CN102722173B - Method for controlling remote-control driving instrument for vehicle - Google Patents
Method for controlling remote-control driving instrument for vehicle Download PDFInfo
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Abstract
The invention discloses a method for controlling a remote-control driving instrument for a vehicle. The remote-control driving instrument comprises a circuit board component (4), and the circuit board component (4) consists of a hardware portion and a software portion. The method includes control steps of firstly, turning on a power switch so that the circuit board component is powered and a power indicator lamp is on or flickers; secondly, initializing a hardware circuit so that an initializing indicator lamp is on or flickers; thirdly, acquiring switching signals, analog signals and vehicle actual state signals on the driving instrument; fourthly, processing the signals and generating a remote-control driving instruction; and fifthly, wirelessly transmitting the driving instruction to the vehicle and actuating relevant control for the vehicle.
Description
Technical field
The present invention relates to Remote Control Vehicle control field, relate in particular to a kind of car remote-control pilot control method.
Background technology
Automatic driving vehicle has important using value in the hot missions such as search and rescue, rescue, scouting, but at present, really autonomous driving the vehicle that is adapted to various varying environments do not exist completely, and people becomes a kind of feasible program in nearly stage at the remote driving vehicle in loop.
Remote driving instrument is the device that operates, generates and sends steering instructions for remote driving person.Present most remote driving instrument is all simple especially, only possesses some simple buttons, as accelerated, slow down, turn to button, completely different with true steering vehicle, higher to operator's requirement; Although some has also possessed the steering wheel of simulation bearing circle, do not hang the operations such as starting gear, engine start be flame-out, not also remote driving truly; Some possesses these functions, but some operates stressed sensation while thering is no true driving, the sensation that does not all have power to change as operation braking with while turning to.
Remote driving instrument should have good steerability, can meet the driver behavior needs under different kinds of roads condition, and does not require that remote driving person has consummate driving technology.Like this, the method for remote driving instrument control surface car processed just seems particularly important, answers control action few, simple, light, meets the requirement of human engineering; Be difficult for misoperation, and should there is misoperation judgement and instruction error correction; There is good reliability, can be under experimental enviroment condition reliably working over a long time.
Summary of the invention
For the defect of prior art, the present invention proposes a kind of car remote-control pilot control method, the driving function of Reality simulation vehicle, there is the function that control engine starts flame-out, vehicle start, acceleration, deceleration, gear shift, brakes, turns to, and the sensation all changing effectively in the time that operation is braked and turned to, does not require that remote driving person has consummate driving technology; Control action is few, simple, light, is difficult for misoperation, and has misoperation judgement and instruction error correction.
The invention provides a kind of car remote-control pilot control method, a kind of car remote-control pilot control method, it is characterized in that, described remote driving instrument comprises circuit board assemblies, power switch, engine start/flame-out selector switch, one grade/second gear selector switch, before sail/neutral gear/sternway selector switch, selector switch upgrades/automatic transmission/lowers category, turning-bar, speed of a motor vehicle feather key, turning-bar and speed of a motor vehicle feather key act on circuit board assemblies by pot respectively, circuit board assemblies comprises hardware components and software section, hardware components comprises power circuit, signal processing circuit, cpu circuit, drive circuit of indicator, power circuit is powered to circuit board assemblies, cpu circuit control CPU, the reception of signal processing circuit control signal and transmission, the bright dark or flicker of drive circuit of indicator control beacon lamp, software section comprises initialization module, signals collecting and processing module, logic judgment module, steering instructions generation module, signal transmitting module, initialization module makes hardware circuit initialization, and signals collecting and processing module collection are also processed switching value signal, analog signals and the vehicle virtual condition signal on pilot, logic judgment module judges processing, steering instructions generation module generates remote driving instruction, signal transmitting module by described remote driving instruction through wireless way for transmitting to vehicle, the concrete control step of described car remote-control pilot comprises:
The first step, turns on the power switch, circuit board assemblies is powered, power light bright or flicker;
Second step, to hardware circuit initialization, initialization pilot lamp bright or flicker;
The 3rd step, gathers switching value signal, analog signals and vehicle virtual condition signal on pilot;
The 4th step, processes described signal, generates remote driving instruction;
The 5th step, is transferred to described steering instructions on vehicle with wireless mode, and vehicle is carried out to relevant manipulation.
