CN106891898A - Vehicle supplementary controlled system and control method - Google Patents
Vehicle supplementary controlled system and control method Download PDFInfo
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- CN106891898A CN106891898A CN201710051391.3A CN201710051391A CN106891898A CN 106891898 A CN106891898 A CN 106891898A CN 201710051391 A CN201710051391 A CN 201710051391A CN 106891898 A CN106891898 A CN 106891898A
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- vehicle
- master control
- control system
- supplementary controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of vehicle auxiliary control method, and the vehicle auxiliary control method is comprised the following steps：The vehicle and a master control system set up communication connection；The vehicle is set up with the supplementary controlled system and is communicated to connect；The master control system is set up with the supplementary controlled system and is communicated to connect；The master control system is controlled to the vehicle；The master control system carries out self-inspection；If the master control system all goes well, the master control system continues to be controlled the vehicle；If exception occurs in the master control system, the supplementary controlled system and the vehicle are sent a signal to；Start the supplementary controlled system to be controlled the vehicle.
Description
Technical field
The invention belongs to automation field, and in particular to a kind of control for aiding in vehicle to be driven safely by mobile phone
Method and its supplementary controlled system, so as to improve the security in vehicle traveling.
Background technology
With continuing to develop and progressive for society, vehicle is increasingly being applied in daily life, including
The popularization of private car and the use of engineering truck, relative to traditional trip mode, such as walking, ride or take pubic transport
It is not only quick Deng, private car, and can to the full extent meet the demand of occupant, such as the comfort level requirement taken and
Stop the demand in place etc..And in terms of engineering transportation, the benefit transported to article using engineering truck is many years ago
Advantageously, it has been found that being continuing to develop, it is necessary to use the local more and more of haulage vehicle, such as express delivery with social construction
Transport etc..Therefore, there are increasing people or will contact and control various types of vehicles.
Nowadays, the direction of the automatic Pilot that automobile industry is just being minimized towards the intervention in order to realize driver is developed.From
Dynamic driving vehicle is related to one kind to have external information detection and processing function while traveling and recognizes surrounding enviroment with certainly
Driving path is defined, and the vehicle independently travelled using its internally-powered.
Automatic driving vehicle can keep at a distance with barrier present on path and the shape based on road adjusts speed
Degree and travel direction, to automatically find destination, even if driver does not operate steering wheel, accelerator pedal or brake.Example
Such as, automatic driving vehicle can perform on forthright and accelerate and according to the road curvature rate on the road of bending, travelled changing
Deceleration is performed while direction.
In this case, it is the searching route and up in the path searched for from precalculated position to another position
Sail, automatic driving vehicle can be used fixed for the sensor (for example, video camera and radar) that detects the object around path, the whole world
Position system (GPS) receiver, electronic map etc..
That is, to realize automatic driving vehicle, it is necessary to various electronic equipments are accessed into IT technically, being such as used to measure
The electronic sensor unit and general-purpose vehicle system of vehicle running environment, effectively process being automatically generated from outside or from outer
Between the technology and vehicle of the data that portion receives automatically or the communication technology between vehicle and infrastructure, and in this side
Face, such as operator of non-vehicle industry, software manufacturing company or robot building company, and typical auto maker
Deng all coming into and be related to the technical field of autonomous land vehicle.
To ensure the stabilization traveling of automatic driving vehicle, it is necessary to three core processes.First, by vehicle
Sensor measures driving environment, and second, running environment according to measurement is continuously monitored and controlled the transport condition of vehicle,
And the 3rd, path deviation or and obstacle are prevented by using the communication technology between vehicle or between vehicle and infrastructure
The situation of thing collision.
The content of the invention
It is an object of the present invention to provide a kind of vehicle auxiliary control method, so as to improve vehicle in the process of moving
Security.
It is an object of the present invention to provide a kind of vehicle auxiliary control method, so as to improve vehicle in the process of moving
Operating efficiency.
It is an object of the present invention to provide a kind of vehicle auxiliary control method, wherein the vehicle auxiliary control method
Not only operating procedure is simple, and can be greatly enhanced the security of the vehicle control system.
It is an object of the present invention to provide a kind of vehicle auxiliary control method, wherein the vehicle auxiliary control method
Include multi-enciphering step, so as to improve the security of the vehicle.
It is an object of the present invention to provide a kind of vehicle auxiliary control method, wherein the vehicle auxiliary control method
Including judging step, so that it is guaranteed that the accuracy of the vehicle auxiliary control method.
It is an object of the present invention to provide a kind of vehicle supplementary controlled system, wherein the vehicle supplementary controlled system
The vehicle can be aided in carries out safe driving.
It is an object of the present invention to provide a kind of vehicle supplementary controlled system, wherein the vehicle supplementary controlled system
Simple structure, when the master control system of the vehicle goes wrong and can not continue to control the vehicle, the auxiliary control
System can continue to control the vehicle.
It is an object of the present invention to provide a kind of vehicle supplementary controlled system, wherein the vehicle supplementary controlled system
Including identification module, so as to improve the security of the vehicle and entourage.
