CN107089234B - remote control driving control method and device, controller and automobile - Google Patents
remote control driving control method and device, controller and automobile Download PDFInfo
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- CN107089234B CN107089234B CN201710291827.6A CN201710291827A CN107089234B CN 107089234 B CN107089234 B CN 107089234B CN 201710291827 A CN201710291827 A CN 201710291827A CN 107089234 B CN107089234 B CN 107089234B
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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
- B60W50/08—Interaction between the driver and the control system
Abstract
the invention provides a remote control driving control method, a remote control driving control device, a controller and an automobile, wherein the method is applied to the automobile and comprises the following steps: receiving an operation signal sent when a user operates the remote control device; determining a control signal corresponding to the operation signal; sending the control signal to a first controller through a vehicle body bus, sending the control signal to a second controller through the vehicle body bus, a gateway and a chassis bus, and/or sending the control signal to a third controller through the vehicle body bus, the gateway and a power bus; wherein the first controller comprises an electronic steering column lock ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS. The invention solves the problem that a user with insufficient driving experience is difficult to park in a narrow space.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a remote control driving control method, a remote control driving control device, a remote control driving controller and an automobile.
background
With the rapid development of automobile technology, automobiles are becoming more and more popular in today's society. With the increase of the number of automobiles, the difficulty in parking is a common problem nowadays, especially in a front-line city, a proper parking space is found, and a vehicle can be accurately placed in a narrow space, so that the parking space becomes an examination of driving skills, especially a user with insufficient driving experience. In order to solve the problem of difficult parking, some automobiles have an automatic parking function, however, the automatic parking function may fail to be recognized for some complicated parking spaces, such as inclined parking spaces and too narrow parking spaces. Therefore, parking into a place is still a troublesome problem for users with an inexperienced driving experience.
Disclosure of Invention
the invention provides a remote control driving control method, a remote control driving control device, a remote control driving controller and an automobile, and aims to solve the problem that a user with insufficient driving experience is difficult to park in a narrow space.
In order to achieve the above object, an embodiment of the present invention provides a remote control driving control method applied to an automobile, where the automobile includes a first controller connected to a body bus, a second controller connected to a chassis bus, and a third controller connected to a power bus, where the body bus, the chassis bus, and the power bus are connected through a gateway, and the method includes:
Receiving an operation signal sent when a user operates the remote control device;
Determining a control signal corresponding to the operation signal;
sending the control signal to a first controller through a vehicle body bus, sending the control signal to a second controller through the vehicle body bus, a gateway and a chassis bus, and/or sending the control signal to a third controller through the vehicle body bus, the gateway and a power bus;
Wherein the first controller comprises an electronic steering column lock ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS.
preferably, in the step of determining the control signal corresponding to the operation signal:
when the operation signal is a starting signal, determining a control signal corresponding to the starting signal as a wake-up signal;
Wherein, send control signal to the second controller through automobile body bus, gateway and chassis bus, and/or send control signal to the step of third controller through automobile body bus, gateway and power bus, include:
Sending the wake-up signal to a second controller through a vehicle body bus, a gateway and a chassis bus; and/or
The control signal is sent to the BMS through the body bus, the gateway and the power bus, and the wake-up signal is sent to the power control unit PEU through the BMS.
preferably, in the step of determining the control signal corresponding to the operation signal:
when the operation signal is an exit signal for instructing the remote control driving system to exit the remote control driving,
the control signal corresponding to the exit signal includes: a first locking signal for locking the ESCL, a reset signal for controlling the EPS reset, a second locking signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
wherein, send control signal to first controller through automobile body bus, send control signal to second controller through automobile body bus, gateway and chassis bus, and/or send control signal to the step of third controller through automobile body bus, gateway and power bus, include:
sending the first locking signal to the ESCL through the body bus;
sending a reset signal to the EPS and sending a second locking signal to the EPB through a vehicle body bus, a gateway and a chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
Preferably, the third controller further comprises: a motor controller MCU;
in the step of determining the control signal corresponding to the operation signal,
When the operation signal is a forward signal for indicating the forward of the automobile, determining a control signal corresponding to the forward signal as a forward control signal; or when the operation signal is a backward signal for indicating backward movement of the automobile, determining that the control signal corresponding to the backward signal is a backward control signal;
wherein, through automobile body bus, gateway and power bus with control signal to the step of third controller, include:
and the forward control signal or the backward control signal is sent to the MCU through the vehicle body bus, the gateway and the power bus.