Preferably, the step that generates remote driving instruction comprises generation binary code, described binary code is made up of four bytes, wherein the first byte represents action order, comprise engine start, engine kill, neutral gear, advance travel, sternway, one grade of starting, second gear start to walk, upgrade, lower category; The second byte represents speed of a motor vehicle steering order, is used for expressing size, the engine speed of the speed of a motor vehicle, and the stroke of braking maneuver; The 3rd byte represents direction steering order, is used for expressing the direction, the stroke of handling maneuver or the urgency of steering procedure that turn to slow; Nybble represents instruction verification calculating, and each figure place of first three byte is carried out to distance calculating one by one, whether wrong carrys out decision instruction transmission communication according to result of calculation.
Preferably, described the first byte comprises eight, and the first place value is 1, is the zone bit of instruction the first byte; Second is used for representing the state of engine, and wherein 0 representative is flame-out, and 1 representative starts; The 3rd is room, and value is 0; The the 4th to the 8th is used for representing the signal value of gear selecting operation.
Preferably, described the second byte comprises eight, and first value is 0, the zone bit of right and wrong the first byte instruction; Second is used for representing whether to brake, and wherein 0 representative is not braked, and 1 representative needs braking; The the 3rd to the 8th bit representation control parameter, in on-position not, is used for representing vehicle speed value, in the time of neutral gear, is used for representing engine speed value, in the time of on-position, is used for representing the percent value of braking maneuver stroke.
Preferably, described the 3rd byte comprises eight, and first value is 0, the zone bit of right and wrong the first byte instruction; Second be used for represent whether turn to, wherein 0 represent that straight does not turn to, 1 representative require turn to; The 3rd is used for representing the direction that turns to, wherein 0 representative turn right to, 1 representative turn left to; The emergency degree that the 4th to the 8th bit representation turns to.
Preferably, before the instruction of described generation remote driving, carry out logic judgement according to the operation signal on the vehicle virtual condition signal collecting and pilot, thus anti-misoperation or sound a warning.
Preferably, described remote driving instrument also comprise be used to indicate operation or the side marker light that sounds a warning, power supply beacon lamp, neutral indicatorlamp, sternway pilot lamp, automatic transmission pilot lamp, the pilot lamp that lowers category, frontly sail pilot lamp, the pilot lamp that upgrades, second gear starting pilot lamp, hardware initialization complete pilot lamp, engine start pilot lamp, engine kill pilot lamp, one grade of starting pilot lamp, braking pilot lamp, vehicle speed indication lamp, engine speed pilot lamp.
Preferably, power switch, front sailing/neutral gear/sternway selector switch, the selector switch that upgrades/automatic transmission/lower category, one grade/second gear starting selector switch, engine start/flame-out selector switch are connected with described circuit board assemblies by cable, and described switching value signal comprises the one or more switching signal in these switches.
Preferably, the control of the speed of a motor vehicle, gear and engine speed changes by the position of speed of a motor vehicle feather key, and the control turning to changes by the position of turning-bar, and described analog signals comprises the numerical value of speed of a motor vehicle feather key generation and/or the numerical value that turning-bar produces.
Preferably, described vehicle virtual condition signal comprises the speed of a motor vehicle, gear and/or engine speed.。
With respect to prior art, the present invention has following advantage:
1. the driving function of Reality simulation vehicle, has that engine start is flame-out, a vehicle start, acceleration, deceleration, gear shift, braking, turning function; Speed of a motor vehicle feather key on panel assembly and turning-bar have been taked position self-locking, mobile guide, stroke indication, self-aligning, have been subject to the measures such as force feeling; Simply, light, be difficult for misoperation, and there is misoperation judgement and instruction error correction.
2. while having operating mistake on software discovery panel, can be correlated with the method for pilot lamp to remote driving person prompting by flicker, remind remote driving person to correct operation error.
3. in the speed of a motor vehicle feather key in the present invention and turning-bar, take position self-locking, mobile guide, stroke indication, self-aligning, be subject to the measures such as force feeling; In addition the remote driving instrument that, the present invention proposes has the function of the maloperation of preventing.
Accompanying drawing explanation
Fig. 1 is the vertical view of remote driving instrument of the present invention.
Fig. 2 is the front view of remote driving instrument of the present invention.
Fig. 3 is the panel assembly schematic diagram of remote driving instrument of the present invention.
Fig. 4 is the speed of a motor vehicle Control Component front view of remote driving instrument of the present invention.
Fig. 5 is the speed of a motor vehicle Control Component partial view of remote driving instrument of the present invention.
Fig. 6 be remote driving instrument of the present invention turn to Control Component front view.
Fig. 7 be remote driving instrument of the present invention turn to Control Component vertical view.
Fig. 8 is the program flow diagram of remote driving instrument of the present invention.
Fig. 9 is the feather key stroke schematic diagram of remote driving instrument of the present invention.