It is an object of the present invention to provide a kind of vehicle supplementary controlled system, wherein the vehicle supplementary controlled system
Can be installed on various intelligent controlling devices, so as to improve the flexibility of the wagon control.
It is an object of the present invention to provide a kind of vehicle supplementary controlled system, wherein the vehicle supplementary controlled system
The ehicle main control system can be aided in be controlled the vehicle, so as to mitigate the negative of the ehicle main control system
Pressure, and improve the operating efficiency of the vehicle.
In other words, vehicle auxiliary control method during the present invention provides, the vehicle auxiliary control method includes following step
Suddenly：
1001：The vehicle and a master control system set up communication connection；
1002：The vehicle is set up with the supplementary controlled system and is communicated to connect；
1003：The master control system is set up with the supplementary controlled system and is communicated to connect；
1004：The master control system is controlled to the vehicle；
1005：The master control system carries out self-inspection；
1006：If the master control system all goes well, the master control system continues to be controlled the vehicle
(10061)；If exception occurs in the master control system, the supplementary controlled system and the vehicle are sent a signal to
(10062)；
1007：Start the supplementary controlled system to be controlled the vehicle.
Wherein in one embodiment, wherein the control of the vehicle, the master control system and the auxiliary is respectively nothing
Line is communicated to connect.
Wherein in one embodiment, wherein the master control system includes a selftest module, the selftest module communication
The master control system is arranged at, in the step 1005, the vehicle carries out self-inspection by the selftest module.
Wherein in one embodiment, wherein the step 1001 is further comprising the steps：
10011：It is that the vehicle sets a connection password by the onboard system；
10012：The master control system is input into password；
10013：The onboard system of the vehicle carries out identification to the master control system；
10014：If the master control system identity is legal, the vehicle is communicated to connect with the master control system；If
The master control system identity is illegal, then the vehicle is disconnected with the master control system.
Wherein in one embodiment, wherein the connection password passes through vehicle described in phonetic entry.
Wherein in one embodiment, wherein the vehicle includes a speech control system, in the step 10011,
The vehicle sets the connection password by the speech control system.
Wherein in one embodiment, wherein the step 10011 further includes step：
100111：The onboard system of the vehicle gathers the voice of a specific people and stores；
100112：The phonetic entry of the vehicle receiver one；
100113：Recognize whether the voice comes from the specific people；
100114：The match is successful, and the phonetic entry is used as the onboard system for connecting vehicle described in password typing.
Wherein in one embodiment, wherein the step 1002 further includes step：
10021：The supplementary controlled system input content；
10022：The onboard system of the vehicle carries out identification to the supplementary controlled system；
10023：If the supplementary controlled system identity is legal, the vehicle and the supplementary controlled system communication link
Connect；If the supplementary controlled system identity is illegal, the vehicle is disconnected with the supplementary controlled system.
Wherein in one embodiment, wherein the supplementary controlled system includes an input module, the input module leads to
Letter is arranged at the supplementary controlled system, and in the step 10021, the supplementary controlled system will by the input module
The content input.
Wherein in one embodiment, wherein the step 1003 further includes step：
10031：The master control system sets a fixed password；
10032：The supplementary controlled system is input into the fixed password；
10033：The master control system is communicated to connect with the supplementary controlled system.
Wherein in one embodiment, wherein the master control system includes a crypto module, the crypto module communication
The master control system is arranged at, in the step 10031, the master control system sets described by the crypto module
Fixed password.
Wherein in one embodiment, wherein the step 1004 further includes step：
10041：The vehicle collection running data is simultaneously sent to the master control system；
10042：The master control system is processed the running data and is formed a control instruction；
10043：The control instruction is sent to the vehicle by the master control system；
10044：The control instruction that the vehicle is transmitted according to the master control system is acted accordingly.
Wherein in one embodiment, wherein the step 10062 is further comprising the steps：
100621：The master control system sends abnormal information to the vehicle and the supplementary controlled system simultaneously；
100622：The vehicle stops transmitting vehicle running environment data to the master control system.
Wherein in one embodiment, wherein the step 1007 is further comprising the steps：
10071：The vehicle is by the running environment data is activation to the supplementary controlled system；
10072：The supplementary controlled system is processed the running data and is formed a control instruction；
10073：The control instruction is sent to the vehicle by the supplementary controlled system；
10074：The control instruction that the vehicle is transmitted according to the supplementary controlled system is acted accordingly.
Wherein in one embodiment, wherein the supplementary controlled system includes one second data processing module, described
In step 10072, the secondary control module is processed the running data by second data processing module.
Wherein in one embodiment, wherein the supplementary controlled system further include one second wireless receiving module and
One second wireless sending module, in the step 10071, the supplementary controlled system passes through second wireless receiving module
The running data that the vehicle sends is received, and will by second wireless sending module in the step 10073
The control instruction is sent to the vehicle.
