CN107901906B - Remote control driving control method and device, controller and electric automobile - Google Patents

Remote control driving control method and device, controller and electric automobile Download PDF

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Publication number
CN107901906B
CN107901906B CN201711033284.4A CN201711033284A CN107901906B CN 107901906 B CN107901906 B CN 107901906B CN 201711033284 A CN201711033284 A CN 201711033284A CN 107901906 B CN107901906 B CN 107901906B
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outputting
electric automobile
control signal
remote control
control device
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CN107901906A (en
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王道静
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • B60W30/06—Automatic manoeuvring for parking
    • 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

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Selective Calling Equipment (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a remote control driving control method, a remote control driving control device, a controller and an electric automobile, and relates to the technical field of vehicle control, wherein the control method comprises the following steps: acquiring an operation instruction sent by a remote control device; and judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device. The scheme of the invention realizes that the vehicle is controlled by the vehicle owner outside the vehicle to be parked in a narrow area, avoids the difficulty of getting off the vehicle by a user and improves the vehicle using experience of the vehicle owner; and the research and development period is short, and the research and development cost is low.

Description

Remote control driving control method and device, controller and electric automobile
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a remote control driving control method, a remote control driving control device, a controller and an electric vehicle.
Background
The remote control driving is an unmanned driving technology, and people can drive the automobile through a wireless transmission technology under the condition of a certain distance. Current unmanned technology is far from mature and thus the drive-free vehicles are prohibited from getting on the road.
With the development of economic technology, automobiles are more and more popular, so that parking spaces are more and more tense, and many drivers experience the painful experience of parking in narrow areas. Therefore, how to effectively improve the user experience of the car owner in parking and using the car in a narrow area by using the remote control driving technology with low cost and short period becomes a problem to be solved in the current automobile industry.
Disclosure of Invention
The embodiment of the invention aims to provide a remote control driving control method, a remote control driving control device, a remote control controller and an electric automobile, so that the problem that a driver is difficult to leave a vehicle when parking in a narrow area in the prior art is solved.
In order to achieve the above object, an embodiment of the present invention provides a remote control driving control method, including:
acquiring an operation instruction sent by a remote control device;
and judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device.
Wherein the operation instruction comprises: at least one of a start command, a forward/reverse command, and a steering command.
After the starting instruction is acquired, judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device, wherein the step of:
judging whether the electric automobile is in an unlocking state at present;
if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
if the intelligent key of the electric automobile is located within the first preset safety distance, outputting a starting control signal to a keyless Entry and Start (PEPS) Controller through a Controller Area Network (CAN) bus; and if not, outputting a feedback signal for prohibiting remote control driving to the remote control device.
After the step of outputting a starting control signal to the keyless entry and PEPS controller through the controller area network CAN bus, the method further comprises:
judging whether the PEPS controller receives the starting control signal or not; and if not, outputting a restarting feedback signal to the remote control device.
After the forward/backward command is acquired, judging whether the current state of the electric automobile meets the condition for executing the operation command, if so, outputting a control signal to a controller of the electric automobile according to the operation command, and if not, outputting a feedback signal to the remote control device, wherein the step of:
judging whether the electric automobile is in a READY state or not;
if yes, outputting a forward/backward control signal to the motor controller through the CAN bus; if not, outputting a restarting feedback signal to the remote control device.
Wherein after the step of outputting the forward/reverse control signal to the motor controller via the CAN bus, the method further comprises:
judging whether the motor controller receives the forward/backward control signal;
if the motor controller receives the forward/backward control signal, in the forward/backward process of the electric automobile, when the forward/backward command is judged not to be received currently, the current intelligent key is located outside a second preset safety distance, the current continuous driving distance of the electric automobile is larger than a first preset distance, or the distance between the current electric automobile and an obstacle is smaller than a second preset distance, and a control signal for stopping the forward/backward process is output to the motor controller through a CAN bus;
and if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting the forward/backward command to the remote control device.