Embodiment
As illustrated in fig. 1 and 2, the invention provides a kind of car remote-control pilot, it by speed of a motor vehicle Control Component 1, turn to Control Component 2, panel assembly 3, circuit board assemblies 4, casing 5, protective cover 6, turning-bar 7, speed of a motor vehicle feather key 8 etc. to form.
Circuit board assemblies 4 is arranged on the bottom of casing 5; Protective cover 6 is enclosed within on circuit board assemblies 4, and circuit board assemblies 4 and miscellaneous part are kept apart, and does not stress; Panel assembly 3 is arranged on the superiors of casing 5, panel assembly 3 is connected with circuit board assemblies 4 by cable (not shown at this), switch on guidance panel assembly 3 can be to circuit board assemblies 4 generation effects, and the beacon lamp on circuit board assemblies 4 meeting counter plate assemblies 3 is had an effect; Speed of a motor vehicle Control Component 1 is arranged on a side of protective cover 6 tops, speed of a motor vehicle feather key 8 is enclosed within on speed of a motor vehicle Control Component 1 by wringing fit, operation speed of a motor vehicle feather key 8 can drive the motion of speed of a motor vehicle Control Component 1 inside, and it moves through pot and is applied to circuit board assemblies 4, and then is applied to panel assembly 3; Turn to Control Component 2 to be arranged on the opposite side of protective cover 6 tops, turning-bar 7 is enclosed within and is turned on Control Component 2 by wringing fit, operation turning-bar 7 can drive the motion that turns to Control Component 2 inside, and it moves through pot and is applied to circuit board assemblies 4, and then is applied to panel assembly 3.
As shown in Figure 3, panel assembly 3 is by panel 301, side marker light 302, power supply beacon lamp 303, power switch 304, before sail/neutral gear/sternway selector switch 305, neutral indicatorlamp 306, sternway pilot lamp 307, selector switch 308 upgrades/automatic transmission/lowers category, automatic transmission pilot lamp 309, pilot lamp 310 lowers category, before sail pilot lamp 311, pilot lamp 312 upgrades, second gear starting pilot lamp 313, hardware initialization completes pilot lamp 314, engine start pilot lamp 315, engine kill pilot lamp 316, one grade of starting pilot lamp 317, one grade/second gear starting selector switch 318, braking pilot lamp 319, vehicle speed indication lamp 320, engine speed pilot lamp 321, engine start/flame-out selector switch 322 compositions such as grade.Various switches are connected with the signal processing circuit in circuit board assemblies 4 by cable; Various pilot lamp are connected with the drive circuit of indicator in circuit board assemblies 4 by cable.The effect of power switch is to switch on power and cut off the electricity supply; The effect of other switches is to select, as engine start/flame-out selector switch 322.When switching over is to starting when a side, can be applied to circuit board assemblies 4 by cable, the signal processing circuit of its hardware components and the signal processing module of software section are had an effect in succession, after steering instructions generation module, produce signal, and pass the signal to execution unit, light engine start pilot lamp simultaneously.
As shown in Figure 4, speed of a motor vehicle Control Component 1 is made up of direct slide pot 101, push rod 102, retarding spring 103, top board 104, guide pole 105, lining 106, sliding bar 107, Compress Spring 108, web joint 109, direct slide pot extending shaft 110, friction disc 111, left support frame 112, right support frame 113 etc.
Speed of a motor vehicle feather key 8 is enclosed within on sliding bar 107 by wringing fit mode, and sliding bar 107, is fixed by screw with web joint 109 through the hole on top board 104 by lining 106; Sliding bar 107 by the inner hole sleeve offered on it on guide pole 105; Friction disc 111 is enclosed within on sliding bar 107 in wringing fit mode, contacts with top board 104 lower surfaces; Compress Spring 108 is enclosed within on sliding bar 107, between guide pole 105 upper surfaces and friction disc 111 lower surfaces; Direct slide pot extending shaft 110 one end and direct slide pot 101 are fixed together, and the other end and web joint 109 are fixed together; Push rod 102 is connected with retarding spring 103.Direct slide pot is connected on casing 5.Left support frame 112 is all connected on casing 5 with right support frame 113, and guide pole 105 is fixed on left and right sidesing supporting frame 112,113.
Instantly while delaying unloading ski-running key 8, friction disc 111 separates with top board 104, now, promotes speed of a motor vehicle feather key 8 left, and it drives sliding bar 107 to be moved to the left along guide pole 105,, is moved to the left with the web joint 109 being connected with it meanwhile; Web joint 109 drives direct slide pot extending shaft 110 to be moved to the left, thereby changes the position of direct slide pot 101, and then is applied to circuit board assemblies 4; Otherwise, promote speed of a motor vehicle feather key 8 to the right, position that also can corresponding change direct slide pot 101, and then be applied to circuit board assemblies 4.After the finger of locomotive ski-running key 8 unclamps, it can automatically upspring under Compress Spring 108 effects, and friction disc 111 contacts with top board 104, thereby by means of friction force, speed of a motor vehicle feather key 8 is locked on the position of setting.
