CN107901906A - A kind of remote driving control method, device, controller and electric automobile - Google Patents
A kind of remote driving control method, device, controller and electric automobile Download PDFInfo
- Publication number
- CN107901906A CN107901906A CN201711033284.4A CN201711033284A CN107901906A CN 107901906 A CN107901906 A CN 107901906A CN 201711033284 A CN201711033284 A CN 201711033284A CN 107901906 A CN107901906 A CN 107901906A
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- Prior art keywords
- electric automobile
- signal
- control
- remote
- controller
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The present invention provides a kind of remote driving control method, device, controller and electric automobile, is related to full-vehicle control technical field, the control method includes：Obtain the operational order that remote control is sent；Judge whether the current state of electric automobile meets the condition for performing the operational order, if satisfied, the controller of electric automobile is then output control signals to according to the operational order, if not satisfied, then exporting feedback signal to the remote control.The solution of the present invention realizes car owner in car outer control vehicle parking in narrow zone, avoids user from getting off difficulty, improves the car experience of car owner；And the R＆D cycle is short, R＆D costs are low.
Description
Technical field
The invention belongs to full-vehicle control technical field, more particularly, to a kind of remote driving control method, device, controller
And electric automobile.
Background technology
Remote driving is a kind of unmanned technology, be people by Radio Transmission Technology in the case where there is certain distance it is real
Now to the driving of automobile.Current unmanned driving technology is ripe far away, therefore forbids road on automatic driving vehicle.
With the development of economic technology, automobile is increasingly popularized, and causes parking stall more and more nervous, and many drivers pass through
Went through the painful experience in narrow zone parking.Therefore, how using remote driving technology it is inexpensive, it is short-period realize it is effective
Improve car owner and stop and use the user experience of vehicle in narrow zone, become one that current automobile industry needs to solve and ask
Topic.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of remote driving control method, device, controller and electric automobile,
So as to solve in the prior art when narrow zone stops, driver leaves the problem of vehicle is difficult.
To achieve these goals, an embodiment of the present invention provides a kind of remote driving control method, including：
Obtain the operational order that remote control is sent；
Judge whether the current state of electric automobile meets the condition for performing the operational order, if satisfied, then according to institute
The controller that operational order outputs control signals to electric automobile is stated, if not satisfied, then exporting feedback signal to the remote control dress
Put.
Wherein, the operational order includes：At least one of in enabled instruction, forward/backward instruction and steering order.
Wherein, after the enabled instruction is got, whether the current state for judging electric automobile meets to perform institute
The condition of operational order is stated, if satisfied, the controller of electric automobile is then output control signals to according to the operational order, if not
Meet, then export feedback signal to the step of remote control include：
Judge whether the electric automobile is currently in the unlocked state；
If so, then judge the Intelligent key of the electric automobile whether in the first default safe distance；It is if it is not, then defeated
Go out after vehicle unlock the feedback signal that restarts to the remote control；
If the Intelligent key of the electric automobile is located in first default safe distance, pass through controller LAN
(Controller Area Network, referred to as：CAN) bus output starts control signal to keyless entry and startup
(Passive Entry Passive Start, referred to as：PEPS) controller；If it is not, then the feedback letter of remote driving is forbidden in output
Number to the remote control.
Wherein, exported by controller area network bus and start control signal to keyless entry and start PEPS controls
After the step of device processed, the method further includes：
Judge whether the PEPS controller receives the startup control signal；If not receiving, export and open again
Dynamic feedback signal is to the remote control.
Wherein, after forward/backward instruction is got, whether the current state for judging electric automobile meets to perform institute
The condition of operational order is stated, if satisfied, the controller of electric automobile is then output control signals to according to the operational order, if not
Meet, then export feedback signal to the step of remote control include：
Judge whether the electric automobile is currently in READY preparedness；
If so, forward/backward control signal is then exported to electric machine controller by CAN bus；Opened again if it is not, then exporting
Dynamic feedback signal is to the remote control.
Wherein, after exporting forward/backward control signal to the step of electric machine controller by CAN bus, the method
Further include：
Judge whether the electric machine controller receives the forward/backward control signal；
If the electric machine controller receives the forward/backward control signal, forward/backward in the electric automobile
During, when judging currently without receiving the forward/backward instruction, current Intelligent key positioned at the second default safety away from
From outer, the distance that continuously drives of current electric automobile is more than the first pre-determined distance, or currently electric automobile and barrier away from
During from less than the second pre-determined distance, pass through the control signal that CAN bus output halts/retreats to the electric machine controller；
If the electric machine controller does not receive the forward/backward control signal, output resends forward/backward
The feedback signal of instruction is to the remote control.