Preferably, in the step of determining the control signal corresponding to the operation signal,
when the operation signal is a brake signal for indicating the automobile to brake, the operation signal is triggered when at least two buttons of the remote control device are operated simultaneously, or the duration time of the operation signal exceeds a first preset time, determining the control signal corresponding to the operation signal as a brake control signal for indicating the ESP to brake;
Wherein, through automobile body bus, gateway and chassis bus with control signal send the step of second controller, include:
The brake control signal is sent to the ESP via the body bus, the gateway and the chassis bus.
preferably, in the step of determining the control signal corresponding to the operation signal,
When the operation signal is a left turn signal for indicating that the automobile turns left, determining a control signal corresponding to the left turn signal as a left turn control signal output to the EPS; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining the control signal corresponding to the right turn signal as a right turn control signal output to the EPS;
wherein, through automobile body bus, gateway and chassis bus with control signal send the step of second controller, include:
and sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
in order to achieve the above object, an embodiment of the present invention further provides a remote driving control apparatus applied to an automobile, the automobile including a first controller connected to a body bus, a second controller connected to a chassis bus, and a third controller connected to a power bus, wherein the body bus, the chassis bus, and the power bus are connected through a gateway, the apparatus including:
the receiving module is used for receiving an operation signal sent by a user when the user operates the remote control device;
The determining module is used for determining a control signal corresponding to the operation signal;
the sending module is used for sending the control signal to the first controller through the vehicle body bus, sending the control signal to the second controller through the vehicle body bus, the gateway and the chassis bus and/or sending the control signal to the third controller through the vehicle body bus, the gateway and the power bus;
wherein the first controller comprises an electronic steering column lock ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS.
preferably, the determining module comprises:
the first determining submodule is used for determining that a control signal corresponding to the starting signal is a wake-up signal when the operation signal is the starting signal;
Wherein, the sending module includes:
The first sending submodule is used for sending the awakening signal to the second controller through the vehicle body bus, the gateway and the chassis bus; and/or
The control signal is sent to the BMS through the body bus, the gateway and the power bus, and the wake-up signal is sent to the power control unit PEU through the BMS.
preferably, the determining module comprises:
a second determination sub-module for, when the operation signal is an exit signal for instructing the remote control driving system to exit the remote control driving,
the control signal corresponding to the exit signal includes: a first locking signal for locking the ESCL, a reset signal for controlling the EPS reset, a second locking signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
Wherein, the sending module includes:
the second sending submodule is used for sending the first locking signal to the ESCL through the vehicle body bus;
Sending a reset signal to the EPS and sending a second locking signal to the EPB through a vehicle body bus, a gateway and a chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
preferably, the third controller further comprises: a motor controller MCU;
The determining module comprises:
the third determining submodule is used for determining that a control signal corresponding to the forward signal is a forward control signal when the operation signal is a forward signal for indicating the forward of the automobile; or when the operation signal is a backward signal for indicating backward movement of the automobile, determining that the control signal corresponding to the backward signal is a backward control signal;
Wherein, the sending module includes:
and the third sending submodule is used for sending the forward control signal or the backward control signal to the MCU through the vehicle body bus, the gateway and the power bus.
preferably, the determining module comprises:
The fourth determining submodule is used for determining that the control signal corresponding to the operation signal is a brake control signal for indicating an ESP to brake when the operation signal is a brake signal for indicating the automobile to brake, the operation signal is triggered when at least two buttons of the remote control device are operated simultaneously, or the duration time of the operation signal exceeds a first preset time;
wherein, the sending module includes:
and the fourth sending submodule is used for sending the brake control signal to the ESP through the body bus, the gateway and the chassis bus.
Preferably, the determining module comprises:
The fifth determining submodule is used for determining that the control signal corresponding to the left turning signal is the left turning control signal output to the EPS when the operation signal is the left turning signal used for indicating the left turning of the automobile; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining the control signal corresponding to the right turn signal as a right turn control signal output to the EPS;
Wherein, the sending module includes:
and the fifth sending submodule is used for sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
In order to achieve the above object, an embodiment of the present invention further provides a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor reads the program in the memory and executes the steps of the above method.
in order to achieve the above object, an embodiment of the present invention also provides an automobile including the above controller.
the scheme of the invention at least comprises the following beneficial effects:
in the above embodiments of the present invention, the operation signal from the remote control device is received, the control signal corresponding to the operation signal is determined, and then the control signal is sent to each controller. The control signals can be forward signals, backward signals, left-turn or right-turn signals and the like, the invention realizes the remote control driving of the automobile by sending the control signals to the corresponding controllers, a user only needs to operate the remote control device, and the automobile can be controlled to realize forward, backward, left-turn or right-turn and the like by matching with the operation signals sent by the remote control device operated by the user, so that the parking of the automobile can be realized.
Drawings
FIG. 1 is a flow chart illustrating the steps of a remote control driving control method according to an embodiment of the present invention;
FIG. 2 illustrates a block diagram of an automobile provided by an embodiment of the present invention;
FIG. 3 is a schematic view of an exemplary remote control device of the present invention;
FIG. 4 is a flow chart of steps for entering a remote control driving mode in an example of the present invention;
FIG. 5 is a flow chart of steps in a remote control driving process in an example of the present invention;
FIG. 6 is a flow chart of steps for exiting a remote drive mode in an example of the present invention;
fig. 7 is a block diagram of a remote-control driving control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a remote driving control method applied to an automobile, where the automobile includes a first controller connected to a body bus, a second controller connected to a chassis bus, and a third controller connected to a power bus, where the body bus, the chassis bus, and the power bus are connected through a gateway, and the method includes:
step 101, receiving an operation signal transmitted when a user operates a remote control device.
