CN112492094B - Remote driving method - Google Patents
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- CN112492094B CN112492094B CN202011388372.8A CN202011388372A CN112492094B CN 112492094 B CN112492094 B CN 112492094B CN 202011388372 A CN202011388372 A CN 202011388372A CN 112492094 B CN112492094 B CN 112492094B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention relates to a remote driving method, which comprises the following steps: the remote driving mobile terminal and the intelligent gateway are communicated with the MQTT server; determining whether the remote driving mobile terminal and the intelligent gateway are connected with the MQTT server or not; when a user operates the vehicle control unit, the vehicle control unit is used for receiving the touch operation of the user for controlling the vehicle, converting the touch operation of the user into a vehicle control message, and converting the touch callback coordinate values in the corresponding control into data of the corresponding control through calculation when the touch operation is converted into the vehicle control message; the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server and sends a vehicle control message and a terminal heartbeat message to the MQTT server; and the intelligent gateway subscribes the vehicle control message and the terminal heartbeat message to the MQTT server and simultaneously starts asynchronous flow processing. The method can freely expand necessary car control functions only by one smart phone or a tablet personal computer with a 5G network, has low hardware cost and no place requirement, and does not need to build a driving environment.
Description
Technical Field
The invention relates to a vehicle remote control method, in particular to a remote driving method.
Background
At present, many automobile factories are developing remote driving technologies of automobiles, and the common implementation schemes are as follows: A5G private network is built in a park range, a computer is connected into a CPE (router) of the 5G private network indoors, a simulator of a steering wheel, an accelerator pedal and a decelerator pedal is connected to the computer, actions are converted into vehicle control instructions at the computer through the simulator, and the instructions are sent out through the 5G private network. The remote vehicle is provided with an intelligent terminal device which has 5G network capability and can transmit and receive can signals to receive the commands sent by the remote computer, and the commands are converted into can signals in turn, so that the vehicle is controlled finally.
Through the scheme of the external simulator of computer end, the car factory all needs customization own simulator, and when the remote control function increased, widgets such as accuse button on the simulator often can appear inadequately, the extension that can't be nimble. If the simulator manufacturer is found to customize the simulator, the development period and the cost are expanded.
And the scheme of external simulator of computer end also has great space requirement, needs assemble the driving environment of building in indoor fixed position, can't remove, and the car factory often need be sent to the scene when giving final user the delivery and builds the driving environment.
Disclosure of Invention
In order to solve the problems, the invention provides a remote control method by adopting a mobile terminal, solves the problems that the development period and the cost of a simulator cannot be flexibly expanded and customized again in the scheme of externally connecting the simulator at a computer end, can randomly expand the necessary vehicle control function by only one common smart phone or a flat plate with a 5G network, has no extra hardware cost and mobility, can ensure that the vehicle control has no place requirement, is convenient to install software, does not need to build a remote driving terminal of a driving environment, and has the following specific technical scheme that:
remote driving mobile terminal, including: the remote driving module is provided with a vehicle control unit and a display unit, the vehicle control unit is used for receiving touch operation of a user for controlling a vehicle and converting the touch operation of the user into a vehicle control message, and the display unit is used for displaying the current vehicle state; the first wireless communication module is used for sending the vehicle control message to the server and receiving a subscription message of the server; the remote driving module updates the display content of the vehicle state of the display unit according to the vehicle state in the subscription message after receiving the subscription message of the server, and is further used for sending terminal heartbeat information to the server.
Further, the vehicle control unit comprises a steering wheel control, a gear control, a hand brake control, a brake control, an accelerator control, a light control, a vehicle control enabling control and a gravity sensor control; the display unit includes a speed display and a steering display.
A remote driving system, comprising: the MQTT server is used for forwarding messages; the second wireless communication module is used for the MQTT server to receive and send messages; a remotely driven mobile terminal, the remotely driven mobile terminal comprising: the remote driving module is provided with a vehicle control unit and a display unit, the vehicle control unit is used for receiving touch operation of a user for controlling a vehicle and converting the touch operation of the user into a vehicle control message, the display unit is used for displaying the current vehicle state, the remote driving module is used for updating display content of the vehicle state according to the vehicle state message and is also used for issuing a terminal heartbeat message, the vehicle control unit comprises a steering wheel control, a gear control, a hand brake control, a brake control, an accelerator control, a light control, a vehicle control enabling control and a gravity sensor control, and the display unit comprises speed display and steering display; the first wireless communication module is used for sending the vehicle control message and the terminal heartbeat message to the MQTT server and is also used for receiving a vehicle state message and a gateway heartbeat message sent by the MQTT server; an intelligent gateway, the intelligent gateway comprising: the vehicle control module is used for converting the vehicle control message into a vehicle control message and converting the vehicle state message into a vehicle state message, and is also used for issuing a gateway heartbeat message; the third wireless communication module is used for sending the vehicle state message and the gateway heartbeat message to the MQTT server and receiving the vehicle control message and the terminal heartbeat message sent by the MQTT server; and the CAN bus is respectively connected with the vehicle and the vehicle control module and is used for receiving the vehicle control message and sending the current vehicle state message to the vehicle control module.
