CN108609020B

CN108609020B - Vehicle control method

Info

Publication number: CN108609020B
Application number: CN201810565790.6A
Authority: CN
Inventors: 张德兆; 王肖; 霍舒豪; 李晓飞; 张放
Original assignee: Beijing Idriverplus Technologies Co Ltd
Current assignee: Beijing Idriverplus Technologies Co Ltd
Priority date: 2018-06-04
Filing date: 2018-06-04
Publication date: 2020-06-26
Anticipated expiration: 2038-06-04
Also published as: CN108609020A

Abstract

The invention provides a vehicle control method, which comprises the following steps: receiving a first operation instruction or a second operation instruction sent by a vehicle control unit; processing the first operation instruction, and generating a first driving signal, a second driving signal and a third driving signal according to the first operation instruction; generating a fourth driving signal according to the second operation instruction; sending the first driving signal to a wheel speed meter so as to control the starting or closing of the wheel speed meter; acquiring a pulse signal after a wheel speed meter is started, and determining first speed information according to the frequency of the pulse signal; sending the second driving signal to the laser radar to control the laser radar to be started or closed; and sending the third driving signal to a sweeper controller and an induced draft fan controller, and sending the fourth driving signal to at least one lamp in the lighting system to start or close the at least one lamp. Therefore, high sensitivity and high personification control of the vehicle are realized.

Description

Vehicle control method

Technical Field

The invention relates to the technical field of control, in particular to a vehicle control method.

Background

With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become a hot spot for research of numerous scholars at home and abroad. The service robot opens up a new field of robot application, and the service robot mainly has the following three reasons: on the first hand, the domestic labor cost tends to rise; in the second aspect, the aging population and the improvement of social welfare system provide wide market application prospect for the service robot; in a third aspect, humans want to get rid of repetitive work. For example, the existing sweeper needs manual driving, is single in function and inconvenient, and cannot be kept in gear because the manual cleaning is replaced by intelligent unmanned automatic cleaning.

The grading of autonomous driving becomes a big thing for more convenient differentiation and definition of autonomous driving techniques. Currently, two hierarchical policies recognized by the global automobile industry are proposed by the united states highway security administration (NHTSA for short) and the international society of automotive engineers (SAE for short), respectively. In this regard, the automated driving technologies of the L4 and L5 classes may be referred to as full automated driving technologies, and by this class, the vehicle may perform all driving operations without any intervention from the driver, and the driver may also pay attention to other aspects, such as work or rest. However, the difference between the two is that the automatic driving at the level of L4 is applicable in some situations, usually in cities or on highways. And the level L5 requires that the automatic driving automobile can drive the automobile completely in any scene.

With the aggravation of the aging of the population in China, the appearance of wasted labor and the continuous improvement of labor cost, the problems of difficult recruitment of users, difficult personnel management and continuous rising of cost are directly caused, and the manual work is replaced by the mechanical automation and is out of the way.

However, in the prior art, there are many problems when controlling a vehicle, for example, the sensitivity is not high, the human simulation is not high, and so on.

Disclosure of Invention

The embodiment of the invention aims to provide a vehicle control method to overcome the defects of low sensitivity, low human simulation and the like in vehicle control in the prior art.

In order to solve the above problem, the present invention provides a vehicle control method including:

in order to solve the problems, a first operation instruction or a second operation instruction sent by a vehicle control unit is received;

processing the first operation instruction, and generating a first driving signal, a second driving signal and a third driving signal according to the first operation instruction;

generating a fourth driving signal according to the second operation instruction;

sending the first driving signal to a wheel speed meter so as to control the starting or closing of the wheel speed meter;

acquiring a pulse signal after a wheel speed meter is started, and determining first speed information according to the frequency of the pulse signal;

sending the second driving signal to the laser radar to control the laser radar to be started or closed;

sending the third driving signal to a sweeper brush controller and an induced draft fan controller to control the start of the sweeper brush controller and the induced draft fan controller, and when the sweeper brush controller is started, controlling the start of a sweeper brush motor and a lifting motor to enable the lifting motor to control a sweeper brush to descend to a sweeping position and control the rotating speed of the sweeper brush through the sweeper brush motor to carry out sweeping; controlling a draught fan controller to control the starting of a draught fan motor;

or the cleaning brush controller and the draught fan controller are controlled to be closed, when the cleaning brush controller is closed, the cleaning brush motor and the lifting motor are controlled to be closed, the lifting motor controls the cleaning brush to ascend to a non-cleaning position, and the cleaning brush is controlled to stop running through the cleaning brush motor; controlling a draught fan controller to control the starting of a draught fan motor;

sending the fourth drive signal to at least one lamp in the light system to turn the at least one lamp on or off.