The present invention further provides a kind of vehicle assisted system control method, comprise the following steps：
1001’：The vehicle and a master control system set up communication connection；
1002’：The vehicle is set up with the supplementary controlled system and is communicated to connect；
1003’：The master control system is set up with the supplementary controlled system and is communicated to connect；
1004’：The master control system is controlled to the vehicle；
1005’：The master control system carries out self-inspection；
1006’：If the master control system all goes well, the master control system continues to be controlled the vehicle
(10061’)；If there is exception in the master control system, and judges the abnormal type (10062 ')；
1006211’：If the exception includes safety problem and other problemses, the auxiliary control system is sent a signal to
System and the vehicle；
1006212’：Start the supplementary controlled system to be controlled the vehicle；
1006221’：If the exception is safety problem or other problemses, the supplementary controlled system is sent a signal to
With the vehicle；
1006222’：Start the accessory system is carried out for the described problem that the master control system goes out to the vehicle
Corresponding control.
Wherein in one embodiment, wherein the master control system includes a determination module, the determination module communication
The main control module is arranged at, in the step 10062 ' in, the master control system judges institute by the determination module
State abnormal type.
Wherein in one embodiment, wherein the step 1006222 ' it is further comprising the steps：
10062221’：Running data is divided into master control part by the vehicle according to the information that the master control system is transmitted
Divide running data and assist control point running data；
10062222’：The main control section running data is sent to the master control system by the vehicle；
10062223’：The assist control point running data is sent to the supplementary controlled system by the vehicle；
10062224’：The master control system is processed the main control section running data and is formed one first
Control instruction；
10062225’：The supplementary controlled system is processed the assist control point running data and is formed one
Second control instruction；
10062226’：The vehicle implements corresponding dynamic according to first control instruction and second control instruction
Make.
Wherein in one embodiment, wherein the onboard system of the vehicle further includes a sort module, institute
Sort module communications setting is stated in the onboard system.In the step 10062221 ' in, the vehicle is according to the classification mould
The running data is divided into the main control section running data and the assist control point running data by block.
Brief description of the drawings
Fig. 1 is the method flow diagram of the first embodiment of vehicle auxiliary control method of the present invention.
Fig. 2 is the preferred embodiment of the vehicle auxiliary control method in Fig. 1.
Fig. 3 is the further preferred implementation method of the vehicle auxiliary control method in Fig. 2.
Fig. 4 is the modular structure schematic block of the vehicle in the first embodiment of vehicle supplementary controlled system of the present invention
Figure.
Fig. 5 is the modular structure of the master control system in the first embodiment of vehicle supplementary controlled system of the present invention
Schematic block diagram.
Fig. 6 is the module knot of the supplementary controlled system in the first embodiment of vehicle supplementary controlled system of the present invention
Structure schematic block diagram.
Fig. 7 is the structural representation of the first embodiment of vehicle supplementary controlled system of the present invention.
Fig. 8 is the flow chart of the second embodiment of vehicle auxiliary control method of the present invention.
Fig. 9 is the preferred embodiment of the vehicle auxiliary control method described in Fig. 8.
Figure 10 is the structural schematic block diagram of the second embodiment of vehicle supplementary controlled system of the present invention.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", " on ",
The orientation of the instruction such as D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " or position are closed
System is that, based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies and describes, without referring to
Show or imply that the device or element of meaning must be with specific orientation, with specific azimuth configuration and operation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
One quantity of element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " " is no
It is understood that to be limitation to quantity.
The present invention provides a kind of supplementary controlled system and its auxiliary control method of vehicle, in the first embodiment of the present invention
In, auxiliary control is carried out by 30 pairs of vehicles 10 of a supplementary controlled system, as shown in Figures 1 to 7, the supplementary controlled system
The auxiliary control method of 30 pairs of vehicles 10 is comprised the following steps：
1001：10 and one master control system of the vehicle 20 sets up communication connection；
1002：The vehicle 10 is set up with the supplementary controlled system 30 and is communicated to connect；
1003：The master control system 20 is set up with the supplementary controlled system 30 and is communicated to connect；
1004：20 pairs of vehicles 10 of the master control system are controlled；
1005：The master control system 20 carries out self-inspection；
1006：If the master control system 20 all goes well, the master control system 20 continues to enter the vehicle 10
Row control (10061)；If exception occurs in the master control system 20, the supplementary controlled system 30 and described is sent a signal to
Vehicle 10 (10062)；
1007：Start 30 pairs of vehicles 10 of the supplementary controlled system to be controlled.
In the step 1001, the vehicle 10 realizes communication connection with the master control system 20 by wireless, than
Such as bluetooth, WIFI；
In the step 1002, the vehicle 10 realizes communication connection with the supplementary controlled system 30 by wireless,
Preferably bluetooth connection；
In the step 1003, the master control system 20 is wireless communication connection with the supplementary controlled system 30；
The master control system 20 described in the step 1004 is by the detection data of vehicle sensors to the vehicle 10
Carry out controlled in wireless.
In the step 1005, the built in self testing of the master control system 20 action is continuously carried out and the unrelated step
Order is successively；
In the step 1006, the exception includes being related to the safety issue of the vehicle drive safety and does not relate to
And the other problemses of the vehicle drive safety.