The remote driving method of the remote driving system comprises the following steps: the remote driving mobile terminal and the intelligent gateway are communicated with the MQTT server; determining whether the remote driving mobile terminal and the intelligent gateway are connected with the MQTT server or not; the vehicle control unit is used for receiving the touch operation of a user for controlling the vehicle when the user operates the vehicle control unit and converting the touch operation of the user into a vehicle control message; the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server and sends a vehicle control message and a terminal heartbeat message to the MQTT server; the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to an MQTT server and simultaneously starts asynchronous flow processing, wherein the multithreading comprises the following steps: the method comprises the steps that a first thread and a timing period pack data corresponding to vehicle control information and send a vehicle control message for controlling a vehicle to a CAN bus; receiving and processing the vehicle control message of the remote driving mobile terminal and updating the data for controlling the vehicle in the thread one; a third thread, sending a gateway heartbeat message to the MQTT server in a timing period, packaging vehicle state data into a vehicle state message according to a communication protocol, and sending the vehicle state message to the MQTT server; and a fourth thread receives the vehicle state message of the CAN bus, updates the vehicle state data according to the vehicle state message, and sends the vehicle state data to a third thread for processing.
Furthermore, when the remote driving mobile terminal is communicated with the MQTT server, login is carried out firstly, the IP address of the MQTT server is input through a text editing box, and the port number, the account number and the password are modified through setting buttons; after logging in, starting a background service to try to establish connection with the MQTT server; after the remote driving mobile terminal is successfully connected with the MQTT server, the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server; when the intelligent gateway is communicated with the MQTT server, the intelligent gateway reads the MQTT server information in the configuration file and is connected with the MQTT server; and after the intelligent gateway is successfully connected with the MQTT server, the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to the MQTT server.
Further, when the touch operation of the user is converted into the car control message, the touch callback coordinate values are converted into data of the corresponding control in the corresponding control through calculation;
the touch operation comprises finger pointing, finger moving and finger lifting which are sequentially carried out; before data conversion, coordinate systems of a steering wheel control, a gear control, a brake control and an accelerator control are set, then coordinate change values of the controls are converted into corresponding data fields in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server.
Further, when the steering wheel control sets a coordinate system, the center point coordinate of the steering wheel is used as the coordinate origin, the point coordinate on the Y axis is a zero angle, and when the touch event of the steering wheel control is under a finger point, the point coordinate and the center point coordinate of the steering wheel calculate the clicked angle through a trigonometric function and record the clicked angle as an initial angle, and simultaneously record the initial angle into the last updated angle; when the touch event of the steering wheel control is finger movement, calculating a current angle according to the position to which the current finger moves, calculating an angle change value according to the current angle and the last updated angle, performing rotation operation on the steering wheel control through the angle change value, refreshing the angle value, converting the current angle value into a corresponding data field in a vehicle control message, updating the vehicle control message, and sending the vehicle control message to an MQTT server; when the touch event of the steering wheel control is finger lifting, the steering wheel control is automatically rotated to the original position, the current angle is automatically returned to the zero angle, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server; when the gear control sets a coordinate system, the vertex coordinate of the upper left corner of the gear area is used as the origin of coordinates, the Y-axis is divided into four equal parts of areas from top to bottom, the gear pointing icon position is switched through the gear position, the gear position value is refreshed at the same time, the gear value is converted into a corresponding data field in the vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server; when the touch event of the gear control is a finger point, whether the current brake control vehicle is a point or not can be judged, the current brake control vehicle slides down to a half position, and if the brake is not in the state, information can be provided by popping up: please step on the brake to engage the gear; if the braking state is met, automatically jumping to a gear corresponding to the point of the hand; when the touch event of the gear control is finger sliding, the gear automatically jumps to the position where the finger slides; when the touch event of the gear control is that the finger is lifted, ending the gear engaging action; when the brake control is set with a coordinate system, the vertex coordinate of the upper left corner of the brake control is used as the origin of coordinates, the Y axis corresponds to the magnitude of brake force, when the touch event of the brake control is finger pointing, the coordinate under the point is recorded as the initial coordinate position, when the touch event of the brake control is finger movement, the brake change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position moved by the current finger, the brake change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; when the touch event of the brake control is that the finger is lifted, changing the brake force to 0, converting the brake change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server; when the accelerator control sets a coordinate system, the top point coordinate of the upper left corner of the accelerator control is used as a coordinate origin, the Y axis corresponds to the accelerator force, when the touch event of the accelerator control is finger pointing, the coordinates below the point are recorded as an initial coordinate position, when the touch event of the accelerator control is finger movement, the accelerator change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position to which the current finger moves, the accelerator change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; and when the touch event of the accelerator control is finger lifting, changing the accelerator force to 0, converting the accelerator change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server.