Optionally, the body bus includes a Passive Entry Passive Start (PEPS) module, and signal interaction with the remote control device may be performed through the PEPS module.
step 102, determining a control signal corresponding to the operation signal.
the signal from the remote control device may be a parking signal or a driving signal, and the corresponding control signal needs to be determined according to the operation signal and sent to the corresponding controller.
103, sending a control signal to a first controller through a vehicle body bus, sending the control signal to a second controller through the vehicle body bus, a gateway and a chassis bus, and/or sending the control signal to a third controller through the vehicle body bus, the gateway and a power bus;
Wherein the first controller comprises an electronic Steering column Lock ESCL, an electronic Steering column Lock (electronic Steering column Lock) is an electronic device used to restrain the Steering column, is usually installed under the Steering wheel system, and is part of the vehicle anti-theft system. The module judges the action to be executed according to the intention of a driver, the speed of the vehicle and the state of a steering shaft lock, and locks and unlocks a steering column through a bolt system so as to protect the safety of the vehicle. The second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS.
as shown in fig. 2, an operation signal from the remote control device may be received through the vehicle body bus, and a control signal corresponding to the operation signal is determined, and then the control signal is transmitted to the first controller; and/or the vehicle body bus is communicated with the gateway, the control signal is sent to the chassis bus through the gateway, and finally the control signal is sent to the second controller through the chassis bus; and/or the vehicle body bus is communicated with the gateway, the control signal is sent to the power bus through the gateway, and finally the control signal is sent to the third controller through the power bus. The control signals can be forward signals, backward signals, left-turn or right-turn signals and the like, each control signal is sent to the corresponding controller, remote control driving of the automobile is achieved, a user only needs to operate the remote control device, the automobile can be controlled to achieve forward, backward, left-turn or right-turn and the like by matching with the operation signals sent by the user operating the remote control device, parking of the automobile can be achieved, and for narrow or other spaces which are difficult to park, due to the fact that the user manually controls the remote control device, the situation that parking in place fails or other objects are scratched can be avoided.
as an embodiment, in step 102:
And when the operation signal is a starting signal, determining that the control signal corresponding to the starting signal is a wake-up signal.
When the PEPS receives a starting signal for starting remote control driving, and the starting signal exceeds a preset time, determining the control signal as a signal for waking up each controller connected with the chassis bus and the power bus.
specifically, step 103 includes:
sending the wake-up signal to a second controller through a vehicle body bus, a gateway and a chassis bus; and/or
the control signal is sent to the BMS through the body bus, the gateway and the power bus, and the wake-up signal is sent to the power control unit PEU through the BMS.
the PEPS module wakes up the remote control device when receiving a starting signal which exceeds a first preset time from the remote control device, outputs a waking signal for waking up the second controller to the chassis bus through the vehicle body bus and the gateway, and outputs a waking signal for the third controller to the power bus through the vehicle body bus and the gateway.
optionally, the PEU is hard wired to the BMS; the PEU includes a Motor Controller (MCU), namely, a motor controller, a charger Control system OBC and a dc converter controller DCDC; the BMS wakes up the PEU after receiving the wake-up signal, and wakes up the PEU firstly.
As another embodiment, in step 102:
when the operation signal is an exit signal for instructing the remote control driving system to exit the remote control driving,
The control signal corresponding to the exit signal includes: a first locking signal for locking the ESCL, a reset signal for controlling the EPS reset, a second locking signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
Wherein, when receiving an exit signal for exiting the remote control driving, and the exit signal should exceed a preset time, determining the control signal includes: a first locking signal for locking the ESCL, which needs to be transmitted to the ESCL, a reset signal for controlling the reset of the EPS, which needs to be transmitted to the EPS, a second locking signal for locking the EPB, which needs to be transmitted to the EPB, and a power-down signal for controlling the power-down of the BMS, which needs to be transmitted to the BMS, are transmitted to the controllers, respectively.
Alternatively, the above process is also executed when a fault signal of the vehicle is received or when a communication fault with the remote control device is detected.
wherein step 103 comprises:
Sending the first locking signal to the ESCL through the body bus;
Sending a reset signal to the EPS and sending a second locking signal to the EPB through a vehicle body bus, a gateway and a chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
Specifically, a first locking signal is sent to the ESCL through a vehicle body bus, so that the ESCL locks according to the first locking signal; sending a reset signal to the EPS through a vehicle body bus, a gateway and a chassis bus, wherein the EPS carries out the reset according to the reset signal, and sending a second locking signal to the EPB so that the EPB locks according to the second locking signal; and sending the lower electric signal to the BMS through the vehicle body bus, the gateway and the power bus to enable the BMS to be powered down.
as still another embodiment, the third controller further includes: a motor controller MCU;
In step 102:
when the operation signal is a forward signal for indicating the forward of the automobile, determining a control signal corresponding to the forward signal as a forward control signal; or when the operation signal is a backward signal for indicating backward movement of the automobile, determining that the control signal corresponding to the backward signal is the backward control signal.
when receiving a forward signal which is used for indicating the forward of the automobile and is from the remote control device, determining a control signal corresponding to the forward signal as a forward control signal; and/or the PEPS module determines the control signal corresponding to the backward signal to be the backward control signal when receiving the backward signal used for indicating the backward of the automobile from the remote control device.
wherein step 103 comprises:
and the forward control signal or the backward control signal is sent to the MCU through the vehicle body bus, the gateway and the power bus.