In the step 1007, the supplementary controlled system 30 is by the detection data of vehicle sensors to the vehicle
10 carry out controlled in wireless.
Correspondingly, the vehicle 10 includes an onboard system 11, and the onboard system 11 includes an on-vehicle Bluetooth module
111, in the onboard system 11, the master control system 20 includes that one first is blue for the on-vehicle Bluetooth module 111 communications setting
Tooth module 21, the supplementary controlled system 30 includes one second bluetooth module 31, first bluetooth module 21 and described second
Bluetooth module 31 distinguishes communications setting in the master control system 20 and the supplementary controlled system 30.The step 1001 to
In the step 1003, the vehicle 10 is with the master control system 20 and the supplementary controlled system 30 respectively by described
On-vehicle Bluetooth module 111, first bluetooth module 21 and second bluetooth module 31 are realized communicatively connected to each other.
The onboard system 11 in the vehicle 10 further includes a control module 112, and the control module 112 is led to
Letter is arranged at the onboard system 11.In the step 1004, the master control system 20 is by the control module 112 pairs
The vehicle 10 is controlled.
The master control system 20 includes an automatic detection module 22, and the communications setting of the automatic detection module 22 is in described
Master control system 20.In the step 1005, the master control system 20 carries out self-inspection by the automatic detection module 22.
The supplementary controlled system 30 includes one second wireless receiving module 32 and one second wireless sending module 33, described
Second wireless receiving module 32 and second wireless sending module 33 distinguish communications setting in the supplementary controlled system 30.
In the step 10062, when the self-inspection of the master control system 20 is pinpointed the problems to the vehicle 10 and the auxiliary control system
System 30 is while sending signal, the supplementary controlled system 30 is by the module of the second wireless receiving 32 reception signal.
Correspondingly, the master control system 20 includes one the 3rd wireless receiving module 23 and one the 3rd wireless sending module
24, in the step 1004, the master control system 20 receives the vehicle 10 by the module of the 3rd wireless receiving 23
The data for sending, then the control instruction is sent to by the onboard system 11 by the 3rd wireless sending module 24
In the control module 112.
In the step 10062, the master control system 20 gives the car by the 3rd wireless sending module 24
10 and the sending signal of the supplementary controlled system 30.
Correspondingly, the vehicle 10 includes multiple sensors, the data for collecting the vehicle, such as environmentally sensitive
Device, tachogenerator and balance sensor etc., the onboard system 11 in the vehicle 10 further include a sensor
Module 116, the sensor assembly 116 is communicated to connect with the multiple sensor, the operation number for collecting the vehicle 10
According to.
In the step 1007, the supplementary controlled system 30 receives described by second wireless receiving module 32
The vehicle data of the transmission of the sensor assembly 116 of the onboard system 11 in vehicle 10, and it is wireless by described second
Control instruction is sent to the vehicle 10 by sending module 33.
The supplementary controlled system 30 further includes one second data processing module 34 and one second data memory module
35, in the step 1007, the supplementary controlled system 30 passes through second data processing module, 34 pairs of vehicles 10
The data for sending are processed and are formed a control instruction, then by second wireless sending module 33 by the control
Instruction is sent to the vehicle 10, while the data sent by second data memory module, 35 pairs of vehicles 10
Stored.
Further, the onboard system 11 of the vehicle 10 further includes a locating module 113, the locating module
113 communicate to connect with the master control system 20 and the supplementary controlled system 30, and the vehicle 10 is in the process of running, described
Master control system 20 and/or the supplementary controlled system 30 are carried out by 113 pairs of positions of the vehicle 10 of the locating module
Implement to control.
In the first embodiment of the present invention, the master control system 20 is installed on a computer, the auxiliary control system
System 30 is installed on a mobile phone, but specific embodiment of the invention is not limited thereto, and user can according to demand select other
Hardware as the supplementary controlled system 30 carrier, such as panel computer etc., as long as it is identical or approximate to employ the present invention
Technical characteristic, solves the technical problem identical or approximate with the present invention, and reached the skill identical or approximate with the present invention
Art effect, belongs within protection scope of the present invention.
Therefore, the operation principle of the supplementary controlled system 30 is：The vehicle 10 is controlled in the master control system 20
While, the 22 pairs of master control systems 20 of the automatic detection module in the master control system 20 are detected, if institute
State master control system 20 normal always, then the master control system 20 is persistently controlled to the vehicle 10, once and institute
State automatic detection module 22 and detect that the master control system 20 goes wrong, then the master control system 20 transmits information immediately
To the supplementary controlled system 30, the supplementary controlled system 30 receives the control started immediately after information to the vehicle 10
System, so as to avoid because the master control system 20 problem and cause the vehicle 10 cannot normal work.
Preferably, in the first embodiment of the present invention, the step 1001 is comprised the following steps：
10011：It is that the vehicle 10 sets a connection password by the onboard system 11；
10012：The master control system 20 is input into password；
10013：11 pairs of master control systems 20 of the onboard system of the vehicle 10 carry out identification；
10014：If the identity of the master control system 20 is legal, the vehicle 10 and the communication link of the master control system 20
Connect (100141)；If the identity of the master control system 20 is illegal, the vehicle 10 disconnects with the master control system 20 and connecting
Connect (100142).
