CN110549990A - remote starting control method and system for unmanned vehicle - Google Patents
remote starting control method and system for unmanned vehicle Download PDFInfo
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- CN110549990A CN110549990A CN201810539834.8A CN201810539834A CN110549990A CN 110549990 A CN110549990 A CN 110549990A CN 201810539834 A CN201810539834 A CN 201810539834A CN 110549990 A CN110549990 A CN 110549990A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/209—Remote starting of engine
Abstract
The invention relates to the technical field of unmanned vehicles, in particular to a remote starting control method and system for an unmanned vehicle. The control system comprises a controller, a background and a controller, wherein the controller is used for being in communication connection with the background; the background is used for acquiring user request information, verifying the request information and sending a starting instruction to the controller if the verification is successful; the output end of the controller is used for being connected with an ACC relay, an IG1 relay electrified by the whole vehicle and a Start relay ignited, when a starting instruction is received, and the vehicle is not started and is not in the starting process, the controller controls the ACC relay to attract and acquire corresponding attraction signals, if the ACC relay attracts successfully, the controller controls the whole vehicle to electrify and acquire corresponding signals, if the whole vehicle is electrified successfully, the controller controls ignition, if the ignition is successful, the vehicle is started, and the problems that the remote control starting of the existing unmanned vehicle is unreasonable and the unmanned vehicle is not favorable to use are solved.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a remote starting control method and system for an unmanned vehicle.
Background
The unmanned vehicles are applied to the field of traffic services, such as unmanned taxies, unmanned buses, unmanned scenic spot circular traveling vehicles and the like, and are divided according to intelligent degrees, and the current unmanned vehicles mainly comprise two types: the intelligent automatic driving vehicle is a fool-type unmanned vehicle and an intelligent automatic driving vehicle. Aiming at the fact that a fool-type unmanned vehicle is mainly used for short-distance transportation or rail-patrolling trains and the like, such as a fixed line-patrolling logistics vehicle, the vehicle is mainly controlled by an administrator to start and run, the intelligent degree is low, the vehicle cannot run in an open environment, and the starting logic is simple; the intelligent automatic driving vehicle is mostly in a driving mode carried by the vehicle, a driver can switch between a manual driving mode and an automatic driving mode according to the intention, but the start and stop control of the vehicle is still controlled manually, and the requirement of people on a real unmanned vehicle in the future cannot be met.
Chinese patent publication No. CN204833489U discloses a timing vehicle Start-stop control system based ON IC card, which comprises a processor, a display, an IC card read-write antenna, a relay and a terminal to be controlled, mainly IC card read-write and timing authorization are performed, while a general vehicle comprises four gears for vehicle Start control, including OFF, ACC gear, ON gear and Start gear, the ACC gear is part of the vehicle, the ON gear is all the vehicle, the Start gear is the vehicle engine ignition Start, the general vehicle needs to Start the vehicle by the relay suction corresponding to the gears, the Start control part is controlled to control the ON-OFF of the vehicle ignition power supply line according to the authorization time and available money in the IC card, but the Start control and stop logic of the specific vehicle are not described correspondingly, the vehicle Start-stop is controlled only by controlling the ON-OFF of the ignition power supply line, and the normal program of vehicle Start is not met, and the vehicle can not be reasonably started through remote control, so that the normal use and the service life of the vehicle are influenced, and the application to the unmanned vehicle is not facilitated.
Disclosure of Invention
The invention aims to provide a remote starting control method and a remote starting control system for an unmanned vehicle, which are used for solving the problems that the existing unmanned vehicle is unreasonable in remote control starting and is not beneficial to the use of the unmanned vehicle.
In order to solve the problems that the self-starting of the existing unmanned vehicle is unreasonable and is not beneficial to the use of the unmanned vehicle, the invention provides a remote starting control method of the unmanned vehicle, which comprises the following steps:
1) The background acquires user request information, verifies the request information, and sends a starting instruction to the vehicle if the verification is successful;
2) Judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is pulled in successfully or not;
3) if yes, controlling the whole vehicle to be powered on, and judging whether the whole vehicle is powered on successfully or not;
4) If yes, controlling ignition, and if ignition is successful, starting the vehicle.
