CN111547058A - Vehicle moving assisting method, device and system - Google Patents
Vehicle moving assisting method, device and system Download PDFInfo
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- CN111547058A CN111547058A CN202010402168.0A CN202010402168A CN111547058A CN 111547058 A CN111547058 A CN 111547058A CN 202010402168 A CN202010402168 A CN 202010402168A CN 111547058 A CN111547058 A CN 111547058A
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- vehicle moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
Abstract
The invention relates to a vehicle moving auxiliary method, a device and a system, relating to the field of unmanned vehicles (automatic driving or unmanned driving), wherein the vehicle moving auxiliary method comprises the steps of connecting a vehicle moving device with an automatic driving vehicle to be moved; acquiring a motion representation parameter of the vehicle moving device; the travel parameters of the autonomous vehicle are adjusted according to the motion characterizing parameters. By the technical scheme, the automatic driving vehicle with the fault can be conveniently and visually moved, the structure is simple, the deployment is convenient, the learning cost is not required, the operation is quick, the efficiency is high, and the difficulty of moving the automatic driving vehicle with the fault by personnel or a trailer is favorably reduced.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a vehicle moving assisting method, device and system.
Background
For the automatic driving vehicle modified by the traditional vehicle, the steering wheel, the accelerator brake and other control devices are generally reserved, and when the automatic driving system of the automatic driving vehicle breaks down, a person can take over the automatic driving vehicle to carry out vehicle moving operation. However, the autonomous vehicle is not provided with a steering wheel, an accelerator brake and other control devices corresponding to the autonomous vehicle, and there is no good way to move the autonomous vehicle when the autonomous system of the autonomous vehicle is broken down.
At present, when an automatic driving system of an automatic driving vehicle breaks down, the automatic driving vehicle is remotely controlled by using a handheld remote controller to realize the movement of the automatic driving vehicle when the automatic driving system breaks down, but the receiving end is remotely controlled by using the remote controller, corresponding driving software needs to be installed at the receiving end, the receiving end is needed, namely, an automatic driving operation platform of the automatic driving vehicle does not collapse, when the automatic driving operation platform of the automatic driving vehicle collapses, the mode of remotely controlling the vehicle by using the remote controller is not feasible, and the use scene of remotely controlling the vehicle by using the remote controller is severely limited. In addition, in the process of remotely controlling the automatic driving vehicle by the handheld remote controller, the transverse movement and the longitudinal movement of the automatic driving vehicle are controlled by buttons on the remote controller, however, the difference between the behavior of the vehicle and the experience of people is often large, so that the automatic driving vehicle using the remote controller to control faults runs, a large amount of training needs to be carried out on operators, and the danger coefficient in the vehicle moving process is high.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the disclosure provides a vehicle moving assisting method, device and system, which can conveniently and visually move a faulty automatic driving vehicle, have a simple structure, are convenient to deploy, do not need learning cost, are quick to operate, are high in efficiency, and are beneficial to reducing the difficulty of moving the faulty automatic driving vehicle by personnel or a trailer.
In a first aspect, the present disclosure provides a vehicle moving assisting method, including:
connecting the vehicle moving device with an automatic driving vehicle to be moved;
acquiring a motion representation parameter of the vehicle moving device;
adjusting a travel parameter of the autonomous vehicle according to the motion characterizing parameter.
Optionally, the travel parameter comprises a travel speed and/or a travel direction of the autonomous vehicle.
Optionally, the motion characteristic parameter comprises a force to which the vehicle moving device is subjected;
the adjusting the travel parameter of the autonomous vehicle in accordance with the motion characterizing parameter includes:
and adjusting the traveling speed of the automatic driving vehicle according to the force applied to the vehicle moving device.
Optionally, the adjusting the traveling speed of the autonomous vehicle according to the force received by the vehicle moving device includes:
if the force applied to the vehicle moving device is a pulling force, controlling the automatic driving vehicle to accelerate;
and if the force applied to the vehicle moving device is the retraction force, controlling the automatic driving vehicle to decelerate.
Optionally, the motion characteristic parameter comprises a yaw direction of the vehicle moving device relative to the autonomous vehicle;
the adjusting the travel parameter of the autonomous vehicle in accordance with the motion characterizing parameter includes:
adjusting a turning direction of the autonomous vehicle according to the yaw direction.
Optionally, said adjusting a turning direction of said autonomous vehicle according to said yaw direction comprises:
when the vehicle moving device is judged to deflect leftwards relative to the automatic driving vehicle according to the deflection direction, controlling one end of the automatic driving vehicle, which is provided with the vehicle moving device, to turn leftwards;
and when the vehicle moving device is judged to deflect rightwards relative to the automatic driving vehicle according to the deflection direction, adjusting one end of the automatic driving vehicle, which is provided with the vehicle moving device, to turn rightwards.
In a second aspect, the present disclosure also provides a vehicle moving assist device, including:
the connecting module is used for mechanically connecting the vehicle moving device with the automatic driving vehicle to be moved;
the characterization parameter acquisition module is used for acquiring the motion characterization parameters of the vehicle moving device;
a signal transmission module to transmit the motion characterization parameter to the autonomous vehicle to control travel of the autonomous vehicle.