When the speed of a motor vehicle that moves right feather key 8 exceedes certain stroke, web joint 109 left sides contact with push rod 102, continue to move right, and under the effect of retarding spring 103, have obvious braking " feel " when operation.
Speed of a motor vehicle Control Component 1 of the present invention has following function:
1. position self-locking---in order to prevent the feather key movement that meets accident, there is self-locking device.After the finger of mobile feather key unclamps, it can automatically upspring under Compress Spring effect, by means of friction force, feather key is locked on the position setting.
2. mobile guide---feather key has moved guide pole, avoids the effect of side force when slip, works reliably.
3. braking district " feel "---in order to prevent being strayed into and braking district while passing feather key downwards, except lighting in time pilot lamp, also increase the effect of spring force (retarding spring), when operation, there is significantly " feel ", as long as unclamp finger, it will return to given position automatically.
As shown in Figure 5, turn to Control Component 2 to be formed by outrigger shaft 201, left limit bar 202, right limit bar 203, rotary potentiometer support 204, driving lever 205, torsion spring 206, rotary potentiometer 207, upper plectrum 208, driving lever web joint 209, lower plectrum 210.
Counterclockwise rotate turning-bar 7, it will drive driving lever 205 to counterclockwise motion by driving lever web joint 209, and driving lever 205 drives upper plectrum 208 to counterclockwise motion, in the time that upper plectrum 208 runs into left limit bar 202, can not continue, to counterclockwise motion, to play position-limiting action.In this motion process, the counterclockwise motion of turning-bar 7 has also driven the corresponding sports of outrigger shaft 201 simultaneously, outrigger shaft 201 has driven coupled rotary potentiometer 204, potentiometric change in location can be applied to circuit board assemblies 4, is then applied to the corresponding pilot lamp in panel assembly 3.In the time discharging turning-bar 7, upper plectrum 208, under the effect of torsion spring 206, can be got back to initial position automatically, and the turning-bar 7 being attached thereto also can be driven and get back to initial position.
Clockwise direction is rotated turning-bar 7, it will drive driving lever 205 to moving clockwise by driving lever web joint 209, and driving lever 205 drives lower plectrum 210 to moving clockwise, when plectrum 210 runs into right limit bar 203 instantly, can not continue, to moving clockwise, to play position-limiting action.In this motion process, the clockwise motion of turning-bar 7 has also driven the corresponding sports of outrigger shaft 201 simultaneously, outrigger shaft 201 has driven coupled rotary potentiometer 207, potentiometric change in location can be applied to circuit board assemblies 4, is then applied to the corresponding pilot lamp in panel assembly 3.In the time discharging turning-bar 7, lower plectrum 210, under the effect of torsion spring 206, can be got back to initial position automatically, and the turning-bar 7 being attached thereto also can be driven and get back to initial position.
The Control Component 2 that turns to of the present invention has following function:
1. self-aligning---the feature of handling according to Vehicular turn, turning-bar has the spring device (torsion spring) of auto back meta.As long as unclamp finger, steering control level will recenter automatically.
2. turn to indication---in the time stirring steering control level, can light in time the pilot lamp to left-hand or right placed arrow type in square beacon lamp, make prompting to driver.
3. stroke limit---turning-bar has link stopper spacing (gag lever post) to clockwise and counterclockwise ultimate angle, guarantees proper operation and sends steering order.
Circuit board assemblies 4 is made up of hardware components and software section.Hardware components comprises power circuit, signal processing circuit, cpu circuit, drive circuit of indicator four parts.Power circuit is powered to circuit board assemblies 4; The normal work of cpu circuit control CPU; The reception of signal processing circuit control signal and transmission; The bright dark or flicker of drive circuit of indicator control beacon lamp; Between each several part, form by circuit theory line.Software section comprises initialization module, signals collecting and processing module, logic judgment module, steering instructions generation module, signal transmitting module; Its function has comprised the initialization, external signal reception, signal processing, logic judgement, steering instructions generation, signal transmission of each hardware circuit etc., and wherein signal processing comprises that processing to analog quantity (numerical value producing as speed of a motor vehicle feather key, the numerical value that turning-bar produces), the processing of switching value and the signal that controlled vehicle is sent process; Software generates binary code and downloads to by downloader the program storage of hardware components CPU after compiling, and hardware components is had an effect.Wherein steering instructions is elaborated as follows.
