CN112346374A - Wireless remote control driving system and method for L4-level unmanned vehicle - Google Patents
Wireless remote control driving system and method for L4-level unmanned vehicle Download PDFInfo
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- CN112346374A CN112346374A CN202011022667.3A CN202011022667A CN112346374A CN 112346374 A CN112346374 A CN 112346374A CN 202011022667 A CN202011022667 A CN 202011022667A CN 112346374 A CN112346374 A CN 112346374A
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- 238000000034 method Methods 0.000 title claims description 15
- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000003993 interaction Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000008447 perception Effects 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004378 air conditioning Methods 0.000 claims description 3
- 210000001520 comb Anatomy 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000002452 interceptive effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000000877 morphologic effect Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention discloses a wireless remote control driving system of an L4-grade unmanned vehicle, which comprises an acquisition subsystem, a perception subsystem, a communication subsystem and an interaction subsystem, wherein the acquisition subsystem acquires a control instruction of a driver and digitally transmits the intention of the driver to the control subsystem, the control subsystem monitors the running states of the acquisition subsystem and the communication subsystem in real time, the communication subsystem realizes the wireless transmission of the control instruction through UART-to-zigbee and zigbee ad hoc networks, the interaction subsystem is connected with a vehicle bottom controller through a wire harness, the interaction subsystem receives the data of the communication subsystem, and transmits the control instruction to the vehicle bottom controller after detecting the connection state of the interaction subsystem and the vehicle. The driver realizes vehicle control through wireless communication, breaks through the traditional concept, realizes the driving of the vehicle at the third visual angle, has the function of automatic driving and automatic switching of manual driving, and can quickly take over or recover the automatic driving manually.
Description
The technical field is as follows:
the invention relates to a wireless remote control driving system and a wireless remote control driving method for an L4-grade unmanned vehicle, and belongs to the technical field of automobiles.
Background art:
with the development of the existing unmanned technology, the L4-grade unmanned sightseeing vehicle is applied, and the market is greatly determined, so that the unmanned trend is led. The L4 class unmanned sightseeing vehicle is designed at the beginning in order to utilize the space in the vehicle to the maximum extent and cancel the original steering wheel and accelerator brake. The level L4 unmanned driving is only the unmanned task of the vehicle under the specific condition, and the manual taking over and operation are required in the non-specific condition and the vehicle test debugging. And through adopting external wired simulation steering wheel, place occupation space in the car, it is also not enough to use inconvenient security level.
Therefore, there is a need to improve the prior art to overcome the deficiencies of the prior art.
The invention content is as follows:
the present invention has been made to solve the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide a wireless remote control driving system and method for an L4 class unmanned vehicle, which can solve the problem of difficulty in driving the vehicle due to the absence of a steering wheel or a pedal in a non-autonomous driving situation.
The invention adopts the following technical scheme: a wireless remote control driving system of an L4-grade unmanned vehicle comprises an acquisition subsystem, a perception subsystem, a communication subsystem and an interaction subsystem;
the acquisition subsystem acquires a control instruction of a driver and transmits the intention of the driver to the control subsystem in a digital mode, the control subsystem monitors the running state of the acquisition subsystem and the communication subsystem in real time, the communication subsystem transmits zigbee and zigbee ad hoc network through a UART (universal asynchronous receiver/transmitter) to realize wireless transmission of the control instruction, the interaction subsystem is connected with the vehicle bottom controller through a wire harness, receives data of the communication subsystem, and transmits the control instruction to the vehicle bottom controller after detecting the connection state of the interaction subsystem and the vehicle.
Furthermore, the collection subsystem is used for direction collection, gear collection, acceleration and deceleration collection, light collection, air conditioner collection and control mode collection.
Furthermore, the control subsystem collects a direction instruction, a speed instruction, an air conditioning instruction and a mode switch instruction of a driver through the collection subsystem, and processes data into a correct instruction by adopting filtering and model processing.
The invention also adopts the following technical scheme: a wireless remote control driving method of an L4-grade unmanned vehicle comprises the following steps:
the method comprises the following steps: the acquisition subsystem accurately records a manual take-over command and a driving operation command of a driver and transmits the commands to the control subsystem;
step two: the control subsystem combs related information, processes the information into a correct vehicle control instruction, and transmits the correct vehicle control instruction to the interaction subsystem through the communication subsystem in a wireless communication mode;
step three: the interactive subsystem correctly transmits the vehicle control instruction to the vehicle actuator through data interaction, so as to realize the control of the vehicle.