After the steering instruction is acquired, judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device, wherein the step of:
judging whether the electric automobile is in a READY state at present; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
if the current speed of the electric automobile is less than or equal to the first preset speed, outputting a steering control signal to a motor controller through a CAN bus;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
Wherein after outputting the steering control signal to the motor controller via the CAN bus, the method further comprises:
judging whether the motor controller receives the steering control signal;
if the motor controller receives the steering control signal, outputting a steering stopping control signal to the motor controller through a CAN bus when judging that the steering instruction is not received currently or the current intelligent key is positioned outside a third preset safety distance in the steering process of the electric automobile;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
The operation instruction further comprises an exit instruction, and after the exit instruction is obtained, the method further comprises the following steps: and outputting a power-off control signal to the PEPS controller through the CAN bus.
An embodiment of the present invention further provides a remote control driving control apparatus, including:
the acquisition module is used for acquiring an operation instruction sent by the remote control device;
and the judging module is used for judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device.
Wherein the operation instruction comprises: at least one of a start command, a forward/reverse command, and a steering command.
After the obtaining module obtains the starting instruction, the judging module is used for judging whether the electric automobile is in an unlocking state at present; if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
the judging module is also used for outputting a starting control signal to the keyless entry and PEPS starting controller through a Controller Area Network (CAN) bus if the intelligent key of the electric automobile is positioned in the first preset safety distance; and if the intelligent key of the electric automobile is positioned outside the first preset safety distance, outputting a feedback signal for prohibiting remote control driving to the remote control device.
The PEPS controller comprises a Controller Area Network (CAN) bus, a judgment module and a control module, wherein the judgment module is also used for judging whether the PEPS controller receives a starting control signal or not after the Controller Area Network (CAN) bus outputs the starting control signal to the keyless entry and starting PEPS controller; and if not, outputting a restarting feedback signal to the remote control device.
After the acquisition module acquires a forward/backward command, the judgment module is used for judging whether the electric automobile is currently in a READY state; if yes, outputting a forward/backward control signal to the motor controller through the CAN bus; if not, outputting a restarting feedback signal to the remote control device.
After outputting a forward/backward control signal to a motor controller through a CAN bus, the judging module is used for judging whether the motor controller receives the forward/backward control signal;
the judgment module is further configured to, if the motor controller receives the forward/backward control signal, output a control signal for stopping forward/backward movement to the motor controller through a CAN bus when it is judged that the forward/backward command is not currently received, the current smart key is located outside a second preset safety distance, and the current continuous driving distance of the electric vehicle is greater than the first preset distance, or the current distance between the electric vehicle and the obstacle is smaller than the second preset distance, in the forward/backward process of the electric vehicle;
and if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting the forward/backward command to the remote control device.
After the obtaining module obtains the steering instruction, the judging module is used for judging whether the electric automobile is in a READY state currently; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
the judging module is also used for outputting a steering control signal to the motor controller through the CAN bus if the current speed of the electric automobile is less than or equal to the first preset speed;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
After the steering control signal is output to the motor controller through the CAN bus, the judging module is also used for judging whether the motor controller receives the steering control signal;
the judging module is further used for outputting a steering stopping control signal to the motor controller through a CAN bus when judging that the steering instruction is not received currently or the current intelligent key is positioned outside a third preset safety distance in the steering process of the electric automobile if the motor controller receives the steering control signal;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
The operation instruction further comprises an exit instruction, and after the exit instruction is obtained, the obtaining module is further used for outputting a power-off control signal to the PEPS controller through the CAN bus.
Embodiments of the present invention further provide a controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor reads the program in the memory and executes the steps in the method.
The embodiment of the invention also provides an electric automobile which comprises the controller.
The technical scheme of the invention at least has the following beneficial effects:
according to the remote control driving control method provided by the embodiment of the invention, when a driver parks in a narrow area, after the communication is established between the remote control device and the electric automobile, a user sends an operation instruction to control the vehicle to move forward/backward or turn and the like through the remote control device, so that the driver can control the vehicle to park in the narrow area outside the automobile, and the situation that the driver is difficult to get off the automobile after the vehicle is parked is avoided. In order to ensure the safety of vehicles and human bodies, the remote control driving control method provided by the embodiment of the invention can judge whether the current state of the vehicle can meet the condition of vehicle action before controlling the vehicle action, and stops remote control driving if the current state of the vehicle cannot meet the condition of vehicle action, so that the vehicle is not damaged, personnel cannot be injured, and the surrounding environment cannot be influenced.