Specifically, forward control signals are sent to the MCU through a vehicle body bus, a gateway and a power bus, so that the MCU controls the vehicle to move forward according to the forward control signals; or the backward control signal is sent to the MCU through the vehicle body bus, the gateway and the power bus, so that the MCU controls the vehicle to backward according to the backward control signal.
as another embodiment, in step 102:
when the operation signal is a brake signal for indicating the braking of the automobile, the operation signal triggered when at least two buttons of the remote control device are operated simultaneously, or the duration time of the operation signal exceeds a first preset time, the control signal corresponding to the operation signal is determined to be a brake control signal for indicating the braking of the ESP.
specifically, when a brake signal for instructing the vehicle to brake is received from the remote control device, it indicates that the user wants to brake the vehicle; when the at least two buttons of the remote control device are simultaneously operated, the triggered operation signals are triggered, or the duration time of the operation signals exceeds a first preset time, which may be caused by misoperation of a user, so that the control signals corresponding to the operation signals are determined to be braking control signals for indicating an ESP to brake, the automobile is controlled to brake, and the dangerous condition is avoided.
wherein step 103 comprises:
the brake control signal is sent to the ESP via the body bus, the gateway and the chassis bus.
The method comprises the steps that a braking control signal is sent to the ESP through a vehicle body bus, a gateway and a chassis bus, and the ESP is enabled to control the vehicle to brake.
as another embodiment, in step 102:
when the operation signal is a left turn signal for indicating that the automobile turns left, determining a control signal corresponding to the left turn signal as a left turn control signal output to the EPS; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining the control signal corresponding to the right turn signal as the right turn control signal output to the EPS.
When a left turn signal which is used for indicating the left turn of the automobile and is from a remote control device is received, determining a control signal corresponding to the left turn signal as a left turn control signal; and/or when receiving a right turn signal for indicating that the automobile turns right from the remote control device, determining the control signal corresponding to the right turn signal as the right turn control signal.
Wherein step 103 comprises: and sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
specifically, a left-turn control signal is sent to the EPS through a vehicle body bus, a gateway and a chassis bus, so that the EPS controls the left turn of the automobile according to the left-turn control signal; or the right turning control signal is sent to the EPS through the vehicle body bus, the gateway and the chassis bus, so that the EPS controls the vehicle to turn right according to the right turning control signal.
it should be noted that the above embodiments of the present invention are not only applicable to parking scenes, but also applicable to a situation where a driver is not beside the vehicle but needs to move the vehicle remotely, for example, the driver mistakenly parks in a parking space of another user; and the driver is not beside the vehicle but needs to move the vehicle out of the parking lot in advance, for example, the user can drive the vehicle to go home conveniently when going out of work.
in the above embodiments of the present invention, the operation signal from the remote control device is received, the control signal corresponding to the operation signal is determined, and then the control signal is sent to each controller. The control signals can be forward signals, backward signals, left-turn or right-turn signals and the like, the invention realizes the remote control driving of the automobile by sending the control signals to the corresponding controllers, a user only needs to operate the remote control device, and the automobile can be controlled to realize forward, backward, left-turn or right-turn and the like by matching with the operation signals sent by the remote control device operated by the user, so that the parking of the automobile can be realized.
as an example, referring to fig. 3, fig. 3 is a schematic diagram of a remote control device, wherein the functions of the various keys are shown in table 1:
Table 1:
Referring to fig. 4, entering the remote control driving mode mainly includes the following steps:
step 401, monitoring whether a remote control start signal is received.
If the signal exists, the remote control panel flashes in green and wakes up the PEPS, otherwise, the remote control driving inactivated flag bit is sent for processing;
step 402, monitoring whether the PEPS wakes up.
If the PEPS is awakened, the PEPS network awakens a Gateway (GW), an ESCL, a BCM, a BMS, an EPB, an EPS, an ESP and an ADAS, otherwise, the PEPS network sends the remote control driving inactivated flag bit for processing;
In step 403, it is monitored whether GW, ESCL, BCM, BMS, EPB, EPS, ESP, ADAS are awake.
if the driver is awakened, the BMS awakens the PEU through a hard wire, otherwise, the remote control driving inactivated flag bit is sent for processing;
step 404, monitoring whether the PEU wakes up.
if the vehicle is awakened, the MCU and the BMS carry out the fault detection of the whole vehicle, otherwise, the current control logic is exited, and otherwise, the remote control driving inactivated flag bit processing is sent;
step 405, monitoring whether a fault affecting normal running of the vehicle exists.
if the remote control driving is not activated, the remote control driving is sent to be processed by the flag bit, otherwise, the BMS guides the high voltage on the whole vehicle;
step 406, monitoring whether the vehicle is started.