Preferably, after determining the first speed information, the method further includes:

and sending the first speed information to a vehicle control unit.

Preferably, the method further comprises:

acquiring first fault information of a vehicle; the first fault information is the open-circuit state of a cleaning brush motor and/or a lifting motor and/or a draught fan motor and the heating information of the motor.

Preferably, the method further comprises:

acquiring and receiving second speed information sent by a vehicle control unit from the CAN transceiver;

calculating a difference between the first speed information and the second speed information;

and when the difference value is larger than a preset difference value threshold value, determining the fault of the wheel speed meter, and generating second fault information.

Preferably, the method further comprises: and driving a loudspeaker to generate a warning signal according to the first fault information or the second fault information.

Preferably, the method further comprises the following steps:

after the vehicle control unit is successfully self-checked, acquiring light indication information sent by the vehicle control unit; the lighting indication information is used for indicating to start a lighting system so as to prompt that the self-checking is successful.

The vehicle control method provided by the invention realizes high sensitivity and high personification control of the vehicle.

Drawings

Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention. As shown in fig. 1, the Body Control Module (BCM) is the main Body Controller (BCM) for executing the method, and the method is based on BCM and can be applied to an unmanned vehicle, especially to a low-speed unmanned vehicle such as a sweeper. The Vehicle Control Unit hereinafter is an Automated Vehicle Control Unit (AVCU).

Before the BCM works, the power is firstly electrified, when a battery system detects that a start button of a control panel is pressed, an electrifying signal is generated, the battery system outputs electric energy, the BCM carries out self-checking, whether power supply is normal or not and whether a wheel speed meter is normal or not are mainly detected, a checking result is sent to a vehicle control unit, after the vehicle control unit receives the checking result, the checking results of the vehicle control unit and the BCM are summarized, whether a condition that the self-checking is successful or not is judged according to the summarizing result, if the condition that the self-checking is successful is met, a notification signal that the self-checking is successful is sent to the BCM through a CAN transceiver, and after the BCM receives the notification signal that the self-checking is successful. At this moment, the BCM can control the lighting system to perform lighting prompt according to the notification signal that the self-checking is successful, for example, the lighting system is controlled to flash for a preset time at a preset frequency to remind that the self-checking is successful.

And step 11, receiving a first operation instruction or a second operation instruction sent by the vehicle control unit.

And step 12, processing the first operation instruction, and generating a first driving signal, a second driving signal and a third driving signal according to the first operation instruction.

And step 13, generating a fourth driving signal according to the second operation instruction.

The first operation instruction of the vehicle control unit can be obtained from the human-computer interaction device or the background server.

The human-computer interaction device may be a vehicle-mounted Application (app), a remote controller, or another device capable of human-computer interaction, which is not limited in the present Application.

The background server can be determined according to the application scene of the vehicle, when the application scene of the vehicle is the sweeper, the background server can be the server of the sweeper, the sweeper can operate in a specific area independently, and a plurality of sweepers can also operate in different small areas of the same area together, and the application is not limited to the above.

The first operation instruction may be an independent first operation instruction or a sum of a plurality of consecutive instructions. In one example, when the background server generates the first operation instruction, the first operation instruction may be a sum of several consecutive instructions on the background server, for example, by clicking a "start", "automatic cleaning", or other button, and then selecting automatic cleaning of a certain area. In another example, when the human-computer interaction device generates the first operation instruction, the first operation instruction may be a sum of instructions for selecting a plurality of icon keys in the human-computer interaction device.