Steering instructions is made up of four bytes.The order format of each byte is as follows:
1. the first byte---action order, comprise engine start, engine kill, neutral gear, advance travel, sternway, one grade of starting, second gear start to walk, upgrade, lower category.This byte adopts binary number to represent, it everybody represents respectively different implications.Form is as follows: 1. 2. 3. 4. 5. 6. 7. 8.
First 1., and value is 1, is the zone bit of instruction the first byte.
2. second, is used for representing the state of engine.Value: 0-flame-out, 1-start.
The 3rd 3., room, 0.
The 4th to eight, 4. 5. 6. 7. 8., be used for representing the signal value of gear selecting operation.Concrete numerical value is as follows:
2. the second byte---speed of a motor vehicle steering order, is used for expressing size, the engine speed of the speed of a motor vehicle, and the stroke of braking maneuver, and everybody implication is as follows:
1.---first.Value is 0, the zone bit of right and wrong the first byte instruction.
2.---second.Be used for representing whether to brake.Value: 0-do not brake, 1-represent to need to brake.
3.～8.---all the other six bit representation control parameters.In on-position not, directly represent kilometer/hour (km/h) number of the speed of a motor vehicle with binary numeral; In the time of neutral gear, be used for representing the rpm value of engine speed; In the time of on-position, be used for representing the stroke (% value) of braking maneuver, the larger braking requiring of numerical value is stronger, and the less braking of numerical value is lighter.
3. the 3rd byte---direction steering order, is used for expressing the direction, the stroke of handling maneuver or the urgency of steering procedure that turn to slow.Every implication is as follows:
1.---first.Value is 0, the zone bit of right and wrong the first byte instruction.
2.---second, is used for representing whether turn to.Value: 0-represent that straight does not turn to, 1-represent to require to turn to.
3.---the 3rd, be used for representing the direction that turns to.Value: 0-represent require turn right to, 1-represent require turn left to.
4.～8.---the emergency degree that expression turns to.Numerical value is larger, and requirement turns to more anxious, and turning radius is less, otherwise for slowly turning to.
4. nybble---instruction verification is calculated, and each figure place of first three byte is carried out to distance calculating one by one, whether wrong carrys out decision instruction transmission communication according to result of calculation.
The software section flow chart of circuit board assemblies 4 as shown in Figure 6, signals collecting and processing module collection are also processed switching value, the analog signals on pilot, logic processing module judges processing, according to the instruction of protocol generation remote driving through wireless way for transmitting to controlled vehicle.For handling safety, the remote driving instrument that the present invention proposes has the function of the maloperation of preventing.The virtual condition signal (as the speed of a motor vehicle, gear, engine condition information) of controlled vehicle can send to remote driving instrument through wireless mode in real time, operation on controlled vehicle virtual condition information and the pilot of comprehensively passing back, can carry out anti-misoperation or warning processing, specific as follows.
1. as do not hung neutral gear, (the actual-gear information of controlled vehicle sends to circuit board assemblies through wireless mode to controlled vehicle, the signals collecting of circuit board assemblies 4 and processing module can be processed the gear that obtains controlled vehicle), and pilot " startup/flame-out " switch is pulled to " startup " position in enable position or by " stopping working ", now the logic judgment module of circuit board assemblies 4 is after judgement, send signal, through drive circuit of indicator, allow " neutral gear " pilot lamp glimmer, as alerting signal, the driver behavior of prompting right; Meanwhile, software can not generate remote driving instruction, guarantees that controlled vehicle can not start.
2. in the time that vehicle speed is non-vanishing, (the actual speed information of controlled vehicle sends to circuit board assemblies through wireless mode, the signals collecting of circuit board assemblies and processing module can be processed the speed that obtains controlled vehicle), if straighforward operation personnel want to change the state of " front sailing/neutral gear/sternway switch ", the logic judgment module of road board component is after judgement, send signal, through drive circuit of indicator, make the flicker of " km/h " pilot lamp; Meanwhile, software does not receive " front sailing/neutral gear/sternway " conversion command.
3. vehicle, as do not hung neutral gear, is pulled startup/flameout switch to " stopping working " position, does not belong to serious operating mistake, and remote driving instrument still can send flame-out instruction, but the flicker of " neutral gear " pilot lamp sounds a warning.
4. vehicle is in the time of the operation of a grade or reverse gear, as excessive in the speed of a motor vehicle that speed of a motor vehicle feather key is selected, and has exceeded the limit of this grade, and the flicker of " km/h " pilot lamp, sounds a warning.
