CN105404203A - Apparatus, system and method for remove vehicle monitoring - Google Patents
Apparatus, system and method for remove vehicle monitoring Download PDFInfo
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- CN105404203A CN105404203A CN201510875084.8A CN201510875084A CN105404203A CN 105404203 A CN105404203 A CN 105404203A CN 201510875084 A CN201510875084 A CN 201510875084A CN 105404203 A CN105404203 A CN 105404203A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- Automation & Control Theory (AREA)
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Abstract
The invention, which belongs to the technical field of active safety of the automobile, discloses an apparatus, system and method for remove vehicle monitoring. The apparatus is composed of a wireless transmitting-receiving unit, a CAN communication unit, and a control unit. The wireless transmitting-receiving unit is used for receiving a control command sent by a remote terminal by a wireless network and converting the control command into a command in a CAN protocol format of a local area network of a controller; the CAN communication unit is used for sending the command in the CAN protocol format to the control unit; and the control unit is used for controlling a vehicle driving speed and direction according to the command in the CAN protocol format. According to the invention, the wireless transmitting-receiving unit receives the control command sent by the remote terminal and converts the control command into the command in the CAN protocol format; the CAN communication unit sends the command in the CAN protocol format to the control unit; and the control unit controls the driving speed and direction of the vehicle according to the command in the CAN protocol format. Therefore, remote monitoring of a vehicle is realized.
Description
Technical field
The present invention relates to automobile active safety technical field, particularly a kind of device, system and method for remote monitoring vehicle.
Background technology
21 century will be highway communication intelligentized century, and the intelligent transportation system that people will adopt can be the integrated traffic total management system of a kind of advanced person.Within the system, vehicle independently freely travels on road, and highway is adjusted to optimum condition from chief commander's magnitude of traffic flow.By means of this system, managerial personnel will grasp clearly to the whereabouts of road, vehicle.But also there is no such system at present, the remote monitoring of managerial personnel to vehicle cannot be realized.
Summary of the invention
The problem of managerial personnel to the remote monitoring of vehicle cannot be realized in order to solve prior art, embodiments providing a kind of device, system and method for remote monitoring vehicle.Described technical scheme is as follows:
On the one hand, embodiments provide a kind of device of remote monitoring vehicle, described device comprises:
Wireless transmit/receive units, for being received the control command that remote terminal sends by wireless network, and is converted to the order of controller local area network's CAN protocol form by described control command;
CAN communication unit, for sending to control module by the order of described CAN protocol form;
Described control module, for the order according to described CAN protocol form, controls speed and the direction of vehicle traveling.
In a kind of possible implementation of the present invention, described control module comprises:
The speed of a motor vehicle controls subelement, for the deviation according to the current vehicle speed of described vehicle and the order of described CAN protocol form, controls detent and the throttle of described vehicle;
Direction controlling subelement, for the deviation according to the current angular of described vehicle and the order of described CAN protocol form, controls the steer motor of described vehicle.
In the another kind of possible implementation of the present invention, described control module comprises:
Safety verification subelement, for carrying out safety verification to the order of described CAN protocol form;
Based Intelligent Control subelement, for when the order of described CAN protocol form is by safety verification, according to the order of described CAN protocol form, controls speed and the direction of described vehicle traveling.
In another possible implementation of the present invention, described control module comprises:
Collecting vehicle information subelement, for the environment of the state and described vehicle periphery that gather described vehicle, and sends to described CAN communication unit by the state of described vehicle gathered and the environment of described vehicle periphery;
Described CAN communication unit also for, the environment of the state of described vehicle and described vehicle periphery is transmitted to described wireless transmit/receive units;
Described wireless transmit/receive units also for, be the information of wireless network protocol form by the context conversion of the state of described vehicle and described vehicle periphery, and send the information of described wireless network protocol form to described remote terminal.
On the other hand, embodiments provide a kind of system of remote monitoring vehicle, described system comprises:
Remote terminal, sends control command for the device to remote monitoring vehicle;
The device of described remote monitoring vehicle, for being received the described control command that described remote terminal sends by wireless network, and is converted to the order of controller local area network's CAN protocol form by described control command; According to the order of described CAN protocol form, control speed and the direction of vehicle traveling.
In a kind of possible implementation of the present invention, the device of described remote monitoring vehicle also for, gather the state of described vehicle and the environment of described vehicle periphery; By the information that the context conversion of the state of described vehicle and described vehicle periphery is wireless network protocol form, and send the information of described wireless network protocol form to described remote terminal;
Described remote terminal also for, receive the information of described wireless network protocol form.