If the vehicle is started, the remote control panel is turned on for a long time and remote control driving activation processing is sent, otherwise, remote control driving non-activation zone bit processing is sent;
Step 407, monitor ADAS for brake interference.
if yes, the ESP performs braking control, otherwise, other control logic judgment is performed;
Step 408, monitoring whether a remote control brake signal is received.
If yes, the ESP performs braking control, otherwise, other control logic judgment is performed;
step 409, monitoring whether two or more key signals are received.
If yes, the ESP performs braking control, otherwise, other control logic judgment is performed;
Step 410, monitoring whether any key is received for 1 minute or more.
if the driver has the ESP, the ESP performs brake control, otherwise, the ESCL and the EPB perform unlocking, and the BCM lights the double-flashing lamp for three times to finish entering remote control driving.
The remote control driving main control unit is an MCU (microprogrammed control unit), the MCU analyzes a signal of a vehicle awakening initial source, namely a PEPS (passive optical sensor system) remote control unit, determines that the vehicle is in a remote control driving state, and determines whether the vehicle is activated in the remote control driving state according to whether the vehicle is in a starting state. The vehicle has a processing decision taking the fault as the highest priority during the remote control driving, and two types of faults are mainly defined and respectively: the method comprises the following steps that the vehicle has a driving fault (a fault influencing high voltage under the vehicle) and a remote control driving communication fault (a remote control panel and the vehicle have wireless signal frame loss), when the vehicle has the fault, an ESP (electronic stability program) performs emergency braking, EPS (electric power steering) is corrected, EPB (emergency braking base) and ESCL (emergency braking base) are locked, a BMS (battery management system) guides power down, and the vehicle stops at the original position to be manually processed. After the vehicle and the remote control panel have communication faults (bidirectional communication), the vehicle and the remote control panel both have a monitoring communication loss mechanism, namely, the communication loss of any party can be monitored.
the priority of the remote control stop signal is next to that of the fault signal, the vehicle needs to perform signal confirmation and locking after receiving the remote control driving stop signal, the signal confirmation is that the monitoring user really performs parking processing, the signal locking is that the MCU performs related braking control after receiving the signal, the BMS performs guided power-down control after receiving the signal, and then the remote control board transmits other signals again and is invalid, and the vehicle is valid after finishing the remote control driving. The remote control start signal is input continuously by the remote control panel for a period of time, and the vehicle can enter the remote control activation state, wherein the time is determined by the key signal confirmation time and the vehicle power-on completion time.
after the remote control driving is activated, the ADAS has the highest braking interference priority, then the ADAS is a remote control braking signal, and the vehicle is subjected to braking control by the ESP after receiving the braking signal; when two or more key signals are monitored to be input, the vehicle is subjected to brake control; when a certain key is monitored to be continuously pressed for 1 minute, the vehicle carries out brake control (preventing the key from being pressed by mistake); the remote control driving awakening controller needs to have a signal execution confirmation result signal in the process, namely the actuator needs to inform the controller of the last result state; the forward and backward MCU is controlled by fixed torque, the specific value is determined by calibration, and the vehicle speed is controlled within 5 km/h; the left turning and the right turning are controlled by the EPS, and the size of the turning angle is determined by the time of remotely controlling a left turning and right turning key; when backing, BMS needs to light the reversing light, and left turn right turn BMS needs to light the left turn right turn light.
Referring to fig. 5, the remote control driving process mainly includes the following steps:
step 501, monitoring whether a remote control forward signal is received.
If the vehicle speed is higher than the set speed, the MCU controls the vehicle to move forwards by using the fixed torque, otherwise, other control logic judgment is carried out;
step 502, monitoring whether a remote control back signal is received.
If the vehicle runs backward, the MCU controls the vehicle to run backward with fixed torque, and the BCM lights the backup lamp, otherwise, the BCM enters other control logic judgment;
Step 503, monitoring whether a remote control left turn signal is received.
if the left turning angle is determined by the remote control left turning time, the EPS performs left turning control, otherwise, other control logic judgment is performed;
Step 504, whether a remote control right turn signal is received is monitored.
If the EPS exists, the EPS is controlled to rotate rightwards, the specific right rotation angle is determined by the remote control right rotation time, and otherwise, the EPS exits.
referring to fig. 6, the remote control driving is divided into fault exiting and normal exiting, the fault exiting remote control driving is adopted when the vehicle has a self fault (high voltage fault under the vehicle is influenced) and a remote control communication fault (wireless signal frame loss exists between a remote control panel and the vehicle), and when the vehicle has the fault, the ESP performs emergency braking, EPS returning, EPB and ESCL locking, and the electric vehicle is stopped in the original position under the guidance of the BMS to be manually processed; the remote control driving quitting mainly comprises the following steps:
601, the vehicle receives a remote control parking signal;
step 602, stopping signal confirmation and locking;
step 603, flashing a green light of the remote control board and sending a remote control driving inactivated flag bit;
step 604, the ESP performs brake control, and the EPS returns to normal;
Step 605, judging whether the vehicle speed is 0km/h and the time is more than 10 s.