In order to ensure the safety and reliability of information, further, the step 1) is executed and then the starting instruction is verified, and if the verification is successful, the step 2) is executed.
In order to ensure the normal work of the vehicle for the safe starting and running of the vehicle, further, if the whole vehicle is electrified successfully, the electrical appliances related to the running safety of the vehicle in the vehicle are controlled to carry out self-checking of the set reserved time, and if the vehicle has no fault, the step 4) is executed.
And in order to normally start the vehicle, judging the vehicle fault by avoiding one-time ACC relay pull-in failure, further, controlling the ACC relay to continuously pull in if the ACC relay pull-in failure in the step 2), and stopping the ACC relay pull-in if the ACC relay continuously pulls in for the first set number of times.
In order to normally start the vehicle, the vehicle fault is judged by avoiding the power-on suction failure of the whole vehicle once, further, in the step 3), if the power-on failure of the whole vehicle occurs, the whole vehicle is controlled to be powered on to continue suction, and if the power-on failure of the whole vehicle for the second set time is continued, the power-on of the whole vehicle is stopped.
and in order to normally start the vehicle, judging the vehicle fault by avoiding the failure of one-time ignition pull-in, further, controlling the ignition to continue pull-in if the ignition fails in the step 4), and stopping the ignition if the ignition fails for a third set number of times continuously.
In the existing vehicle, two IG relays may exist to control all electric appliances of the vehicle to be electrified, and in order to achieve wider applicability of the invention, the whole vehicle is electrified by attracting an IG1 relay and an IG2 relay.
In order to facilitate the use of the unmanned vehicle and solve the problems that the remote control starting of the existing unmanned vehicle is unreasonable and is not beneficial to the use of the unmanned vehicle, the invention provides a remote starting control system of the unmanned vehicle, which comprises a controller, wherein the controller is used for communicating with a background; the background is used for acquiring user request information, verifying the request information, and sending a starting instruction to the controller if the verification is successful, wherein the controller is used for realizing the following steps:
(1) Acquiring a starting instruction sent by a background;
(2) Judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is pulled in successfully or not;
(3) if yes, controlling the whole vehicle to be powered on, and judging whether the whole vehicle is powered on successfully or not;
(4) If yes, controlling ignition, and if ignition is successful, starting the vehicle.
In order to ensure the safety and reliability of information, the improvement of the remote start control system of the unmanned vehicle provided by the invention is that the start instruction is verified after the step (1) is executed, and if the verification is successful, the step (2) is executed.
in order to safely start and run a vehicle and ensure the normal work of the vehicle, the improvement of the remote start control system of the unmanned vehicle provided by the invention is used for controlling electrical appliances related to the running safety of the vehicle to carry out self-checking of the set reserved time if the whole vehicle is successfully electrified, and executing the step (4) if the vehicle has no fault.
In order to normally start a vehicle and avoid that the vehicle is judged to have a fault when the ACC relay fails to be attracted once, the method is used as a further improvement of the remote start control system of the unmanned vehicle, if the ACC relay fails to be attracted in the step (2), the ACC relay is controlled to be continuously attracted, and if the ACC relay fails to be attracted for the first set number of times continuously, the ACC relay is stopped to be attracted.
In order to normally start the vehicle and avoid that the vehicle fault is judged when the whole vehicle is powered on and the attraction fails once, the invention is used as a further improvement of the remote starting control system of the unmanned vehicle.
in order to normally start the vehicle and avoid that the vehicle is judged to have a fault when the pull-in of one ignition fails, the invention is used as a further improvement of the remote start control system of the unmanned vehicle, if the ignition fails in the step (4), the ignition is controlled to continue to pull in, and if the ignition fails for a third set time, the ignition is stopped.
In order to achieve wider applicability in the vehicle, the remote start control system for the unmanned vehicle is further improved, and the whole vehicle is electrified by attracting the IG1 relay and the IG2 relay.