5. before/and empty/fall switch not in the time of " neutral gear " position, as too low in speed of a motor vehicle feather key or in zero-bit, easily causing flame-out parking, now " neutral gear " pilot lamp flicker, sounds a warning.
The operation of remote driving instrument is very simple, only need to operate 5 switches (power switch, engine start/flame-out selector switch, one grade/second gear selector switch, front sailing/neutral gear/sternway selector switch, selector switch upgrades/automatic transmission/lower category) and turning-bar, speed of a motor vehicle feather key.Instruction generating circuit becomes the coding of given format according to protocol conversion, and by wireless way for transmitting and transmission instruction.Specifically comprise:
1. system powers on and initialization
Power switch on panel assembly is allocated to a side of " opening ", circuit board assemblies and externally fed circuit are connected, power light is bright, circuit board assemblies starts the initialization to each hardware circuit, after software detection completes to initialization, send signal to drive circuit of indicator, initialization is completed to pilot lamp and light.
2. engine start
" front sailing/neutral gear/sternway selector switch " on panel assembly is switched to " neutral gear " position, then will " start/flame-out selection " switch pulls from " stopping working " position to " startup " position, now the signal processing circuit in circuit board assemblies (processing switching value) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the first byte action order), and send by wireless mode, controlled vehicle is starting engine after receiving instruction.
3. the starting of vehicle
" one grade/second gear starting selector switch " pulled to " one grade " or " second gear ", then incite somebody to action " front sailing/neutral gear/sternway is selected " switch spanner to " front sailing " position, reposefully " speed of a motor vehicle feather key " passed and left zero speed position again, now the signal processing circuit in circuit board assemblies (processing switching value and analog quantity) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the first byte action order and the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle receives that controlling vehicle start after instruction travels.
Shift mode
Pilot of the present invention both can have been realized manual shift also can realize fluid drive.In the time of needs fluid drive, " selection upgrades/automatic transmission/lower category " switch is pushed to " automatically " position, and the position of change " speed of a motor vehicle feather key ", now the signal processing circuit in circuit board assemblies (processing switching value and analog quantity) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the first byte action order and the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle enters fluid drive state after receiving instruction, controlled vehicle can be according to sent speed of a motor vehicle instruction size, decide when gear shift in its sole discretion, change any shelves.
If need to use manual shift, the switch that will " upgrade/automatic transmission/lower category " pushes " upgrading " or " lowering category " position, and the position of change " speed of a motor vehicle feather key ", now the signal processing circuit in circuit board assemblies (processing switching value and analog quantity) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the first byte action order and the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle can be taked corresponding gear shift action according to the speed of a motor vehicle instruction sending and " upgrading " or " lowering category " instruction after receiving instruction.
4. engine speed and speed of a motor vehicle control
Speed of a motor vehicle control realizes by the position that changes " speed of a motor vehicle feather key "." speed of a motor vehicle feather key " can slide on the axis of guide.In the time of the mobile feather key of needs, can pass after pressing gently feather key with finger.Finger unclamps rear feather key will upspring automatically, and pins voluntarily in fixed position, prevents that feather key position is offset.
Panel assembly shown in Fig. 3 is the effect that reverse side is watched, while watching from front, on " speed of a motor vehicle feather key " other panel, be decorated with scale mark (shown on the left of in Fig. 1), show respectively the numerical value of engine speed (rpm) and the speed of a motor vehicle (km/h), below, also indicate " braking " district, as shown in Figure 7, they are between vehicle speed indication lamp 320, speed light 321 and the braking pilot lamp 319 of Fig. 3 for its partial enlarged drawing.When after engine start, as selected " neutral gear " position, speed light 321 is lighted.Now move " speed of a motor vehicle feather key " according to rpm scale, just can send the rotating speed of instruction control engine; If selected again " front sailing " or " reverse gear " gear after starting, vehicle speed indication lamp 320 is lighted.Now slowly pass " speed of a motor vehicle feather key " according to km/h scale from zero speed position, the control vehicle gentle start of just can issuing an order is travelled and accelerates.
Give it the gun---in the time of Vehicle Driving Cycle, reposefully " speed of a motor vehicle feather key " upwards passed, now the signal processing circuit in circuit board assemblies (treatment of simulated amount) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle is that regulation speed increases after receiving instruction.
Reduction of speed travels---in the time of Vehicle Driving Cycle, reposefully " speed of a motor vehicle feather key " passed downwards, now the signal processing circuit in circuit board assemblies (treatment of simulated amount) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle is that regulation speed declines after receiving instruction.As wish is a significant slowdown, " speed of a motor vehicle feather key " can be passed to braking district, after declining, the speed of a motor vehicle again feather key is moved to required speed of a motor vehicle scale place.