In the step 10011, the connection password passes through phonetic entry；
In the step 10013, the vehicle 10 is by the password for inputing the master control system 20 and the company
Connect password to compare, so as to the identity to the master control system 20 is identified；
Correspondingly, the onboard system 11 in the vehicle 10 includes an identification module 114, in the step 10013
In, the vehicle 10 is identified by the identity of 114 pairs of master control systems 20 of identification module.
It is highly preferred that the step 10011 further includes step：
100111：The onboard system 11 of the vehicle 10 gathers the voice of a specific people and stores；
100112：The vehicle 10 receives a phonetic entry；
100113：Recognize whether the voice comes from the specific people；
100114：The match is successful, and the phonetic entry is used as the onboard system for connecting vehicle 10 described in password typing.
Wherein, in the step 100111, the specific people can control including driver or Driving Instructor etc.
The personnel of the vehicle safety.
In the step 100112, the voice includes the phonetic order and other phonetic orders of the specific people,
The phonetic order that the phonetic order and other articles or other species that described other phonetic orders send including other staff send.
And the voice may come from the inside of the vehicle 10, it is also possible to come from the exterior circumferential of vehicle 10.
In the step 100114, if the phonetic entry comes from the specific people, the typing institute of the vehicle 10
Voice content is stated as connection password, conversely, the vehicle 10 does not receive typing of the voice content as connection password.
Specifically, the onboard system 11 in the vehicle 10 includes a speech control system 115, by institute's predicate
Sound control system 115 is configured the connection password, and the communications setting of the speech control system 115 is in the vehicle 10.Institute
Stating speech control system 115 includes a voice acquisition module 1151, in above-mentioned steps 100111, by the voice collecting mould
The voice of 1151 couples of specific people of block is acquired and stores.
The speech control system 115 further includes a speech reception module 1152, in above-mentioned steps 100112, leads to
1152 pairs of phonetic entries of the speech reception module are crossed to receive.
The speech control system 115 further includes a sound identification module 1153, the sound identification module 1153
The information of the transmission of the speech reception module 1152 can be received, and in the step 100113, is known by the voice
Other module 1153 judges whether the voice comes from the specific people.
The speech control system 115 further includes a speech control module 1154, the speech control module 1154
The information of the transmission of the sound identification module 1153 can be received, and in above-mentioned steps 100114, by the voice control
Molding block 1154 receives typing of the phonetic entry content as connection password.
Preferably, in the step 1002, step is further included：
10021：The input content of the supplementary controlled system 30；
10022：11 pairs of supplementary controlled systems 30 of the onboard system of the vehicle 10 carry out identification；
10023：If the identity of the supplementary controlled system 30 is legal, the vehicle 10 is logical with the supplementary controlled system 30
Letter connection (100231)；If the identity of the supplementary controlled system 30 is illegal, the vehicle 10 and the supplementary controlled system
30 disconnect (100232).
The supplementary controlled system 30 includes an input module 36, and the communications setting of the input module 36 is in the auxiliary control
System processed 30.In the step 10021, the supplementary controlled system 30 is by the input module 36 in input in system
Hold.
In the step 10022, the vehicle 10 by the content that is input into the supplementary controlled system 30 with it is described
Connection password is compared, so as to the identity to the supplementary controlled system 30 is identified；Correspondingly, lead in the vehicle 10
The identity of the 114 pairs of supplementary controlled systems 30 of the identification module crossed in the onboard system 11 is identified.
It is further comprising the steps in the step 1003：
10031：The master control system 20 sets a fixed password；
10032：The supplementary controlled system 30 is input into the fixed password；
10033：The master control system 20 is communicated to connect with the supplementary controlled system 30.
Correspondingly, the master control system 20 includes a crypto module 25, and the communications setting of the crypto module 25 is in described
Master control system 20.In the step 10031, the fixed password is arranged in the crypto module 25.
In the step 10033, the supplementary controlled system 30 will be described by second wireless sending module 33
Fixed password is sent to the master control system 20, and the master control system 20 is received by the 3rd wireless receiving module 23
The fixed password simultaneously sends wireless connection signal to the supplementary controlled system 30 by the 3rd wireless sending module 24,
Until being communicated to connect with the supplementary controlled system 30.
In the step 1004, comprise the following steps：
10041：The vehicle 10 gathers running data and is sent to the master control system 20；
10042：20 pairs of running datas of the master control system are processed and are formed a control instruction；
10043：The control instruction is sent to the vehicle 10 by the master control system 20；
10044：The vehicle 10 is acted accordingly according to the control instruction that the master control system 20 is transmitted.
The vehicle 10 further includes one first wireless receiving module 117 and one first wireless sending module 118, described
First wireless receiving module 117 and first wireless sending module 118 distinguish communications setting described in the vehicle 10
Onboard system 11.In the step 10041, the vehicle 10 collects the vehicle 10 by the sensor assembly 116
Running data, and the data is activation collected the sensor assembly 116 by first wireless sending module 117 is to described
Master control system 20, the master control system 20 receives the row that the vehicle 10 is transmitted by the 3rd receiver module 23
Sail environmental data.