Another aspect, embodiments provide a kind of method of remote monitoring vehicle, described method comprises:
Wireless transmit/receive units receives the control command of remote terminal transmission by wireless network, and described control command is converted to the order of CAN protocol form;
The order of CAN protocol form is sent to control module by CAN communication unit;
Described control module, according to the order of described CAN protocol form, controls speed and the direction of vehicle traveling.
In a kind of possible implementation of the present invention, described control module, according to described intelligent control unit, controls speed and the direction of described vehicle, comprising:
According to the deviation of the current vehicle speed of described vehicle and the order of described CAN protocol form, control detent and the throttle of described vehicle;
According to the deviation of the current angular of described vehicle and the order of described CAN protocol form, control the steer motor of described vehicle.
In the another kind of possible implementation of the present invention, described control module, according to the order of described CAN protocol form, controls speed and the direction of described vehicle, described in:
Safety verification is carried out to the order of described CAN protocol form;
When the order of described CAN protocol form is by safety verification, according to the order of described CAN protocol form, control speed and the direction of described vehicle traveling.
In another possible implementation of the present invention, described method also comprises:
Described control module gathers the state of described vehicle and the environment of described vehicle periphery, and the state of described vehicle gathered and the environment of described vehicle periphery are sent to described CAN communication unit;
The environment of the state of described vehicle and described vehicle periphery is transmitted to described wireless transmit/receive units by described CAN communication unit;
The context conversion of the state of described vehicle and described vehicle periphery is the information of wireless network protocol form by described wireless transmit/receive units, and sends the information of described wireless network protocol form to described remote terminal.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
Receive by radio receiving unit control command that remote terminal sends and control command be converted to the order of CAN protocol form, the order of CAN protocol form is sent to control module by CAN communication unit, control module controls speed and the direction of vehicle traveling according to the order of CAN protocol form, achieves the remote monitoring to vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the device of a kind of remote monitoring vehicle that the embodiment of the present invention one provides;
Fig. 2 is the structural representation of the device of a kind of remote monitoring vehicle that the embodiment of the present invention two provides;
Fig. 3 is the structural representation of the system of a kind of remote monitoring vehicle that the embodiment of the present invention three provides;
Fig. 4 is the process flow diagram of the method for a kind of remote monitoring vehicle that the embodiment of the present invention four provides;
Fig. 5 is the process flow diagram of the method for a kind of remote monitoring vehicle that the embodiment of the present invention five provides.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment one
Embodiments provide a kind of device of remote monitoring vehicle, see Fig. 1, this device comprises:
Wireless transmit/receive units 11, for being received the control command that remote terminal sends by wireless network, and is converted to the order of controller local area network's (ControllerAreaNetwork is called for short CAN) protocol format by control command;
CAN communication unit 12, for sending to control module by the order of CAN protocol form;
Control module 13, for the order according to CAN protocol form, controls speed and the direction of vehicle traveling.
The embodiment of the present invention receives by radio receiving unit control command that remote terminal sends and control command is converted to the order of CAN protocol form, the order of CAN protocol form is sent to control module by CAN communication unit, control module controls speed and the direction of vehicle traveling according to the order of CAN protocol form, achieves the remote monitoring to vehicle.
Embodiment two
Embodiments provide a kind of device of remote monitoring vehicle, see Fig. 2, this device comprises:
Wireless transmit/receive units 21, for being received the control command that remote terminal sends by wireless network, and is converted to the order of CAN protocol form by control command;
CAN communication unit 22, for sending to control module by the order of CAN protocol form;
Control module 23, for the order according to CAN protocol form, controls speed and the direction of vehicle traveling.
Particularly, control command can comprise the direction (as " advance ", " retrogressing ", " left-hand rotation ", " right-hand rotation ") of vehicle traveling and the desired value (as target vehicle speed, angle on target) of vehicle traveling.
It should be noted that, because vehicle interior communicates based on CAN protocol, and control command based on wireless network from remote terminal transmission to wireless transmit/receive units 21, therefore after receiving control command, need order control command being converted to CAN protocol form.Particularly, in wireless transmit/receive units 21, be provided with the processor carrying out network protocol format conversion, utilize this processor control command can be realized to be converted to the order of CAN protocol form.