Drawings
FIG. 1 is a schematic diagram of the basic steps of a remote control driving control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the basic composition of a remote-control driving control apparatus of the embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the control of the start of an electric vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating the control of forward/reverse of an electric vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of controlling the steering of the electric vehicle according to the embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a remote control driving control method, a remote control driving control device, a remote control controller and an electric automobile, aiming at the problem that the existing driver is difficult to leave the automobile after parking in a narrow area.
As shown in fig. 1, an embodiment of the present invention provides a remote control driving control method, including:
step 11, obtaining an operation instruction sent by a remote control device;
and step 12, judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device.
It should be noted that, because the bluetooth technology has become a standard configuration of a smart phone, the remote control device in the remote control driving control method according to the embodiment of the present invention may be a mobile terminal such as a smart phone and a tablet computer, and the vehicle is remotely driven by an Application program (APP for short) and the bluetooth technology on the mobile terminal, so as to shorten a development period and reduce a development cost.
Therefore, in the above embodiment of the present invention, before the step of obtaining the operation instruction sent by the remote control device, the bluetooth communication connection needs to be established between the remote control device and the electric vehicle, and when the two are successfully paired, the remote control driving APP can enter the operable state.
Specifically, the operation instruction includes: at least one of a start command, a forward/reverse command, and a steering command.
Wherein, when the operation instruction acquired in the step 11 is a start instruction, the step 12 includes:
judging whether the electric automobile is in an unlocking state at present;
if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
if the intelligent key of the electric automobile is located within the first preset safety distance, outputting a starting control signal to the PEPS controller through the CAN bus; and if not, outputting a feedback signal for prohibiting remote control driving to the remote control device.
Further, after the start control signal is output to the keyless entry and start PEPS controller through the controller area network CAN bus, the method further comprises: judging whether the PEPS controller receives the starting control signal or not; and if not, outputting a restarting feedback signal to the remote control device.
Before the electric automobile is started, whether the electric automobile is unlocked and whether the intelligent key is located within a first preset safety distance of the electric automobile are detected, so that power anti-theft verification of the electric automobile is realized; once the distance between the intelligent key and the electric automobile exceeds the first preset safety distance, or the electric automobile is in an unlocked state to cause failure of power anti-theft verification, the remote control driving function of the electric automobile can be immediately forbidden, so that the risk that the electric automobile is stolen is avoided.
Here, a flow of remotely controlling the start of the electric vehicle will be specifically described by taking fig. 3 as an example.
Step 301, establishing communication connection with a remote control device; wherein the communication connection may be a bluetooth communication connection established by pairing.
Step 302, acquiring a starting instruction sent by a remote control device; the remote control device is provided with an APP for remote control driving in advance, and a user sends the starting instruction through operating the APP.
Step 303, judging whether the electric automobile is currently in an unlocked state, if so, executing step 304, and if so, executing step 305; whether the electric automobile is currently in the unlocking state is determined according to an unlocking state signal or an unlocking state signal sent by a Vehicle Control Unit (VCU) of the electric automobile through a CAN bus.
And step 304, outputting a feedback signal of restarting after unlocking the vehicle to the remote control device, and reminding a user of 'the vehicle is not unlocked and the vehicle is restarted after unlocking' by using the APP of the remote control device.
Step 305, determining whether the smart key of the electric vehicle is located within a first preset safety distance, if so, executing step 307, and if not, executing step 306. The first preset safety distance is a maximum distance between the intelligent key capable of being remotely controlled and the electric automobile.
Step 306, outputting a feedback signal for prohibiting remote control driving to the remote control device; the remote control device reminds the user that the intelligent key exceeds the safety range and the remote control driving is forbidden. When the intelligent key is not within the first preset safety distance, the user can be judged not to be near the electric automobile, and remote control driving is forbidden.