Speed of a motor vehicle fine setting---the difference of visual actual vehicle speed size and " speed of a motor vehicle feather key " indicating graduation value, the position of slightly mobile " speed of a motor vehicle feather key ", is accurately adjusted to required numerical value the speed of a motor vehicle.
5. steering operation
Turning-bar is a control lever that can rotate around Z-axis, need only just can stir gently by a hand.When unclamping after finger, it again can be in auto-returned center under spring action.When its left rotation and right rotation, can driven rotary formula pot rotate, export a simulating signal, convert steering order to after acting on circuit board assemblies.
When Vehicle Driving Cycle, stir turning-bar left or the right side turn an angle, the now signal processing circuit in circuit board assemblies (treatment of simulated amount), sending after treatment instruction allows left the pilot lamp of (or to the right) bright, steering instructions generation module can generate instruction according to steering instructions form (mainly for the 3rd byte direction steering order) simultaneously, and send by wireless mode, controlled vehicle realizes go to action after receiving instruction.
6. vehicle lay-off
" speed of a motor vehicle feather key " pushed to zero speed position, then, along with the decline of the speed of a motor vehicle, " front/empty/to fall " switch spanner is arrived to " neutral gear " position; As want crash-stop, can, by the hitch of speed of a motor vehicle feather key to zero speed position, continue to push to brake district, simultaneously gear selecting switch spanner to " neutral gear " position, be down to after zero and unclamp the finger on feather key until actual vehicle speed, allow its auto-returned zero speed position.After stagnation of movement, as the file location of not in time gear selecting switch spanner being made the return trip empty, " neutral gear " pilot lamp will glimmer, to remind driver to correct as early as possible.
7. vehicle sternway
" front sailing/neutral gear/sternway is selected " switch spanner is arrived to " sternway " position, reposefully " speed of a motor vehicle feather key " passed and left zero speed position again, now the signal processing circuit in circuit board assemblies (processing switching value and analog quantity) and steering instructions generation module can generate instruction according to steering instructions form (mainly for the first byte action order and the second byte speed of a motor vehicle steering order), and send by wireless mode, controlled vehicle controls vehicle sternway after receiving instruction.
8. vehicle is flame-out
First while confirming vehicle lay-off, " front sailing/neutral gear/sternway is selected " switch is positioned to " neutral gear " position, then " engine start/flame-out selection " switch is pulled from " startup " position to " stopping working " position, now instruction generating circuit generates coding according to protocol conversion, and send instruction by wireless mode, after controlled vehicle receives orders, engine is extinguished.
Claims (4)
1. a car remote-control pilot control method, it is characterized in that, described remote driving instrument comprises circuit board assemblies (4), power switch, engine start/flame-out selector switch, one grade/second gear selector switch, front sailing/neutral gear/sternway selector switch, the selector switch that upgrades/automatic transmission/lower category, turning-bar (7), speed of a motor vehicle feather key (8), turning-bar (7) and speed of a motor vehicle feather key (8) act on circuit board assemblies (4) by pot respectively
Circuit board assemblies (4) comprises hardware components and software section,
Hardware components comprises power circuit, signal processing circuit, cpu circuit, drive circuit of indicator, and power circuit is powered to circuit board assemblies (4); Cpu circuit control CPU; The reception of signal processing circuit control signal and transmission; The bright dark or flicker of drive circuit of indicator control beacon lamp,
Software section comprises initialization module, signals collecting and processing module, logic judgment module, steering instructions generation module, signal transmitting module, initialization module makes hardware circuit initialization, and signals collecting and processing module collection are also processed switching value signal, analog signals and the vehicle virtual condition signal on remote driving instrument; Logic judgment module judges processing; Steering instructions generation module generates remote driving instruction; Signal transmitting module by described remote driving instruction through wireless way for transmitting to vehicle,
The concrete control step of described car remote-control pilot comprises:
The first step, turns on the power switch, circuit board assemblies is powered, power light bright or flicker;
Second step, to hardware circuit initialization, initialization pilot lamp bright or flicker;
The 3rd step, gathers switching value signal, analog signals and vehicle virtual condition signal on remote driving instrument;
The 4th step, processes described signal, generates remote driving instruction;
The 5th step, is transferred to described steering instructions on vehicle with wireless mode, and vehicle is carried out to relevant manipulation;
Described vehicle virtual condition signal comprises the speed of a motor vehicle, gear and/or engine speed;