The setting of the current first operation instruction is related to the previous state of the vehicle, for example, by selecting "automatic driving mode" when the vehicle is in the standby mode, thereby controlling the vehicle to enter the automatic driving mode from the standby mode. Next, switching of the vehicle from the standby mode to the automatic driving mode will be described as an example.

Specifically, when the first operation command is a command to enter an auto-path-planning mode, the BCM receives the first operation command, can analyze the first operation command, and simultaneously generates a first driving signal, a second driving signal, and a third driving signal.

The second operation instruction may be generated during the running of the vehicle, such as an instruction generated by the vehicle control unit according to the obstacle information, the cleaning path data information, and the like, for example, a left turn, a right turn, and the like.

And step 14, sending the first driving signal to the wheel speed meter so as to control the starting or the closing of the wheel speed meter.

And step 15, acquiring a pulse signal after the wheel speed meter is started, and determining first speed information according to the frequency of the pulse signal.

Specifically, the wheel speed meter is a hall wheel speed sensor for example.

The Hall wheel speed sensor consists of a sensing head and a gear ring. The sensing head consists of a permanent magnet, a Hall element, an electronic circuit and the like. The working principle is that the magnetic lines of force of the permanent magnet pass through the Hall element and lead to the gear, and the gear is equivalent to a magnetic collector. When the gear rotates, the density of magnetic lines of force passing through the hall element changes, thus causing a change in the hall voltage, and the hall element will output a pulse waveform that is converted into a standard pulse voltage, i.e., a pulse signal, via an electronic circuit. The frequency of the pulse signal, namely the number of pulses generated every second, reflects the speed of the wheel rotation, and the wheel rotation speed can be known through the frequency of the pulse signal. By means of the rotational speed of the wheel, first speed information can be determined.

Subsequently, the first speed information is transmitted to the vehicle control unit through the CAN bus, so that the vehicle control unit generates speed fusion information based on the first speed information and second speed information acquired through a Differential Global Positioning System (DGPS), and corrects the torque control information and the rotational speed control information through the speed fusion information.

And step 16, sending the second driving signal to the laser radar so as to control the laser radar to be started or shut down.

The lidar may acquire context awareness data. Specifically, after the laser radar rotates for one circle, the collected points are subjected to unified unpacking and compensation processing to generate a plurality of laser point cloud data including the circle of scanning, and then obstacle information is extracted from the laser point cloud data. By way of example and not limitation, the number of the laser radars may be one or multiple, and when the number of the laser radars is multiple, the environment perception data of the multiple laser radars may be subjected to fusion processing, so that laser point cloud data is obtained, and obstacle information is extracted from the laser point cloud data. Thereby, the sensitivity of detecting an obstacle is improved. The laser point cloud data is used by the vehicle control unit to subsequently generate steering control information and torque control information.

Step 17, sending the third driving signal to a sweeper brush controller and an induced draft fan controller to control the start of the sweeper brush controller and the induced draft fan controller, and when the sweeper brush controller is started, controlling the start of a sweeper brush motor and a lifting motor to enable the lifting motor to control the sweeper brush to descend to a sweeping position and control the rotating speed of the sweeper brush through the sweeper brush motor to carry out sweeping; controlling a draught fan controller to control the starting of a draught fan motor;

or the cleaning brush controller and the draught fan controller are controlled to be closed, when the cleaning brush controller is closed, the cleaning brush motor and the lifting motor are controlled to be closed, the lifting motor controls the cleaning brush to ascend to a non-cleaning position, and the cleaning brush is controlled to stop running through the cleaning brush motor; and controlling the draught fan controller to control the starting of the draught fan motor.

Specifically, when the vehicle enters an automatic driving mode from a standby mode, the cleaning brush controller controls the lifting motor to descend according to a corresponding operation instruction, controls the cleaning brush motor to operate, performs cleaning work, and controls the induced draft fan motor to operate, so that cleaned sundries are recovered. Correspondingly, when the vehicle enters a standby mode from an automatic driving mode, the cleaning brush controller controls the lifting motor to ascend, and controls the cleaning brush motor to stop, so that cleaning work is stopped, and the induced draft fan controller controls the induced draft fan motor to stop working.