If so, performing other control logic judgment, and otherwise, waiting;
step 606, EPB, ESCL locks;
In step 607, it is determined whether EPB and ESCL are successfully locked.
if the locking is successful, other control logic judgment is carried out, and otherwise, waiting is carried out;
step 608, the BMS directs power down (high voltage power down);
And step 609, judging whether the BMS is completely electrified under high voltage.
if the remote control board is finished, the green light of the remote control board is turned off, the remote control driving is finished, and otherwise, the remote control board waits.
In the above embodiments of the present invention, the operation signal from the remote control device is received, the control signal corresponding to the operation signal is determined, and then the control signal is sent to each controller. The control signals can be forward signals, backward signals, left-turn or right-turn signals and the like, the invention realizes the remote control driving of the automobile by sending the control signals to the corresponding controllers, a user only needs to operate the remote control device, and the automobile can be controlled to realize forward, backward, left-turn or right-turn and the like by matching with the operation signals sent by the remote control device operated by the user, so that the parking of the automobile can be realized.
referring to fig. 7, an embodiment of the present invention further provides a remote driving control apparatus applied to an automobile, where the automobile includes a first controller connected to a body bus, a second controller connected to a chassis bus, and a third controller connected to a power bus, where the body bus, the chassis bus, and the power bus are connected through a gateway, and the apparatus includes:
a receiving module 701, configured to receive an operation signal sent when a user operates a remote control device;
a determining module 702, configured to determine a control signal corresponding to the operation signal;
The sending module 703 is configured to send a control signal to the first controller through a vehicle body bus, send a control signal to the second controller through the vehicle body bus, the gateway, and the chassis bus, and/or send a control signal to the third controller through the vehicle body bus, the gateway, and the power bus;
wherein the first controller comprises an electronic steering column lock ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS.
preferably, the determining module 702 comprises:
the first determining submodule is used for determining that a control signal corresponding to the starting signal is a wake-up signal when the operation signal is the starting signal;
the sending module 703 includes:
The first sending submodule is used for sending the awakening signal to the second controller through the vehicle body bus, the gateway and the chassis bus; and/or
the control signal is sent to the BMS through the body bus, the gateway and the power bus, and the wake-up signal is sent to the power control unit PEU through the BMS.
Preferably, the determining module 702 comprises:
A second determination sub-module for, when the operation signal is an exit signal for instructing the remote control driving system to exit the remote control driving,
The control signal corresponding to the exit signal includes: a first locking signal for locking the ESCL, a reset signal for controlling the EPS reset, a second locking signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
the sending module 703 includes:
The second sending submodule is used for sending the first locking signal to the ESCL through the vehicle body bus;
sending a reset signal to the EPS and sending a second locking signal to the EPB through a vehicle body bus, a gateway and a chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
preferably, the third controller further comprises: a motor controller MCU;
The determination module 702 includes:
the third determining submodule is used for determining that a control signal corresponding to the forward signal is a forward control signal when the operation signal is a forward signal for indicating the forward of the automobile; or when the operation signal is a backward signal for indicating backward movement of the automobile, determining that the control signal corresponding to the backward signal is a backward control signal;
The sending module 703 includes:
And the third sending submodule is used for sending the forward control signal or the backward control signal to the MCU through the vehicle body bus, the gateway and the power bus.
preferably, the determining module 702 comprises:
the fourth determining submodule is used for determining that the control signal corresponding to the operation signal is a brake control signal for indicating an ESP to brake when the operation signal is a brake signal for indicating the automobile to brake, the operation signal is triggered when at least two buttons of the remote control device are operated simultaneously, or the duration time of the operation signal exceeds a first preset time;
The sending module 703 includes:
and the fourth sending submodule is used for sending the brake control signal to the ESP through the body bus, the gateway and the chassis bus.
preferably, the determining module 702 comprises:
the fifth determining submodule is used for determining that the control signal corresponding to the left turning signal is the left turning control signal output to the EPS when the operation signal is the left turning signal used for indicating the left turning of the automobile; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining the control signal corresponding to the right turn signal as a right turn control signal output to the EPS;
The sending module 703 includes:
and the fifth sending submodule is used for sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
it should be noted that the remote control driving control device provided by the embodiment of the present invention is a device applying the above method, that is, all embodiments of the above method are applicable to the device, and can achieve the same or similar beneficial effects.
in order to achieve the above object, an embodiment of the present invention further provides a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor reads the program in the memory and executes the steps of the above method.