And 307, outputting a starting control signal to the PEPS controller through the CAN bus. Thereby realizing keyless entry and starting of the electric automobile.
Step 308, judging whether the PEPS controller receives the starting control signal; if yes, go to step 309, otherwise go to step 310; specifically, whether the PEPS controller receives the start control signal is determined according to the feedback signal sent by the PEPS controller, for example, after the PEPS controller receives the start control signal, the PEPS controller feeds back a high level, and when the PEPS controller does not receive the start control signal, the PEPS controller feeds back a low level.
And 309, the PEPS controller guides the VCU of the electric automobile to power on the whole automobile, so that the electric automobile is in a READY state, and after the whole automobile is powered on, the steering lamp of the electric automobile continuously flickers for three times, so that a user is reminded of successful starting, and the next operation can be carried out.
And step 310, outputting a restart feedback signal to the remote control device, and reminding a user that the PEPS controller does not respond and please restart by the remote control device.
According to the remote control driving control method provided by the embodiment of the invention, whether remote control driving can be carried out currently is determined by judging the current state of the electric automobile, and when the remote control driving cannot be carried out, the specific reason why the remote control driving cannot be carried out is fed back to a user, so that the next operation of the user is facilitated.
Wherein, when the operation instruction acquired in the step 11 is a forward/backward instruction, the step 12 includes:
judging whether the electric automobile is in a READY state or not; and when the PEPS controller guides the VCU to power on the whole vehicle, the VCU outputs a feedback signal representing that the electric vehicle is READY at present through the CAN bus.
If yes, outputting a forward/backward control signal to a Motor Controller (MCU) through a CAN bus; if not, outputting a restarting feedback signal to the remote control device.
Further, after the step of outputting the forward/backward control signal to the MCU through the CAN bus, the method further includes:
judging 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, when the forward/backward command is judged not to be received currently, the current intelligent key is positioned outside a second preset safety distance, the continuous driving distance of the current electric automobile is larger than a first preset distance, or the distance between the current electric automobile and an obstacle is smaller than a second preset distance, a control signal for stopping the forward/backward process is output to the motor controller through a CAN bus;
and if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting the forward/backward command to the remote control device.
In the process of advancing/retreating the electric automobile, whether the advancing/retreating instruction sent by the remote control device is received or not and whether the intelligent key is located within the second preset safety distance of the electric automobile are detected in real time, so that the process of quitting remote control driving according to the current state of the electric automobile at any time is realized, and the safety of people and vehicles is ensured.
Here, the process of controlling the forward/backward movement of the vehicle by remote driving will be specifically described by taking fig. 4 as an example.
Step 401, obtaining a forward/backward command sent by the remote control device.
And 402, judging whether the electric automobile is in a READY state currently. Namely, whether the electric automobile is currently in a state of electrifying the whole automobile is judged according to the signal fed back by the VCU. If yes, go to step 403, otherwise go to step 404.
And 403, outputting a forward/backward control signal to the MCU through the CAN bus.
And step 404, outputting a restarted feedback signal to the remote control device, and reminding a user that the vehicle is not READY by the APP on the remote control device and requesting the restarted feedback signal to the remote control device.
Step 405, judging whether the MCU receives a forward/backward control signal; if not, go to step 406.
Step 406, outputting a feedback signal for retransmitting the forward/backward command to the remote control device, and using the APP on the remote control device to remind the user that the MCU does not respond and please retransmit the forward/backward command.
Step 407, after receiving the forward/reverse control signal, the MCU controls an electronic parking control system (Electrical Park Brake, abbreviated as EPB)) to unlock, control a strategic gear to be in a forward/reverse gear, and output a torque command to a motor of the electric vehicle. Wherein the strategy gear is a virtual gear; the torque instruction is preset, so that the electric automobile moves forwards or backwards at a second preset speed, and the safety of people and vehicles is ensured.