In a third aspect, the present disclosure further provides a vehicle moving assist system, including:
the vehicle moving device is mechanically connected with the automatic driving vehicle to be moved;
the characteristic parameter detection component is used for detecting the motion characteristic parameters of the vehicle moving device;
and the control component is used for acquiring the motion characterization parameters and adjusting the traveling parameters of the automatic driving vehicle according to the motion characterization parameters.
Optionally, the characterization parameter detection component comprises a force detection component, and the force detection component is used for detecting the force applied to the vehicle moving device;
the control component is specifically used for acquiring the force applied to the vehicle moving device and adjusting the advancing speed of the automatic driving vehicle according to the force applied to the vehicle moving device.
Optionally, the vehicle moving device comprises a pull rod, and one end of the pull rod is mechanically connected with the automatic driving vehicle;
the force detection part comprises an elastic part which is embedded in the pull rod and is connected with the pull rods on two sides.
Optionally, the characteristic parameter detecting component comprises an angle detecting component, and the angle detecting component is used for detecting the deflection direction of the vehicle moving device relative to the automatic driving vehicle;
the control component is specifically configured to acquire the yaw direction and adjust a turning direction of the autonomous vehicle according to the yaw direction.
Optionally, the vehicle moving device comprises a pull rod, one end of the pull rod is rotatably connected with the automatic driving vehicle, and the pull rod can rotate at least along a plane parallel to the traveling direction of the automatic driving vehicle;
the angle detection component is used for detecting the deflection direction of the pull rod relative to the automatic driving vehicle.
Optionally, an interface is arranged on the automatic driving vehicle, the control component is connected with the automatic driving vehicle through the interface, and the control component is used for obtaining electricity from the automatic driving vehicle through the interface and sending an automatic driving vehicle control signal to the automatic driving vehicle through the interface.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the embodiment of the disclosure provides a vehicle moving assisting method, a vehicle moving assisting device and a vehicle moving assisting system, wherein the vehicle moving assisting method comprises the steps of connecting the vehicle moving device with an automatic driving vehicle to be moved, obtaining a motion characteristic parameter of the vehicle moving device, adjusting a traveling parameter of the automatic driving vehicle according to the motion characteristic parameter, utilizing the vehicle moving device to conveniently and intuitively move the failed automatic driving vehicle when the automatic driving system of the automatic driving vehicle crashes, and being simple in structure, convenient to deploy, free of learning cost, fast to operate, high in efficiency, capable of automatically adjusting the traveling parameter of the vehicle according to the motion characteristic parameter of the vehicle moving device, beneficial for achieving the purpose that the failed automatic driving vehicle tracks the motion track of the vehicle moving device in real time, and further reducing the difficulty of personnel or trailers moving the failed automatic driving vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a vehicle moving assisting method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a vehicle moving assisting device provided in the embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a vehicle moving assist system provided in an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a schematic flow chart of a vehicle moving assisting method provided in an embodiment of the present disclosure. The vehicle moving assisting method can be applied to application scenes in which vehicle moving operation needs to be performed on a fault vehicle, and can be executed by the vehicle moving assisting device provided by the embodiment of the disclosure, and the vehicle moving assisting device can be realized in a software and/or hardware mode. As shown in fig. 1, the vehicle moving assist method includes:
and S110, connecting the vehicle moving device with the automatic driving vehicle to be moved.
In particular, for an automatic driving vehicle modified from a traditional vehicle, the steering wheel, the accelerator brake and other operating devices are generally reserved, and when an automatic driving system of the automatic driving vehicle breaks down, a person can take over the automatic driving vehicle to carry out vehicle moving operation. However, the autonomous vehicle is not provided with a steering wheel, an accelerator brake and other control devices corresponding to the autonomous vehicle, and there is no good way to move the autonomous vehicle when the autonomous system of the autonomous vehicle is broken down.
At present, when an automatic driving system of an automatic driving vehicle breaks down, the automatic driving vehicle is remotely controlled by using a handheld remote controller to realize the movement of the automatic driving vehicle when the automatic driving system breaks down, but the receiving end is remotely controlled by using the remote controller, corresponding driving software needs to be installed at the receiving end, the receiving end is needed, namely, an automatic driving operation platform of the automatic driving vehicle does not collapse, when the automatic driving operation platform of the automatic driving vehicle collapses, the mode of remotely controlling the vehicle by using the remote controller is not feasible, and the use scene of remotely controlling the vehicle by using the remote controller is severely limited. In addition, in the process of remotely controlling the automatic driving vehicle by the handheld remote controller, the transverse and longitudinal movements of the automatic driving vehicle are controlled by buttons on the remote controller, however, the behavior of the vehicle and the experience of people often have a large difference.
For example, when the automatic driving vehicle is controlled to suddenly change the driving direction through the remote controller, for example, when the automatic driving vehicle is controlled to suddenly change the direction to the right in the process of driving to the left, a user can pull the button on the remote controller from the left to the right according to experience, but the automatic driving vehicle does not change the direction to the right immediately, but slowly changes the driving direction to the right, so that the risk coefficient of driving of the automatic driving vehicle when moving is increased. For another example, the autonomous vehicle may need to run at a reduced speed during acceleration, and the autonomous vehicle may normally slowly reduce the speed of the autonomous vehicle to a required running speed, but the use of the remote controller may cause the autonomous vehicle to suddenly reduce the speed, resulting in an increased probability of the autonomous vehicle turning forward. Thus, the automatic driving vehicle using the remote controller to control the fault runs, a large amount of training needs to be carried out on operators, and the danger coefficient in the vehicle moving process is high.
