CN111459147A - Vehicle control system and method and vehicle - Google Patents
Vehicle control system and method and vehicle Download PDFInfo
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- CN111459147A CN111459147A CN201910054712.4A CN201910054712A CN111459147A CN 111459147 A CN111459147 A CN 111459147A CN 201910054712 A CN201910054712 A CN 201910054712A CN 111459147 A CN111459147 A CN 111459147A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
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Abstract
The embodiment of the invention provides a vehicle control system and method and a vehicle. The system comprises: the device comprises a main controller, a video display module and at least two control modules; the main controller is used for receiving video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmitting the video data to the video display module, and controlling the video display module to display a video according to the video data; the master controller is further configured to: and receiving the control signal detected by the control module, sending the control signal to the control terminal of the target vehicle, and enabling the control terminal to forward the control signal to the vehicle controller of the target vehicle. The embodiment of the invention solves the problem that the existing automatic driving technology can not be used for driving continuously due to the fact that the vehicle can not process the existing automatic driving technology.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle networking, in particular to a vehicle control system and method and a vehicle.
Background
With the development of automobile technology, automatic driving becomes an important trend in the current development of automobile technology. The automatic driving is a technology for automatically and safely operating a motor vehicle by controlling the motor vehicle through calculation without the active operation of a driver. The automatic driving is a comprehensive technology integrating a plurality of technologies such as wireless network communication, automatic control, an architecture, artificial intelligence and visual computation, is a product of high development of the technologies such as computer science, mode recognition and intelligent control, and has wide application prospect.
However, the research of autopilot technology is not possible to do all at once, and remains at a more general level for a long time; for example, in the existing automatic driving technology, there are often situations that the vehicle cannot handle, such as identifying rough terrain and dealing with extreme weather, that is, the situation that the vehicle cannot make an autonomous decision and turn to the driver still exists in the existing automatic driving automobile. Therefore, as a supplementary technique to the automatic driving transition phase, a remote driving technique is produced.
Disclosure of Invention
The embodiment of the invention provides a vehicle control system and method and a vehicle, and aims to solve the problem that the vehicle cannot continuously run due to the fact that the vehicle cannot handle the situation frequently in the existing automatic driving technology.
In one aspect, an embodiment of the present invention provides a vehicle control system, where the system includes:
the device comprises a main controller, a video display module and at least two control modules;
the main controller is used for receiving video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmitting the video data to the video display module, and controlling the video display module to display a video according to the video data;
the master controller is further configured to: and receiving the control signal detected by the control module, sending the control signal to the control terminal of the target vehicle, and enabling the control terminal to forward the control signal to the vehicle controller of the target vehicle.
In another aspect, an embodiment of the present invention further provides a vehicle, including: the system comprises a vehicle controller, an in-vehicle controller, a video acquisition terminal and at least two control terminals;
the video acquisition terminal receives video data acquired by video acquisition equipment arranged at a preset position of a vehicle body of the vehicle and sends the video data to a vehicle control system in remote communication with the vehicle;
the vehicle control system comprises at least two control modules;
the control terminal is used for receiving the control signal from the control module forwarded by the vehicle control system and forwarding the control signal to the vehicle controller;
and the vehicle controller is used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
On the other hand, the embodiment of the invention also provides a vehicle control method, which is applied to the vehicle control system, and the method comprises the following steps:
the method comprises the steps that a main controller for controlling the vehicle control system receives video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmits the video data to a video display module of the vehicle control system, and controls the video display module to display videos according to the video data;
and
and controlling the main controller to receive a control signal detected by a control module of the vehicle control system, and sending the control signal to a control terminal of the target vehicle, so that the control terminal forwards the control signal to a vehicle controller of the target vehicle.