Wherein, after the steering order is got, whether the current state for judging electric automobile meets to perform institute
The condition of operational order is stated, if satisfied, the controller of electric automobile is then output control signals to according to the operational order, if not
Meet, then export feedback signal to the step of remote control include：
Judge whether the electric automobile is currently in READY state；If so, then judge the current vehicle of the electric automobile
Whether speed is less than or equal to the first preset vehicle speed；If it is not, the feedback signal of restarting is then exported to the remote control；
If the current vehicle speed of the electric automobile is less than or equal to first preset vehicle speed, exported by CAN bus
Steering controling signal is to electric machine controller；
If the current vehicle speed of the electric automobile is more than first preset vehicle speed, output is less than or equal to institute in speed
The feedback signal of steering order is resend when stating the first preset vehicle speed to the remote control.
Wherein, after steering controling signal to electric machine controller is exported by CAN bus, the method further includes：
Judge whether the electric machine controller receives the steering controling signal；
If the electric machine controller receives the steering controling signal, in electric automobile steering procedure, work as judgement
It is current not receive the steering order, or when current Intelligent key is located at outside the 3rd default safe distance, pass through CAN bus
Output stops steering controling signal to the electric machine controller；
If the electric machine controller does not receive the steering controling signal, output resends the feedback of steering order
Signal is to the remote control.
Wherein, the operational order further includes exit instruction, and after the exit instruction is got, the method is also wrapped
Include：Power down control signal is exported to PEPS controller by CAN bus.
The embodiment of the present invention also provides a kind of remote driving control device, including：
Acquisition module, for obtaining the operational order of remote control transmission；
Whether judgment module, the current state for judging electric automobile meet the condition for performing the operational order, if
Meet, then the controller of electric automobile is output control signals to according to the operational order, if not satisfied, then exporting feedback signal
To the remote control.
Wherein, the operational order includes：At least one of in enabled instruction, forward/backward instruction and steering order.
Wherein, after the acquisition module gets the enabled instruction, the judgment module is used to judge described electronic
Whether automobile is currently in the unlocked state；If so, then judge the Intelligent key of the electric automobile whether positioned at the first default peace
In full distance；If it is not, the feedback signal that restarts then is exported after vehicle unlock to the remote control；
If the Intelligent key that the judgment module is additionally operable to the electric automobile is located in first default safe distance,
Then exported by controller area network bus and start control signal to keyless entry and start PEPS controller；It is if described
The Intelligent key of electric automobile is located at outside first default safe distance, then output forbids the feedback signal of remote driving to institute
State remote control.
Wherein, startup control signal is being exported to keyless entry by controller area network bus and is starting PEPS
After controller, the judgment module is additionally operable to judge whether the PEPS controller receives the startup control signal；If not
Receive, then export the feedback signal of restarting to the remote control.
Wherein, after the acquisition module gets forward/backward instruction, the judgment module is used to judge described electronic
Whether automobile is currently in READY preparedness；If so, forward/backward control signal is then exported to electricity by CAN bus
Machine controller；If it is not, the feedback signal of restarting is then exported to the remote control.
Wherein, after forward/backward control signal to electric machine controller is exported by CAN bus, the judgment module is used
In judging whether the electric machine controller receives the forward/backward control signal；
The judgment module is additionally operable to, if the electric machine controller receives the forward/backward control signal, described
During electric automobile is forward/backward, when judging currently without receiving the forward/backward instruction, current Intelligent key
Outside the second default safe distance, the distance that continuously drives of current electric automobile is more than the first pre-determined distance, or current electricity
When the distance of electrical automobile and barrier is less than the second pre-determined distance, the control signal for halting/retreating is exported by CAN bus
To the electric machine controller；
And if the electric machine controller does not receive the forward/backward control signal, before output is resend
Into/feedback signal of instruction is retreated to the remote control.
Wherein, after the acquisition module gets the steering order, the judgment module is used to judge described electronic
Whether automobile is currently in READY state；If so, then judging whether the current vehicle speed of the electric automobile is less than or equal to first
Preset vehicle speed；If it is not, the feedback signal of restarting is then exported to the remote control；
The judgment module is additionally operable to, if the current vehicle speed of the electric automobile is less than or equal to the described first default car
Speed, then export steering controling signal to electric machine controller by CAN bus；
And if the current vehicle speed of the electric automobile is more than first preset vehicle speed, output be less than in speed or
The feedback signal of steering order is resend during equal to first preset vehicle speed to the remote control.
Wherein, after steering controling signal to electric machine controller is exported by CAN bus, the judgment module is additionally operable to
Judge whether the electric machine controller receives the steering controling signal；
The judgment module is additionally operable to, if the electric machine controller receives the steering controling signal, in electronic vapour
In car steering procedure, the steering order is not received when judgement is current, or currently Intelligent key is default safe positioned at the 3rd
Apart from it is outer when, pass through CAN bus output and stop steering controling signal to the electric machine controller；
And if the electric machine controller does not receive the steering controling signal, output resends steering order
Feedback signal to the remote control.
Wherein, the operational order further includes exit instruction, and after the exit instruction is got, the acquisition module is also
For exporting power down control signal to PEPS controller by CAN bus.
The embodiment of the present invention also provides a kind of controller, including memory, processor and storage are on a memory and can be
The computer program run on processor, wherein, the processor reads the program in the memory, performs side as described above
Step in method.