Further, after receiving the message of the MQTT server, the remote driving mobile terminal determines whether the message is a gateway heartbeat message, resets a heartbeat timeout timer if the message is the gateway heartbeat message, determines whether the message is a vehicle status message if the message is not the gateway heartbeat message, analyzes the vehicle status message if the message is the vehicle status message, and updates the vehicle status display content of the remote driving module display unit.
Further, in the thread three, a 500ms period timer is started, and a gateway heartbeat message is issued to the MQTT server every time the period is full; and setting a heartbeat timeout timer, and carrying out safety processing when the gateway heartbeat message is not received at the expiration.
Further, in thread one, a 2ms cycle timer is started, and will be present at the expiration of the first cycle and every 5 following cycles: data packing is carried out on the states of a steering wheel corner, an accelerator, a brake, a gear and a hand brake according to a CAN matrix protocol of the vehicle, and a vehicle control message is sent to a CAN bus; when the remote driving mobile terminal exits from the vehicle control state or the heartbeat of the remote driving mobile terminal is disconnected, the vehicle control message sent by the intelligent gateway is in a brake state or a parking state; when the remote driving mobile terminal normally operates and controls the automobile, the intelligent gateway packages and sends the current updated real-time states of the steering wheel corner, the accelerator, the brake, the gear and the hand brake to the CAN bus so as to control the automobile; at the expiration of the second cycle and every 5 cycles thereafter: data packing is carried out on the states of the steering lamps, the dipped headlights, the high beam lights and the position lamps according to a CAN matrix protocol of the vehicle, and a light control message is sent to a CAN bus; when the remote driving mobile terminal enters a vehicle control state, the intelligent gateway packs and sends the current updated real-time light state to the CAN bus to control the vehicle.
Further, when receiving the message of the MQTT server, the intelligent gateway determines whether the message is a terminal heartbeat message, resets a heartbeat timeout timer if the message is the terminal heartbeat message, determines whether the message is a vehicle control message of the remote driving mobile terminal if the message is not the terminal heartbeat message, and analyzes the message and updates the vehicle control message if the message is the vehicle control message.
Further, the first wireless communication module is a smart phone or a tablet of an Android system; before the remote driving mobile terminal communicates with the MQTT server, an MQTT protocol is established to the remote driving mobile terminal, and the method comprises the following steps: adding an MQTT dependent package in a gradle of an Android project; declaring network access rights in android manifest; adding an MQTT service responsible for MQTT connection, sending and receiving messages in the Android project; the MQTT service is started when a remote driving mobile terminal logs in, and is connected with an MQTT server according to input information during logging in the initialization stage of the MQTT service; after the connection is successfully established, subscribing vehicle state information and gateway heartbeat information themes to an MQTT server; simultaneously setting MQTT message monitoring callback, and receiving messages; when the connection is failed to be established, a reconnection mechanism is called, and a relevant prompt is popped up; and packaging the message sending interface, and calling the packaged message sending interface when operating on the Android terminal interface.
Compared with the prior art, the invention has the following beneficial effects:
the remote driving method provided by the invention solves the problems that the development cycle and the cost of the simulator cannot be flexibly expanded and re-customized in the scheme of externally connecting the simulator at the computer end, can randomly expand necessary vehicle control functions only by using a common smart phone or a flat panel with a 5G network, has no extra hardware cost and mobility, can ensure that the vehicle control has no place requirement, is convenient to install software and does not need to build a driving environment.