On the other hand, the embodiment of the invention also provides a vehicle control method, which is applied to the vehicle and comprises the following steps:
the method comprises the steps that a video acquisition terminal for controlling the vehicle receives video data acquired by video acquisition equipment arranged at a preset position of a vehicle body of the vehicle, and sends the video data to a vehicle control system in remote communication with the vehicle;
and
the control terminal for controlling the vehicle receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller of the vehicle; the vehicle control system comprises at least two of the control modules;
and controlling the vehicle controller to be used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
In another aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, a bus, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the vehicle control method when executing the program.
In still another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps in the vehicle control method.
The vehicle control system, the vehicle control method and the vehicle provided by the embodiment of the invention are characterized in that the main controller is used for receiving video data at a preset position of a vehicle body of a target vehicle and controlling the video display module to display a video so that a driver controls the control module according to the video, the main controller sends a control signal to a control terminal of the target vehicle after receiving the control signal detected by the control module, the control terminal forwards the control signal to a vehicle controller of the target vehicle, the vehicle controller finally forwards the control signal to a corresponding in-vehicle controller, and the in-vehicle controller executes a corresponding control instruction to realize remote driving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a vehicle control system provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first example of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second example of embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle provided by an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a vehicle control method according to an embodiment of the present invention;
FIG. 6 is a second schematic flow chart of a vehicle control method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "an embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrase "in an embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
Fig. 1 shows a schematic structural diagram of a vehicle control system according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a vehicle control system including: the device comprises a main controller, a video display module and at least two control modules; as shown in fig. 1, the control modules include a control module 1, a control module 2, … …, and a control module n.
The system can be connected with a plurality of vehicles in a remote communication mode and used for remotely controlling the vehicles, specifically, the communication medium can be an internet of vehicles (L ong Term Based Vehicle To external information Exchange, L ET-V) or a fifth Generation mobile communication technology (5th Generation, 5G) network, and a high-reliability, low-delay and high-bandwidth wireless access mode is realized through a L ET-V network or a 5G network.
Specifically, as a first example, referring to fig. 2, the vehicle shown in fig. 2 is a target vehicle; the main controller is used for receiving video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmitting the video data to the video display module, and controlling the video display module to display videos according to the video data.
The preset position of the vehicle body can be the front part of the vehicle body, the inside of a vehicle cab, the global view angle of the top of the vehicle or the tail part of the vehicle body; the target vehicle can acquire video data by installing video acquisition equipment at a preset position of a vehicle body and transmit the video data to the main controller; and after receiving the video data of the target vehicle, the main controller transmits the video data to the video display module and further controls the video display module to display the video according to the user instruction. As an implementation mode, the video display module and the at least two control modules can form a remote control cabin for a driver to remotely drive a vehicle; and the video display module provides multi-path video display. The control module includes: the system comprises a steering wheel module, an accelerator pedal module, a brake pedal module and/or a gear device module, wherein each control module is the same as an in-vehicle controller of an entity in a target vehicle, and the in-vehicle controllers are controllers such as a steering wheel, an accelerator pedal and a brake pedal; the driver can operate the control module in real time according to the video, and when the system transmits the control signal to the in-vehicle controller, the system is equivalent to the driver operating the in-vehicle controller on the spot.
Further, the main controller is also used for: and receiving the control signal detected by the control module, sending the control signal to the control terminal of the target vehicle, and enabling the control terminal to forward the control signal to the vehicle controller of the target vehicle.
When a driver operates the control module, the main controller sends a control signal to a control terminal of a target vehicle after detecting the control signal; the control terminal is a module which is communicated with the main controller in the target vehicle.
The control terminal transmits the control signal to the vehicle controller, the vehicle controller forwards the control signal to the corresponding in-vehicle controller after receiving the control signal, and the in-vehicle controller executes a corresponding control instruction to realize remote driving.
As a second example, referring to fig. 3, the vehicle shown in fig. 3 is a target vehicle, taking the steering wheel operation as an example, the main controller acquires a first control signal detected by a steering wheel module as a control module, and the main controller sends the first control signal to a steering wheel terminal as a control terminal in the target vehicle.