In addition, in the present invention, the angle of vehicle refers to the travel direction place straight line of vehicle and the angle of lane line.
In a kind of implementation of the embodiment of the present invention, control module 23 can comprise:
The speed of a motor vehicle controls subelement 23a, for the deviation according to the current vehicle speed of vehicle and the order of CAN protocol form, controls detent and the throttle of vehicle;
Direction controlling subelement 23b, for the deviation according to the current angular of vehicle and the order of CAN protocol form, controls the steer motor of vehicle.
Alternatively, the speed of a motor vehicle controls subelement 23a and may be used for,
When the current vehicle speed of vehicle is less than the target vehicle speed in the order of CAN protocol form, increases accelerator open degree control brake and be failure to actuate;
When the current vehicle speed of vehicle is greater than the target vehicle speed in the order of CAN protocol form, reduce accelerator open degree and control brake action.
In specific implementation, the current vehicle speed of vehicle can be obtained by speed pickup measurement.It can be proportion integration differentiation (proportionintegrationdifferentiation is called for short PID) controller that the speed of a motor vehicle controls subelement 23a, carries out dynamic PID closed-loop control to the speed of vehicle.
Alternatively, direction controlling subelement 23b may be used for,
When the angle on target in the current angular of vehicle and the order of CAN protocol form is different, control steer motor action.
In specific implementation, the current angular of vehicle can be obtained by angular transducer measurement.Direction controlling subelement 23b can be PID controller, carries out dynamic PID closed-loop control to the angle of vehicle.
Understandably, the control command adjustment that the speed utilizing dynamic PID closed-loop control to be travelled by vehicle and direction input according to user, accuracy is high.
In the another kind of implementation of the present embodiment, control module 23 can comprise:
Safety verification subelement 23c, for carrying out safety verification to the order of CAN protocol form;
Control subelement 23d, for when the order of CAN protocol form is by safety verification, according to the order of CAN protocol form, control speed and the direction of vehicle traveling.
Particularly, safety verification subelement 23c may be used for, by the order of CAN protocol form and the codon pair ratio prestored;
Control subelement 23d, for when the order of CAN protocol form comprises the password prestored, according to the order of CAN protocol form, control speed and the direction of vehicle traveling.
Understandably, by carrying out safety verification to control command, the security of protection wagon control, avoids non-user to the remote monitoring of vehicle.
In another implementation of the present embodiment, control module 23 can comprise:
Collecting vehicle information subelement 23e, for the state of collection vehicle and the environment of vehicle periphery.
Particularly, the state of vehicle can comprise the speed, angle, temperature, humidity, oil mass etc. of vehicle, and the environment of vehicle periphery can comprise the humidity etc. of temperature with the distance of surrounding vehicles, vehicle periphery, vehicle periphery.
Alternatively, control module 23 can also be used for, and the state of the vehicle of collection and the environment of vehicle periphery are sent to CAN communication unit 22;
CAN communication unit 22 also for, the state of vehicle and the environment of vehicle periphery are transmitted to wireless transmit/receive units 21;
Wireless transmit/receive units 21 also for, be the information of wireless network protocol form by the context conversion of the state of vehicle and vehicle periphery, and send the information of wireless network protocol form to remote terminal.
The embodiment of the present invention receives by radio receiving unit control command that remote terminal sends and control command is converted to the order of CAN protocol form, the order of CAN protocol form is sent to control module by CAN communication unit, control module controls speed and the direction of vehicle traveling according to the order of CAN protocol form, achieves the remote monitoring to vehicle.
Embodiment three
Embodiments provide a kind of system of remote monitoring vehicle, see Fig. 3, this system comprises:
Remote terminal 31, sends control command for the device 32 to remote monitoring vehicle;
The device 32 of remote monitoring vehicle, for being received the control command that remote terminal sends by wireless network, and is converted to the order of CAN protocol form by control command; According to the order of CAN protocol form, control speed and the direction of vehicle traveling.
Particularly, the device 32 of remote monitoring vehicle can be identical with the device of the remote monitoring vehicle that embodiment one or embodiment two provide, and is not described in detail in this.