Wherein, the step that generates remote driving instruction comprises generation binary code, described binary code is made up of four bytes, wherein the first byte represents action order, comprise engine start, engine kill, neutral gear, advance travel, sternway, one grade of starting, second gear start to walk, upgrade, lower category; The second byte represents speed of a motor vehicle steering order, is used for expressing size, the engine speed of the speed of a motor vehicle, and the stroke of braking maneuver; The 3rd byte represents direction steering order, is used for expressing the direction, the stroke of handling maneuver or the urgency of steering procedure that turn to slow; Nybble represents instruction verification calculating, and each figure place of first three byte is carried out to distance calculating one by one, whether wrong carrys out decision instruction transmission communication according to result of calculation;
Before described remote driving instruction generates, carry out logic judgement according to the operation signal on the vehicle virtual condition signal collecting and remote driving instrument, thus anti-misoperation or sound a warning;
Described remote driving instrument also comprise be used to indicate operation or the side marker light that sounds a warning, power supply beacon lamp, neutral indicatorlamp, sternway pilot lamp, automatic transmission pilot lamp, the pilot lamp that lowers category, frontly sail pilot lamp, the pilot lamp that upgrades, second gear starting pilot lamp, hardware initialization complete pilot lamp, engine start pilot lamp, engine kill pilot lamp, one grade of starting pilot lamp, braking pilot lamp, vehicle speed indication lamp, engine speed pilot lamp;
Power switch, front sailing/neutral gear/sternway selector switch, the selector switch that upgrades/automatic transmission/lower category, one grade/second gear starting selector switch, engine start/flame-out selector switch are connected with described circuit board assemblies (4) by cable, and described switching value signal comprises the one or more switching signal in these switches;
The control of the speed of a motor vehicle, gear and engine speed changes by the position of speed of a motor vehicle feather key (8), the control turning to changes by the position of turning-bar (7), and described analog signals comprises the numerical value of speed of a motor vehicle feather key (8) generation and/or the numerical value that turning-bar (7) produces.
2. car remote-control pilot control method as claimed in claim 1, is characterized in that, described the first byte comprises eight, and the first place value is 1, is the zone bit of instruction the first byte; Second is used for representing the state of engine, and wherein 0 representative is flame-out, and 1 representative starts; The 3rd is room, and value is 0; The the 4th to the 8th is used for representing the signal value of gear selecting operation.
3. car remote-control pilot control method as claimed in claim 1, is characterized in that, described the second byte comprises eight, and first value is 0, the zone bit of right and wrong the first byte instruction; Second is used for representing whether to brake, and wherein 0 representative is not braked, and 1 representative needs braking; The the 3rd to the 8th bit representation control parameter, in on-position not, is used for representing vehicle speed value, in the time of neutral gear, is used for representing engine speed value, in the time of on-position, is used for representing the percent value of braking maneuver stroke.
4. car remote-control pilot control method as claimed in claim 1, is characterized in that, described the 3rd byte comprises eight, and first value is 0, the zone bit of right and wrong the first byte instruction; Second be used for represent whether turn to, wherein 0 represent that straight does not turn to, 1 representative require turn to; The 3rd is used for representing the direction that turns to, wherein 0 representative turn right to, 1 representative turn left to; The emergency degree that the 4th to the 8th bit representation turns to.
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| CN201210199194.3A CN102722173B (en) | 2012-06-14 | 2012-06-14 | Method for controlling remote-control driving instrument for vehicle |
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| CN201210199194.3A CN102722173B (en) | 2012-06-14 | 2012-06-14 | Method for controlling remote-control driving instrument for vehicle |
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| CN102722173B true CN102722173B (en) | 2014-06-04 |
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| CN104278886B (en) * | 2013-07-10 | 2016-12-28 | 比亚迪股份有限公司 | Intelligent key for vehicle |
| CN105329234B (en) * | 2014-07-28 | 2018-02-09 | 比亚迪股份有限公司 | Vehicle remote control brake apparatus, the remote control system of vehicle and vehicle remote control braking method |
| CN109656247B (en) * | 2018-11-02 | 2022-05-17 | 北理慧动（常熟）车辆科技有限公司 | Handheld backpack remote control pilot of mine sweeper |
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| CN2275054Y (en) * | 1996-11-06 | 1998-02-25 | 武进市水利局夏溪水利管理服务站 | Auxiliary driving instrument for backing automobile |
| CN2538638Y (en) * | 2002-05-29 | 2003-03-05 | 李镇铭 | Fully-automatic collision-proof driving apparatus for automobile |
| WO2009147420A1 (en) * | 2008-06-04 | 2009-12-10 | Bae Systems Plc | Vehicle system |
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