And after receiving the first control signal, the steering wheel terminal transmits the first control signal to the vehicle controller, and then the first control signal is transmitted to the steering wheel controller serving as an in-vehicle controller by the vehicle controller, so that the steering wheel is controlled remotely finally. In this way, if a situation that the vehicle cannot handle occurs during the automatic driving, the problem is solved by remote driving.
In the embodiment of the invention, the main controller is used for receiving video data at the preset position of the body of the target vehicle and controlling the video display module to display videos, so that a driver controls the control module according to the videos, the main controller sends the control signal to the control terminal of the target vehicle after receiving the control signal detected by the control module, so that the control terminal forwards the control signal to the vehicle controller of the target vehicle, the vehicle controller finally forwards the control signal to the corresponding in-vehicle controller, and the in-vehicle controller executes the corresponding control instruction to realize remote driving.
Optionally, in the foregoing embodiment of the present invention, after receiving the video data, the main controller decodes the video data according to a preset decoding manner and transmits the decoded video data to the video display module.
Optionally, the preset decoding mode can be an H.265 video coding and decoding framework and comprises modes of intra-frame prediction, inter-frame prediction, a deblocking filter, entropy coding and decoding and the like, high-definition video transmission in front of a target vehicle, in the vehicle and behind the vehicle and high-speed and low-packet loss rate coding and decoding are achieved, the video is guaranteed to be transmitted clearly and smoothly in an L TE-V network or a 5G network, and optionally, a vehicle control system can acquire multi-channel video information through a 5G enhanced bandwidth slice.
Optionally, in the foregoing embodiment of the present invention, after receiving the control signal, the main controller encodes the control signal according to a preset quantization encoding manner, and sends the encoded control signal to the control terminal through a preset network.
Meanwhile, after receiving the control signal, the main controller carries out quantization coding on the control signal to form vehicle operation control information, namely the coded control signal; and control information can be transmitted to the control terminal through the 5G network ultra-low delay slice.
Optionally, taking the 5G network as an example, the vehicle control system accesses the 5G network ultra-low delay network slice and the 5G network enhanced bandwidth slice through the dedicated line, respectively, and transmits the control signal and the video data to the user.
As an example, the vehicle control system comprises a plurality of video display modules, a seat, a steering wheel, a throttle brake and other control modules, and the driver can complete the vehicle control intention through the video information and the control modules. When a driver sits on the seat, the steering wheel, the brake, the accelerator and the gear can be controlled according to the real vehicle road video on the video display module, and the vehicle can remotely respond to the intention of the driver and finish the actions of starting, accelerating, decelerating, stopping, going straight, turning, backing and the like.
In the embodiment of the invention, the main controller is used for receiving video data at the preset position of the body of the target vehicle and controlling the video display module to display videos, so that a driver controls the control module according to the videos, the main controller sends the control signal to the control terminal of the target vehicle after receiving the control signal detected by the control module, so that the control terminal forwards the control signal to the vehicle controller of the target vehicle, the vehicle controller finally forwards the control signal to the corresponding in-vehicle controller, and the in-vehicle controller executes the corresponding control instruction to realize remote driving, and the driving process is easy to realize.
Having described the vehicle control system according to the embodiment of the present invention, a vehicle according to the embodiment of the present invention will be described with reference to the drawings.
Referring to fig. 4, an embodiment of the present invention provides a vehicle including: the system comprises a vehicle controller, an in-vehicle controller, a video acquisition terminal and at least two control terminals, wherein the control terminals are a control terminal 1, a control terminal 2 and a control terminal … respectively;
the communication medium of the vehicle and the vehicle control system can be L ET-V network or 5G network, and a wireless access mode with high reliability, low time delay and high bandwidth is realized through L ET-V network or 5G network.