The embodiment of the present invention also provides a kind of electric automobile, including controller as described above.
The above-mentioned technical proposal of the present invention at least has the advantages that：
The remote driving control method of the embodiment of the present invention, makes driver pass through remote control when narrow zone stops
With electric automobile establish communicate after, user by remote control send operational order control vehicle it is forward/backward or steering etc. so that
Realize that driver is parked in narrow zone in car outer control vehicle, avoid vehicle from stopping after getting well, the situation hair that driver gets off difficult
It is raw.Wherein, in order to ensure vehicle and personal safety, the remote driving control method of the embodiment of the present invention, acts in control vehicle
Before, it can judge whether the current state of vehicle disclosure satisfy that the condition of vehicle action, if not satisfied, then stop remote driving, from
And ensureing that vehicle is not damaged, personnel will not come to harm, and surrounding environment is unaffected.
Brief description of the drawings
Fig. 1 is the basic step schematic diagram of the remote driving control method of the embodiment of the present invention；
Fig. 2 is the basic composition schematic diagram of the remote driving control device of the embodiment of the present invention；
Fig. 3 is the flow diagram that the control electric automobile of the embodiment of the present invention starts；
Fig. 4 is the forward/backward flow diagram of the control electric automobile of the embodiment of the present invention；
Fig. 5 is the flow diagram that the control electric automobile of the embodiment of the present invention turns to.
Embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
After the embodiment of the present invention is stopped for the problem that existing driver in narrow zone, it is difficult to leave vehicle, carries
Supplied a kind of remote driving control method, device, controller and electric automobile, by car outer control electric automobile in stenosis area
Stop in domain, avoid driver from can not getting off after electric automobile stops well, improve the experience that user uses vehicle.
As shown in Figure 1, an embodiment of the present invention provides a kind of remote driving control method, including：
Step 11, the operational order that remote control is sent is obtained；
Step 12, judge whether the current state of electric automobile meets the condition for performing the operational order, if satisfied, then
The controller of electric automobile is output control signals to according to the operational order, if not satisfied, then exporting feedback signal to described
Remote control.
It should be noted that since Bluetooth technology has become the standard configuration of smart mobile phone, so the embodiment of the present invention
Remote driving control method in the remote control can be the mobile terminal such as smart mobile phone, tablet computer, pass through movement
Application program (Application, abbreviation in terminal：APP) and Bluetooth technology, the remote driving of vehicle is realized, so as to shorten
R＆D cycle and reduce R＆D costs.
Therefore, the above embodiment of the present invention, it is necessary to will before the step of obtaining the operational order that remote control is sent
The remote control is established Bluetooth communication with the electric automobile and is connected, and after both successful matchings, remote driving APP can
Into operable state.
Specifically, the operational order includes：At least one of in enabled instruction, forward/backward instruction and steering order.
Wherein, when the operational order got in the step 11 is enabled instruction, the step 12 includes：
Judge whether the electric automobile is currently in the unlocked state；
If so, then judge the Intelligent key of the electric automobile whether in the first default safe distance；It is if it is not, then defeated
Go out after vehicle unlock the feedback signal that restarts to the remote control；
If the Intelligent key of the electric automobile is located in first default safe distance, exported by CAN bus
Start control signal to PEPS controller；If it is not, then output forbids the feedback signal of remote driving to the remote control.
Further, control signal is started to keyless entry and startup when passing through the output of controller area network bus
After PEPS controller, the method further includes：Judge whether the PEPS controller receives the startup control signal；If not
Receive, then export the feedback signal of restarting to the remote control.
Before the electric automobile is started, whether the electric automobile is unlocked and whether the Intelligent key is located at
It is detected in first default safe distance of the electric automobile, is tested it is achieved thereby that antitheft to the power of the electric automobile
Card；Once the distance of the Intelligent key and the electric automobile exceeds first default safe distance, alternatively, described electronic
Automobile, which is in the state not unlocked, causes the antitheft authentication failed of power, then the remote driving function of the electric automobile can be by immediately
Forbid, so as to avoid the electric automobile from stolen risk occur.
Here, by taking Fig. 3 as an example, illustrate and be remotely controlled the flow that the electric automobile starts.
Step 301, establish and communicate to connect with remote control；Wherein, the communication connection can be what is established by matching
Bluetooth communication connects.
Step 302, the enabled instruction that remote control is sent is obtained；Wherein, remote control is installed in advance on the remote control
The APP of driving, user send the enabled instruction by operating the APP.
Step 303, judge whether electric automobile is currently in the unlocked state, if being in non-released state, perform step
304, if in the unlocked state, perform step 305；Wherein, whether the electric automobile is currently in the unlocked state according to electricity
Entire car controller (Vehicle Control Unit, the abbreviation of electrical automobile：VCU) released state sent by CAN bus is believed
Number or non-released state signal determine.
Step 304, the feedback signal restarted after vehicle unlock is exported to the remote control, by the remote control
APP remind user " vehicle does not unlock, is restarted after please unlocking ".