This disclosed embodiment is at the in-process of moving the autopilot vehicle of trouble, at first connect move the car device with treat the autopilot vehicle that moves, operating personnel or trailer can move the autopilot vehicle of trouble through moving the car device, the needs that the autopilot vehicle that has effectively avoided using the remote controller remote control trouble leads to carry out a large amount of training to operating personnel, and the higher problem of danger coefficient of move the car process, can conveniently and move the autopilot vehicle of trouble directly perceivedly when the autopilot system of autopilot vehicle collapses, and need not the learning cost, operating personnel is last to be handed soon, it is efficient to move the car.
For example, the vehicle moving device may be mechanically connected to a head of the vehicle to be moved or may be mechanically connected to a tail of the vehicle to be moved, which is not particularly limited in the embodiments of the present disclosure.
And S120, obtaining the motion characterization parameters of the vehicle moving device.
Specifically, when the vehicle moving device moves the faulty autonomous vehicle, the motion characteristic parameter of the vehicle moving device is obtained, and the motion characteristic parameter of the vehicle moving device may be, for example, a parameter capable of directly characterizing the motion state of the vehicle moving device in the process of moving the faulty autonomous vehicle, or may be a parameter capable of indirectly characterizing the motion state of the vehicle moving device in the process of moving the faulty autonomous vehicle.
And S130, adjusting the traveling parameters of the automatic driving vehicle according to the motion representation parameters.
Specifically, after the motion characteristic parameters of the vehicle moving device are acquired, the advancing parameters of the automatic driving vehicle can be automatically adjusted according to the motion characteristic parameters of the vehicle moving device. The travel parameters may comprise, for example, the travel speed and/or the travel direction of the autonomous vehicle, i.e. the travel speed and/or the travel direction of the autonomous vehicle may be adjusted as a function of the motion characterizing parameters of the vehicle-moving device.
Optionally, the motion characteristic parameter may include a force applied to the vehicle moving device, that is, the motion characteristic parameter is a parameter capable of indirectly characterizing a motion state of the vehicle moving device in the process of moving the faulty autonomous vehicle, for example, when the force applied to the vehicle moving device is zero, it indicates that the vehicle moving device is not currently applying a force to the autonomous vehicle to be moved, that is, the vehicle moving device does not pull the faulty autonomous vehicle, and the vehicle moving device may be currently in a stationary state or a constant-speed moving state; for example, if the direction of the force applied to the vehicle moving device is the direction of the vehicle moving device relative to the automatically driven vehicle to be moved, i.e., the force applied to the vehicle moving device is a tensile force, the vehicle moving device is in a state of accelerating movement in the direction of the vehicle moving device relative to the automatically driven vehicle to be moved; for example, the direction of the force applied to the vehicle moving device is the direction of the autonomous vehicle to be moved relative to the vehicle moving device, i.e., the force applied to the vehicle moving device is the retraction force, which indicates that the vehicle moving device is in a state of decelerating movement in the direction of the vehicle moving device relative to the autonomous vehicle to be moved.
The adjustment of the travel parameter of the autonomous vehicle on the basis of the motion characterizing parameter may be the adjustment of the travel speed of the autonomous vehicle on the basis of the force to which the vehicle handling device is subjected, i.e. the travel parameter of the autonomous vehicle may then comprise the travel speed of the autonomous vehicle. Alternatively, adjusting the traveling speed of the autonomous vehicle according to the force applied to the vehicle moving device may include controlling the autonomous vehicle to travel at an accelerated speed if the force applied to the vehicle moving device is a pulling force, and controlling the autonomous vehicle to travel at a decelerated speed if the force applied to the vehicle moving device is a retracting force.
Specifically, if the force applied to the vehicle moving device is a pulling force, it can be determined that the direction of the force is the direction of the vehicle moving device relative to the autonomous vehicle, and the autonomous vehicle is controlled to accelerate in the direction of the vehicle moving device. If the force applied to the vehicle moving device is the retraction force, the direction of the force can be judged to be the direction of the automatic driving vehicle relative to the vehicle moving device, and the automatic driving vehicle is controlled to decelerate along the direction of the vehicle moving device. Specifically, when judging that the power that the device that moves receives is the pulling force, the direction that the device that moves receives promptly is when the device that moves for the direction of the automatic driving vehicle of trouble of moving, explains the device that moves with higher speed to the direction of keeping away from the automatic driving vehicle this moment, can automatic control automatic driving vehicle at this moment along the device place direction of moving with higher speed and travel for the operating personnel or the trailer of pulling the device that moves with less power pulling trouble automatic driving vehicle, and then reduce the degree of difficulty that operating personnel or trailer move the automatic driving vehicle of trouble. When judging that the power that the device that moves received is the power that contracts, the direction that the device that moves receives is when the direction of automated driving vehicle is for the direction of moving the device that moves promptly, it moves to keeping away from the direction speed reduction of automated driving vehicle to move to the device that moves this moment, can automatic control automated driving vehicle at this moment along the direction speed reduction of moving the device place and go for the automated driving vehicle of trouble can keep when the device that moves slows down with the safe distance of the operating personnel or the trailer of pulling the device that moves, improve the security of the process of moving, also can reduce the degree of difficulty that operating personnel or trailer moved the automated driving vehicle of trouble equally.