Referring to fig. 2, the video acquisition terminal receives video data acquired by video acquisition equipment arranged at a preset position of the vehicle body and sends the video data to a vehicle control system in remote communication with the vehicle; the preset position of the vehicle body can be the front part of the vehicle body, the vehicle cockpit, the global view angle of the top of the vehicle or the tail part of the vehicle body; the vehicle can collect video data by installing video collecting equipment at a preset position of a vehicle body, and the video data is transmitted to a vehicle control system.
The vehicle control system comprises at least two control modules; wherein, the control module includes: the system comprises a steering wheel module, an accelerator pedal module, a brake pedal module and/or a gear device module, wherein each control module is the same as an in-vehicle controller of an entity in a target vehicle, and the in-vehicle controllers are controllers such as a steering wheel, an accelerator pedal and a brake pedal; the driver can operate the control module in real time according to the video, and when the system transmits the control signal to the in-vehicle controller, the system is equivalent to the driver operating the in-vehicle controller on the spot.
Specifically, the control terminal is used for receiving a control signal from the control module forwarded by the vehicle control system and forwarding the control signal to the vehicle controller;
and the vehicle controller is used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
The control terminal receives the control signal through an L ET-V network or a 5G network and transmits the control signal to the Vehicle controller, optionally, the Vehicle controller can be a Vehicle Control Unit (VCU), and after receiving the control signal, the Vehicle controller transmits the control signal to the Vehicle controller corresponding to the control terminal, and the Vehicle controller executes a corresponding control instruction to realize remote driving.
Specifically, referring to fig. 3, taking the operation of a steering wheel as an example, when a main controller of a vehicle remote operation system acquires a first control signal detected by a steering wheel module serving as a control module, the main controller sends the first control signal to a steering wheel terminal serving as a control terminal in a vehicle.
And after receiving the first control signal, the steering wheel terminal transmits the first control signal to the vehicle controller, and then the first control signal is transmitted to the steering wheel controller serving as an in-vehicle controller by the vehicle controller, so that the steering wheel is controlled remotely finally.
In the embodiment of the invention, the video data collected by the video collecting equipment arranged at the preset position of the vehicle body is received through the video collecting terminal and is sent to the vehicle control system in remote communication with the vehicle, so that a driver controls the control module of the vehicle control system according to the video, the control terminal receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller, and the vehicle controller finally forwards the control signal to the corresponding in-vehicle controller, and the in-vehicle controller executes the corresponding control instruction to realize remote driving, and the driving process is easy to realize.
Optionally, in the foregoing embodiment of the present invention, the in-vehicle controller includes: a controller area network, CAN, device and a telematics unit, TBOX, device; among them, a Controller Area Network (CAN) is an international standardized serial communication protocol. The Telematics processor is Telematics BOX, abbreviated as TBOX.
The CAN equipment is used for receiving the control signal, specifically communicating with a vehicle control system in a User Datagram Protocol (UDP) mode, converting the control signal into a CAN signal and then transmitting the CAN signal to the TBOX equipment;
and the TBOX equipment carries out preset data processing on the CAN signal, the preset data processing comprises filtering and range control, and the processed signal is sent to the in-vehicle controller so as to control the behavior of the vehicle.
Optionally, in the above embodiment of the present invention, when the control signal is a vehicle speed signal, and the vehicle controller is configured to detect that the control signal is higher than a preset vehicle speed threshold, send the preset vehicle speed threshold to the in-vehicle controller as the control signal.
When the control signal is higher than the preset vehicle speed threshold value, the preset vehicle speed threshold value is sent to the in-vehicle controller as the control signal, namely, in order to realize safety control, the highest vehicle speed is limited by the preset vehicle speed threshold value when the vehicle runs.
The vehicle controller can also set a maximum speed keeping function to control the vehicle to run according to the maximum speed. And the safety control function of the steering wheel and the pedal when the vehicle runs is realized, and the steering wheel and the pedal in the vehicle are locked when the remote control is received, so that the situation that the driving safety is influenced by people in the vehicle by accident is avoided.
The vehicle controller can also set the switching function of the priority control between the driver and the remote vehicle control, and the control of the driver is prioritized under the normal condition; in the special mode, the remote vehicle control priority can be set.