Drawings
Fig. 1 is a block diagram of a structure of a remote driving mobile terminal;
FIG. 2 is a software interface diagram of a remotely piloted mobile terminal;
FIG. 3 is a block diagram of a remote driving school system;
FIG. 4 is a flow chart of the process of remotely driving a mobile terminal to a message;
fig. 5 is a flow chart of the intelligent gateway processing the message;
fig. 6 is a flow chart of information processing between the intelligent gateway and the CAN bus.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
Example one
As shown in fig. 1 and 2, the remote driving mobile terminal includes: the remote driving module is provided with a vehicle control unit and a display unit, the vehicle control unit is used for receiving touch operation of a user for controlling a vehicle and converting the touch operation of the user into a vehicle control message, and the display unit is used for displaying the current vehicle state; the first wireless communication module is used for sending the vehicle control message to the server and receiving a subscription message of the server; the remote driving module updates the display content of the vehicle state of the display unit according to the vehicle state in the subscription message after receiving the subscription message of the server, and is further used for sending terminal heartbeat information to the server.
The vehicle control unit comprises a steering wheel control part, a gear control part, a hand brake control part, a brake control part, an accelerator control part, a light control part, a vehicle control enabling control part and a gravity sensor control part; the display unit includes a speed display and a steering display.
The first wireless communication module is a smart phone or a tablet equipped with an operating system and is provided with a touch screen. The first wireless communication module adopts one or more of a wireless network, a 5G network or a 5G private network
The remote driving module is remote driving control software and can be a mobile phone car control APP.
And each control of the vehicle control unit refers to a driving control simulated on a software interface.
The gravity sensing control is used for opening and closing the gravity sensor, and the gravity sensor is used for rotating the steering wheel control through left and right tilting after being opened.
The display unit may further include a debugging window for observing data into which the touch event is converted.
Example two
As shown in fig. 3, the remote driving system includes: the MQTT server is used for forwarding messages; the second wireless communication module is used for the MQTT server to receive and send messages; a remotely driven mobile terminal, the remotely driven mobile terminal comprising: the remote driving module is provided with a vehicle control unit and a display unit, the vehicle control unit is used for receiving touch operation of a user for controlling a vehicle and converting the touch operation of the user into a vehicle control message, the display unit is used for displaying the current vehicle state, the remote driving module is used for updating display content of the vehicle state according to the vehicle state message and is also used for issuing a terminal heartbeat message, the vehicle control unit comprises a steering wheel control, a gear control, a hand brake control, a brake control, an accelerator control, a light control, a vehicle control enabling control and a gravity sensor control, and the display unit comprises speed display and steering display; the first wireless communication module is used for sending the vehicle control message and the terminal heartbeat message to the MQTT server and is also used for receiving a vehicle state message and a gateway heartbeat message sent by the MQTT server; an intelligent gateway, the intelligent gateway comprising: the vehicle control module is used for converting the vehicle control message into a vehicle control message and converting the vehicle state message into a vehicle state message, and is also used for issuing a gateway heartbeat message; the third wireless communication module is used for sending the vehicle state message and the gateway heartbeat message to the MQTT server and receiving the vehicle control message and the terminal heartbeat message sent by the MQTT server; and the CAN bus is respectively connected with the vehicle and the vehicle control module and is used for receiving the vehicle control message and sending the current vehicle state message to the vehicle control module.
The second wireless communication module may employ a wireless CPE through which the MQTT server is connected to the 5G network.
The third wireless communication module can adopt a 5G module, and the intelligent gateway is connected with a 5G network through 5G module dialing to realize communication with the MQTT server.
The vehicle control module is provided with an operating system and a vehicle control program.
EXAMPLE III
As shown in fig. 4 to 6, the remote driving method includes the steps of:
the remote driving mobile terminal and the intelligent gateway are communicated with the MQTT server;
determining whether the remote driving mobile terminal and the intelligent gateway are connected with the MQTT server or not;
the vehicle control unit is used for receiving the touch operation of a user for controlling the vehicle when the user operates the vehicle control unit and converting the touch operation of the user into a vehicle control message;
the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server and sends a vehicle control message and a terminal heartbeat message to the MQTT server;
the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to an MQTT server and simultaneously starts asynchronous flow processing, wherein the multithreading comprises the following steps:
the method comprises the steps that a first thread and a timing period pack data corresponding to vehicle control information and send a vehicle control message for controlling a vehicle to a CAN bus;
receiving and processing the vehicle control message of the remote driving mobile terminal and updating the data for controlling the vehicle in the thread one;
a third thread, sending a gateway heartbeat message to the MQTT server in a timing period, packaging vehicle state data into a vehicle state message according to a communication protocol, and sending the vehicle state message to the MQTT server;
and a fourth thread receives the vehicle state message of the CAN bus, updates the vehicle state data according to the vehicle state message, and sends the vehicle state data to a third thread for processing.