In addition, the traveling speed of the automatic driving vehicle is adjusted according to the force received by the vehicle moving device, a large amount of training is required to be carried out on an operator due to the fact that the manual remote controller is used for remotely controlling the fault automatic driving vehicle, and the problem that the danger coefficient in the vehicle moving process is high is solved.
Alternatively, the movement characterizing parameter may comprise the direction of deflection of the vehicle moving device relative to the autonomous vehicle, i.e. the movement characterizing parameter is then a parameter which is able to directly characterize the movement state of the vehicle moving device during moving of a faulty autonomous vehicle, the travel parameter of the autonomous vehicle being adjusted in dependence on the movement characterizing parameter, and the direction of turning of the autonomous vehicle being adjusted in dependence on the direction of deflection. Optionally, the turning direction of the autonomous vehicle is adjusted according to the deflection direction, and the end of the autonomous vehicle provided with the vehicle moving device can be controlled to turn left when the vehicle moving device is judged to deflect left relative to the autonomous vehicle according to the deflection direction; and when the vehicle moving device is judged to deflect rightwards relative to the automatic driving vehicle according to the deflection direction, adjusting one end of the automatic driving vehicle, which is provided with the vehicle moving device, to turn rightwards.
Specifically, when it is determined that the vehicle moving device is deflected leftward with respect to the malfunctioning autonomous vehicle, it is indicated that the vehicle moving device intends to pull the autonomous vehicle to turn leftward, and at this time, the end of the malfunctioning autonomous vehicle provided with the vehicle moving device is turned leftward, for example, when the vehicle moving device is connected to a head of the autonomous vehicle, the autonomous vehicle is controlled to turn leftward with respect to a forward direction, and when the vehicle moving device is connected to a tail of the autonomous vehicle, the autonomous vehicle is controlled to turn leftward with respect to a backward direction. When it is determined that the vehicle moving device is deflected to the right with respect to the faulty autonomous vehicle, it indicates that the vehicle moving device intends to pull the autonomous vehicle to turn to the right, and at this time, the end of the autonomous vehicle in which the vehicle moving device is provided is turned to the right, for example, when the vehicle moving device is connected to the head of the autonomous vehicle, the autonomous vehicle is controlled to turn to the right with respect to the forward direction, and when the vehicle moving device is connected to the tail of the autonomous vehicle, the autonomous vehicle is controlled to turn to the right with respect to the backward direction.
Thus, the steering direction of the faulty automatic driving vehicle is controlled by judging the transverse deflection angle of the vehicle moving device, the problem that the faulty automatic driving vehicle needs to be trained greatly and the danger coefficient of the vehicle moving process is high due to the fact that an operator or a trailer of the vehicle moving device can be pulled to rotate with small force so as to reduce the difficulty of the operator or the trailer for moving the faulty automatic driving vehicle is solved, the faulty automatic driving vehicle automatically adjusts the self-turning direction according to the deflection direction of the vehicle moving device relative to the automatic driving vehicle, the vehicle moving device deflects leftwards, the faulty automatic driving vehicle correspondingly turns leftwards, the vehicle moving device deflects rightwards, the faulty automatic driving vehicle correspondingly turns rightwards, and the real-time tracking of the faulty automatic driving vehicle on the traveling direction of the vehicle moving device is realized, the difficulty of operating personnel or a trailer moving a fault vehicle is reduced.
The embodiment of the disclosure also provides a vehicle moving assisting device, and fig. 2 is a schematic structural diagram of the vehicle moving assisting device provided by the embodiment of the disclosure. The vehicle moving device is mechanically connected to the vehicle to be moved, as shown in fig. 2, the vehicle moving assisting device 200 includes a connection module 210, a characteristic parameter obtaining module 220, and a signal sending module 230, the characteristic parameter obtaining module 210 is connected to the traveling parameter adjusting module 220, and the characteristic parameter obtaining module 210 and the traveling parameter adjusting module 220 may be connected by wire or wirelessly. The connection module 210 is used for mechanically connecting the vehicle moving device with the autonomous vehicle to be moved, the characteristic parameter obtaining module 220 is used for obtaining a motion characteristic parameter of the vehicle moving device, and the signal sending module 230 is used for sending the motion characteristic parameter to the autonomous vehicle to control the automatic vehicle to move. The embodiment of the disclosure connects the moving device with the autonomous vehicle to be moved, obtains the motion characteristic parameter of the moving device, and adjusts the traveling parameter of the autonomous vehicle according to the motion characteristic parameter, and the autonomous vehicle with a fault can be conveniently and intuitively moved by using the moving device when the autonomous system of the autonomous vehicle crashes.