Step 305, the Intelligent key of electric automobile is judged whether in the first default safe distance, if so, then performing
Step 307, if it is not, then performing step 306.Wherein, first default safe distance is being remotely controlled of being pre-designed
Ultimate range between the Intelligent key and the electric automobile that drive.
Step 306, output forbids the feedback signal of remote driving to the remote control；Reminded and used by the remote control
Family " Intelligent key exceeds safe range, forbids remote driving ".Wherein, when the Intelligent key is not in the described first default safety
Apart from it is interior when, then can determine that user near the electric automobile, does not forbid remote driving.
Step 307, exported by CAN bus and start control signal to PEPS controller.So as to fulfill keyless entry and
Start the electric automobile.
Step 308, judge whether the PEPS controller receives the startup control signal；If so, then perform step
309, if it is not, then performing step 310；Specifically, determine if to receive according to the feedback signal that the PEPS controller is sent
To the startup control signal, such as, after the PEPS controller receives the startup control signal, the PEPS controls
Device feeds back high level, when not receiving the startup control signal, then feeds back low level.
Step 309, the PEPS controller guides the VCU of the electric automobile to be powered on for vehicle, makes the electric automobile
In READY state, when vehicle after the power is turned on, the steering indicating light of the electric automobile continuously under flicker three, reminds the user that startup
Success, can carry out next step operation.
Step 310, the feedback signal of restarting is exported to the remote control, and user is reminded by the remote control
" PEPS controller does not respond, please restart ".
The remote driving control method of the embodiment of the present invention, by judging the current state of the electric automobile,
So that it is determined that can currently be remotely controlled driving, when driving can not be remotely controlled, then feed back specifically can not remote driving original
Because giving user, operated easy to the next step of user.
Wherein, when the operational order got in the step 11 is forward/backward instruction, the step 12 includes：
Judge whether the electric automobile is currently in READY preparedness；Wherein, when the PEPS controller is drawn
The VCU is led as vehicle after the power is turned on, the VCU characterizes the electric automobile currently as READY's by CAN bus output
Feedback signal.
If so, forward/backward control signal is then exported to electric machine controller (MoterControl by CAN bus
Unit, referred to as：MCU)；If it is not, the feedback signal of restarting is then exported to the remote control.
Further, after exporting forward/backward control signal to the step of MCU by CAN bus, the method is also wrapped
Include：
Judge whether the MCU receives the forward/backward control signal；
If the MCU receives the forward/backward control signal, in the forward/backward process of the electric automobile
In, when judging that current Intelligent key is located at outside the second default safe distance currently without the forward/backward instruction is received,
The distance that continuously drives of current electric automobile is more than the first pre-determined distance, or the distance of current electric automobile and barrier is less than
During the second pre-determined distance, pass through the control signal that CAN bus output halts/retreats to the electric machine controller；
If the electric machine controller does not receive the forward/backward control signal, output resends forward/backward
The feedback signal of instruction is to the remote control.
The embodiment of the present invention detects whether to receive the remote control in real time during electric automobile is forward/backward
The forward/backward instruction that device is sent, and the Intelligent key whether positioned at the electric automobile the second default safety away from
From interior, so as to fulfill the process of remote driving is being exited according to the current state of electric automobile at any time, ensure safety of person vehicle.
Here, by taking Fig. 4 as an example, the forward/backward process of remote driving control vehicle is illustrated.
Step 401, the forward/backward instruction that the remote control is sent is obtained.
Step 402, judge whether the electric automobile is currently in READY state.The letter fed back according to the VCU
Number, judge whether the electric automobile is currently in the state that vehicle powers on.If so, step 403 is then performed, if it is not, then performing
Step 404.
Step 403, forward/backward control signal is exported to MCU by CAN bus.
Step 404, the feedback signal of restarting is exported to the remote control, is carried by the APP on the remote control
Wake up user's " the non-READY of vehicle, feedback signal that please be restarted to the remote control ".
Step 405, judge whether the MCU receives forward/backward control signal；Step is performed if not receiving
406。
Step 406, the feedback signal for resending forward/backward instruction is exported to the remote control, by the remote control
APP on device reminds user's " MCU is not responded, please resend forward/backward instruction ".
Step 407, after the MCU receives the forward/backward control signal, the MCU controls electronic parking control
System (Electrical Park Brake, abbreviation processed：EPB)) unlock, control strategy gear is in forward/backward gear, and defeated
Go out torque command to the motor of the electric automobile.Wherein, the tactful gear is virtual gear；The torque command is advance
Set, make the electric automobile forward/backward with the second preset vehicle speed, ensure safety of person vehicle.
Step 408, during the electric automobile is forward/backward, judge currently whether to receive described forward/backward
Instruction, whether in the second default safe distance, whether current electric automobile continuously drives apart from small current Intelligent key
In or equal to the first pre-determined distance, or whether the distance of current electric automobile and barrier is more than the second pre-determined distance, if so,
Step 410 is then performed, if it is not, then performing step 409.Wherein, the distance of the electric automobile and barrier be by half/it is full-automatic
Park (Automatic Parking Assistance, referred to as：APA) controller is detected and fed back in real time.