The master control system 20 further includes one first data processing module 26 and one first data memory module 27,
First data processing module 26 and first data memory module 27 distinguish communications setting in the master control system 20.
In the step 10042, the master control system 20 processes the onboard system by first data processing module 26
The data of 11 transmission of the sensor assembly 116, so as to be controlled to the vehicle 10.
In the step 10043, the master control system 20 stores described by first data memory module 26
The real time data of vehicle 10, and the control instruction is sent to by the vehicle 10 by the 3rd wireless sending module 24.
In the step 10044, the basis of the control module 112 in the onboard system 11 in the vehicle 10
The control instruction controls the vehicle 10 to act accordingly.
The step 10062 is further comprising the steps：
100621：The master control system 20 sends abnormal letter to the vehicle 10 and the supplementary controlled system 30 simultaneously
Breath；
100622：The vehicle 10 stops transmitting vehicle running environment data to the master control system 20.
In the step 10061, the abnormal information includes the safety issue and other problemses.That is,
The automatic detection module 22 in the master control system 20 is once problematic from the detection master control system 20, either
What problem, the vehicle 10 can all stop being sent to the master control system 20 running data of the vehicle 10.
The step 1007 is further comprising the steps：
10071：The vehicle 10 is by the running environment data is activation to the supplementary controlled system 30；
10072：30 pairs of running datas of the supplementary controlled system are processed and are formed a control instruction；
10073：The control instruction is sent to the vehicle 10 by the supplementary controlled system 30；
10074：The vehicle 10 is moved accordingly according to the control instruction that the supplementary controlled system 30 is transmitted
Make.
In the step 10071, the vehicle 10 is by the first wireless transmission mould in the onboard system 11
Block 118 sends to the supplementary controlled system 30, second nothing in the supplementary controlled system 30 running data
Line receiver module 32 receives the running data.
In the step 10072, described in second data processing module 34 pairs in the supplementary controlled system 30
Running data is processed and is formed the control instruction, meanwhile, second data in the supplementary controlled system 30 are deposited
Storage 35 pairs of running datas of module are stored.
In the step 10073, the supplementary controlled system 30 will be described by second wireless sending module 33
Control instruction is sent to the vehicle 10, and the vehicle 10 is by first wireless receiving module in the onboard system 11
117 receive the control instruction.
In the step 10074, the vehicle 10 is performed by the control module 112 in the onboard system 11
The control instruction of the transmission of the supplementary controlled system 30.
That is, when the master control system 20 once transmits different to the vehicle 10 and the supplementary controlled system 30
Regular signal, no matter the exception is related to safety problem or the other problemses, the vehicle 10 all to stop to the main control
System 20 transmits running data, but the environmental data is sent into the supplementary controlled system 30.In other words, once institute
State master control system 20 and exception occur, then lose the control to the vehicle 10, then by 30 pairs of institutes of the supplementary controlled system
State vehicle 10 to be controlled, so as to avoid causing the vehicle 10 normal because the master control system 20 goes wrong
The situation of operation occurs.
As shown in Fig. 8 to Figure 10, as one kind deformation of the first embodiment of the present invention, in the second embodiment of the present invention
In, the control method of the supplementary controlled system 30 ' is comprised the following steps：
1001’：The vehicle 10 ' and a master control system 20 ' set up communication connection；
1002’：The vehicle 10 ' is set up with the supplementary controlled system 30 ' and is communicated to connect；
1003’：The master control system 20 ' is set up with the supplementary controlled system 30 ' and is communicated to connect；
1004’：The master control system 20 ' is controlled to the vehicle 10 '；
1005’：The master control system 20 ' carries out self-inspection；
1006’：If the master control system 20 ' all goes well, the master control system 20 ' continues to the vehicle
10 ' are controlled (10061 ')；If there is exception in the master control system 20 ', and judges the abnormal type (10062 ')；
1006211’：If the exception includes safety problem and other problemses, the auxiliary control system is sent a signal to
System 30 ' and the vehicle 10 '；
1006212’：Start the supplementary controlled system 30 ' to be controlled the vehicle 10 '；
1006221’：If the exception is safety problem or other problemses, the supplementary controlled system is sent a signal to
30 ' and the vehicle 10 '；
1006222’：Start described problem that the supplementary controlled system 30 ' goes out for the master control system 20 ' to institute
Vehicle 10 ' is stated to be controlled accordingly.
Correspondingly, the master control system 20 ' further includes a determination module 28 ', and the determination module 28 ' is communicated
It is arranged at the master control system 20 '.In the step 10062 ' in, the master control system 20 ' is by the determination module
28 ' judge the abnormal type.