The embodiment of the disclosure also provides a vehicle moving auxiliary system, and fig. 3 is a schematic structural diagram of the vehicle moving auxiliary system provided by the embodiment of the disclosure. As shown in fig. 3, the vehicle moving assist device includes a vehicle moving device 31, a characteristic parameter detection unit 32, and a control unit (not shown in fig. 3), the vehicle moving device 31 being mechanically connected to the autonomous vehicle 33 to be moved, the characteristic parameter detection unit 32 being configured to detect a motion characteristic parameter of the vehicle moving device 31, and the control unit being configured to acquire the motion characteristic parameter and adjust a traveling parameter of the autonomous vehicle 33 according to the motion characteristic parameter.
Specifically, when the faulty autonomous vehicle 33 needs to be moved, the vehicle moving device 31 is mechanically connected to the autonomous vehicle 33 to be moved, the characteristic parameter detection unit 32 detects the motion characteristic parameter of the vehicle moving device 31 in real time during the vehicle moving process, and the motion characteristic parameter of the vehicle moving device 31 may be, for example, a parameter capable of directly characterizing the motion state of the vehicle moving device 31 during the moving of the faulty autonomous vehicle 33, or a parameter capable of indirectly characterizing the motion state of the vehicle moving device 31 during the moving of the faulty autonomous vehicle 33. The control unit is connected with the characteristic parameter detection unit 32, for example, the control unit may be connected with the characteristic parameter detection unit 32 by wire, the control unit may also be connected with the characteristic parameter detection unit 32 by wireless, the control unit obtains the motion characteristic parameter of the vehicle moving device 31 detected by the characteristic parameter detection unit 32, and adjusts the traveling parameter of the autonomous vehicle 33 according to the motion characteristic parameter of the vehicle moving device 31, and the traveling parameter of the autonomous vehicle 33 may include, for example, the traveling speed and/or the traveling direction of the autonomous vehicle 33.
Like this, utilize move car device 31 can conveniently and move the automatic driving vehicle 33 of trouble directly perceivedly when the automatic driving system collapse of automatic driving vehicle 33, moreover, the steam generator is simple in structure, it is convenient to arrange, and need not the learning cost, it is fast to go up, high efficiency, and can be according to the parameter of marcing of moving the automatic regulation vehicle of the motion representation parameter of move car device 31, be favorable to realizing that the automatic driving vehicle 33 of trouble trails the motion trail of move car device 31 in real time, and then reduce personnel or the trailer and move the degree of difficulty of the automatic driving vehicle 33 of trouble.
Alternatively, as shown in fig. 3, it may be provided that the characteristic parameter detection means 32 comprise force detection means 34, the force detection means 34 being configured to detect a force to which the vehicle moving device 31 is subjected, and the control means being configured in particular to acquire the force to which the vehicle moving device 31 is subjected and to adjust the speed of travel of the autonomous vehicle 33 in dependence on the force to which the vehicle moving device 31 is subjected.
Specifically, the control unit is connected to the force detection unit 34, for example, the control unit may be connected to the force detection unit 34 by wire, or the control unit may be connected to the force detection unit 34 wirelessly. The motion characteristic parameter may include a force applied to the vehicle moving device 31, the control component may adjust the traveling speed of the autonomous vehicle 33 according to the force applied to the vehicle moving device 31, and may determine that the force applied to the vehicle moving device 31 is a pulling force, that is, when the direction of the force applied to the vehicle moving device 31 is the direction of the vehicle moving device 31 relative to the autonomous vehicle 33, the autonomous vehicle 33 is controlled to accelerate in the direction of the vehicle moving device 31; when the force applied to the vehicle moving device 31 is determined to be the retraction force, that is, the direction applied to the vehicle moving device 31 is the direction of the automatically driven vehicle 33 relative to the vehicle moving device 31, the automatically driven vehicle 33 is controlled to decelerate in the direction of the vehicle moving device 31, so that an operator or a trailer pulling the vehicle moving device 31 can pull the failed automatically driven vehicle 33 with a small force, and the difficulty of the operator or the trailer moving the failed automatically driven vehicle 33 is reduced. In addition, the traveling speed of the automatic driving vehicle 33 is adjusted according to the force received by the vehicle moving device 31, so that the problem that a large amount of training is required to be carried out on an operator due to the fact that the automatic driving vehicle 33 with faults is remotely controlled by a handheld remote controller, and the danger coefficient in the vehicle moving process is high can be effectively avoided, real-time tracking of the automatic driving vehicle 33 with faults on the traveling speed of the vehicle moving device 31 is achieved, and the difficulty of the operator or a trailer for moving the faulty vehicle is reduced.
Alternatively, as shown in fig. 3, the vehicle moving device 31 may include a tie bar 35, one end of the tie bar 35 is mechanically connected to the autonomous vehicle 33, and the force detecting member 34 includes an elastic member embedded in the tie bar 35 and connecting the tie bars 35 on both sides.
Specifically, the vehicle moving device 31 includes a pull rod 35, one end of the pull rod 35 is mechanically connected to the autonomous vehicle 33 to be moved, the pull rod 35 may be mechanically connected to the head of the autonomous vehicle 33 to be moved as shown in fig. 3, and the pull rod 35 may also be mechanically connected to the tail of the autonomous vehicle 33 to be moved. The force detection part 34 includes an elastic part, which may include a spring, for example, and the elastic part is embedded in the pull rod 35 and connected to the pull rods 35 at two sides, for example, one end of the spring is fixedly connected to the pull rod 35 at one side, and the other end of the spring is fixedly connected to the pull rod 35 at the other side.