Step 408, in the process of advancing/backing the electric vehicle, determining whether the advancing/backing instruction is received currently, whether the current smart key is located within a second preset safety distance, whether the current continuous driving distance of the electric vehicle is less than or equal to a first preset distance, or whether the current distance between the electric vehicle and the obstacle is greater than a second preset distance, if yes, executing step 410, and if not, executing step 409. The distance between the electric automobile and the obstacle is detected and fed back by an Automatic Parking Assistance (APA) controller in real time.
And step 409, outputting a control signal for stopping forward/backward movement to the MCU through the CAN bus. And after the MCU receives the Control signal for stopping forward/backward movement, the MCU controls the EPB to lock and brake, and controls a gear controller (park Control Unit, PCU for short) to lock the P gear.
In step 410, the user determines whether the vehicle has reached the designated location, if so, step 411 is executed, and if not, step 408 is executed.
In step 411, the user operates the APP of the remote control device and stops sending forward/backward commands.
According to the embodiment of the invention, in the process of controlling the vehicle to move forwards or backwards, the distance between the electric automobile and the barrier is real-time, so that the vehicle damage caused by collision between the electric automobile and the barrier in the process of remote control driving is avoided; the position of the intelligent key is detected in real time, so that the network safety in the remote control driving process is ensured; and detecting the continuous driving distance and the continuous driving speed of the electric automobile in real time, and ensuring that the electric automobile is always in a remote control state in the remote control driving process.
Wherein, when the operation instruction acquired in the step 11 is a steering instruction, the step 12 includes:
judging whether the electric automobile is in a READY state at present; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
if the current speed of the electric automobile is less than or equal to the first preset speed, outputting a steering control signal to a motor controller through a CAN bus;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
Further, after outputting the steering control signal to the motor controller through the CAN bus, the method further includes:
judging whether the motor controller receives the steering control signal;
if the motor controller receives the steering control signal, outputting a steering stopping control signal to the motor controller through a CAN bus when judging that the steering instruction is not received currently or the current intelligent key is positioned outside a third preset safety distance in the steering process of the electric automobile;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
Here, a process of controlling the steering of the vehicle by remote driving will be specifically described by taking fig. 5 as an example.
Step 501, obtaining a steering instruction sent by a remote control device.
And 502, judging whether the electric automobile is in a READY state currently. Namely, whether the electric automobile is currently in a state of electrifying the whole automobile is judged according to the signal fed back by the VCU. If yes, go to step 503, otherwise go to step 504.
Step 503, determining whether the current speed of the electric vehicle is less than or equal to a first preset speed, if so, executing step 506, and if not, executing step 505. In order to ensure the safety of people and vehicles and the controllability of vehicles, in the embodiment of the invention, preferably, the first preset vehicle speed is zero.
And step 504, outputting a restart feedback signal to the remote control device, and reminding a user that the vehicle is not READY by the APP on the remote control device and requesting the restart feedback signal to the remote control device.
Step 505, after the vehicle speed is less than or equal to the first preset vehicle speed, a control signal of the steering instruction is sent to the remote control device again, and the APP of the remote control device reminds a user that the vehicle speed is greater than the first preset vehicle speed and the steering instruction is sent again after the vehicle speed is less than or equal to the first preset vehicle speed.
Step 506, outputting a steering control signal to the MCU through the CAN bus.
Step 507, judging whether the MCU receives a steering control signal according to the feedback signal sent by the MCU; if not, go to step 509.
And step 508, after the steering control signal is received by the MCU, the MCU controls the EPB to unlock, controls the strategic gear to be in a stop gear, and outputs a steering wheel angle control instruction to an Electric power steering system (EPS), the EPS controls a steering power motor to drive the steering wheel to rotate to a target steering angle, and when the steering wheel rotates, a steering lamp on the corresponding side is turned on. And the strategy gear is a virtual gear.
Step 509, outputting a feedback signal indicating that the MCU has not responded, and resending the steering command to the remote control device, and using the APP on the remote control device to remind the user that "the MCU has not responded, please resend the steering command".
Step 510, in the steering process of the electric vehicle, judging whether the steering instruction is received currently or not, or whether the current smart key is located within a third preset safety distance or not, if so, executing step 511, and if not, executing step 512.