In the step 1006211 ' and the step 1006221 ' in, the safety problem refers to the vehicle
The problems such as 10 ' problems safe with appliance crew, such as brake, steering wheel and engine.The other problemses include amusement
Other all non-security problems such as problem and plant issue, wherein the amusement problem such as plays music, broadcast listening etc. asking
Topic, the plant issue refers to the vehicle arrangement does not influence the problem of the security of vehicle 10 ', such as air-conditioning but
Open, the problems such as automatically controlling of back seat.
In the step 1006222 ' it is further comprising the steps：
10062221’：Running data is divided into master by the vehicle 10 ' according to the information that the master control system 20 ' is transmitted
Control section running data and assist control point running data；
10062222’：The main control section running data is sent to the master control system 20 ' by the vehicle 10 '；
10062223’：The assist control point running data is sent to the supplementary controlled system by the vehicle 10 '
30’；
10062224’：The master control system 20 ' is processed the main control section running data and is formed one
One control instruction；
10062225’：The supplementary controlled system 30 ' is processed and formed to the assist control point running data
One second control instruction；
10062226’：The vehicle 10 ' implements corresponding according to first control instruction and second control instruction
Action.
The onboard system 11 ' of the vehicle 10 ' further includes a sort module 119 ', the sort module 119 '
Communications setting is in the onboard system 11 '.In the step 10062221 ' in, the vehicle 10 ' is according to the sort module
The running data is divided into the main control section running data and the assist control point running data by 119 '.
It is emphasized that the step 10062222 ' and the step 10062223 ' sequentially in no particular order, but
The step 10062221 ' carry out simultaneously afterwards.Similarly, the step 10062224 ' and the step 10062225 ' order
Also in no particular order, carried out simultaneously after ' and the step 10062223 ' respectively in the step 10062222.
The variant embodiment from unlike above-mentioned first embodiment, it is described in the variant embodiment of the invention
Master control system 20 ' can determine that the problem types for itself going out, if the determination module 28 ' in the master control system 20 '
Determining the exception occurred in the master control system 20 ' includes safety problem and other problemses, then by sending signal arrangement
The supplementary controlled system 30 ' is controlled the vehicle 10 ' completely；If the determination module 28 ' determines the master control
System 20 ' processed is that a portion goes wrong, then the master control system 20 ' can be conveyed information to according to corresponding problem
The supplementary controlled system 30 ' and the vehicle 10 ', are gone out to ask by the supplementary controlled system 30 ' to the master control system 20 '
The part of topic is controlled to the vehicle 10 ', and now, the vehicle 10 ' is by the master control system 20 ' and the auxiliary control
System 30 ' processed is while carry out parallel control.
Therefore, above-mentioned vehicle auxiliary control method of the present invention can be according to actual conditions to the vehicle 10 '
Control section is adjusted in time, on the one hand can mitigate the control pressure of the master control system 20 ', so as to reduce to the master
The hardware requirement of control system 20 ', on the other hand by neatly using the master control system 20 ' and supplementary controlled system
30 ' carry out parallel control to the vehicle 10 ', so that ensure that the institute of the vehicle 10 ' is functional can run well, therefore
Improve the operating efficiency of the vehicle 10 ' and the effective rate of utilization of the vehicle 10 '.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing
And it is not intended to limit the present invention.The purpose of the present invention completely and is effectively realized.Function of the invention and structural principle exist
Show in embodiment and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. a vehicle auxiliary control method, the vehicle auxiliary control method is comprised the following steps：
1001：The vehicle and a master control system set up communication connection；
1002：The vehicle is set up with the supplementary controlled system and is communicated to connect；
1003：The master control system is set up with the supplementary controlled system and is communicated to connect；
1004：The master control system is controlled to the vehicle；
1005：The master control system carries out self-inspection；
1006：If the master control system all goes well, the master control system continues to be controlled the vehicle
(10061)；If exception occurs in the master control system, the supplementary controlled system and the vehicle are sent a signal to
(10062)；
1007：Start the supplementary controlled system to be controlled the vehicle.
2. vehicle auxiliary control method according to claim 1, wherein the vehicle, the master control system and described auxiliary
Control is helped to be respectively wireless communication connection.
3. vehicle auxiliary control method according to claim 2, wherein the master control system includes a selftest module, institute
Selftest module communications setting is stated in the master control system, in the step 1005, the vehicle passes through the selftest module
Carry out self-inspection.
4. vehicle auxiliary control method according to claim 3, wherein the step 1001 is further comprising the steps：
10011：It is that the vehicle sets a connection password by the onboard system；
10012：The master control system is input into password；
10013：The onboard system of the vehicle carries out identification to the master control system；
10014：If the master control system identity is legal, the vehicle is communicated to connect with the master control system；If described
Master control system identity is illegal, then the vehicle is disconnected with the master control system.
5. vehicle auxiliary control method according to claim 4, wherein the connection password passes through car described in phonetic entry
.
6. vehicle auxiliary control method according to claim 5, wherein the vehicle includes a speech control system, in institute
State in step 10011, the vehicle sets the connection password by the speech control system.