Step 409, the control signal that CAN bus output halts/retreats to the MCU is passed through.When the MCU is received
To after the control signal for halting/retreating, the MCU controls the EPB lockings braking, controls gear controller
(Parking Control Unit are referred to as：PCU P gear lockings) are carried out.
Step 410, user judges whether vehicle reaches designated position, if so, step 411 is then performed, if it is not, then performing step
Rapid 408.
Step 411, the APP of remote control described in user's operation, stops sending forward/backward instruction.
The embodiment of the present invention control vehicle it is forward/backward during, between real-time electric automobile and barrier away from
From avoiding during remote driving, the electric automobile collides with barrier, causes vehicle damage；Detection intelligence in real time
Can key position, the network security in ensure that during remote driving；Detect what the electric automobile continuously drove in real time
Distance and speed, ensure during remote driving, the electric automobile is in remote-controlled state all the time.
Wherein, when the operational order that the step 11 is got is steering order, the step 12 includes：
Judge whether the electric automobile is currently in READY state；If so, then judge the current vehicle of the electric automobile
Whether speed is less than or equal to the first preset vehicle speed；If it is not, the feedback signal of restarting is then exported to the remote control；
If the current vehicle speed of the electric automobile is less than or equal to first preset vehicle speed, exported by CAN bus
Steering controling signal is to electric machine controller；
If the current vehicle speed of the electric automobile is more than first preset vehicle speed, output is less than or equal to institute in speed
The feedback signal of steering order is resend when stating the first preset vehicle speed to the remote control.
Further, after steering controling signal to electric machine controller is exported by CAN bus, the method is also wrapped
Include：
Judge whether the electric machine controller receives the steering controling signal；
If the electric machine controller receives the steering controling signal, in electric automobile steering procedure, work as judgement
It is current not receive the steering order, or when current Intelligent key is located at outside the 3rd default safe distance, pass through CAN bus
Output stops steering controling signal to the electric machine controller；
If the electric machine controller does not receive the steering controling signal, output resends the feedback of steering order
Signal is to the remote control.
Here, by taking Fig. 5 as an example, the process of remote driving control Vehicular turn is illustrated.
Step 501, the steering order that remote control is sent is obtained.
Step 502, judge whether the electric automobile is currently in READY state.The letter fed back according to the VCU
Number, judge whether the electric automobile is currently in the state that vehicle powers on.If so, step 503 is then performed, if it is not, then performing
Step 504.
Step 503, judge whether the current vehicle speed of the electric automobile is less than or equal to the first preset vehicle speed, if so, then
Step 506 is performed, if it is not, then performing step 505.Wherein, in order to ensure the controllability of safety of person vehicle and vehicle, the present invention is real
Apply example, it is preferred that first preset vehicle speed is zero.
Step 504, the feedback signal of restarting is exported to the remote control, is carried by the APP on the remote control
Wake up user's " the non-READY of vehicle, feedback signal that please be restarted to the remote control ".
Step 505, export after speed is less than or equal to first preset vehicle speed, resend the control of steering order
Signal reminds user that " speed is more than the first preset vehicle speed, asks speed small to the remote control by the APP of the remote control
After the first preset vehicle speed, steering order is resend ".
Step 506, steering controling signal is exported to MCU by CAN bus.
Step 507, the feedback signal sent according to the MCU, judges whether the MCU receives steering controling signal；
If not receiving, step 509 is performed.
Step 508, after the MCU receives the steering controling signal, the MCU controls EPB unlocks, control strategy
Gear is in retaining catch, and outbound course disk corner control instruction is to electronic power assist steering system (Electric Power
Steering, referred to as：EPS), the EPS controls steering assist motor drives steering wheel to go to target diversion angle, in steering wheel
During rotation, the steering indicating light of corresponding side is lighted.Wherein, the tactful gear is virtual gear.
Step 509, output MCU is not responded, the feedback signal of steering order is resend to the remote control, by described
APP on remote control reminds user's " MCU is not responded, please resend steering order ".
Step 510, in electric automobile steering procedure, whether judgement currently receives the steering order, or currently
Whether Intelligent key is in the 3rd default safe distance, if so, step 511 is then performed, if it is not, then performing step 512.
Step 511, user judges whether steering wheel reaches target angle, if so, step 513 is then performed, if it is not, then performing
Step 510.Wherein, the steering wheel angle is gathered by the steering wheel angle sensor on the electric automobile, and total by CAN
Line is sent.
Step 512, the control signal that CAN bus output stopping turns to MCU is passed through.When the MCU receives described stop
Rotation stop to control signal after, the MCU controls the EPS steering assist motors to keep current steering wheel angle.
Step 513, user stops input steering order.
The embodiment of the present invention remains that speed is less than or equal to the first default car in electric automobile steering procedure
Speed, so as to ensure safe remote driving.