Optionally, in the embodiment of the present invention, after receiving the video data, the video capture terminal encodes the video data according to a preset encoding mode, and sends the encoded video data to the vehicle control system.
The video control system comprises a video acquisition terminal, a video acquisition device, a Bit rate (Bit rate), a Real-time transport Protocol (RTP) and a vehicle control system, wherein the video acquisition terminal is connected to the video acquisition device through a network cable, the video acquisition device acquires videos in front of a vehicle, in the vehicle and behind the vehicle, the video format has a Resolution (Resolution) of 1280 × 720P, a Frame Per Second (FPS) of a picture is 25, the Bit rate (Bit rate) is 12 Mbps), and the video is transmitted to the vehicle control system in a Real-time streaming Protocol (RTSP) stream mode after being encapsulated into an RTP data packet through the Real-time transport Protocol (RTP).
And after receiving the video data, the video acquisition terminal firstly encodes the video data according to a preset encoding mode, wherein the preset encoding mode can be in a form of an H.265 video encoding and decoding architecture and comprises modes of intra-frame prediction, inter-frame prediction, a deblocking filter, entropy coding and the like.
Optionally, in the above embodiment of the present invention, the vehicle further includes: a wireless signal repeater; alternatively, the wireless signal repeater may be mounted on the roof of a vehicle and may amplify the network signal if necessary to optimize the wireless environment.
In the embodiment of the invention, the video data collected by the video collecting equipment arranged at the preset position of the vehicle body is received through the video collecting terminal and is sent to the vehicle control system in remote communication with the vehicle, so that a driver controls the control module of the vehicle control system according to the video, the control terminal receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller, the vehicle controller finally forwards the control signal to the corresponding in-vehicle controller, the in-vehicle controller executes the corresponding control instruction to realize remote driving, and the driving process is easy to realize.
Having described the vehicle control system and the vehicle according to the embodiments of the present invention, the vehicle control method according to the embodiments of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 5, an embodiment of the present invention provides a vehicle control method, which is applied to the vehicle control system, and the method includes:
The system can be in remote communication connection with a plurality of vehicles and is used for remotely controlling the vehicles, specifically, the communication medium can be L ET-V or 5G network, and a wireless access mode with high reliability, low time delay and high bandwidth is realized through L ET-V network or 5G network.
The preset position of the vehicle body can be the front part of the vehicle body, the inside of a vehicle cab, the global view angle of the top of the vehicle or the tail part of the vehicle body; the target vehicle can acquire video data by installing video acquisition equipment at a preset position of a vehicle body and transmit the video data to the main controller; with reference to fig. 1, after receiving the video data of the target vehicle, the main controller transmits the video data to the video display module, and further controls the video display module to display a video according to a user instruction. As an implementation mode, the video display module and the at least two control modules can form a remote control cabin for a driver to remotely drive a vehicle; the video display module provides multi-channel video display; the control module includes: the system comprises a steering wheel module, an accelerator pedal module, a brake pedal module and/or a gear device module, wherein each control module is the same as an in-vehicle controller of an entity in a target vehicle, and the in-vehicle controllers are controllers such as a steering wheel, an accelerator pedal and a brake pedal; the driver can operate the control module in real time according to the video, and when the system transmits the control signal to the in-vehicle controller, the system is equivalent to the driver operating the in-vehicle controller on the spot.
And
When a driver operates the control module, the main controller sends a control signal to a control terminal of a target vehicle after detecting the control signal; the control terminal is a module which is communicated with the main controller in the target vehicle.
The control terminal transmits the control signal to the vehicle controller, the vehicle controller forwards the control signal to the corresponding in-vehicle controller after receiving the control signal, and the in-vehicle controller executes a corresponding control instruction to realize remote driving.