Illustratively, the end of the pull rod 35, which is not connected to the autonomous driving vehicle 33, may be provided with a pull ring 36, and the pull ring 36 may be fixedly connected to the pull rod 35, or may be integrally formed with the pull rod 35, so as to facilitate an operator or a trailer to pull the entire vehicle moving device 31 through the pull rod 35. When the operator or the trailer pulls the pull rod 35, the force exerted on the elastic component, for example, the spring, can be used to represent the force exerted on the pull rod 35, that is, the force exerted on the vehicle moving device 31, and the force exerted on the vehicle moving device 31 can be detected by detecting the force exerted on the elastic component, for example, the spring. When the direction of the force applied to the spring is the direction of the vehicle moving device 31 relative to the autonomous vehicle 33, that is, the spring is in a stretched state, it indicates that the vehicle moving device 31 is applied with a force in a direction away from the autonomous vehicle 33, and the vehicle moving device 31 moves in an accelerating manner, and at this time, the autonomous vehicle 33 can be controlled to accelerate in the direction of the vehicle moving device 31; when the direction of the force applied to the spring is the direction of the autonomous vehicle 33 relative to the vehicle moving device 31, i.e. the spring is in a compressed state, which means that the vehicle moving device 31 is applied with a force in the direction of the approaching autonomous vehicle 33, the vehicle moving device 31 is moving at a reduced speed, and the autonomous vehicle 33 can be controlled to run at a reduced speed in the direction of the vehicle moving device 31.
In this way, the force exerted on the elastic component can accurately represent the motion state of the vehicle moving device 31, and the control component can adjust the vehicle advancing parameter according to the motion representation parameter of the vehicle moving device 31. In addition, the pull rod 35 is utilized to form the vehicle moving device 31, so that the linkage between an operator or a trailer and the automatic driving vehicle 33 to be moved is strong, and the pull rod 35 is made of hard material, so that the movement states of the pull rod 35 and the automatic driving vehicle 33 to be moved are consistent, and the accuracy of tracking the movement track of the vehicle moving device 31 by the automatic driving vehicle 33 in the vehicle moving process is improved.
In the above embodiment, the vehicle moving device 31 is constituted only by the tie rod 35, and the vehicle moving device 31 may be constituted by other members, and the force applied to the members constituting the vehicle moving device 31 may be ensured to represent the movement state of the vehicle moving device 31.
Alternatively, it can be provided that the characterizing parameter detecting means 32 comprise angle detecting means 37, the angle detecting means 37 being adapted to detect a yaw direction of the vehicle moving device 31 relative to the autonomous vehicle 33, the control means being in particular adapted to acquire the yaw direction and to adjust the turning direction of the autonomous vehicle 33 in dependence on the yaw direction.
Specifically, the control unit is connected to the angle detection unit 37, for example, the control unit may be connected to the angle detection unit 37 by wire, the control unit may also be connected to the angle detection unit 37 by wireless, the motion characteristic parameter may include a yaw direction of the vehicle moving device 31 relative to the autonomous vehicle 33, the turning direction of the autonomous vehicle 33 may be adjusted according to the yaw direction, and for example, when it is determined that the vehicle moving device 31 is deflected to the left relative to the autonomous vehicle 33 according to the yaw direction, the end of the autonomous vehicle 33 where the vehicle moving device 31 is provided is controlled to turn to the left; when it is determined from the yaw direction that the vehicle moving device 31 is deflected rightward with respect to the automatically driven vehicle 33, the end of the automatically driven vehicle 33 where the vehicle moving device 31 is provided is adjusted to turn rightward.
Thus, the steering direction of the faulty automatic driving vehicle 33 is controlled by judging the lateral deflection angle of the vehicle moving device 31, so that the operator or the trailer pulling the vehicle moving device 31 can pull the faulty automatic driving vehicle 33 to rotate with a small force, thereby reducing the difficulty of the operator or the trailer moving the faulty automatic driving vehicle 33, and at the same time, the problem that the operator or the trailer needs to be trained a lot when the faulty automatic driving vehicle 33 is remotely controlled by using a hand-held remote controller, and the danger coefficient of the vehicle moving process is high can be effectively avoided, the faulty automatic driving vehicle 33 automatically adjusts the self-steering direction according to the deflection direction of the vehicle moving device 31 relative to the automatic driving vehicle 33, the vehicle moving device 31 deflects to the left, the faulty automatic driving vehicle 33 corresponds to a left turn, the vehicle moving device 31 deflects to the right, the faulty automatic driving vehicle 33 corresponds to a right turn, the automatic driving vehicle 33 with the fault tracks the vehicle moving device 31 in the traveling direction in real time, and the difficulty of moving the fault vehicle by an operator or a trailer is reduced.
Alternatively, as shown in fig. 3, it may be provided that the vehicle moving device 31 comprises a tie rod 35, one end of the tie rod 35 being rotatably connected to the autonomous vehicle 33, the tie rod 35 being rotatable at least in a plane parallel to the direction of travel of the autonomous vehicle 33, and angle detection means 37 for detecting the direction of deflection of the tie rod 35 relative to the autonomous vehicle 33. For example, as shown in fig. 3, taking the vehicle moving device 31 as an example of pulling the head of the autonomous vehicle 33, a fixing device 38 may be disposed at an end of the autonomous vehicle 33 corresponding to the vehicle moving device 31, the fixing device 38 may be fixed to a sheet metal part of the autonomous vehicle 33, for example, the fixing device 38 may be clamped to a chassis of the autonomous vehicle 33 by at least one bolt, and the embodiment of the present disclosure does not limit a manner in which the fixing device 38 is fixed to the autonomous vehicle 33.