7. vehicle auxiliary control method according to claim 6, wherein the step 10011 further includes step：
100111：The onboard system of the vehicle gathers the voice of a specific people and stores；
100112：The phonetic entry of the vehicle receiver one；
100113：Recognize whether the voice comes from the specific people；
100114：The match is successful, and the phonetic entry is used as the onboard system for connecting vehicle described in password typing.
8. vehicle auxiliary control method according to claim 7, wherein the step 1002 further includes step：
10021：The supplementary controlled system input content；
10022：The onboard system of the vehicle carries out identification to the supplementary controlled system；
10023：If the supplementary controlled system identity is legal, the vehicle is communicated to connect with the supplementary controlled system；If
The supplementary controlled system identity is illegal, then the vehicle is disconnected with the supplementary controlled system.
9. vehicle auxiliary control method according to claim 8, wherein the supplementary controlled system includes an input module,
In the supplementary controlled system, in the step 10021, the supplementary controlled system passes through for the input module communications setting
Be input into for the content by the input module.
10. vehicle auxiliary control method according to claim 9, wherein the step 1003 further includes step：
10031：The master control system sets a fixed password；
10032：The supplementary controlled system is input into the fixed password；
10033：The master control system is communicated to connect with the supplementary controlled system.
11. vehicle auxiliary control methods according to claim 10, wherein the master control system includes a crypto module,
In the master control system, in the step 10031, the master control system is by described for the crypto module communications setting
Crypto module sets the fixed password.
12. vehicle auxiliary control methods according to claim 11, wherein the step 1004 further includes step：
10041：The vehicle collection running data is simultaneously sent to the master control system；
10042：The master control system is processed the running data and is formed a control instruction；
10043：The control instruction is sent to the vehicle by the master control system；
10044：The control instruction that the vehicle is transmitted according to the master control system is acted accordingly.
13. vehicle auxiliary control methods according to claim 12, wherein the step 10062 further includes following step
Suddenly：
100621：The master control system sends abnormal information to the vehicle and the supplementary controlled system simultaneously；
100622：The vehicle stops transmitting vehicle running environment data to the master control system.
14. vehicle auxiliary control methods according to claim 13, wherein the step 1007 further includes following step
Suddenly：
10071：The vehicle is by the running environment data is activation to the supplementary controlled system；
10072：The supplementary controlled system is processed the running data and is formed a control instruction；
10073：The control instruction is sent to the vehicle by the supplementary controlled system；
10074：The control instruction that the vehicle is transmitted according to the supplementary controlled system is acted accordingly.
15. vehicle auxiliary control methods according to claim 14, wherein the supplementary controlled system includes one second number
According to processing module, in the step 10072, the secondary control module is by second data processing module to the row
Data are sailed to be processed.
16. vehicle supplementary controlled systems according to claim 15, wherein the supplementary controlled system further includes one
Second wireless receiving module and one second wireless sending module, in the step 10071, the supplementary controlled system passes through institute
State the second wireless receiving module and receive the running data that the vehicle sends, and by described in the step 10073
The control instruction is sent to the vehicle by the second wireless sending module.
A kind of 17. vehicle assisted system control methods, comprise the following steps：
1001’：The vehicle and a master control system set up communication connection；
1002’：The vehicle is set up with the supplementary controlled system and is communicated to connect；
1003’：The master control system is set up with the supplementary controlled system and is communicated to connect；
1004’：The master control system is controlled to the vehicle；
1005’：The master control system carries out self-inspection；
1006’：If the master control system all goes well, the master control system continues to be controlled the vehicle
(10061’)；If there is exception in the master control system, and judges the abnormal type (10062 ')；
1006211’：If the exception include safety problem and other problemses, send a signal to the supplementary controlled system and
The vehicle；
1006212’：Start the supplementary controlled system to be controlled the vehicle；
1006221’：If the exception is safety problem or other problemses, the supplementary controlled system and institute are sent a signal to
State vehicle；
1006222’：Start the accessory system is carried out accordingly for the described problem that the master control system goes out to the vehicle
Control.
18. vehicle auxiliary control methods according to claim 17, wherein the master control system includes a determination module,
The determination module communications setting in the main control module, in the step 10062 ' in, the master control system pass through institute
State determination module and judge the abnormal type.
19. vehicle auxiliary control methods according to claim 17, wherein the step 1006222 ' further include with
Lower step：
10062221’：Running data is divided into master control part in lines by the information that the vehicle is transmitted according to the master control system
Sail data and assist control point running data；
10062222’：The main control section running data is sent to the master control system by the vehicle；
10062223’：The assist control point running data is sent to the supplementary controlled system by the vehicle；
10062224’：The master control system is processed the main control section running data and is formed one first control
Instruction；
10062225’：The supplementary controlled system is processed the assist control point running data and is formed one second
Control instruction；
10062226’：The vehicle implements corresponding action according to first control instruction and second control instruction.
20. vehicle supplementary controlled systems according to claim 19, wherein the onboard system of the vehicle is further
Including a sort module, the sort module communications setting is in the onboard system.In the step 10062221 ' in, it is described
The running data is divided into the main control section running data and the assist control by vehicle according to the sort module
Divide running data.
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Application publication date: 20170627 |