-03-01 Remote speed limit control system, control method and computer readable storage medium Pending CN116743817A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210195700.5A CN116743817A (en) 2022-03-01 2022-03-01 Remote speed limit control system, control method and computer readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210195700.5A CN116743817A (en) 2022-03-01 2022-03-01 Remote speed limit control system, control method and computer readable storage medium

Publications (1)

Publication Number Publication Date
CN116743817A true CN116743817A (en) 2023-09-12

Family

ID=87912010

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210195700.5A Pending CN116743817A (en) 2022-03-01 2022-03-01 Remote speed limit control system, control method and computer readable storage medium

Country Status (1)

Country Link
CN (1) CN116743817A (en)

Similar Documents

Publication Publication Date Title
US11451579B2 (en) System and method for protecting electronics systems of a vehicle from cyberattacks
US11277417B2 (en) System and method of generating rules for blocking a computer attack on a vehicle
US10356122B2 (en) Device for detection and prevention of an attack on a vehicle
Jafarnejad et al. A car hacking experiment: When connectivity meets vulnerability
US20180113476A1 (en) Methods And Systems For Vehicle-To-Vehicle Communication
WO2019021403A1 (en) Control network system, vehicle remote control system, and vehicle-mounted relay device
US11853055B2 (en) Vehicle, server, control method of vehicle and control method of server
EP3547191A1 (en) System and method of generating rules for blocking a computer attack on a vehicle
CN109905488A (en) Commercial vehicle electronic apparatus framework and its safe communication method
US11425146B2 (en) System and method for the secure and efficient provision of at least partly automated driving modes
CN112631273B (en) Remote intelligent one-key forced stop control system for public passenger vehicle
CN109565458A (en) Method and apparatus for the data communication in access controller local area network
US11938964B2 (en) Method for safely ascertaining infrastructure data
US20210086790A1 (en) Method for driving a motor vehicle in at least partially automated fashion
CN116743817A (en) Remote speed limit control system, control method and computer readable storage medium
EP3547192B1 (en) System and method of blocking a computer attack on a means of transportation
CN114157489B (en) Communication domain controller safety communication method based on periodic authentication handshake mechanism
CN112003867B (en) Communication method of vehicle-mounted T-BOX and cloud server and related equipment
CN112572379B (en) Remote intelligent one-key forced stop control method for public passenger vehicle
US11994855B2 (en) Method for controlling a motor vehicle remotely
US20230418778A1 (en) Method and control device for reliable on-board communication
CN110875800B (en) Method and arrangement for encoding/decoding signals at a first and a second communication node in a road vehicle
US20210089025A1 (en) Method for controlling a motor vehicle remotely
CN117319004A (en) Vehicle communication method, system, device, electronic equipment and storage medium
US20210089044A1 (en) Method for controlling a motor vehicle remotely

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