In actual applications, remote terminal 31 can be the terminal of the access of radio network such as mobile phone, panel computer, notebook computer, server.Particularly, remote terminal 31 comprises the parts such as input equipment, processor, communication module.Input equipment provides the interface of user's input of control commands, such as, input equipment is some button entities, comprises " advance " button, " retrogressing " button, " left-hand rotation " button, " right-hand rotation " button and adjusts the button of parameter (speed of a motor vehicle, angle); And for example, input equipment is touch-screen, touch-screen provides the option interface of each virtual push button.Particularly, input equipment is for receiving the control command of user's input; Processor is used for the control command control command of input being converted to wireless network protocol form; Communication module is used for the device 32 control command of wireless network protocol form being sent to remote monitoring vehicle.
Alternatively, the device 32 of remote monitoring vehicle can also be used for, the state of collection vehicle and the environment of vehicle periphery; By the information that the context conversion of the state of vehicle and vehicle periphery is wireless network protocol form, and send the information of wireless network protocol form to remote terminal 31;
Remote terminal 31 also for, receive the information of wireless network protocol form.
Preferably, remote terminal 31 can also comprise output device, as display screen.Output device is for exporting the information of wireless network formats, so that the information input control order that user gathers according to the device 32 of remote monitoring vehicle.
Such as, the device 32 of remote monitoring vehicle collects the image transmitting of vehicle front to remote terminal 31, user knows the vehicle condition (orientation, distance, the speed of a motor vehicle) of vehicle periphery from this image, thus determine that steering order controls vehicle and travels (speed of a motor vehicle, angle), avoid colliding with surrounding vehicles.
The embodiment of the present invention sends control command by remote terminal to vehicle termination, the device of remote monitoring vehicle receives control command that remote terminal sends and control command is converted to the order of CAN protocol form, control speed and the direction of vehicle traveling according to the order of CAN protocol form, achieve the remote monitoring to vehicle.
Embodiment four
Embodiments provide a kind of method of remote monitoring vehicle, be applicable to the system of the remote monitoring vehicle that embodiment one or embodiment two provide, see Fig. 4, the method comprises:
Step S41: wireless transmit/receive units receives the control command of remote terminal transmission by wireless network, and control command is converted to the order of CAN protocol form.
The order of CAN protocol form is sent to control module by step S42:CAN communication unit.
Step S43: control module, according to the order of CAN protocol form, controls speed and the direction of vehicle traveling.
The embodiment of the present invention receives by radio receiving unit control command that remote terminal sends and control command is converted to the order of CAN protocol form, the order of CAN protocol form is sent to control module by CAN communication unit, control module controls speed and the direction of vehicle traveling according to the order of CAN protocol form, achieves the remote monitoring to vehicle.
Embodiment five
Embodiments provide a kind of method of remote monitoring vehicle, be applicable to the system of the remote monitoring vehicle that embodiment one or embodiment two provide, see Fig. 5, the method comprises:
Step S51: wireless transmit/receive units receives the control command of remote terminal transmission by wireless network, and control command is converted to the order of CAN protocol form.
The order of CAN protocol form is sent to control module by step S52:CAN communication unit.
Step S53: control module carries out safety verification to the order of CAN protocol form.
Step S54: when the order of CAN protocol form is by safety verification, control module, according to the order of CAN protocol form, controls speed and the direction of vehicle.
Particularly, this step S54 can comprise:
According to the deviation of the current vehicle speed of vehicle and the order of CAN protocol form, control detent and the throttle of vehicle;
According to the deviation of the current angular of vehicle and the order of CAN protocol form, control the steer motor of vehicle.
Step S55: the state of control module collection vehicle and the environment of vehicle periphery.
Step S56: the state of the vehicle of collection and the environment of vehicle periphery are sent to CAN communication unit by control module.
The state of vehicle and the environment of vehicle periphery are transmitted to wireless transmit/receive units by step S57:CAN communication unit.
Step S58: the context conversion of the state of vehicle and vehicle periphery is the information of wireless network protocol form by wireless transmit/receive units, and sends the information of wireless network protocol form to remote terminal.
Step S59: the information of remote terminal reception wireless network protocol form.
The embodiment of the present invention receives by radio receiving unit control command that remote terminal sends and control command is converted to the order of CAN protocol form, the order of CAN protocol form is sent to control module by CAN communication unit, control module controls speed and the direction of vehicle traveling according to the order of CAN protocol form, achieves the remote monitoring to vehicle.