The invention has the following beneficial effects:
(1) the driver realizes vehicle control through wireless communication, breaks through the traditional concept, and realizes driving the vehicle (such as within 5m outside the vehicle) at a third visual angle.
(2) The L4-grade unmanned vehicle needs debugging and calibration due to the immature technology at the present stage, and the wireless driving system can conveniently solve the problem that the vehicle without a steering wheel and a pedal cannot move.
(3) The wireless remote control driving system has the functions of automatic driving and automatic switching of manual driving, and can quickly take over or recover automatic driving manually.
Description of the drawings:
fig. 1 is a schematic diagram of a wireless remote control driving system of an L4-class unmanned vehicle according to the present invention.
Fig. 2 is a control schematic diagram of a wireless remote control driving system of an L4-class unmanned vehicle according to the present invention.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
The wireless remote control driving system of the L4-level unmanned vehicle comprises an acquisition subsystem 100, a perception subsystem 300, a communication subsystem 200 and an interaction subsystem 400.
The acquisition subsystem 100 is used for acquiring an operation instruction of a driver, wherein in the implementation of the invention, the acquisition subsystem 100 needs to perform direction acquisition, gear acquisition, acceleration and deceleration acquisition, light acquisition, air conditioner acquisition and control mode acquisition. The acquisition subsystem 100 comprises a plurality of sensors of different types, such as remote sensing and switches, and can acquire instructions correctly according to the operation intention of a driver and perform certain false touch prevention processing, so that real-time change acquisition within 100ms is realized.
The acquisition subsystem 100 is equivalent to digitizing the driver's intent for transmission to the control subsystem 300.
The control subsystem 300 is used for analyzing and collecting the driver intention and the control command of the collecting subsystem 100, and specifically, the control subsystem 300 collects the direction command, the speed command, the air conditioning command and the mode switch command of the driver through the collecting subsystem 100, and processes data by adopting some filtering and some model processing and arranges the data into a correct command. In addition, the control subsystem 300 needs to monitor the operation status of the acquisition subsystem 100 and the communication subsystem 200 for real-time monitoring.
In the embodiment of the present invention, the control subsystem 300 performs modeling processing on the collected data through an optimization algorithm customized by a technician, extracts a characteristic value, and makes the control change more prone to the feedback of the actual steering wheel.
The self-defined optimization algorithm is to collect remote sensing data, perform a large amount of morphological analysis, combine the operation habit of a driver, perform linear processing on a remote sensing common thread, perform difference compensation filtering on an abnormal thread, and perform cutoff filtering processing on a remote sensing 0 bit and a tail bit.
The communication subsystem 200 is configured to implement wireless transmission of the control instruction through UART to zigbee and zigbee ad hoc network. More specifically, the wireless state needs to be monitored in real time through the zigbee module characteristics, and if a network anomaly occurs, the state needs to be reported to the control subsystem 300 in time for self-checking.
It should be noted that the two-way communication between the communication subsystem 200 and the control subsystem 300 ensures the reliability of the wireless data communication by updating the real-time data during the transmission period of 100 ms.
The interactive subsystem 400 is used for being connected with a vehicle bottom layer controller through a wire harness and realizing wireless remote control driving of the unmanned vehicle through a specific protocol, more specifically, after the interactive subsystem 400 receives data of the communication subsystem 200 and detects the connection state of the interactive subsystem 400 and the vehicle, a control instruction is immediately transmitted to the vehicle bottom layer controller, and the periodic data response of 100ms meets the timely response of driving.