Further, the operational order further includes exit instruction, and after the exit instruction is got, the method is also
Including：Power down control signal is exported to PEPS controller, the PEPS controls power-off, the VCU guiding vehicle by CAN bus
Lower electricity.
Here, it is necessary to illustrate, during remote driving, if driver intervenes vehicle drive, such as, driver opens
Car door, step on brake pedal or gas pedal, steering wheel rotation etc., then the feedback of VCU output personnel's interventions of the electric automobile
Signal, stopping pass through CAN bus output control signal, so as to exit remote driving at once, ensure the personal safety of driver.
The above embodiment of the present invention, by using ripe Bluetooth technology, realizes remote control and electric automobile
Communication, avoids the exploitation of remote controler, shortens the construction cycle, reduce development cost；Using remote driving, user is realized
Directly vehicle periphery situation is supervised in observation outside car, is made more convenient and quicker of stopping in narrow zone, is improved user experience；
During remote driving, the position of Intelligent key is detected in real time, ensure that the network security in remote control process.
As shown in Fig. 2, the embodiment of the present invention additionally provides a kind of remote driving control device, including：
Acquisition module 21, for obtaining the operational order of remote control transmission；Wherein, the remote control is to install
APP and the mobile terminal with Bluetooth function, such as mobile phone, tablet computer.
Whether judgment module 22, the current state for judging electric automobile meet the condition for performing the operational order,
If satisfied, the controller of electric automobile is then output control signals to according to the operational order, if not satisfied, then exporting feedback letter
Number to the remote control.
Wherein, the operational order includes：At least one of in enabled instruction, forward/backward instruction and steering order.
Wherein, after the acquisition module 21 gets the enabled instruction, the judgment module 22 is used to judge described
Whether electric automobile is currently in the unlocked state；If so, then judge whether the Intelligent key of the electric automobile is pre- positioned at first
If in safe distance；If it is not, the feedback signal that restarts then is exported after vehicle unlock to the remote control；
If the Intelligent key that the judgment module 22 is additionally operable to the electric automobile is located at first default safe distance
It is interior, then exported by controller area network bus and start control signal to keyless entry and start PEPS controller；If institute
The Intelligent key for stating electric automobile is located at outside first default safe distance, then output forbids the feedback signal of remote driving extremely
The remote control.
Wherein, startup control signal is being exported to keyless entry by controller area network bus and is starting PEPS
After controller, the judgment module 22 is additionally operable to judge whether the PEPS controller receives the startup control signal；If
Do not receive, then export the feedback signal of restarting to the remote control.
Wherein, after the acquisition module 21 gets forward/backward instruction, the judgment module 22 is used to judge described
Whether electric automobile is currently in READY preparedness；If so, forward/backward control signal is then exported by CAN bus
To electric machine controller；If it is not, the feedback signal of restarting is then exported to the remote control.
Wherein, after forward/backward control signal to electric machine controller is exported by CAN bus, the judgment module 22
For judging whether the electric machine controller receives the forward/backward control signal；
The judgment module 22 is additionally operable to, if the electric machine controller receives the forward/backward control signal, in institute
State electric automobile it is forward/backward during, when judging currently without receiving the forward/backward instruction, current intelligence key
For spoon outside the second default safe distance, the distance that continuously drives of current electric automobile is more than the first pre-determined distance, or currently
When the distance of electric automobile and barrier is less than the second pre-determined distance, the control for halting/retreating by CAN bus output is believed
Number to the electric machine controller；
And if the electric machine controller does not receive the forward/backward control signal, before output is resend
Into/feedback signal of instruction is retreated to the remote control.
Wherein, after the acquisition module 21 gets the steering order, the judgment module 22 is used to judge described
Whether electric automobile is currently in READY state；If so, then judging whether the current vehicle speed of the electric automobile is less than or equal to
First preset vehicle speed；If it is not, the feedback signal of restarting is then exported to the remote control；
The judgment module 22 is additionally operable to, if the current vehicle speed of the electric automobile is less than or equal to the described first default car
Speed, then export steering controling signal to electric machine controller by CAN bus；
And if the current vehicle speed of the electric automobile is more than first preset vehicle speed, output be less than in speed or
The feedback signal of steering order is resend during equal to first preset vehicle speed to the remote control.
Wherein, after steering controling signal to electric machine controller is exported by CAN bus, the judgment module 22 is also used
In judging whether the electric machine controller receives the steering controling signal；
The judgment module 22 is additionally operable to, if the electric machine controller receives the steering controling signal, electronic
During motor turning, the steering order is not received when judgement is current, or current Intelligent key is preset positioned at the 3rd and pacified
When outside full distance, exported by CAN bus and stop steering controling signal to the electric machine controller；
And if the electric machine controller does not receive the steering controling signal, output resends steering order
Feedback signal to the remote control.
Wherein, the operational order further includes exit instruction, after the exit instruction is got, the acquisition module 21
It is additionally operable to export power down control signal to PEPS controller by CAN bus.
The embodiment of the present invention also provides a kind of controller, including memory, processor and storage are on a memory and can be
The computer program run on processor, wherein, the processor reads the program in the memory, performs side as described above
Step in method.