It should be noted that: the system of the remote monitoring vehicle that above-described embodiment provides is when remote monitoring vehicle, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by system is divided into different functional modules, to complete all or part of function described above.In addition, the system of the remote monitoring vehicle that above-described embodiment provides and the embodiment of the method for remote monitoring vehicle belong to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a device for remote monitoring vehicle, is characterized in that, described device comprises:
Wireless transmit/receive units, for being received the control command that remote terminal sends by wireless network, and is converted to the order of controller local area network's CAN protocol form by described control command;
CAN communication unit, for sending to control module by the order of described CAN protocol form;
Described control module, for the order according to described CAN protocol form, controls speed and the direction of vehicle traveling.
2. device according to claim 1, is characterized in that, described control module comprises:
The speed of a motor vehicle controls subelement, for the deviation according to the current vehicle speed of described vehicle and the order of described CAN protocol form, controls detent and the throttle of described vehicle;
Direction controlling subelement, for the deviation according to the current angular of described vehicle and the order of described CAN protocol form, controls the steer motor of described vehicle.
3. device according to claim 1 and 2, is characterized in that, described control module comprises:
Safety verification subelement, for carrying out safety verification to the order of described CAN protocol form;
Based Intelligent Control subelement, for when the order of described CAN protocol form is by safety verification, according to the order of described CAN protocol form, controls speed and the direction of described vehicle traveling.
4. device according to claim 1 and 2, is characterized in that, described control module comprises:
Collecting vehicle information subelement, for the environment of the state and described vehicle periphery that gather described vehicle, and sends to described CAN communication unit by the state of described vehicle gathered and the environment of described vehicle periphery;
Described CAN communication unit also for, the environment of the state of described vehicle and described vehicle periphery is transmitted to described wireless transmit/receive units;
Described wireless transmit/receive units also for, be the information of wireless network protocol form by the context conversion of the state of described vehicle and described vehicle periphery, and send the information of described wireless network protocol form to described remote terminal.
5. a system for remote monitoring vehicle, is characterized in that, described system comprises:
Remote terminal, sends control command for the device to remote monitoring vehicle;
The device of described remote monitoring vehicle, for being received the described control command that described remote terminal sends by wireless network, and is converted to the order of controller local area network's CAN protocol form by described control command; According to the order of described CAN protocol form, control speed and the direction of vehicle traveling.
6. system according to claim 5, is characterized in that, the device of described remote monitoring vehicle also for, gather the state of described vehicle and the environment of described vehicle periphery; By the information that the context conversion of the state of described vehicle and described vehicle periphery is wireless network protocol form, and send the information of described wireless network protocol form to described remote terminal;
Described remote terminal also for, receive the information of described wireless network protocol form.
7. a method for remote monitoring vehicle, is characterized in that, described method comprises:
Wireless transmit/receive units receives the control command of remote terminal transmission by wireless network, and described control command is converted to the order of CAN protocol form;
The order of CAN protocol form is sent to control module by CAN communication unit;
Described control module, according to the order of described CAN protocol form, controls speed and the direction of vehicle traveling.
8. method according to claim 7, is characterized in that, described control module, according to described intelligent control unit, controls speed and the direction of described vehicle, comprising:
According to the deviation of the current vehicle speed of described vehicle and the order of described CAN protocol form, control detent and the throttle of described vehicle;
According to the deviation of the current angular of described vehicle and the order of described CAN protocol form, control the steer motor of described vehicle.
9. the method according to claim 7 or 8, is characterized in that, described control module, according to the order of described CAN protocol form, controls speed and the direction of described vehicle, described in:
Safety verification is carried out to the order of described CAN protocol form;
When the order of described CAN protocol form is by safety verification, according to the order of described CAN protocol form, control speed and the direction of described vehicle traveling.
10. the method according to claim 7 or 8, is characterized in that, described method also comprises:
Described control module gathers the state of described vehicle and the environment of described vehicle periphery, and the state of described vehicle gathered and the environment of described vehicle periphery are sent to described CAN communication unit;
The environment of the state of described vehicle and described vehicle periphery is transmitted to described wireless transmit/receive units by described CAN communication unit;
The context conversion of the state of described vehicle and described vehicle periphery is the information of wireless network protocol form by described wireless transmit/receive units, and sends the information of described wireless network protocol form to described remote terminal.
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| CN201510875084.8A CN105404203A (en) | 2015-11-30 | 2015-11-30 | Apparatus, system and method for remove vehicle monitoring |
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| CN201510875084.8A CN105404203A (en) | 2015-11-30 | 2015-11-30 | Apparatus, system and method for remove vehicle monitoring |
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