According to the L4-level unmanned wireless remote control driving system, the acquisition subsystem 100 can accurately record the manual take-over command and the driving operation command of the driver and transmit the commands to the control subsystem 300, the control subsystem 300 combs related information and processes the information into a correct vehicle control command, the correct vehicle control command is transmitted to the interaction subsystem 400 through the communication subsystem 200 in a wireless communication mode, and the interaction subsystem 400 transmits the vehicle control command to a vehicle actuator correctly through data interaction to realize the control of the vehicle.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (4)
1. A wireless remote control driving system of an L4-grade unmanned vehicle is characterized in that: comprises an acquisition subsystem (100), a perception subsystem (300), a communication subsystem (200) and an interaction subsystem (400);
the system comprises an acquisition subsystem (100), a control subsystem (300), a communication subsystem (200), a UART-to-zigbee and zigbee ad hoc network, wherein the acquisition subsystem (100) acquires an operation instruction of a driver and transmits the intention of the driver to the control subsystem (300) in a digital mode, the control subsystem (300) monitors the running states of the acquisition subsystem (100) and the communication subsystem (200) in real time, the communication subsystem (200) realizes wireless transmission of the control instruction through the UART-to-zigbee and zigbee ad hoc network, an interaction subsystem (400) is connected with a vehicle bottom controller through a wire harness, the interaction subsystem (400) receives data of the communication subsystem (200), and the control instruction is transmitted to the vehicle bottom controller after the connection state of the interaction subsystem (400.
2. The wireless remote control driving system of an L4 class unmanned vehicle of claim 1, wherein: the collection subsystem (100) is used for direction collection, gear collection, acceleration and deceleration collection, light collection, air conditioner collection and control mode collection.
3. The wireless remote control driving system of an L4 class unmanned vehicle of claim 2, wherein: the control subsystem (300) acquires a direction instruction, a speed instruction, an air conditioning instruction and a mode switch instruction of a driver through the acquisition subsystem (100), and processes data into a correct instruction by adopting filtering and model processing.
4. A wireless remote control driving method of an L4-grade unmanned vehicle is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: the acquisition subsystem (100) accurately records the manual take-over command and the driving operation command of the driver and transmits the commands to the control subsystem (300);
step two: the control subsystem (300) combs related information, processes the information into a correct vehicle control command, and transmits the correct vehicle control command to the interaction subsystem (400) through the communication subsystem (200) in a wireless communication mode;
step three: the interaction subsystem (400) correctly transmits the vehicle control command to the vehicle actuator through data interaction, so as to realize the control of the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011022667.3A CN112346374A (en) | 2020-09-25 | 2020-09-25 | Wireless remote control driving system and method for L4-level unmanned vehicle |
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| CN202011022667.3A CN112346374A (en) | 2020-09-25 | 2020-09-25 | Wireless remote control driving system and method for L4-level unmanned vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974920A (en) * | 2016-06-14 | 2016-09-28 | 北京汽车研究总院有限公司 | Unmanned driving system |
| CN106394545A (en) * | 2016-10-09 | 2017-02-15 | 北京汽车集团有限公司 | Driving system, unmanned vehicle and vehicle remote control terminal |
| CN107300921A (en) * | 2017-06-30 | 2017-10-27 | 宇龙计算机通信科技(深圳)有限公司 | Long-range drive manner, device, user terminal and computer-readable recording medium |
| CN109808705A (en) * | 2019-01-23 | 2019-05-28 | 青岛慧拓智能机器有限公司 | A kind of system for remote control Driving control |
| CN109861388A (en) * | 2018-12-20 | 2019-06-07 | 江苏迪纳数字科技股份有限公司 | A kind of long-distance monitoring method of vehicle intelligent terminal |
| CN109866765A (en) * | 2019-01-11 | 2019-06-11 | 苏州工业园区职业技术学院 | A kind of driverless electric automobile safety traffic system |
-
2020
- 2020-09-25 CN CN202011022667.3A patent/CN112346374A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974920A (en) * | 2016-06-14 | 2016-09-28 | 北京汽车研究总院有限公司 | Unmanned driving system |
| CN106394545A (en) * | 2016-10-09 | 2017-02-15 | 北京汽车集团有限公司 | Driving system, unmanned vehicle and vehicle remote control terminal |
| CN107300921A (en) * | 2017-06-30 | 2017-10-27 | 宇龙计算机通信科技(深圳)有限公司 | Long-range drive manner, device, user terminal and computer-readable recording medium |
| CN109861388A (en) * | 2018-12-20 | 2019-06-07 | 江苏迪纳数字科技股份有限公司 | A kind of long-distance monitoring method of vehicle intelligent terminal |
| CN109866765A (en) * | 2019-01-11 | 2019-06-11 | 苏州工业园区职业技术学院 | A kind of driverless electric automobile safety traffic system |
| CN109808705A (en) * | 2019-01-23 | 2019-05-28 | 青岛慧拓智能机器有限公司 | A kind of system for remote control Driving control |
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Application publication date: 20210209 |