In step 511, the user determines whether the steering wheel reaches the target angle, if yes, step 513 is executed, and if no, step 510 is executed. The steering wheel corner is acquired by a steering wheel corner sensor on the electric automobile and is sent through a CAN bus.
And step 512, outputting a steering stopping control signal to the MCU through the CAN bus. And after the MCU receives the control signal for stopping steering, the MCU controls the EPS steering power-assisted motor to keep the current steering wheel angle.
Step 513, the user stops inputting the steering command.
According to the embodiment of the invention, in the steering process of the electric automobile, the automobile speed is always kept to be less than or equal to the first preset automobile speed, so that safe remote control driving is ensured.
Further, the operation instruction further includes an exit instruction, and after the exit instruction is obtained, the method further includes: and outputting a power-off control signal to the PEPS controller through the CAN bus, controlling the power-off by the PEPS, and guiding the whole vehicle to be powered off by the VCU.
Here, it should be noted that, during the remote control driving, if the driver intervenes in the driving of the vehicle, for example, the driver opens the door, steps on the brake pedal or the accelerator pedal, and turns the steering wheel, the VCU of the electric vehicle outputs a feedback signal for the intervention of the driver, and stops outputting the control signal through the CAN bus, thereby immediately quitting the remote control driving and ensuring the personal safety of the driver.
According to the embodiment of the invention, the communication between the remote control device and the electric automobile is realized by adopting a mature Bluetooth technology, the development of a remote controller is avoided, the development period is shortened, and the development cost is reduced; by adopting remote control driving, a user can directly observe and monitor the surrounding situation of the vehicle outside the vehicle, so that the vehicle can be parked in a narrow area more conveniently and quickly, and the user experience is improved; in the remote control driving process, the position of the intelligent key is detected in real time, and the network safety in the remote control process is ensured.
As shown in fig. 2, an embodiment of the present invention further provides a remote control driving control apparatus, including:
an obtaining module 21, configured to obtain an operation instruction sent by a remote control device; wherein, remote control unit is for installing APP and having bluetooth function's mobile terminal, like cell-phone, panel computer etc..
And the judging module 22 is configured to judge whether the current state of the electric vehicle meets a condition for executing the operation instruction, output a control signal to a controller of the electric vehicle according to the operation instruction if the current state of the electric vehicle meets the condition, and output a feedback signal to the remote control device if the current state of the electric vehicle does not meet the condition.
Wherein the operation instruction comprises: at least one of a start command, a forward/reverse command, and a steering command.
After the obtaining module 21 obtains the starting instruction, the judging module 22 is configured to judge whether the electric vehicle is currently in an unlocked state; if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
the judging module 22 is further configured to output a start control signal to the keyless entry and PEPS controller through the controller area network CAN bus if the smart key of the electric vehicle is located within the first preset safety distance; and if the intelligent key of the electric automobile is positioned outside the first preset safety distance, outputting a feedback signal for prohibiting remote control driving to the remote control device.
After the controller area network CAN bus outputs a start control signal to the keyless entry and PEPS controller, the determining module 22 is further configured to determine whether the PEPS controller receives the start control signal; and if not, outputting a restarting feedback signal to the remote control device.
After the obtaining module 21 obtains the forward/backward command, the determining module 22 is configured to determine whether the electric vehicle is currently in a READY state; if yes, outputting a forward/backward control signal to the motor controller through the CAN bus; if not, outputting a restarting feedback signal to the remote control device.
After outputting a forward/backward control signal to the motor controller through the CAN bus, the determining module 22 is configured to determine whether the motor controller receives the forward/backward control signal;
the judgment module 22 is further configured to, if the motor controller receives the forward/backward control signal, output a control signal for stopping forward/backward movement to the motor controller through a CAN bus when it is judged that the forward/backward command is not received at present and the current smart key is located outside a second preset safety distance and the current continuous driving distance of the electric vehicle is greater than the first preset distance or the distance between the current electric vehicle and the obstacle is less than the second preset distance in the forward/backward process of the electric vehicle;
and if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting the forward/backward command to the remote control device.