The embodiment of the present invention also provides a kind of electric automobile, including controller as described above.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (20)
- A kind of 1. remote driving control method, it is characterised in that including：Obtain the operational order that remote control is sent；Judge whether the current state of electric automobile meets the condition for performing the operational order, if satisfied, then according to the behaviour Make the controller that instruction outputs control signals to electric automobile, if not satisfied, then exporting feedback signal to the remote control.
- 2. remote driving control method according to claim 1, it is characterised in that the operational order includes：Startup refers to Make, it is forward/backward instruction and steering order at least one of.
- 3. remote driving control method according to claim 2, it is characterised in that after the enabled instruction is got, Whether the current state for judging electric automobile meets the condition for performing the operational order, if satisfied, then according to the behaviour Make the controller that instruction outputs control signals to electric automobile, if not satisfied, then exporting feedback signal to the remote control Step includes：Judge whether the electric automobile is currently in the unlocked state；If so, then judge the Intelligent key of the electric automobile whether in the first default safe distance；If it is not, then export car The feedback signal that restarts is to the remote control after unlock；If the Intelligent key of the electric automobile is located in first default safe distance, pass through controller area network Bus output starts control signal to keyless entry and starts PEPS controller；If it is not, then the anti-of remote driving is forbidden in output Feedback signal is to the remote control.
- 4. remote driving control method according to claim 3, it is characterised in that pass through controller area network bus After output starts control signal to the step of keyless entry and startup PEPS controller, the method further includes：Judge whether the PEPS controller receives the startup control signal；If not receiving, output restarting Feedback signal is to the remote control.
- 5. remote driving control method according to claim 2, it is characterised in that after forward/backward instruction is got, Whether the current state for judging electric automobile meets the condition for performing the operational order, if satisfied, then according to the behaviour Make the controller that instruction outputs control signals to electric automobile, if not satisfied, then exporting feedback signal to the remote control Step includes：Judge whether the electric automobile is currently in READY preparedness；If so, forward/backward control signal is then exported to electric machine controller by CAN bus；If it is not, then export restarting Feedback signal is to the remote control.
- 6. remote driving control method according to claim 5, it is characterised in that exported by CAN bus forward/backward After control signal to the step of electric machine controller, the method further includes：Judge whether the electric machine controller receives the forward/backward control signal；If the electric machine controller receives the forward/backward control signal, in the forward/backward mistake of the electric automobile Cheng Zhong, when judging that current Intelligent key is located at the second default safe distance currently without the forward/backward instruction is received Outside, the distance that continuously drives of current electric automobile is more than the first pre-determined distance, or the distance of current electric automobile and barrier During less than the second pre-determined distance, pass through the control signal that CAN bus output halts/retreats to the electric machine controller；If the electric machine controller does not receive the forward/backward control signal, output resends forward/backward instruction Feedback signal to the remote control.
- 7. remote driving control method according to claim 2, it is characterised in that after the steering order is got, Whether the current state for judging electric automobile meets the condition for performing the operational order, if satisfied, then according to the behaviour Make the controller that instruction outputs control signals to electric automobile, if not satisfied, then exporting feedback signal to the remote control Step includes：Judge whether the electric automobile is currently in READY state；If so, then judging the current vehicle speed of the electric automobile is It is no to be less than or equal to the first preset vehicle speed；If it is not, the feedback signal of restarting is then exported to the remote control；If the current vehicle speed of the electric automobile is less than or equal to first preset vehicle speed, is exported and turned to by CAN bus Control signal is to electric machine controller；If the current vehicle speed of the electric automobile is more than first preset vehicle speed, output is less than or equal to described the in speed The feedback signal of steering order is resend during one preset vehicle speed to the remote control.
- 8. remote driving control method according to claim 7, it is characterised in that turn to control being exported by CAN bus After signal processed to electric machine controller, the method further includes：Judge whether the electric machine controller receives the steering controling signal；It is current when judging in electric automobile steering procedure if the electric machine controller receives the steering controling signal Do not receive the steering order, or when current Intelligent key is located at outside the 3rd default safe distance, exported by CAN bus Stop steering controling signal to the electric machine controller；If the electric machine controller does not receive the steering controling signal, output resends the feedback signal of steering order To the remote control.
- 9. remote driving control method according to claim 1, it is characterised in that the operational order, which further includes, exits finger Order, after the exit instruction is got, the method further includes：Power down control signal is exported to PEPS controls by CAN bus Device processed.
- A kind of 10. remote driving control device, it is characterised in that including：Acquisition module, for obtaining the operational order of remote control transmission；Whether judgment module, the current state for judging electric automobile meet the condition for performing the operational order, if satisfied, The controller of electric automobile is then output control signals to according to the operational order, if not satisfied, then exporting feedback signal to institute State remote control.
- 11. remote driving control device according to claim 10, it is characterised in that the operational order includes：Start At least one of in instruction, forward/backward instruction and steering order.