Drawings
Fig. 1 is a flowchart of a remote start control method of an unmanned vehicle according to embodiment 1;
fig. 2 is a flowchart of a remote start control method of an unmanned vehicle according to embodiment 2;
Fig. 3 is a flowchart of a remote start control method of an unmanned vehicle according to embodiment 3;
Fig. 4 is a flowchart of a remote start control method of an unmanned vehicle according to embodiment 4.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
example 1
This embodiment 1 provides a remote start control system for an unmanned vehicle, including a controller, where the controller is used for communication connection with a background; the background is used for acquiring the user request information, verifying the request information and sending a starting instruction to the controller if the verification is successful.
The background acquires the user request information in many ways, for example, the user scans the two-dimensional code of the vehicle body through a mobile phone, enters an authentication interface, fills in authentication information, submits the authentication information after filling, verifies the identity of the user through the background, allows the user to take a vehicle, enters remote start, and otherwise, feeds back authentication failure to the client; if the reservation is successful, the background sends information of a parking position, a boarding mode and the like of the vehicle to the mobile phone, the user selects to open a vehicle door in the mobile phone APP after reaching a vehicle parking point, the background sends a starting instruction to the controller to enter a vehicle starting process, and if the reservation fails, the user is prompted to inform the user of the reason of the failure; or the background analyzes and decides the dispatching vehicle according to the operation and maintenance data, and remotely controls and starts the dispatched vehicle.
The controller is arranged in the vehicle, may be an original vehicle networking controller in the vehicle, or may be a controller arranged in another vehicle networking controller, and when the controller is the vehicle networking controller, the vehicle networking controller wakes up the vehicle power management module, and then performs a starting operation of the vehicle after power is supplied; when the controller is an additionally arranged controller, the controller needs to have a function of not cutting off power supply and can communicate with a background in real time.
The output end of the controller is used for connecting an ACC relay used for controlling the electrification of electric appliances on the vehicle, an IG1 relay used for controlling the electrification of the whole vehicle on the vehicle, namely the electrification of all electric appliances and a Start relay used for igniting the engine of the vehicle. The controller executes a remote start control method of the unmanned vehicle, as shown in fig. 1, including the steps of:
1) And acquiring a starting instruction sent by the background.
Because the controller is in communication connection with the background, the starting instruction sent by the background can be directly sent to the controller.
On the basis, corresponding verification can be added when the starting instruction is received, the starting instruction is verified, the legality of the request signal is verified according to information security policies such as information encryption, signature, verification, firewall and the like, and if the verification is successful, the step 2) is executed.
2) and judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is successfully pulled in.
When a starting instruction is received, the controller firstly judges whether the vehicle is started or not and in the starting process, and if the vehicle is started or not or in the starting process, the starting instruction is terminated. In addition, if the starting instruction is terminated, the current situation can be sent to the background, and then the current situation is fed back to the user through the background.
If the vehicle is not started or is not in the starting process, the controller controls the ACC relay to pull in so as to control part of electric appliances of the vehicle to be electrified, whether the pull-in of the ACC relay is successful or not is monitored through corresponding detection, for example, a current or voltage sensor detects the current or voltage value of a corresponding power supply line, and if the current or voltage value is 0, the pull-in is failed. When the ACC relay fails to suck, the fault information is reported to the background through the corresponding signal transmission system, the background determines whether to try to suck or maintain continuously, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
3) If the relay is in the closed state, the whole vehicle is controlled to be powered on, namely the IG1 relay is attracted, and whether the IG1 relay is attracted successfully or not is judged.
When the ACC relay is successfully attracted, the controller controls the IG1 relay to be attracted so as to control all electric appliances of the vehicle to be electrified, whether the IG1 relay is successfully attracted is monitored through corresponding detection, for example, a current or voltage sensor detects the current or voltage value of a corresponding power supply line, and if the value is 0, attraction is failed. When the IG1 relay fails to pick up, the fault information is reported to the background through the corresponding signal transmission system, the background determines whether to try to continue to pick up or maintain, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
4) If yes, controlling ignition, namely attracting the Start relay, and if attracting the Start relay successfully, starting the vehicle.
when the IG1 relay is successfully attracted, the controller controls the Start relay to attract so as to control all electric appliances of the vehicle to be electrified, and whether the attraction of the Start relay is successful is monitored through corresponding detection, for example, a high-voltage electrifying state signal of the whole vehicle controller is received for judgment. When the pull-in of the Start relay fails, the fault information is reported to the background through a corresponding signal transmission system, the background determines whether to try to continue pull-in or maintain, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
And if the Start relay is successfully attracted, the vehicle is successfully started.
Example 2
In this embodiment 2, on the basis of embodiment 1, in order to ensure normal operation of the vehicle for safe start and driving of the vehicle, as shown in fig. 2, after the IG1 relay is successfully pulled in, self-checking of the set reserved time should be performed on each electrical appliance in the vehicle, and if the vehicle has no fault, step 4 in embodiment 1 is executed).
the Start relay can be controlled to be closed only when the following systems are required to perform self-checking and feed back no fault, for example, a vehicle body system, an external light control system and a door controller are included; for another example, the driving system comprises a vehicle control unit, a power battery management system or an engine control system, a transmission controller and a braking system; for another example, the automatic driving system comprises an intelligent controller and sensors for automatic driving; or the network system comprises a positioning module and a wireless communication module. The set reserved time can be 3s, can be set according to specific requirements, and can also be calibrated according to the vehicle condition.
example 3
In order to normally Start a vehicle, avoiding the ACC relay, the IG1 relay and the Start relay from performing one pull-in, determining that the vehicle has a fault after the pull-in fails, where the pull-in failure may be caused by some non-fault factors and is not easy to directly determine as the vehicle fault, therefore, in this embodiment 3, on the basis of embodiment 1 or embodiment 2, a remote Start control method for the unmanned vehicle is provided, as shown in fig. 3, taking the basis of embodiment 1 as an example, in step 2), if the ACC relay fails to pull-in, the ACC relay is controlled to continue to pull-in, in order to prevent device damage caused by multiple pulls-in, the number of times of the pull-in failures is recorded by a corresponding counting unit, and when the ACC relay fails to pull-in for a first set number of times, the pull-in of the ACC relay is stopped, where the first set number of times may be 3.
and in the step 3), if the IG1 relay fails to be attracted, controlling the IG1 relay to continue to be attracted, and if the IG1 relay fails to be attracted for the second set time, stopping the IG1 relay, wherein the second set time can also be 3 times.
and in the step 4), if the pull-in of the Start relay fails, controlling the Start relay to continuously pull in, and if the pull-in of the Start relay for a third set time fails, stopping the pull-in of the Start relay, wherein the third set time can also be 3 times.
The above improvement on the pull-in times of the ACC relay, the IG1 relay, and the Start relay may be an improvement on the control of the corresponding relay in embodiment 1 or embodiment 2, or an improvement on the control of two relays in embodiment 1 or embodiment 2, or a simultaneous improvement on the control of three relays.
Example 4
As shown in fig. 4, on the basis of embodiment 1 or embodiment 2, if the vehicle includes an IG2 relay, after the IG1 relay is successfully attracted, the controller controls the IG2 relay to be attracted, and determines whether the IG2 relay is successfully attracted, and if the IG2 relay is successfully attracted, step 4 of embodiment 1 is executed.
On the basis, for the purpose of ensuring the normal operation of the vehicle for the safe starting and running of the vehicle, as an improvement, if the attraction of the IG2 relay is successful, each electrical appliance in the vehicle is controlled to perform self-checking of the set reserved time, and if the vehicle has no fault, the step 4) in the embodiment 1 is executed.
Meanwhile, for the normal starting of the vehicle, the IG2 relay in the above scheme and the improved scheme can also adopt multiple pull-in control, if the pull-in of the IG2 relay fails, the controller controls the IG2 relay to continue pull-in, and if the pull-in of the IG2 relay continues for a fourth set number of times, the pull-in of the IG2 relay is stopped, wherein the fourth set number of times can be 3.
in addition, due to the arrangement of the vehicle, when the engine of the vehicle is ignited, that is, when the Start relay is switched on, the IG2 relay may be switched off, and if the Start relay is switched on successfully, all the electric appliances on the vehicle should be powered on to work, so that the switching on of the IG2 relay needs to be controlled again, and the switching on mode can adopt the control method.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (10)
1. a remote start control method for an unmanned vehicle is characterized by comprising the following steps:
1) The background acquires user request information, verifies the request information, and sends a starting instruction to the vehicle if the verification is successful;
2) Judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is pulled in successfully or not;
3) If yes, controlling the whole vehicle to be powered on, and judging whether the whole vehicle is powered on successfully or not;
4) If yes, controlling ignition, and if ignition is successful, starting the vehicle.
2. The unmanned vehicle remote start control method of claim 1, wherein step 1) is performed and then the start command is verified, and if the verification is successful, step 2) is performed.
3. The unmanned vehicle remote start control method according to claim 1 or 2, wherein if the entire vehicle is successfully powered on, the electrical appliances related to vehicle driving safety in the vehicle are controlled to perform self-checking of the set reserved time, and if the vehicle is not in fault, step 4) is performed.
4. The method according to claim 3, wherein in step 2), if the ACC relay fails to pull in, the ACC relay is controlled to continue to pull in, and if the ACC relay fails to pull in for the first set number of times, the ACC relay stops pulling in.
5. The unmanned vehicle remote start control method according to claim 3, wherein in step 3), if the whole vehicle fails to be powered on, the whole vehicle is controlled to be powered on to continue to be attracted, and if the whole vehicle fails to be powered on for the second set number of times, the whole vehicle is stopped to be powered on.
6. A remote start control system of an unmanned vehicle is characterized by comprising a controller, a background and a controller, wherein the controller is used for being in communication connection with the background; the background is used for acquiring user request information, verifying the request information, and sending a starting instruction to the controller if the verification is successful, wherein the controller is used for realizing the following steps:
(1) Acquiring a starting instruction sent by a background;
(2) Judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is pulled in successfully or not;
(3) if yes, controlling the whole vehicle to be powered on, and judging whether the whole vehicle is powered on successfully or not;
(4) If yes, controlling ignition, and if ignition is successful, starting the vehicle.
7. the unmanned vehicle remote start control system of claim 6, wherein step (1) is performed and then the start command is verified, and if the verification is successful, step (2) is performed.
8. The unmanned vehicle remote start control system according to claim 6 or 7, wherein if the whole vehicle is powered up successfully, the electrical appliances related to vehicle running safety in the vehicle are controlled to perform self-checking of the set reserved time, and if the vehicle has no fault, the step (4) is executed.
9. The remote start control system of the unmanned vehicle as claimed in claim 8, wherein in step (2), if the ACC relay fails to engage, the ACC relay is controlled to engage continuously, and if the ACC relay fails to engage continuously for the first set number of times, the ACC relay is stopped.
10. The remote start control system of the unmanned vehicle of claim 8, wherein in step (3), if the whole vehicle fails to be powered on, the whole vehicle is controlled to be powered on to continue to be attracted, and if the whole vehicle fails to be powered on for the second set number of times, the whole vehicle is stopped to be powered on.
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| CN201810539834.8A CN110549990A (en) | 2018-05-30 | 2018-05-30 | remote starting control method and system for unmanned vehicle |
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| CN201810539834.8A CN110549990A (en) | 2018-05-30 | 2018-05-30 | remote starting control method and system for unmanned vehicle |
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Cited By (6)
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| CN112114542A (en) * | 2020-06-10 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle remote control method, vehicle and readable storage medium |
| CN113031626A (en) * | 2020-05-15 | 2021-06-25 | 东风柳州汽车有限公司 | Safety authentication method, device and equipment based on automatic driving and storage medium |
| CN113386782A (en) * | 2021-06-30 | 2021-09-14 | 东风汽车集团股份有限公司 | Forced power-off control method in vehicle driving process |
| CN113459995A (en) * | 2021-06-28 | 2021-10-01 | 东风汽车集团股份有限公司 | Control method for starting vehicle by forced electrification |
| CN113635861A (en) * | 2021-09-16 | 2021-11-12 | 一汽解放汽车有限公司 | Vehicle and remote start control system thereof |
| CN115297151A (en) * | 2022-10-08 | 2022-11-04 | 北京路凯智行科技有限公司 | Remote starting system for unmanned mine car |
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