In order to achieve the above object, an embodiment of the present invention also provides an automobile including the above controller.
the remote-control driving control device, the controller and the automobile provided in the above embodiments of the present invention receive the operation signal from the remote control device, determine the control signal corresponding to the operation signal, and then transmit the control signal to each controller. The control signals can be forward signals, backward signals, left-turn or right-turn signals and the like, the invention realizes the remote control driving of the automobile by sending the control signals to the corresponding controllers, a user only needs to operate the remote control device, and the automobile can be controlled to realize forward, backward, left-turn or right-turn and the like by matching with the operation signals sent by the remote control device operated by the user, so that the parking of the automobile can be realized.
while the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. a remote control driving control method is applied to an automobile, the automobile comprises a first controller connected with a body bus, a second controller connected with a chassis bus and a third controller connected with a power bus, the body bus, the chassis bus and the power bus are connected through a gateway, and the method is characterized by comprising the following steps:
receiving an operation signal sent when a user operates the remote control device;
determining a control signal corresponding to the operation signal;
sending the control signal to the first controller via the body bus, to the second controller via the body bus, the gateway, and the chassis bus, and/or to the third controller via the body bus, the gateway, and the power bus;
Wherein the first controller comprises an electronic steering column lock, ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS and a motor controller MCU;
Wherein, in the step of determining the control signal corresponding to the operation signal:
When the operation signal is a starting signal, determining a control signal corresponding to the starting signal as a wake-up signal;
wherein the step of sending the control signal to the second controller via the body bus, the gateway and the chassis bus, and/or sending the control signal to the third controller via the body bus, the gateway and the power bus comprises:
Sending the wake-up signal to the second controller through the body bus, the gateway and the chassis bus; and/or
sending the control signal to the BMS through the body bus, the gateway and the power bus, and sending the wake-up signal to a power control unit (PEU) through the BMS;
monitoring whether the PEU is awakened;
If the PEU is awakened, the MCU and the BMS carry out complete vehicle fault detection and monitor whether faults influencing normal running of the vehicle exist or not;
if the fault influencing the normal running of the vehicle exists, sending a remote control driving inactivated flag bit for processing, otherwise, guiding the high voltage on the whole vehicle by the BMS;
Monitoring the ADAS for brake interference;
If there is brake interference, a brake control signal is sent to the ESP via the body bus, the gateway and the chassis bus.
2. the method of claim 1, wherein the step of determining the control signal corresponding to the operation signal comprises:
when the operation signal is an exit signal for instructing the remote control driving system to exit remote control driving,
the control signal corresponding to the exit signal includes: a first lock signal for locking the ESCL, a reset signal for controlling the EPS reset, a second lock signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
wherein, the step of sending the control signal to the first controller through the body bus, sending the control signal to the second controller through the body bus, the gateway and the chassis bus, and/or sending the control signal to the third controller through the body bus, the gateway and the power bus comprises:
sending the first locking signal to the ESCL through the body bus;
Sending the reset signal to the EPS and the second lock signal to the EPB through the body bus, the gateway and the chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
3. the method of claim 1,
in the step of determining the control signal corresponding to the operation signal,
when the operation signal is a forward signal for indicating the forward of the automobile, determining a control signal corresponding to the forward signal as a forward control signal; or when the operation signal is a backward signal for indicating the backward movement of the automobile, determining that the control signal corresponding to the backward signal is a backward control signal;
Wherein the step of sending the control signal to the third controller via the body bus, the gateway, and the power bus comprises:
And sending the forward control signal or the backward control signal to an MCU (microprogrammed control Unit) through the vehicle body bus, the gateway and the power bus.
4. the method of claim 1, wherein in the step of determining the control signal corresponding to the operation signal,
When the operation signal is a brake signal for indicating the automobile to brake, the operation signal is triggered when at least two buttons of a remote control device are operated simultaneously, or the duration time of the operation signal exceeds a first preset time, determining that the control signal corresponding to the operation signal is a brake control signal for indicating the ESP to brake;
wherein the step of sending the control signal to the second controller via the body bus, the gateway, and the chassis bus comprises:
Transmitting the brake control signal to the ESP through the body bus, the gateway, and the chassis bus.