A tie rod 35 can be arranged in connection with the fastening device 38 via a hinge 39 in order to achieve a rotatable connection of one end of the tie rod 35 with the autonomous vehicle 33, and the tie rod 35 can be rotated at least in a plane parallel to the direction of travel of the autonomous vehicle 33, i.e. the tie rod 35 can be rotated at least to the left and right relative to the autonomous vehicle 33, the angle detection means 37 can detect the direction of deflection of the vehicle displacing device 31 relative to the autonomous vehicle 33 by detecting the direction of deflection of the tie rod 35 relative to the autonomous vehicle 33, the control means can determine the direction of deflection of the vehicle displacing device 31 on the basis of the direction of deflection of the tie rod 35 relative to the vehicle and thus adjust the direction of turning of the vehicle on the basis of the direction of deflection of the vehicle displacing.
For example, the angle detection member 37 may be disposed on the fixing device 38, or the angle detection member 37 may be disposed at another position, and the specific disposition position of the angle detection member 37 in the embodiment of the present disclosure is not limited, and it is sufficient to ensure that the angle detection member 37 can detect the yaw direction of the tie rod 35 with respect to the autonomous vehicle 33.
Optionally, the autonomous vehicle 33 is provided with an interface, and the control component is connected to the autonomous vehicle 33 through the interface, and is configured to take power from the autonomous vehicle 33 through the interface and send a control signal of the autonomous vehicle 33 to the autonomous vehicle 33 through the interface. Specifically, the autonomous vehicle 33 to be moved is a failure autonomous vehicle 33, an autonomous system on the autonomous vehicle 33 that controls the autonomous vehicle 33 to run fails, and cannot control the traveling parameters of the autonomous vehicle 33, so it is necessary to connect a control component externally to the failed autonomous vehicle 33, the control component is connected to the autonomous vehicle 33 through an interface, the control component is used to take power from the autonomous vehicle 33 through the interface to realize the normal operation of the control component, the control component is also communicated with the force detection component 34 and the angle detection through the interface, receives the force applied to the vehicle moving device 31 detected by the force detection component 34, and receives the deflection direction of the vehicle moving device 31 detected by the angle detection component 37 relative to the failure autonomous vehicle 33, and directly sends a control signal to the autonomous vehicle 33 through the interface, by means of which the travelling parameters of the autonomous vehicle 33 are adjusted, for example the travelling speed and/or the travelling direction of the autonomous vehicle 33.
The utility model discloses an utilize move car device 31 can conveniently and move the automatic driving vehicle 33 of trouble directly perceivedly when the automatic driving system collapse of automatic driving vehicle 33, moreover, the steam generator is simple in structure, it is convenient to arrange, and need not the learning cost, it is fast to go up, high efficiency, and can adjust the parameter of marcing of vehicle automatically according to the motion representation parameter of moving car device 31, be favorable to realizing that the automatic driving vehicle 33 of trouble trails the motion trail of moving car device 31 in real time, and then reduce the degree of difficulty that personnel or trailer move the automatic driving vehicle 33 of trouble.
The embodiment of the disclosure also provides an electronic device, and fig. 4 is a schematic structural diagram of the electronic device provided by the embodiment of the disclosure. As shown in fig. 4, the electronic device includes a processor and a memory, and the processor executes the steps of the vehicle moving assisting method according to the above embodiment by calling a program or an instruction stored in the memory, so that the electronic device has the beneficial effects of the above embodiment, and is not described again here.
As shown in fig. 4, an electronic device may be provided that includes at least one processor 410, at least one memory 420, and at least one communication interface 430. The various components in the electronic device are coupled together by a bus system 440. The communication interface 430 is used for information transmission with an external device. It is understood that the bus system 440 is used to enable communications among the components. The bus system 440 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 440 in fig. 4.
It will be appreciated that the memory 420 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. In some embodiments, memory 420 stores the following elements: an executable unit or data structure, or a subset thereof, or an extended set of them, an operating system and an application program. In the embodiment of the present disclosure, the processor 410 executes the steps of the various embodiments of the method for assisting in moving a vehicle provided by the embodiment of the present disclosure by calling the program or the instructions stored in the memory 420.
The vehicle moving assisting method provided by the embodiment of the disclosure can be applied to the processor 410, or implemented by the processor 410. The processor 410 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 410. The Processor 410 may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the vehicle moving assisting method provided by the embodiment of the disclosure can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software unit in the decoding processor are combined. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 420, and the processor 410 reads the information in the memory 420, and performs the steps of the method in combination with its hardware.
The electronic device may further include one entity component or a plurality of entity components to implement control of the electronic device according to instructions generated by the processor 410 when executing the vehicle moving assisting method provided by the embodiment of the application. Different entity components can be arranged in the electronic device or outside the electronic device, such as a cloud server and the like. The various physical components cooperate with the processor 410 and the memory 420 to implement the functionality of the electronic device in this embodiment.