And step 18, sending the fourth driving signal to at least one lamp in the light system to start or close the at least one lamp.

By way of example and not limitation, the lighting system comprises 2 running lights, 2 front turn lights, 2 rear turn lights, 2 brake lights, 2 clearance lights and 2 backup lights. The 2 are respectively arranged at the left side and the right side of the vehicle.

When the vehicle makes decision results such as 'left turn', 'right turn', and the like, for example, when the vehicle turns left, the BCM drives the 'left turn light' to flicker, and when the vehicle turns right, the BCM drives the 'right turn light' to flicker.

Further, the method further comprises: and sending the first speed information to a vehicle control unit. The vehicle control unit generates speed fusion information based on the first speed information and second speed information acquired by a Differential Global Positioning System (DGPS), and corrects the torque control information and the rotational speed control information based on the speed fusion information.

Further, the method further comprises: acquiring first fault information of a vehicle; the first fault information is the open-circuit state of a cleaning brush motor and/or a lifting motor and/or a draught fan motor and the heating information of the motor.

It should be noted that the hardware structure of the third driving signal and the hardware structure of the first, second, and fourth driving signals are different. The first driving signal, the second driving signal and the fourth driving signal control the working states of the wheel speed meter, the laser radar and the lighting system through different GPIO ports in the BCM. The third driving signal controls the cleaning brush controller and the draught fan controller through the motor control module in the BCM, so that the cleaning brush motor and the lifting motor are controlled through the cleaning brush controller, and the working state of the draught fan motor is controlled through the draught fan controller. The motor control module is used for rectifying and limiting current, and preventing overlarge current or unstable current transmitted to the cleaning brush controller and the draught fan controller.

A motor control module in the BCM can feed back information of open circuits or short circuits of a cleaning brush motor, a lifting motor and an induced draft fan motor, or overheating of the motors and the like.

Further, the method further comprises: acquiring and receiving second speed information sent by a vehicle control unit from the CAN transceiver; calculating a difference between the first speed information and the second speed information; and when the difference value is larger than a preset difference value threshold value, determining the fault of the wheel speed meter, and generating second fault information.

Wherein, the difference threshold may be set as required, for example, the difference threshold may be set to 2 m/s. The first and second failure information are only to distinguish the sources of the two types of failure information, and the failure processing information is the processing performed on the failure information, such as emergency braking.

Further, the method further comprises: and driving a loudspeaker to generate a warning signal according to the first fault information or the second fault information.

And sending out a warning signal through a horn to remind the vehicle of the fault.

It can be understood that the prompt sounds of the loudspeakers corresponding to different fault information can be in one-to-one correspondence, the fault type can be judged through the prompt sounds of the loudspeakers, and the follow-up fault overhauling efficiency is improved.

When the light system fails, the vehicle can still operate.

Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle control method characterized by comprising:

receiving a first operation instruction or a second operation instruction sent by a vehicle control unit;

or the cleaning brush controller and the draught fan controller are controlled to be closed, when the cleaning brush controller is closed, the cleaning brush motor and the lifting motor are controlled to be closed, the lifting motor controls the cleaning brush to ascend to a non-cleaning position, and the cleaning brush is controlled to stop running through the cleaning brush motor; controlling the draught fan controller to control the closing of the draught fan motor;

sending the fourth driving signal to at least one lamp in a light system to turn the at least one lamp on or off;

wherein the method further comprises:

acquiring and receiving second speed information sent by a vehicle control unit from a CAN transceiver;

2. The vehicle control method according to claim 1, characterized in that after the determination of the first speed information, the method further comprises:

and sending the first speed information to a vehicle control unit.

3. The vehicle control method according to claim 1, characterized by further comprising:

acquiring first fault information of a vehicle; the first fault information is the open circuit state and the motor heating information of the cleaning brush motor and/or the lifting motor and/or the induced draft fan motor.

4. The vehicle control method according to claim 3, characterized by further comprising: and driving a loudspeaker to generate a warning signal according to the first fault information or the second fault information.

5. The vehicle control method according to claim 1, characterized by further comprising, before the method: