CN111216661A - Method and device for controlling vehicle - Google Patents

Method and device for controlling vehicle Download PDF

Info

Publication number
CN111216661A
CN111216661A CN201811409849.9A CN201811409849A CN111216661A CN 111216661 A CN111216661 A CN 111216661A CN 201811409849 A CN201811409849 A CN 201811409849A CN 111216661 A CN111216661 A CN 111216661A
Authority
CN
China
Prior art keywords
signal
target
vehicle
time
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811409849.9A
Other languages
Chinese (zh)
Inventor
郭庆悌
於涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Borgward Automotive China Co Ltd
Original Assignee
Borgward Automotive China Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Borgward Automotive China Co Ltd filed Critical Borgward Automotive China Co Ltd
Priority to CN201811409849.9A priority Critical patent/CN111216661A/en
Publication of CN111216661A publication Critical patent/CN111216661A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The present disclosure relates to a method and apparatus for controlling a vehicle, the method comprising: acquiring a detection signal, wherein the detection signal comprises a first time when the detection signal is generated; determining a first target detection signal from the detection signals according to the first time; judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal; acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated; and sending the target control signal to the vehicle control terminal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the transmission channel is reliable.

Description

Method and device for controlling vehicle
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method and apparatus for controlling a vehicle.
Background
As the demand for vehicle performance increases, the environmental requirements for testing vehicle performance also increase. Nowadays, the remote control of the tested vehicle can be realized by using a driving robot, the driving robot can replace a driver, control the vehicle to run in a limit state, and acquire the state information of the vehicle and feed the state information back to the driver.
However, in the current vehicle testing system, the transmission channel between the control base station and the driving robot may be unreliable, which may cause delay of signal transmission, resulting in problems such as disorder or error of control signal transmission, and the driving robot may perform wrong driving control actions based on wrong control signals or signal execution sequences, thereby affecting the efficiency of vehicle testing and the correctness of vehicle testing results.
Disclosure of Invention
In order to solve the above problems, it is an object of the present disclosure to provide a method and apparatus for controlling a vehicle.
In order to achieve the above object, in a first aspect, the present disclosure provides a method of controlling a vehicle, applied to a control base station, including: acquiring a detection signal, wherein the detection signal comprises a first time when the detection signal is generated; determining a first target detection signal from the detection signals according to the first time; judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal; acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated; and sending the target control signal to the vehicle control terminal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the transmission channel is reliable.
Optionally, the determining a first target detection signal from the detection signals according to the first time comprises: and determining the detection signal of the first time within a first preset time from the detection signals as the first target detection signal.
Optionally, the determining, according to the first target detection signal and the vehicle control terminal, reliability of a transmission channel includes: sending the first target detection signal to the vehicle control terminal; when the vehicle control terminal returns the received first target detection signal, receiving a detection return signal sent by the vehicle control terminal, wherein the detection return signal comprises a third time; determining a second target detection signal having a signal identification identical to the signal identification of the first target detection signal from the detection return signal; determining a first detection signal having the third time identical to the first time from the second target detection signal; determining a second detection signal identical to the first target detection signal from the first detection signal; calculating a first quantity proportion of the second detection signal in the first target detection signal; and when the first quantity ratio is greater than or equal to a first preset ratio threshold value, determining that the transmission between the control base station and the vehicle control terminal is reliable, and sending a reliable notification message to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
Optionally, the determining, according to the first target detection signal and the vehicle control terminal, reliability of a transmission channel includes: the first target detection signal is encoded to obtain a first encoded signal, the first encoded signal is sent to the vehicle control terminal, so that the vehicle control terminal can decode the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, whether the first decoded signal is decoded correctly or not is determined when the time delay of the first time is less than or equal to a preset time delay, a second quantity proportion occupied by the first decoded signal which is decoded correctly in the first target detection signal is determined when the first decoded signal is decoded correctly, and the transmission channel is determined to be reliable when the second quantity proportion is greater than or equal to a second preset proportion threshold.
Optionally, after the target control signal is sent to the vehicle control terminal, the method further includes: and the vehicle control terminal carries out signal correctness qualitative judgment based on the target control signal, so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when determining that the target control signal is correct.
Optionally, the performing, by the vehicle control terminal, a signal correctness and qualitative judgment based on the target control signal includes: when the vehicle control terminal returns the received target control signal, receiving a control return signal sent by the vehicle control terminal, wherein the control return signal comprises a fourth time; determining whether the fourth time is the same as the second time; determining whether the control return signal is the same as the target control signal when the fourth time is the same as the second time; and when the control return signal is the same as the target control signal, determining that the target control signal is correct, and sending a correct notification message to the vehicle control terminal.
Optionally, the performing, by the vehicle control terminal, a signal correctness and qualitative judgment based on the target control signal includes: and coding the target control signal to obtain a second coded signal, and sending the second coded signal to the vehicle control terminal, so that the vehicle control terminal decodes the second coded signal to obtain a second decoded signal, determines whether the second decoded signal is decoded correctly, and determines that the target control signal is correct when the second decoded signal is decoded correctly.
Optionally, after the target control signal is sent to the vehicle control terminal, the method further includes: receiving vehicle state information sent by a vehicle control terminal, wherein the vehicle state information comprises a fifth time when the vehicle state information is generated; determining the vehicle state information in a second preset time as target state information according to the fifth time; and sending the target state information to a user terminal so that the user terminal can display the target state information according to the fifth time and the time sequence.
In a second aspect, the present disclosure provides a method for controlling a vehicle, applied to a vehicle control terminal, including: after determining a first target detection signal from the detection signals at a first time included by the obtained detection signals, the control base station receives the first target detection signal sent by the control base station; determining whether a transmission channel with the control base station is reliable or not according to the first target detection signal; receiving a target control signal sent by the control base station, wherein the target control signal comprises a second time when the target control signal is generated; and when the transmission channel is determined to be reliable, controlling the vehicle through the target control signal according to the time sequence of the second time.
Optionally, the determining whether a transmission channel with the control base station is reliable according to the first target detection signal includes: returning the first target detection signal to the control base station; when the control base station determines that the transmission channel is reliable according to the returned detection return signal, receiving a reliable notification message sent by the control base station; and determining that the transmission channel is reliable according to the reliable notification message.
Optionally, the determining whether a transmission channel with the control base station is reliable according to the first target detection signal includes: after the control base station codes the first target detection signal to obtain a first coded signal, receiving the first coded signal sent by the control base station; decoding the first coded signal to obtain a first decoded signal and a first time of the first target detection signal, and determining whether the first decoded signal is decoded correctly when the time delay of the first time is less than or equal to a preset time delay; when the first decoding signal is correctly decoded, determining a second quantity proportion of the correctly decoded first decoding signal in the first target detection signal; and when the second quantity proportion is greater than or equal to a second preset proportion threshold value, determining that the transmission channel is reliable.
Optionally, before controlling the vehicle by the target control signal in chronological order of the second time, the method further comprises: determining whether the target control signal is correct; the controlling the vehicle by the target control signal in the time sequence of the second time includes: and when the target control signal is correct, controlling the vehicle through the target control signal according to the second time in a time sequence.
Optionally, the determining whether the target control signal is correct comprises: returning the target control signal to the control base station; when the control base station determines that the target control signal is correct according to the returned control return signal, receiving a correct notification message sent by the control base station; and determining that the target control signal is correct according to the correct notification message.
Optionally, the determining whether the target control signal is correct comprises: after the control base station encodes the target control signal to obtain a second encoded signal, receiving the second encoded signal sent by the control base station; decoding the second coded signal to obtain a second decoded signal; determining whether the second decoded signal is decoded correctly; and when the second decoding signal is decoded correctly, determining that the target control signal is correct.
Optionally, the controlling the vehicle by the target control signal in the time sequence of the second time includes: and determining the target control signal of the second time within a third preset time as a signal to be executed from the target control signals, and controlling the vehicle through the signal to be executed according to the time sequence.
Optionally, after controlling the vehicle by the target control signal in chronological order of the second time, the method further includes: acquiring vehicle state information, wherein the vehicle state information comprises a fifth time when the vehicle state information is generated; and sending the vehicle state information to the control base station so that the control base station determines the vehicle state information in a second preset time as target state information according to the fifth time, and sending the target state information to a user terminal so that the user terminal displays the target state information according to the fifth time in a time sequence.
In a third aspect, an apparatus for controlling a vehicle is provided, which is applied to a control base station, and includes: a detection signal acquisition module, configured to acquire a detection signal, where the detection signal includes a first time when the detection signal is generated; a detection signal determination module for determining a first target detection signal from the detection signals according to the first time; the first reliability judgment module is used for judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal; the control signal acquisition module is used for acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated; and the control module is used for sending the target control signal to the vehicle control terminal so that the vehicle control terminal can control the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the transmission channel is reliable.
Optionally, the detection signal determining module is configured to determine, from the detection signals, a detection signal of the first time within a first preset time as the first target detection signal.
Optionally, the first reliability determining module includes: the detection signal sending submodule is used for sending the first target detection signal to the vehicle control terminal; the detection return signal receiving submodule is used for receiving a detection return signal sent by the vehicle control terminal when the vehicle control terminal returns the received first target detection signal, and the detection return signal comprises third time; a target detection signal determination submodule for determining a second target detection signal having a signal identification identical to that of the first target detection signal from the detection return signal; a first detection signal determination submodule configured to determine, from the second target detection signal, a first detection signal at the third time that is the same as the first time; a second detection signal determination sub-module for determining a second detection signal identical to the first target detection signal from the first detection signal; the calculation submodule is used for calculating a first quantity proportion of the second detection signal in the first target detection signal; and the determining submodule is used for determining that the transmission between the control base station and the vehicle control terminal is reliable when the first quantity ratio is greater than or equal to a first preset ratio threshold value, and sending a reliable notification message to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
Optionally, the first reliability determining module is configured to encode the first target detection signal to obtain a first encoded signal, and send the first encoded signal to the vehicle control terminal, so that the vehicle control terminal decodes the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, determine whether the first decoded signal is decoded correctly when a time delay of the first time is less than or equal to a preset time delay, determine a second quantity ratio of the first decoded signal that is decoded correctly in the first target detection signal when the first decoded signal is decoded correctly, and determine that the transmission channel is reliable when the second quantity ratio is greater than or equal to a second preset ratio threshold.
Optionally, the apparatus further comprises: and the first correctness judging module is used for carrying out signal correctness qualitative judgment on the vehicle control terminal based on the target control signal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the target control signal is correct.
Optionally, the first correctness determining module is configured to receive a control return signal sent by the vehicle control terminal when the vehicle control terminal returns the received target control signal, where the control return signal includes a fourth time; determining whether the fourth time is the same as the second time; determining whether the control return signal is the same as the target control signal when the fourth time is the same as the second time; and when the control return signal is the same as the target control signal, determining that the target control signal is correct, and sending a correct notification message to the vehicle control terminal.
Optionally, the first correctness determining module is configured to encode the target control signal to obtain a second encoded signal, and send the second encoded signal to the vehicle control terminal, so that the vehicle control terminal decodes the second encoded signal to obtain a second decoded signal, and determines whether the second decoded signal is decoded correctly, and when the second decoded signal is decoded correctly, determines that the target control signal is correct.
Optionally, the apparatus further comprises: the state receiving module is used for receiving vehicle state information sent by a vehicle control terminal, wherein the vehicle state information comprises fifth time when the vehicle state information is generated; the state determining module is used for determining the vehicle state information in a second preset time as target state information according to the fifth time; and the state sending module is used for sending the target state information to the user terminal so that the user terminal can display the target state information according to the fifth time and the time sequence.
In a fourth aspect, an apparatus for controlling a vehicle is provided, which is applied to a vehicle control terminal, and includes: the signal receiving module is used for receiving a first target detection signal sent by the control base station after the control base station determines the first target detection signal from the detection signal according to the first time included by the obtained detection signal; the second reliability judging module is used for determining whether a transmission channel with the control base station is reliable or not according to the first target detection signal; a control signal receiving module, configured to receive a target control signal sent by the control base station, where the target control signal includes a second time when the target control signal is generated; and the execution module is used for controlling the vehicle through the target control signal according to the time sequence of the second time when the transmission channel is determined to be reliable.
Optionally, the second reliability determining module is configured to return the first target detection signal to the control base station; when the control base station determines that the transmission channel is reliable according to the returned detection return signal, receiving a reliable notification message sent by the control base station; and determining that the transmission channel is reliable according to the reliable notification message.
Optionally, the second reliability determining module is configured to receive a first coded signal sent by the control base station after the control base station codes the first target detection signal to obtain the first coded signal; decoding the first coded signal to obtain a first decoded signal and a first time of the first target detection signal, and determining whether the first decoded signal is decoded correctly when the time delay of the first time is less than or equal to a preset time delay; when the first decoding signal is correctly decoded, determining a second quantity proportion of the correctly decoded first decoding signal in the first target detection signal; and when the second quantity proportion is greater than or equal to a second preset proportion threshold value, determining that the transmission channel is reliable.
Optionally, the apparatus further comprises: the second correctness judging module is used for determining whether the target control signal is correct or not; and the execution module is used for controlling the vehicle through the target control signals according to the second time in a time sequence when the transmission channel is determined to be reliable and the target control signals are correct.
Optionally, the second correctness determining module is configured to return the target control signal to the control base station; when the control base station determines that the target control signal is correct according to the returned control return signal, receiving a correct notification message sent by the control base station; and determining that the target control signal is correct according to the correct notification message.
Optionally, the second correctness determining module is configured to receive a second coding signal sent by the control base station after the control base station codes the target control signal to obtain the second coding signal; decoding the second coded signal to obtain a second decoded signal; determining whether the second decoded signal is decoded correctly; and when the second decoding signal is decoded correctly, determining that the target control signal is correct.
Optionally, the execution module is configured to determine, from the target control signals, that the target control signal at the second time within a third preset time is a signal to be executed when it is determined that the transmission channel is reliable and the target control signal is correct, and control the vehicle through the signal to be executed according to a time sequence.
Optionally, the apparatus further comprises: the state acquisition module is used for acquiring vehicle state information, wherein the vehicle state information comprises a fifth time when the vehicle state information is generated; and the state transfer module is used for sending the vehicle state information to the control base station so that the control base station determines the vehicle state information in a second preset time as target state information according to the fifth time, and sends the target state information to the user terminal so that the user terminal displays the target state information according to the fifth time and the time sequence.
Through the technical scheme, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and according to the time included in the control signal, the control signal can be correctly executed according to the time sequence, the problem of signal execution errors caused by disorder of control signal transmission is avoided, when the vehicle test is carried out, the efficiency of the vehicle test is improved, and the correctness of the vehicle test result is increased.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic flow chart diagram of a method of controlling a vehicle provided by an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of another method of controlling a vehicle provided by an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating a third method of controlling a vehicle provided by the disclosed embodiment;
fig. 4 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of another apparatus for controlling a vehicle according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a method of controlling a vehicle, as shown in fig. 1, applied to a control base station, according to an exemplary embodiment, including:
s101, acquiring a detection signal, wherein the detection signal comprises a first time when the detection signal is generated.
Among them, the vehicle control terminal may be a driving robot or the like for driving a vehicle.
In this step, a plurality of detection signals within a preset time period may be acquired, and each detection signal includes a first time at which the detection signal is generated.
And S102, determining a first target detection signal from the detection signals according to the first time.
In this step, the detection signal within a first preset time may be determined as the first target detection signal from the detection signals according to the first time.
For example, the driver inputs a first group of first target detection signals to the control base station in a first time period, and inputs a second group of first target detection signals to the control base station in a second time period, the first time period is earlier than the second time period, and since there may be a delay phenomenon in the input of the signals, the second group of first target detection signals can be mixed with the first target detection signals in the first group of control signals, in order to ensure that the vehicle control terminal receives the latest detection signals, the first preset time may be set to include the second time period but not include the first time period, and when the second group of detection signals are received, the detection signals in the first preset time may be determined to be the first target control signals, thereby filtering out the detection signals in the first group of detection signals.
And S103, judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal.
Considering that when the transmission between the control base station and the vehicle control terminal is unreliable, an error occurs in the signal transmission process, so that before the vehicle is controlled, the reliability of the transmission channel can be judged through the step.
The first method is as follows: the control base station judges whether a transmission channel with the vehicle control terminal is reliable or not by the following steps.
And S1031, sending the first target detection signal to the vehicle control terminal.
S1032, receiving a detection return signal sent by the vehicle control terminal when the vehicle control terminal returns the received first target detection signal, where the detection return signal includes a third time.
In this step, when receiving the first target detection signal, the vehicle control terminal returns the received first target detection signal to the control base station, and the control base station receives a detection return signal returned by the vehicle control terminal, where the detection return signal includes the third time.
S1033, determining a second target detection signal having the same signal identification as that of the first target detection signal from the detection return signal.
It should be noted that, the vehicle control terminal may receive a plurality of first target detection signals, then return the received first target detection signals, and the control base station receives a plurality of signals returned by the vehicle control terminal, but the control base station does not know a corresponding relationship between the returned signals and the first target detection signals sent to the vehicle control terminal, and therefore, in this embodiment, the control base station needs to determine the detection return signals corresponding to the first target detection signals through the signal identifier.
S1034, determining the first detection signal with the third time being the same as the first time from the second target detection signal.
After determining that the signal identifications are the same, considering that there may be a plurality of signals with the same signal identification, the control base station further needs to determine that the first target detection signal corresponds to the second target detection signal when the first time is the same as the third time by determining whether the first time is the same as the third time.
S1035, determining a second detection signal identical to the first target detection signal from the first detection signal.
In this step, it may be determined whether the content of the corresponding first detection signal is the same as the content of the first target detection signal, and when the content of the first detection signal is the same as the content of the first target detection signal, the first detection signal is determined to be the second detection signal.
S1036, calculating a first quantity ratio of the second detection signal in the first target detection signal.
For example, the control base station sends 100 first target detection signals to the vehicle control terminal, and the vehicle control terminal then returns 101 detection return signals to the control base station, where there are 100 second target detection signals having the same signal identification as the first target detection signals, 98 first detection signals having the same time as the first target detection signals are present in the second target detection signals, and 80 second detection signals having the same content as the first target control signals are present in the first detection signals, and the proportion of the number of the second detection signals in the first target detection signals is 80%.
S1037, when the first quantity ratio is larger than or equal to a first preset ratio threshold, the control base station and the vehicle control terminal are determined to be reliable in transmission, and a reliable notification message is sent to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
For example, the preset ratio threshold may be 80%, and when the number ratio is 80%, the control base station and the vehicle control terminal are determined to be reliable in the transmission channel, and a reliable notification message is sent to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
The second method comprises the following steps: the first target detection signal can be encoded to obtain a first encoded signal, and the first encoded signal is sent to the vehicle control terminal, so that the vehicle control terminal decodes the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, determines whether the first decoded signal is decoded correctly when the time delay of the first time is less than or equal to a preset time delay, determines a second quantity proportion occupied by the correctly decoded first decoded signal in the first target detection signal when the first decoded signal is decoded correctly, and determines that the transmission channel is reliable when the second quantity proportion is greater than or equal to a second preset proportion threshold.
In this mode, the vehicle control terminal may obtain the check information from the first decoded signal after obtaining the first decoded signal, and determine that the decoding is correct when determining that the obtained check information is the same as the preset check information.
S104, acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated.
In this step, a target control signal input by the driver through the user terminal may be obtained, where the target control signal includes a second time when the target control signal is generated.
And S105, sending the target control signal to the vehicle control terminal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when determining that the transmission channel is reliable.
In this step, when it is determined that the transmission channel between the control base station and the vehicle control terminal is reliable in the manner of step S104, a reliable notification message may be transmitted to the vehicle control terminal, and the vehicle control terminal controls the vehicle by the target control signal in chronological order of the second time after receiving the reliable notification message.
When it is determined that the transmission between the control base station and the vehicle control terminal is reliable in the second manner in step S104, the vehicle control terminal may control the vehicle by the target control signal in the time sequence of the second time after determining that the transmission path is reliable.
It should be noted that, before the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time, the control base station and the vehicle control terminal may further perform signal correctness judgment based on the target control signal, so that when the vehicle control terminal determines that the target control signal is correct, the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time, thereby judging whether the signal is correct, ensuring the correctness of signal transmission, and improving the accuracy of vehicle control.
Specifically, the control base station may determine the signal correctness with the vehicle control terminal in the following two ways.
The first method is as follows: firstly, when the vehicle control terminal returns the received target control signal, receiving a control return signal sent by the vehicle control terminal, wherein the control return signal comprises a fourth time, and determining whether the fourth time is the same as the second time;
secondly, when the fourth time is the same as the second time, determining whether the control return signal is the same as the target control signal;
and finally, when the control return signal is the same as the target control signal, determining that the target control signal is correct, and sending a correct notification message to the vehicle control terminal.
The second method comprises the following steps: and the vehicle control terminal can control the vehicle according to the second time sequence after determining that the target control signal is correct.
After the vehicle control terminal obtains the second decoding signal, the vehicle control terminal can acquire the verification information from the second decoding signal, and when the acquired verification information is determined to be the same as the preset verification information, the vehicle control terminal determines that the decoding is correct.
It should be noted that after controlling the vehicle, vehicle state information sent by the vehicle control terminal may also be received, where the vehicle state information includes a fifth time when the vehicle state information is generated; after the vehicle state information is acquired, the vehicle state information in the second preset time can be determined as the target state information according to the fifth time, so that the control base station is ensured to acquire the latest target signal state information.
The vehicle state information includes, but is not limited to, a speed and an acceleration of the vehicle, an operation state of the travel control device, an operation state of a vehicle component, and the like.
After the target state information is obtained, the target state information can be sent to the user terminal, so that the user terminal can display the target state information according to the fifth time and the time sequence, the target state information can be visually displayed to the user according to the time sequence, and user experience is improved.
By the method, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and the control signal can be correctly executed according to the time sequence according to the time included in the control signal, so that the problem of signal execution errors caused by disorder of control signal transmission is avoided, the vehicle test efficiency is improved, and the correctness of a vehicle test result is improved.
Fig. 2 is a flowchart illustrating a method of controlling a vehicle, which is applied to a vehicle control terminal, which may be a driving robot or the like controlling driving of the vehicle, as shown in fig. 2, according to another exemplary embodiment, the method including:
s201, after the control base station determines a first target detection signal from the detection signal according to the first time included in the acquired detection signal, the control base station receives the first target detection signal sent by the control base station.
S202, determining whether a transmission channel with the control base station is reliable or not according to the first target detection signal.
In this step, whether the transmission between the control base station and the vehicle control terminal is reliable may be determined in the following two ways.
The first method is as follows: and returning the first target detection signal to the control base station, receiving a reliable notification message sent by the control base station when the control base station determines that the transmission channel is reliable according to the returned detection return signal, and determining that the transmission channel is reliable according to the reliable notification message.
For the specific description of determining that the transmission channel is reliable according to the returned detection return signal, reference may be made to the descriptions in step S1031 to step S1037 in the foregoing embodiment, which is not described herein again.
The second method comprises the following steps: after the control base station codes the first target detection signal to obtain a first coding signal, receiving the first coding signal sent by the control base station; decoding the first coded signal to obtain a first decoded signal and a first time of the first target detection signal, and determining whether the first decoded signal is decoded correctly when the time delay of the first time is less than or equal to a preset time delay; when the first decoding signal is correctly decoded, determining a second quantity proportion of the correctly decoded first decoding signal in the first target detection signal; and when the second quantity ratio is greater than or equal to a second preset ratio threshold value, determining that the transmission channel is reliable.
After the vehicle control terminal obtains the first decoding signal, the vehicle control terminal can acquire the verification information from the first decoding signal, and when the acquired verification information is determined to be the same as the preset verification information, the vehicle control terminal determines that the decoding is correct.
S203, receiving a target control signal sent by the control base station, wherein the target control signal comprises a second time when the target control signal is generated.
And S204, when the transmission channel is determined to be reliable, controlling the vehicle through the target control signal according to the time sequence of the second time.
In this step, the target control signal of the second time within the third preset time may be determined as a signal to be executed from the target control signals, and the vehicle may be controlled by the signal to be executed in chronological order.
For example, the vehicle control terminal receives two sets of target control signals, wherein the first set of target control signals is transmitted to the vehicle control terminal by the control base station in a first time period, the second set of target control signals is transmitted to the vehicle control terminal by the control base station in a second time period, since there may be a delay in the transmission of the signal, the vehicle control terminal receives the signal, the second set of target control signals can be mixed with the target control signals transmitted by the controlling base station during the first time period, and, therefore, the third preset time may be set to a time period including the second time period but not including the first time period, and, when the second set of target control signals are received, the first target control signal in the third preset time may be determined as a signal to be executed, so as to filter out the target control signal sent by the control base station in the first time period.
After the signals to be executed are determined, they may be arranged in time order and executed in sequence.
It should be noted that, before the vehicle is controlled by the target control signal according to the time sequence of the second time, it may be determined whether the target control signal is correct, and when the target control signal is correct, the vehicle is controlled by the target control signal according to the time sequence of the second time.
Specifically, whether the target control signal is correct or not can be determined in the following two ways.
The first method is as follows:
first, the target control signal is returned to the control base station.
Secondly, when the control base station determines that the target control signal is correct according to the returned control return signal, the control base station receives a correct notification message sent by the control base station.
For the specific description that the control base station determines that the target control signal is correct according to the returned control return signal, reference may be made to the description of the first manner in step S105 in the foregoing embodiment, and details are not described here again.
And finally, determining that the target control signal is correct according to the correct notification message.
The second method comprises the following steps:
firstly, after the control base station encodes the target control signal to obtain a second encoded signal, the second encoded signal sent by the control base station is received.
Secondly, decoding the second coded signal to obtain a second decoded signal, and determining whether the second decoded signal is decoded correctly.
Here, the vehicle control terminal may obtain the check information from the second decoded signal after obtaining the second decoded signal, and determine that the decoding is correct when determining that the obtained check information is the same as the preset check information.
And finally, when the second decoding signal is decoded correctly, determining that the target control signal is correct.
After the vehicle is controlled, vehicle state information including a fifth time when the vehicle state information is generated may be acquired, and the vehicle state information is sent to the control base station, so that the control base station determines that the vehicle state information within a second preset time is target state information according to the fifth time, and sends the target state information to the user terminal, so that the user terminal displays the target state information according to the fifth time in a time sequence.
The vehicle state information may include, but is not limited to, a speed, an acceleration, an operation state of a driving control device, an operation state of a vehicle component, and the like of the vehicle. The vehicle Control terminal may acquire the state information of the vehicle by sensors mounted at various positions and various devices of the vehicle or by reading related information in an ECU (Electronic Control Unit) of the vehicle.
By the method, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and the control signal can be correctly executed according to the time sequence according to the time included in the control signal, so that the problem of signal execution errors caused by disorder of control signal transmission is avoided, the vehicle test efficiency is improved, and the correctness of a vehicle test result is improved.
FIG. 3 is a flowchart illustrating a method of controlling a vehicle, as shown in FIG. 3, according to another exemplary embodiment, including:
s301, controlling a base station to acquire a detection signal sent by a user terminal, wherein the detection signal comprises a first time when the detection signal is generated.
In this step, a plurality of detection signals within a preset time period may be acquired, and each detection signal includes a first time at which the detection signal is generated.
S302, the base station is controlled to determine the detection signal within a first preset time as the first target detection signal from the detection signals according to the first time.
For example, the driver inputs a first group of first target detection signals to the control base station in a first time period, and inputs a second group of first target detection signals to the control base station in a second time period, the first time period is earlier than the second time period, and since there may be a delay phenomenon in the input of the signals, the second group of first target detection signals can be mixed with the first target detection signals in the first group of control signals, in order to ensure that the vehicle control terminal receives the latest detection signals, the first preset time may be set to include the second time period but not include the first time period, and when the second group of detection signals are received, the detection signals in the first preset time may be determined to be the first target control signals, thereby filtering out the detection signals in the first group of detection signals.
And S303, the control base station sends the first target detection signal to the vehicle control terminal.
Among them, the vehicle control terminal may be a driving robot or the like for driving a vehicle.
S304, the vehicle control terminal determines whether a transmission channel with the control base station is reliable or not according to the first target detection signal.
Considering that when the transmission between the control base station and the vehicle control terminal is unreliable, an error occurs in the signal transmission process, so that before the vehicle is controlled, the reliability of the transmission channel can be judged through the step.
In a possible implementation manner, the vehicle control terminal returns the received first target detection signal to the control base station, the control base station receives a detection return signal sent by the vehicle control terminal, the detection return signal comprises a third time, the control base station determines a second target detection signal with a signal identifier identical to that of the first target detection signal from the detection return signal, determines a first detection signal with the third time identical to the first time from the second target detection signal, determines a second detection signal identical to the first target detection signal from the first detection signal, calculates a first quantity proportion of the second detection signal in the first target detection signal, and determines that the control base station and the vehicle control terminal are reliably transmitted when the first quantity proportion is greater than or equal to a first preset proportion threshold value, and sending a reliable notification message to the vehicle control terminal, and the vehicle control terminal determining that the transmission channel is reliable according to the reliable notification message.
In another possible implementation manner, the control base station may encode the first target detection signal to obtain a first encoded signal, and send the first encoded signal to the vehicle control terminal, where the vehicle control terminal decodes the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, determines whether the first decoded signal is decoded correctly when a time delay of the first time is less than or equal to a preset time delay, then determines a second quantity ratio of the first decoded signal decoded correctly in the first target detection signal when the first decoded signal is decoded correctly, and determines that the transmission channel is reliable when the second quantity ratio is greater than or equal to a second preset ratio threshold.
After the vehicle control terminal obtains the first decoding signal, the vehicle control terminal can acquire the verification information from the first decoding signal, and when the acquired verification information is determined to be the same as the preset verification information, the vehicle control terminal determines that the decoding is correct.
S305, the base station is controlled to acquire a target control signal, and the target control signal comprises a second time when the target control signal is generated.
In this step, a target control signal input by the driver through the user terminal may be obtained, where the target control signal includes a second time when the target control signal is generated.
And S306, the control base station sends the target control signal to the vehicle control terminal.
S307, the vehicle control terminal determines whether the target control signal is correct.
In a possible implementation manner, the vehicle control terminal may return the target control signal to the control base station, the control base station receives a control return signal sent by the vehicle control terminal, the control return signal includes a fourth time, and determines whether the control return signal is the same as the target control signal when determining whether the fourth time is the same as the second time, and determines whether the control return signal is the same as the target control signal when the fourth time is the same as the second time, and determines that the target control signal is correct when the control return signal is the same as the target control signal, and sends a correct notification message to the vehicle control terminal, and the vehicle control terminal receives the correct notification message sent by the control base station and determines that the target control signal is correct according to the correct notification message.
In another possible implementation manner, the control base station encodes the target control signal to obtain a second encoded signal, and sends the second encoded signal to the vehicle control terminal, and the vehicle control terminal decodes the second encoded signal to obtain a second decoded signal, and determines whether the second decoded signal is decoded correctly, and when the second decoded signal is decoded correctly, determines that the target control signal is correct.
Here, the vehicle control terminal may obtain the check information from the second decoded signal after obtaining the second decoded signal, and determine that the decoding is correct when determining that the obtained check information is the same as the preset check information.
And S308, when the vehicle control terminal determines that the transmission channel is reliable and the target control signal is correct, controlling the vehicle through the target control signal according to the time sequence of the second time.
In this step, the target control signal of the second time within the third preset time may be determined as a signal to be executed from the target control signals, and the vehicle may be controlled by the signal to be executed in chronological order.
For example, the vehicle control terminal receives two sets of target control signals, wherein the first set of target control signals is transmitted to the vehicle control terminal by the control base station in a first time period, the second set of target control signals is transmitted to the vehicle control terminal by the control base station in a second time period, since there may be a delay in the transmission of the signal, the vehicle control terminal receives the signal, the second set of target control signals can be mixed with the target control signals transmitted by the controlling base station during the first time period, and, therefore, the third preset time may be set to a time period including the second time period but not including the first time period, and, when the second set of target control signals are received, the first target control signal in the third preset time may be determined as a signal to be executed, so as to filter out the target control signal sent by the control base station in the first time period.
After the signals to be executed are determined, they may be arranged in time order and executed in sequence.
S309, the vehicle control terminal acquires vehicle state information.
After controlling the vehicle, vehicle state information including a fifth time when the vehicle state information is generated is acquired, and the vehicle state information is transmitted to the control base station.
The vehicle state information may include, but is not limited to, a speed, an acceleration, an operation state of a driving control device, an operation state of a vehicle component, and the like of the vehicle. The vehicle Control terminal may acquire the state information of the vehicle by sensors mounted at various positions and various devices of the vehicle or by reading related information in an ECU (Electronic Control Unit) of the vehicle.
And S310, the vehicle control terminal sends the vehicle state information to the control base station.
And S311, the control base station determines the vehicle state information in the second preset time as the target state information according to the fifth time.
After the vehicle state information is acquired, the vehicle state information in the second preset time can be determined as the target state information according to the fifth time, so that the control base station is ensured to acquire the latest target signal state information.
And S312, controlling the base station to send the target state information to the user terminal.
And S313, the user terminal displays the target state information according to the fifth time and the time sequence.
After the target state information is determined, the target state information can be sent to the user terminal, so that the user terminal can display the target state information according to the fifth time and the time sequence, the target state information can be visually displayed to the user according to the time sequence, and user experience is improved.
By the method, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and the control signal can be correctly executed according to the time sequence according to the time included in the control signal, so that the problem of signal execution errors caused by disorder of control signal transmission is avoided, the vehicle test efficiency is improved, and the correctness of a vehicle test result is improved.
Fig. 4 is a device for controlling a vehicle according to an embodiment of the present disclosure, and as shown in fig. 4, the device is applied to a control base station, and includes:
a detection signal obtaining module 401, configured to obtain a detection signal, where the detection signal includes a first time when the detection signal is generated.
A detection signal determining module 402, configured to determine a first target detection signal from the detection signals according to the first time.
A first reliability determining module 403, configured to perform transmission channel reliability determination with the vehicle control terminal according to the first target detection signal.
A control signal obtaining module 404, configured to obtain a target control signal, where the target control signal includes a second time when the target control signal is generated.
And a control module 405, configured to send the target control signal to the vehicle control terminal, so that the vehicle control terminal controls the vehicle according to the target control signal in the time sequence of the second time when determining that the transmission channel is reliable.
Optionally, the detection signal determining module 402 is configured to determine, from the detection signals, a detection signal of the first time within a first preset time as the first target detection signal.
Optionally, the first reliability determining module 403 includes:
and the detection signal sending submodule is used for sending the first target detection signal to the vehicle control terminal.
And the detection return signal receiving submodule is used for receiving the detection return signal sent by the vehicle control terminal when the vehicle control terminal returns the received first target detection signal, and the detection return signal comprises a third time.
And the target detection signal determining submodule is used for determining a second target detection signal with the same signal identification as that of the first target detection signal from the detection return signal.
And the first detection signal determining submodule is used for determining the first detection signal of which the third time is the same as the first time from the second target detection signal.
And a second detection signal determination sub-module for determining a second detection signal identical to the first target detection signal from the first detection signal.
And the calculating submodule is used for calculating the first quantity proportion of the second detection signal in the first target detection signal.
And the determining submodule is used for determining that the transmission between the control base station and the vehicle control terminal is reliable when the first quantity ratio is greater than or equal to a first preset ratio threshold value, and sending a reliable notification message to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
Optionally, the first reliability determining module 403 is configured to encode the first target detection signal to obtain a first encoded signal, and send the first encoded signal to the vehicle control terminal, so that the vehicle control terminal decodes the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, determine whether the first decoded signal is decoded correctly when a time delay of the first time is less than or equal to a preset time delay, determine a second quantity ratio of the first decoded signal that is decoded correctly in the first target detection signal when the first decoded signal is decoded correctly, and determine that the transmission channel is reliable when the second quantity ratio is greater than or equal to a second preset ratio threshold.
Optionally, the apparatus further comprises:
and the first correctness judging module is used for carrying out signal correctness qualitative judgment on the vehicle control terminal based on the target control signal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when determining that the target control signal is correct.
Optionally, the first correctness determining module is configured to receive a control return signal sent by the vehicle control terminal when the vehicle control terminal returns the received target control signal, where the control return signal includes a fourth time; determining whether the fourth time is the same as the second time; determining whether the control return signal is the same as the target control signal when the fourth time is the same as the second time; and when the control return signal is the same as the target control signal, determining that the target control signal is correct, and sending a correct notification message to the vehicle control terminal.
Optionally, the first correctness determining module is configured to encode the target control signal to obtain a second encoded signal, and send the second encoded signal to the vehicle control terminal, so that the vehicle control terminal decodes the second encoded signal to obtain a second decoded signal, and determines whether the second decoded signal is decoded correctly, and when the second decoded signal is decoded correctly, determines that the target control signal is correct.
Optionally, the apparatus further comprises:
the state receiving module is used for receiving vehicle state information sent by the vehicle control terminal, wherein the vehicle state information comprises a fifth time when the vehicle state information is generated;
the state determining module is used for determining the vehicle state information in second preset time as target state information according to the fifth time;
and the state sending module is used for sending the target state information to the user terminal so that the user terminal can display the target state information according to the fifth time and the time sequence.
Through the device, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and according to the time included in the control signal, the control signal can be correctly executed according to the time sequence, the problem of signal execution errors caused by disorder of control signal transmission is avoided, when the vehicle test is carried out, the efficiency of the vehicle test is improved, and the correctness of the vehicle test result is increased.
Fig. 5 is a device for controlling a vehicle according to an embodiment of the present disclosure, and as shown in fig. 5, the device is applied to a vehicle control terminal, and includes:
a signal receiving module 501, configured to receive a first target detection signal sent by a control base station after the control base station determines the first target detection signal from the detection signal according to a first time included in the obtained detection signal.
A second reliability determining module 502, configured to determine whether a transmission channel with the control base station is reliable according to the first target detection signal.
A control signal receiving module 503, configured to receive a target control signal sent by the control base station, where the target control signal includes a second time when the target control signal is generated.
And the execution module 504 is used for controlling the vehicle through the target control signal according to the time sequence of the second time when the transmission channel is determined to be reliable.
Optionally, the second reliability determining module 502 is configured to return the first target detection signal to the control base station; when the control base station determines that the transmission channel is reliable according to the returned detection return signal, receiving a reliable notification message sent by the control base station; and determining that the transmission channel is reliable according to the reliable notification message.
Optionally, the second reliability determining module 502 is configured to receive a first coded signal sent by the control base station after the control base station codes the first target detection signal to obtain the first coded signal; decoding the first coded signal to obtain a first decoded signal and a first time of the first target detection signal, and determining whether the first decoded signal is decoded correctly when the time delay of the first time is less than or equal to a preset time delay; when the first decoding signal is correctly decoded, determining a second quantity proportion of the correctly decoded first decoding signal in the first target detection signal; and when the second quantity ratio is greater than or equal to a second preset ratio threshold value, determining that the transmission channel is reliable.
Optionally, the apparatus further comprises:
the second correctness judging module is used for determining whether the target control signal is correct or not;
and the execution module is used for controlling the vehicle through the target control signals according to the second time in a time sequence when the transmission channel is determined to be reliable and the target control signals are correct.
Optionally, the second correctness determining module is configured to return the target control signal to the control base station; when the control base station determines that the target control signal is correct according to the returned control return signal, receiving a correct notification message sent by the control base station; and determining that the target control signal is correct according to the correct notification message.
Optionally, the second correctness determining module is configured to receive a second coding signal sent by the control base station after the control base station codes the target control signal to obtain the second coding signal; decoding the second encoded signal to obtain a second decoded signal; determining whether the second decoded signal is decoded correctly; and when the second decoding signal is decoded correctly, determining that the target control signal is correct.
Optionally, the execution module is configured to determine, from the target control signals, that the target control signal at the second time within a third preset time is a signal to be executed when it is determined that the transmission channel is reliable and the target control signal is correct, and control the vehicle through the signal to be executed in time sequence.
Optionally, the apparatus further comprises:
the state acquisition module is used for acquiring vehicle state information, wherein the vehicle state information comprises a fifth time when the vehicle state information is generated;
and the state transfer module is used for sending the vehicle state information to the control base station so that the control base station determines the vehicle state information in a second preset time as target state information according to the fifth time, and sends the target state information to the user terminal so that the user terminal displays the target state information according to the fifth time and the time sequence.
Through the device, before the vehicle control terminal is controlled, the reliability of the transmission channel between the control base station and the vehicle control terminal is judged, so that when the vehicle control terminal determines that the transmission channel is reliable, the vehicle is controlled according to the control signal sent by the control base station, the reliability of signal transmission is ensured, and according to the time included in the control signal, the control signal can be correctly executed according to the time sequence, the problem of signal execution errors caused by disorder of control signal transmission is avoided, when the vehicle test is carried out, the efficiency of the vehicle test is improved, and the correctness of the vehicle test result is increased.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A method for controlling a vehicle, applied to a control base station, comprising:
acquiring a detection signal, wherein the detection signal comprises a first time when the detection signal is generated;
determining a first target detection signal from the detection signals according to the first time;
judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal;
acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated;
and sending the target control signal to the vehicle control terminal so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the transmission channel is reliable.
2. The method of claim 1, wherein the determining the reliability of the transmission channel with the vehicle control terminal according to the first target detection signal comprises:
sending the first target detection signal to the vehicle control terminal;
when the vehicle control terminal returns the received first target detection signal, receiving a detection return signal sent by the vehicle control terminal, wherein the detection return signal comprises a third time;
determining a second target detection signal having a signal identification identical to the signal identification of the first target detection signal from the detection return signal;
determining a first detection signal having the third time identical to the first time from the second target detection signal;
determining a second detection signal identical to the first target detection signal from the first detection signal;
calculating a first quantity proportion of the second detection signal in the first target detection signal;
and when the first quantity ratio is greater than or equal to a first preset ratio threshold value, determining that the transmission between the control base station and the vehicle control terminal is reliable, and sending a reliable notification message to the vehicle control terminal, so that the vehicle control terminal determines that the transmission channel is reliable according to the reliable notification message.
3. The method of claim 1, wherein the determining the reliability of the transmission channel with the vehicle control terminal according to the first target detection signal comprises:
the first target detection signal is encoded to obtain a first encoded signal, the first encoded signal is sent to the vehicle control terminal, so that the vehicle control terminal can decode the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal, whether the first decoded signal is decoded correctly or not is determined when the time delay of the first time is less than or equal to a preset time delay, a second quantity proportion occupied by the first decoded signal which is decoded correctly in the first target detection signal is determined when the first decoded signal is decoded correctly, and the transmission channel is determined to be reliable when the second quantity proportion is greater than or equal to a second preset proportion threshold.
4. The method of claim 1, wherein after transmitting the target control signal to the vehicle control terminal, the method further comprises:
and the vehicle control terminal carries out signal correctness qualitative judgment based on the target control signal, so that the vehicle control terminal controls the vehicle through the target control signal according to the time sequence of the second time when determining that the target control signal is correct.
5. A method for controlling a vehicle, applied to a vehicle control terminal, includes:
after determining a first target detection signal from the detection signals at a first time included by the obtained detection signals, the control base station receives the first target detection signal sent by the control base station;
determining whether a transmission channel with the control base station is reliable or not according to the first target detection signal;
receiving a target control signal sent by the control base station, wherein the target control signal comprises a second time when the target control signal is generated;
and when the transmission channel is determined to be reliable, controlling the vehicle through the target control signal according to the time sequence of the second time.
6. The method of claim 5, wherein the determining whether the transmission channel with the control base station is reliable according to the first target detection signal comprises:
returning the first target detection signal to the control base station;
when the control base station determines that the transmission channel is reliable according to the returned detection return signal, receiving a reliable notification message sent by the control base station;
and determining that the transmission channel is reliable according to the reliable notification message.
7. The method of claim 5, wherein the determining whether the transmission channel with the control base station is reliable according to the first target detection signal comprises:
after the control base station codes the first target detection signal to obtain a first coded signal, receiving the first coded signal sent by the control base station;
decoding the first encoded signal to obtain a first decoded signal and a first time of the first target detection signal;
when the time delay of the first time is less than or equal to a preset time delay, determining whether the first decoding signal is decoded correctly;
when the first decoding signal is correctly decoded, determining a second quantity proportion of the correctly decoded first decoding signal in the first target detection signal;
and when the second quantity proportion is greater than or equal to a second preset proportion threshold value, determining that the transmission channel is reliable.
8. The method of claim 5, wherein prior to controlling the vehicle via the target control signal in chronological order of the second time, the method further comprises:
determining whether the target control signal is correct;
the controlling the vehicle by the target control signal in the time sequence of the second time includes:
and when the target control signal is correct, controlling the vehicle through the target control signal according to the second time in a time sequence.
9. An apparatus for controlling a vehicle, applied to a control base station, comprising:
a detection signal acquisition module, configured to acquire a detection signal, where the detection signal includes a first time when the detection signal is generated;
a detection signal determination module for determining a first target detection signal from the detection signals according to the first time;
the first reliability judgment module is used for judging the reliability of a transmission channel according to the first target detection signal and the vehicle control terminal;
the control signal acquisition module is used for acquiring a target control signal, wherein the target control signal comprises a second time when the target control signal is generated;
and the control module is used for sending the target control signal to the vehicle control terminal so that the vehicle control terminal can control the vehicle through the target control signal according to the time sequence of the second time when the vehicle control terminal determines that the transmission channel is reliable.
10. An apparatus for controlling a vehicle, applied to a vehicle control terminal, comprising:
the signal receiving module is used for receiving a first target detection signal sent by the control base station after the control base station determines the first target detection signal from the detection signal according to the first time included by the obtained detection signal;
the second reliability judging module is used for determining whether a transmission channel with the control base station is reliable or not according to the first target detection signal;
a control signal receiving module, configured to receive a target control signal sent by the control base station, where the target control signal includes a second time when the target control signal is generated;
and the execution module is used for controlling the vehicle through the target control signal according to the time sequence of the second time when the transmission channel is determined to be reliable.
CN201811409849.9A 2018-11-23 2018-11-23 Method and device for controlling vehicle Pending CN111216661A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811409849.9A CN111216661A (en) 2018-11-23 2018-11-23 Method and device for controlling vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811409849.9A CN111216661A (en) 2018-11-23 2018-11-23 Method and device for controlling vehicle

Publications (1)

Publication Number Publication Date
CN111216661A true CN111216661A (en) 2020-06-02

Family

ID=70828662

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811409849.9A Pending CN111216661A (en) 2018-11-23 2018-11-23 Method and device for controlling vehicle

Country Status (1)

Country Link
CN (1) CN111216661A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108025692A (en) * 2015-10-01 2018-05-11 奥迪股份公司 The operating status of the operating status of motor vehicle and the equipment of outside vehicle couples
DE102016223788A1 (en) * 2016-11-30 2018-05-30 Bayerische Motoren Werke Aktiengesellschaft System and method for remote control of a vehicle
CN108200553A (en) * 2018-01-31 2018-06-22 中国联合网络通信集团有限公司 A kind of vehicle-mounted communication method and system
CN108696335A (en) * 2017-04-10 2018-10-23 华为技术有限公司 Transmission method, transmitting terminal and receiving terminal
CN108809484A (en) * 2017-04-28 2018-11-13 华为技术有限公司 A kind of indicating means of channel status, device and the network equipment

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108025692A (en) * 2015-10-01 2018-05-11 奥迪股份公司 The operating status of the operating status of motor vehicle and the equipment of outside vehicle couples
DE102016223788A1 (en) * 2016-11-30 2018-05-30 Bayerische Motoren Werke Aktiengesellschaft System and method for remote control of a vehicle
CN108696335A (en) * 2017-04-10 2018-10-23 华为技术有限公司 Transmission method, transmitting terminal and receiving terminal
CN108809484A (en) * 2017-04-28 2018-11-13 华为技术有限公司 A kind of indicating means of channel status, device and the network equipment
CN108200553A (en) * 2018-01-31 2018-06-22 中国联合网络通信集团有限公司 A kind of vehicle-mounted communication method and system

Similar Documents

Publication Publication Date Title
CN101236523B (en) Input method test method and device
CN103559640A (en) Vehicle-mounted terminal, electronic mall platform, vehicle-mounted electronic shopping system and shopping method
CN112583878B (en) Vehicle information checking method, device, equipment and medium
CN112181752B (en) Vehicle bus test method and device, electronic equipment and readable storage medium
CN108171969B (en) Solution and device for checking a sensor system for detecting the occupancy state of a parking space in terms of errors
EP2966887A1 (en) Data processing method, coordinator, and node device
CN106546252B (en) Navigation method and device
CN116841874A (en) Test method and device for unified diagnosis service function, storage medium and electronic equipment
CN111216661A (en) Method and device for controlling vehicle
KR100224386B1 (en) Radio station and signal transceiving method
CN109955850B (en) Vehicle and recording method and system of self-adaptive cruise track of vehicle
CN112994804A (en) Rocket telemetry data processing method and device, electronic equipment and storage medium
CN112889035B (en) Test method, test device and terminal equipment
CN111585844B (en) Test method, system, server and storage medium based on verification code
CN114128238B (en) Device and method for interactive communication of vehicle-to-external information
CN107888326B (en) Data transmission method and device
CN108068733B (en) Information configuration method and device and computer readable storage medium
CN113844315B (en) Method, device, medium, electronic equipment and server for acquiring battery pack information
CN104244185A (en) Travel information prompting method and device and mobile terminal
CN115243196B (en) Method, device, equipment and medium for determining indoor navigation beacon data
CN114185805A (en) Embedded point verification method, device, equipment and storage medium
CN112698366A (en) Frame synchronization method for satellite positioning receiver
CN1774884A (en) Method to decode a data string
US5369644A (en) Method for testing a communication system using canned speech
CN103136448A (en) Method and system for measuring data processing accuracy and data processing method and system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
AD01 Patent right deemed abandoned
AD01 Patent right deemed abandoned

Effective date of abandoning: 20220802