After the obtaining module 21 obtains the steering instruction, the determining module 22 is configured to determine whether the electric vehicle is currently in a READY state; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
the judgment module 22 is further configured to output a steering control signal to the motor controller through the CAN bus if the current vehicle speed of the electric vehicle is less than or equal to the first preset vehicle speed;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
After outputting a steering control signal to the motor controller through the CAN bus, the determining module 22 is further configured to determine whether the motor controller receives the steering control signal;
the judgment module 22 is further configured to, if the motor controller receives the steering control signal, output a steering stop control signal to the motor controller through the CAN bus when it is judged that the steering instruction is not received currently or the current smart key is located outside a third preset safety distance in the steering process of the electric vehicle;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
The operation instruction further includes an exit instruction, and after the exit instruction is obtained, the obtaining module 21 is further configured to output a power-off control signal to the PEPS controller through the CAN bus.
Embodiments of the present invention further provide a controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor reads the program in the memory and executes the steps in the method.
The embodiment of the invention also provides an electric automobile which comprises the controller.
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-controlled driving control method characterized by comprising:
acquiring an operation instruction sent by a remote control device;
judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device;
the operation instruction comprises the following steps: at least one of a start command, a forward/reverse command, and a steering command;
after the forward/backward command is acquired, the step of judging whether the current state of the electric automobile meets the condition for executing the operation command, if so, outputting a control signal to a controller of the electric automobile according to the operation command, and if not, outputting a feedback signal to the remote control device comprises the following steps:
judging whether the electric automobile is in a READY state or not;
if yes, outputting a forward/backward control signal to the motor controller through the CAN bus; if not, outputting a restarted feedback signal to the remote control device;
after the step of outputting the forward/reverse control signal to the motor controller through the CAN bus, the method further comprises:
judging whether the motor controller receives the forward/backward control signal;
if the motor controller receives the forward/backward control signal, in the forward/backward process of the electric automobile, when the forward/backward command is judged not to be received currently, the current intelligent key is located outside a second preset safety distance, the current continuous driving distance of the electric automobile is larger than a first preset distance, or the distance between the current electric automobile and an obstacle is smaller than a second preset distance, and a control signal for stopping the forward/backward process is output to the motor controller through a CAN bus;
if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting a forward/backward command to the remote control device;
the operation instruction further comprises an exit instruction, and after the exit instruction is obtained, the method further comprises the following steps: and outputting a power-off control signal to the PEPS controller through the CAN bus.
2. The remote driving control method according to claim 1, wherein after the start instruction is acquired, the step of determining whether the current state of the electric vehicle satisfies a condition for executing the operation instruction, and if so, outputting a control signal to a controller of the electric vehicle according to the operation instruction, and if not, outputting a feedback signal to the remote control device includes:
judging whether the electric automobile is in an unlocking state at present;
if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
if the intelligent key of the electric automobile is located within the first preset safety distance, outputting a starting control signal to a keyless entry and PEPS starting controller through a Controller Area Network (CAN) bus; and if not, outputting a feedback signal for prohibiting remote control driving to the remote control device.
3. The remote driving control method of claim 2, wherein after the step of outputting the start control signal to the keyless entry and start PEPS controller via the controller area network CAN bus, the method further comprises:
judging whether the PEPS controller receives the starting control signal or not; and if not, outputting a restarting feedback signal to the remote control device.