Embodiments of the present disclosure also provide a storage medium, such as a computer-readable storage medium, storing a program or instructions that when executed by a computer, causes the computer to perform a method for assisting in vehicle removal, the method comprising:
connecting the vehicle moving device with an automatic driving vehicle to be moved;
acquiring a motion representation parameter of the vehicle moving device;
adjusting a travel parameter of the autonomous vehicle according to the motion characterizing parameter.
Optionally, the computer executable instructions, when executed by the computer processor, may be further configured to implement the solution of the method for assisting in moving a vehicle according to any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. A vehicle moving assisting method is characterized by comprising the following steps:
connecting the vehicle moving device with an automatic driving vehicle to be moved;
acquiring a motion representation parameter of the vehicle moving device;
adjusting a travel parameter of the autonomous vehicle according to the motion characterizing parameter.
2. Vehicle moving assistance method according to claim 1, characterised in that the travel parameters comprise the travel speed and/or the travel direction of the autonomous vehicle.
3. Vehicle moving assistance method according to claim 1, characterised in that the motion characterizing parameters comprise the force to which the vehicle moving device is subjected;
the adjusting the travel parameter of the autonomous vehicle in accordance with the motion characterizing parameter includes:
and adjusting the traveling speed of the automatic driving vehicle according to the force applied to the vehicle moving device.
4. The vehicle moving assist method according to claim 3, wherein the adjusting of the traveling speed of the autonomous vehicle in accordance with the force to which the vehicle moving apparatus is subjected includes:
if the force applied to the vehicle moving device is a pulling force, controlling the automatic driving vehicle to accelerate;
and if the force applied to the vehicle moving device is the retraction force, controlling the automatic driving vehicle to decelerate.
5. Vehicle moving assistance method according to claim 1, characterised in that the motion characterizing parameter comprises a yaw direction of the vehicle moving device relative to the autonomous vehicle;
the adjusting the travel parameter of the autonomous vehicle in accordance with the motion characterizing parameter includes:
adjusting a turning direction of the autonomous vehicle according to the yaw direction.
6. Vehicle moving assist method according to claim 5, wherein the adjusting the turning direction of the autonomous vehicle in dependence on the yaw direction comprises:
when the vehicle moving device is judged to deflect leftwards relative to the automatic driving vehicle according to the deflection direction, controlling one end of the automatic driving vehicle, which is provided with the vehicle moving device, to turn leftwards;
and when the vehicle moving device is judged to deflect rightwards relative to the automatic driving vehicle according to the deflection direction, adjusting one end of the automatic driving vehicle, which is provided with the vehicle moving device, to turn rightwards.
7. The utility model provides a move car auxiliary device which characterized in that includes:
the connecting module is used for mechanically connecting the vehicle moving device with the automatic driving vehicle to be moved;
the characterization parameter acquisition module is used for acquiring the motion characterization parameters of the vehicle moving device;
a signal transmission module to transmit the motion characterization parameter to the autonomous vehicle to control travel of the autonomous vehicle.
8. A vehicle moving assist system, comprising:
the vehicle moving device is mechanically connected with the automatic driving vehicle to be moved;
the characteristic parameter detection component is used for detecting the motion characteristic parameters of the vehicle moving device;
and the control component is used for acquiring the motion characterization parameters and adjusting the traveling parameters of the automatic driving vehicle according to the motion characterization parameters.
9. Vehicle moving assist system according to claim 8, characterized in that the characteristic parameter detection means comprise force detection means for detecting a force to which the vehicle moving device is subjected;
the control component is specifically used for acquiring the force applied to the vehicle moving device and adjusting the advancing speed of the automatic driving vehicle according to the force applied to the vehicle moving device.
10. Vehicle moving assist system according to claim 9, characterized in that the vehicle moving device comprises a pull rod, one end of which is mechanically connected to the autonomous vehicle;
the force detection part comprises an elastic part which is embedded in the pull rod and is connected with the pull rods on two sides.
11. Vehicle moving assist system according to any of claims 8-10, characterized in that the characteristic parameter detection means comprise angle detection means for detecting the direction of deflection of the vehicle moving device relative to the autonomous vehicle;
the control component is specifically configured to acquire the yaw direction and adjust a turning direction of the autonomous vehicle according to the yaw direction.
12. Vehicle moving assist system according to claim 11, characterized in that the vehicle moving device comprises a pull rod, one end of which is rotatably connected with the autonomous vehicle, which pull rod is rotatable at least in a plane parallel to the direction of travel of the autonomous vehicle;
the angle detection component is used for detecting the deflection direction of the pull rod relative to the automatic driving vehicle.
13. A vehicle moving assist system as claimed in any of claims 8-12, wherein an interface is provided on the autonomous vehicle, the control unit is connected to the autonomous vehicle via the interface, and the control unit is configured to take power from the autonomous vehicle via the interface and send an autonomous vehicle control signal to the autonomous vehicle via the interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010402168.0A CN111547058A (en) | 2020-05-13 | 2020-05-13 | Vehicle moving assisting method, device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010402168.0A CN111547058A (en) | 2020-05-13 | 2020-05-13 | Vehicle moving assisting method, device and system |
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