- 12. remote driving control device according to claim 11, it is characterised in that get institute in the acquisition module After stating enabled instruction, the judgment module is used to judge whether the electric automobile is currently in the unlocked state；If so, then judge Whether the Intelligent key of the electric automobile is in the first default safe distance；If it is not, opened again after then exporting vehicle unlock Dynamic feedback signal is to the remote control；If the Intelligent key that the judgment module is additionally operable to the electric automobile is located in first default safe distance, lead to The output of controller area network bus is crossed to start control signal to keyless entry and start PEPS controller；It is if described electronic The Intelligent key of automobile is located at outside first default safe distance, then output forbids the feedback signal of remote driving to described distant Control device.
- 13. remote driving control device according to claim 12, it is characterised in that passing through controller area network After bus output starts control signal to keyless entry and startup PEPS controller, the judgment module is additionally operable to described in judgement Whether PEPS controller receives the startup control signal；If not receiving, the feedback signal of restarting is exported to institute State remote control.
- 14. remote driving control device according to claim 11, it is characterised in that before the acquisition module is got Into/retreat instruction after, the judgment module be used for judge whether the electric automobile is currently in READY preparedness； If so, forward/backward control signal is then exported to electric machine controller by CAN bus；If it is not, then export the feedback of restarting Signal is to the remote control.
- 15. remote driving control device according to claim 14, it is characterised in that by CAN bus output advance/ Retreat control signal to electric machine controller after, the judgment module be used for judge the electric machine controller whether receive it is described before Into/retreat control signal；The judgment module is additionally operable to, if the electric machine controller receives the forward/backward control signal, described electronic During automobile is forward/backward, when judging that current Intelligent key is located at currently without the forward/backward instruction is received Outside second default safe distance, the distance that continuously drives of current electric automobile is more than the first pre-determined distance, or current electronic vapour When the distance of car and barrier is less than the second pre-determined distance, pass through the control signal that CAN bus output halts/retreats to institute State electric machine controller；And if the electric machine controller does not receive the forward/backward control signal, output resend advance/after The feedback signal of instruction is moved back to the remote control.
- 16. remote driving control device according to claim 11, it is characterised in that when the acquisition module gets institute After stating steering order, the judgment module is used to judge whether the electric automobile is currently in READY state；If so, then sentence Whether the current vehicle speed of the disconnected electric automobile is less than or equal to the first preset vehicle speed；If it is not, then export the feedback of restarting Signal is to the remote control；The judgment module is additionally operable to, if the current vehicle speed of the electric automobile is less than or equal to first preset vehicle speed, Steering controling signal is exported to electric machine controller by CAN bus；And if the current vehicle speed of the electric automobile is more than first preset vehicle speed, output is less than or equal in speed The feedback signal of steering order is resend during first preset vehicle speed to the remote control.
- 17. remote driving control device according to claim 16, it is characterised in that turned to being exported by CAN bus After control signal to electric machine controller, the judgment module is additionally operable to judge whether the electric machine controller receives described turn To control signal；The judgment module is additionally operable to, if the electric machine controller receives the steering controling signal, is turned in electric automobile During, the steering order is not received when judgement is current, or current Intelligent key is located at the 3rd default safe distance When outer, exported by CAN bus and stop steering controling signal to the electric machine controller；And if the electric machine controller does not receive the steering controling signal, output resends the anti-of steering order Feedback signal is to the remote control.
- 18. remote driving control device according to claim 10, it is characterised in that the operational order, which further includes, to be exited Instruction, after the exit instruction is got, the acquisition module is additionally operable to export power down control signal extremely by CAN bus PEPS controller.
- 19. a kind of controller, including memory, processor and storage are on a memory and the computer that can run on a processor Program, it is characterised in that the processor reads the program in the memory, performs as described in any one of claim 1 to 9 Step in method.
- 20. a kind of electric automobile, it is characterised in that including controller as claimed in claim 19.
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| CN201711033284.4A CN107901906B (en) | 2017-10-30 | 2017-10-30 | Remote control driving control method and device, controller and electric automobile |
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| CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
| CN109709962A (en) * | 2018-12-28 | 2019-05-03 | 上汽通用五菱汽车股份有限公司 | Unmanned automobile control method, device, computer readable storage medium and system |
| CN110103908A (en) * | 2019-04-28 | 2019-08-09 | 浙江吉利控股集团有限公司 | It is a kind of to be remotely controlled the Control for Dependability method and system parked |
| CN110228467A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | It is remotely controlled park vehicle powering method, electronic equipment, system and automobile |
| CN111077892A (en) * | 2019-12-31 | 2020-04-28 | 深圳市优必选科技股份有限公司 | Movement control method, device, system and storage medium |
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| CN115212588A (en) * | 2022-07-13 | 2022-10-21 | 深圳市好盈科技有限公司 | Linear braking method of remote control model climbing vehicle |
| CN115212588B (en) * | 2022-07-13 | 2024-03-26 | 深圳市好盈科技股份有限公司 | Linear braking method of remote control model climbing vehicle |
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