5. the method of claim 1, wherein in the step of determining the control signal corresponding to the operation signal,
when the operation signal is a left turn signal for indicating that the automobile turns left, determining that a control signal corresponding to the left turn signal is a left turn control signal output to the EPS; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining that the control signal corresponding to the right turn signal is a right turn control signal output to the EPS;
wherein the step of sending the control signal to the second controller via the body bus, the gateway, and the chassis bus comprises:
And sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
6. A remote control driving control device is applied to an automobile, the automobile comprises a first controller connected with a body bus, a second controller connected with a chassis bus and a third controller connected with a power bus, wherein the body bus, the chassis bus and the power bus are connected through a gateway, and the device is characterized by comprising:
the receiving module is used for receiving an operation signal sent by a user when the user operates the remote control device;
the determining module is used for determining a control signal corresponding to the operation signal;
the transmitting module is used for transmitting the control signal to the first controller through the vehicle body bus, transmitting the control signal to the second controller through the vehicle body bus, the gateway and the chassis bus, and/or transmitting the control signal to the third controller through the vehicle body bus, the gateway and the power bus;
wherein the first controller comprises an electronic steering column lock, ESCL; the second controller comprises an electronic stability system (ESP), an electronic parking system (EPB), an Advanced Driving Assistance System (ADAS) and/or an electric power steering system (EPS); the third controller comprises a battery management system BMS and a motor controller MCU;
wherein the determining module comprises:
the first determining submodule is used for determining that a control signal corresponding to the starting signal is a wake-up signal when the operation signal is the starting signal;
wherein the sending module comprises:
the first sending submodule is used for sending the awakening signal to the second controller through the vehicle body bus, the gateway and the chassis bus; and/or
Sending the control signal to the BMS through the body bus, the gateway and the power bus, and sending the wake-up signal to a power control unit (PEU) through the BMS;
the first monitoring submodule is used for monitoring whether the PEU is awakened or not;
the second monitoring submodule is used for detecting the faults of the whole vehicle by the MCU and the BMS when the PEU is awakened, and monitoring whether faults influencing the normal running of the vehicle exist or not;
the high-voltage upper electronic module is used for sending a remote control driving non-activated zone bit when a fault influencing the normal running of the vehicle exists, and otherwise, controlling the BMS to carry out high voltage on the whole vehicle;
the second monitoring submodule is used for monitoring whether the ADAS has brake interference;
and the sixth sending submodule is used for sending a braking control signal to the ESP through the vehicle body bus, the gateway and the chassis bus if braking interference exists.
7. the apparatus of claim 6, wherein the determining module comprises:
a second determination submodule for, when the operation signal is an exit signal for instructing the remote control driving system to exit remote control driving,
the control signal corresponding to the exit signal includes: a first lock signal for locking the ESCL, a reset signal for controlling the EPS reset, a second lock signal for locking the EPB, and a power-down signal for controlling the BMS power-down;
Wherein the sending module comprises:
the second sending submodule is used for sending the first locking signal to the ESCL through the vehicle body bus;
sending the reset signal to the EPS and the second lock signal to the EPB through the body bus, the gateway and the chassis bus; the lower electric signal is transmitted to the BMS through the body bus, the gateway, and the power bus.
8. The apparatus of claim 6,
the determining module comprises:
The third determining submodule is used for determining that a control signal corresponding to the forward signal is a forward control signal when the operation signal is a forward signal for indicating the forward of the automobile; or when the operation signal is a backward signal for indicating the backward movement of the automobile, determining that the control signal corresponding to the backward signal is a backward control signal;
wherein the sending module comprises:
and the third sending submodule is used for sending the forward control signal or the backward control signal to the MCU through the vehicle body bus, the gateway and the power bus.
9. the apparatus of claim 6, wherein the determining module comprises:
a fourth determining submodule, configured to determine, when the operation signal is a brake signal for instructing the automobile to brake, the operation signal triggered when at least two buttons of a remote control device are simultaneously operated, or when a duration of the operation signal exceeds a first preset time, that a control signal corresponding to the operation signal is a brake control signal for instructing the ESP to brake;
wherein the sending module comprises:
a fourth transmitting submodule for transmitting the brake control signal to the ESP via the body bus, the gateway and the chassis bus.
10. The apparatus of claim 6, wherein the determining module comprises:
A fifth determining submodule, configured to determine, when the operation signal is a left turn signal indicating that the automobile turns left, that a control signal corresponding to the left turn signal is a left turn control signal output to the EPS; or when the operation signal is a right turn signal for indicating that the automobile turns right, determining that the control signal corresponding to the right turn signal is a right turn control signal output to the EPS;
Wherein the sending module comprises:
And the fifth sending submodule is used for sending the left-turning control signal or the right-turning control signal to the EPS through the vehicle body bus, the gateway and the chassis bus.
11. a controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor reads the program in the memory and executes the steps of the method according to any one of claims 1 to 5.
12. An automobile, comprising: the controller of claim 11.
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| CN107901906B (en) * | 2017-10-30 | 2020-04-28 | 北京新能源汽车股份有限公司 | Remote control driving control method and device, controller and electric automobile |
| CN110126794B (en) * | 2018-02-08 | 2020-06-09 | 上海汽车变速器有限公司 | New energy pure electric integrated driving device and parking control strategy thereof |
| CN109435621A (en) * | 2018-08-30 | 2019-03-08 | 深圳市易成自动驾驶技术有限公司 | Control method, device and the computer readable storage medium of intelligent vehicle |
| CN111724577A (en) * | 2019-03-19 | 2020-09-29 | 北京新能源汽车股份有限公司 | Method and device for remote control driving of vehicle and vehicle |
| US11106200B2 (en) * | 2019-06-27 | 2021-08-31 | Baidu Usa Llc | Safety mechanism for joystick control for controlling an unmanned vehicle |
| CN112829830B (en) * | 2019-11-25 | 2022-05-31 | 北京新能源汽车股份有限公司 | Control method, controller and control system for remote control steering |
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