In the embodiment of the invention, the main controller for controlling the vehicle control system receives the video data at the preset position of the body of the target vehicle in remote communication with the vehicle control system, transmits the video data to the video display module of the vehicle control system, and controls the video display module to display videos according to the video data, so that a driver controls the control module according to the videos, the main controller is controlled to receive the control signal detected by the control module of the vehicle control system and send the control signal to the control terminal of the target vehicle, so that the control terminal forwards the control signal to the vehicle controller of the target vehicle, and the vehicle controller finally forwards the control signal to the corresponding in-vehicle controller, and the in-vehicle controller executes a corresponding control instruction, so that remote driving is realized, and the driving process is easy to realize.
Referring to fig. 6, an embodiment of the present invention provides a vehicle control method, which is applied to the vehicle, and includes:
The communication medium of the vehicle and the vehicle control system can be L ET-V network or 5G network, and a wireless access mode with high reliability, low time delay and high bandwidth is realized through L ET-V network or 5G network.
The preset position of the vehicle body can be the front part of the vehicle body, the vehicle cockpit, the global view angle of the top of the vehicle or the tail part of the vehicle body; the vehicle can collect video data by installing video collecting equipment at a preset position of a vehicle body, and the video data is transmitted to a vehicle control system.
And
Wherein, the control module includes: the system comprises a steering wheel module, an accelerator pedal module, a brake pedal module and/or a gear device module, wherein each control module is the same as an in-vehicle controller of an entity in a target vehicle, and the in-vehicle controllers are controllers such as a steering wheel, an accelerator pedal and a brake pedal; the driver can operate the control module in real time according to the video, and when the system transmits the control signal to the in-vehicle controller, the system is equivalent to the driver operating the in-vehicle controller on the spot.
The control terminal receives the control signal via the L ET-V network or the 5G network and transmits the control signal to the vehicle controller, which may alternatively be a VCU.
And after receiving the control signal, the vehicle controller controls the vehicle controller to transmit the control signal to the in-vehicle controller corresponding to the control terminal, and the in-vehicle controller executes a corresponding control instruction to realize remote driving.
In the embodiment of the invention, the video data collected by the video collecting equipment arranged at the preset position of the vehicle body is received by the video collecting terminal for controlling the vehicle, the video data is sent to the vehicle control system in remote communication with the vehicle, so that a driver controls the control module of the vehicle control system according to the video, the control terminal for controlling the vehicle receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller of the vehicle, the vehicle controller is controlled to send the control signal to the in-vehicle controller corresponding to the control terminal, and the in-vehicle controller executes the corresponding control instruction to realize remote driving, and the driving process is easy to realize.
Fig. 7 is a schematic structural diagram of an electronic device according to yet another embodiment of the present invention.
As shown in fig. 7, the electronic device may include: a processor (processor)710, a communication Interface (Communications Interface)720, a memory (memory)730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may call logic instructions in memory 730 to perform the following method:
the method comprises the steps that a main controller for controlling the vehicle control system receives video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmits the video data to a video display module of the vehicle control system, and controls the video display module to display videos according to the video data;
and
and controlling the main controller to receive a control signal detected by a control module of the vehicle control system, and sending the control signal to a control terminal of the target vehicle, so that the control terminal forwards the control signal to a vehicle controller of the target vehicle.
Or
The method comprises the steps that a video acquisition terminal for controlling the vehicle receives video data acquired by video acquisition equipment arranged at a preset position of a vehicle body of the vehicle, and sends the video data to a vehicle control system in remote communication with the vehicle;
and
the control terminal for controlling the vehicle receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller of the vehicle; the vehicle control system comprises at least two of the control modules;
and controlling the vehicle controller to be used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products.
In another embodiment of the present invention, a non-transitory computer-readable storage medium is provided, where a computer program is stored on the non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the steps in the method provided in the foregoing embodiment of the present invention are implemented, and details of the implementation are not repeated.
Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A vehicle control system, characterized by comprising: the device comprises a main controller, a video display module and at least two control modules;
wherein the master controller is configured to: receiving video data at a preset position of a body of a target vehicle in remote communication with the vehicle control system, transmitting the video data to the video display module, and controlling the video display module to display a video according to the video data;
the master controller is further configured to: and receiving the control signal detected by the control module, sending the control signal to the control terminal of the target vehicle, and enabling the control terminal to forward the control signal to the vehicle controller of the target vehicle.
2. The system of claim 1, wherein the main controller decodes the video data according to a preset decoding method after receiving the video data and transmits the decoded video data to the video display module.
3. The system according to claim 1, wherein the main controller encodes the control signal according to a predetermined quantization encoding method after receiving the control signal, and transmits the encoded control signal to the control terminal via a predetermined network.
4. The system of claim 1, wherein the control module comprises: a steering wheel module, an accelerator pedal module, a brake pedal module, and/or a shifter module.
5. A vehicle, characterized by comprising: the system comprises a vehicle controller, an in-vehicle controller, a video acquisition terminal and at least two control terminals;
the video acquisition terminal receives video data acquired by video acquisition equipment arranged at a preset position of a vehicle body of the vehicle and sends the video data to a vehicle control system in remote communication with the vehicle;
the vehicle control system comprises at least two control modules;
the control terminal is used for receiving the control signal from the control module forwarded by the vehicle control system and forwarding the control signal to the vehicle controller;
and the vehicle controller is used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
6. The vehicle according to claim 5, characterized in that the in-vehicle controller includes: a controller area network, CAN, device and a telematics unit, TBOX, device;
the CAN equipment is used for receiving the control signal, converting the control signal into a CAN signal and then transmitting the CAN signal to the TBOX equipment;
and the TBOX equipment carries out preset data processing on the CAN signal and sends the CAN signal to the in-vehicle controller.
7. The vehicle of claim 5, wherein when the control signal is a vehicle speed signal, the vehicle controller is configured to send the preset vehicle speed threshold as a control signal to the in-vehicle controller when detecting that the control signal is higher than the preset vehicle speed threshold.
8. The vehicle of claim 5, wherein the video capture terminal encodes the video data according to a preset encoding mode after receiving the video data, and sends the encoded video data to the vehicle control system.
9. The vehicle of claim 5, further comprising: a wireless signal repeater.
10. A vehicle control method applied to the vehicle control system according to any one of claims 1 to 4, characterized by comprising:
the method comprises the steps that a main controller for controlling the vehicle control system receives video data at a preset position of a vehicle body of a target vehicle in remote communication with the vehicle control system, transmits the video data to a video display module of the vehicle control system, and controls the video display module to display videos according to the video data;
and
and controlling the main controller to receive a control signal detected by a control module of the vehicle control system, and sending the control signal to a control terminal of the target vehicle, so that the control terminal forwards the control signal to a vehicle controller of the target vehicle.
11. A vehicle control method applied to a vehicle according to any one of claims 5 to 9, characterized by comprising:
the method comprises the steps that a video acquisition terminal for controlling the vehicle receives video data acquired by video acquisition equipment arranged at a preset position of a vehicle body of the vehicle, and sends the video data to a vehicle control system in remote communication with the vehicle;
and
the control terminal for controlling the vehicle receives the control signal from the control module forwarded by the vehicle control system and forwards the control signal to the vehicle controller of the vehicle; the vehicle control system comprises at least two of the control modules;
and controlling the vehicle controller to be used for sending the control signal to the in-vehicle controller corresponding to the control terminal.
12. An electronic device, characterized by comprising a memory, a processor, a bus and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps in the vehicle control method as claimed in claim 10 or 11.
13. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that: the program, when executed by a processor, implements the steps in the vehicle control method of any one of claims 10 or 11.
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| CN201910054712.4A CN111459147A (en) | 2019-01-21 | 2019-01-21 | Vehicle control system and method and vehicle |
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| CN201910054712.4A CN111459147A (en) | 2019-01-21 | 2019-01-21 | Vehicle control system and method and vehicle |
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