4. The remote-control driving control method according to claim 1, wherein after the steering command is obtained, the step of determining whether the current state of the electric vehicle satisfies a condition for executing the operation command, if so, outputting a control signal to a controller of the electric vehicle according to the operation command, and if not, outputting a feedback signal to the remote control device includes:
judging whether the electric automobile is in a READY state at present; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
if the current speed of the electric automobile is less than or equal to the first preset speed, outputting a steering control signal to a motor controller through a CAN bus;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
5. The remote-drive control method according to claim 4, wherein after outputting the steering control signal to the motor controller through the CAN bus, the method further comprises:
judging whether the motor controller receives the steering control signal;
if the motor controller receives the steering control signal, outputting a steering stopping control signal to the motor controller through a CAN bus when judging that the steering instruction is not received currently or the current intelligent key is positioned outside a third preset safety distance in the steering process of the electric automobile;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
6. A remote-controlled driving control apparatus, characterized by comprising:
the acquisition module is used for acquiring an operation instruction sent by the remote control device;
the judging module is used for judging whether the current state of the electric automobile meets the condition for executing the operation instruction, if so, outputting a control signal to a controller of the electric automobile according to the operation instruction, and if not, outputting a feedback signal to the remote control device;
the operation instruction comprises the following steps: at least one of a start command, a forward/reverse command, and a steering command;
after the acquisition module acquires a forward/backward command, the judgment module is used for judging whether the electric automobile is currently in a READY state; if yes, outputting a forward/backward control signal to the motor controller through the CAN bus; if not, outputting a restarted feedback signal to the remote control device;
after outputting a forward/backward control signal to a motor controller through a CAN bus, the judging module is used for judging whether the motor controller receives the forward/backward control signal;
the judgment module is further configured to, if the motor controller receives the forward/backward control signal, output a control signal for stopping forward/backward movement to the motor controller through a CAN bus when it is judged that the forward/backward command is not currently received, the current smart key is located outside a second preset safety distance, and the current continuous driving distance of the electric vehicle is greater than the first preset distance, or the current distance between the electric vehicle and the obstacle is smaller than the second preset distance, in the forward/backward process of the electric vehicle;
and if the motor controller does not receive the forward/backward control signal, outputting a feedback signal for retransmitting a forward/backward command to the remote control device;
the operation instruction further comprises an exit instruction, and after the exit instruction is obtained, the obtaining module is further used for outputting a power-off control signal to the PEPS controller through the CAN bus.
7. The remote-control driving control device according to claim 6, wherein after the obtaining module obtains the start instruction, the judging module is configured to judge whether the electric vehicle is currently in an unlocked state; if so, judging whether the intelligent key of the electric automobile is located within a first preset safety distance; if not, outputting a feedback signal for restarting the unlocked vehicle to the remote control device;
the judging module is also used for outputting a starting control signal to the keyless entry and PEPS starting controller through a Controller Area Network (CAN) bus if the intelligent key of the electric automobile is positioned in the first preset safety distance; and if the intelligent key of the electric automobile is positioned outside the first preset safety distance, outputting a feedback signal for prohibiting remote control driving to the remote control device.
8. The remote driving control device according to claim 7, wherein the determining module is further configured to determine whether the PEPS controller receives a start control signal after outputting the start control signal to the keyless entry and start PEPS controller through a Controller Area Network (CAN) bus; and if not, outputting a restarting feedback signal to the remote control device.
9. The remote-control driving control device according to claim 6, wherein after the obtaining module obtains the steering instruction, the judging module is configured to judge whether the electric vehicle is currently in a READY state; if so, judging whether the current speed of the electric automobile is less than or equal to a first preset speed; if not, outputting a restarted feedback signal to the remote control device;
the judging module is also used for outputting a steering control signal to the motor controller through the CAN bus if the current speed of the electric automobile is less than or equal to the first preset speed;
and if the current speed of the electric automobile is greater than the first preset speed, outputting a feedback signal for resending the steering instruction to the remote control device when the speed of the electric automobile is less than or equal to the first preset speed.
10. The remote-controlled driving control device according to claim 9, wherein the judging module is further configured to judge whether the motor controller receives the steering control signal after outputting the steering control signal to the motor controller through the CAN bus;
the judging module is further used for outputting a steering stopping control signal to the motor controller through a CAN bus when judging that the steering instruction is not received currently or the current intelligent key is positioned outside a third preset safety distance in the steering process of the electric automobile if the motor controller receives the steering control signal;
and if the motor controller does not receive the steering control signal, outputting a feedback signal for resending the steering command to the remote control device.
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 electric vehicle characterized by comprising the controller according to claim 11.
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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
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