When the remote driving mobile terminal communicates with the MQTT server, login is carried out first, the IP address of the MQTT server is input through a text edit box, and the port number, the account number and the password are modified through setting buttons; after logging in, starting a background service to try to establish connection with the MQTT server; after the remote driving mobile terminal is successfully connected with the MQTT server, the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server; when the intelligent gateway is communicated with the MQTT server, the intelligent gateway reads the MQTT server information in the configuration file and is connected with the MQTT server; and after the intelligent gateway is successfully connected with the MQTT server, the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to the MQTT server.
Converting the touch operation of the user into a car control message, and converting the touch callback coordinate values into data of the corresponding control in the corresponding control through calculation; the touch operation comprises finger pointing, finger moving and finger lifting which are sequentially carried out; before data conversion, coordinate systems of a steering wheel control, a gear control, a brake control and an accelerator control are set, then coordinate change values of the controls are converted into corresponding data fields in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server.
When a user operates a steering wheel control, the client converts the clockwise sliding angle or the anticlockwise sliding angle into steering wheel corner data in a touch event of a control view, and updates a data bit corresponding to a vehicle control instruction message body; when a user operates the gear control, the client converts the up-down sliding position into corresponding gear data in a touch event of the control view, and updates a data bit corresponding to the vehicle control instruction message body; and by analogy, when other control touch events occur, the events are converted into data, the data are updated to corresponding data bits of the vehicle control instruction message body, and after the data are updated, the data are packaged into vehicle control messages according to the communication protocol and are issued to the MQTT server.
When a coordinate system is set by a steering wheel control, the coordinate of the center point of a steering wheel is used as the origin of coordinates, the coordinate of a point on a Y axis is a zero angle, and when a touch event of the steering wheel control is under a finger point, the coordinate under the point and the coordinate of the center point of the steering wheel calculate a clicked angle through a trigonometric function and record the clicked angle as an initial angle, and simultaneously record the clicked angle into the angle updated at the last time; when the touch event of the steering wheel control is finger movement, calculating a current angle according to the position to which the current finger moves, calculating an angle change value according to the current angle and the last updated angle, performing rotation operation on the steering wheel control through the angle change value, refreshing the angle value, converting the current angle value into a corresponding data field in a vehicle control message, updating the vehicle control message, and sending the vehicle control message to an MQTT server; when the touch event of the steering wheel control is finger lifting, the steering wheel control is automatically rotated to the original position, the current angle is automatically returned to the zero angle, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server;
when the gear control sets a coordinate system, the vertex coordinate of the upper left corner of a gear area is used as the origin of coordinates, four equal parts of areas are divided from top to bottom on a Y axis, the gear pointing icon position is switched through the gear position, the gear position value is refreshed at the same time, the gear value is converted into a corresponding data field in the vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server;
when the touch event of the gear control is a finger point, whether the current brake control vehicle is a point or not can be judged, the current brake control vehicle slides down to a half position, and if the brake is not in the state, information can be provided by popping up: please step on the brake to engage the gear; if the braking state is met, automatically jumping to a gear corresponding to the point of the hand; when the touch event of the gear control is finger sliding, the gear automatically jumps to the position where the finger slides; when the touch event of the gear control is that the finger is lifted, ending the gear engaging action;
when a coordinate system is set for a brake control, the vertex coordinate of the upper left corner of the brake control is used as a coordinate origin, the Y axis corresponds to the magnitude of brake force, when a touch event of the brake control is finger pointing, the coordinate of the pointing is recorded as an initial coordinate position, when the touch event of the brake control is finger movement, a brake change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position moved by the current finger, the brake change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; when the touch event of the brake control is that the finger is lifted, changing the brake force to 0, converting the brake change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server;
when the accelerator control sets a coordinate system, the top point coordinate of the upper left corner of the accelerator control is used as a coordinate origin, the Y axis corresponds to the accelerator force, when the touch event of the accelerator control is finger pointing, the coordinates below the point are recorded as an initial coordinate position, when the touch event of the accelerator control is finger movement, the accelerator change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position to which the current finger moves, the accelerator change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; and when the touch event of the accelerator control is finger lifting, changing the accelerator force to 0, converting the accelerator change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server.
In the operation of the brake control, the brake control cannot move along with the finger in the sliding process of the finger, and in order to feed back the touch feeling to a user, after the finger is touched, a vibration motor of the system is turned on to feed back the vibration.
In the operation of the accelerator control, the accelerator control cannot move along with the finger in the finger sliding process, and in order to feed back the touch feeling to a user, after the finger is touched, a vibration motor of the system is turned on to feed back the vibration.
The touch operation also comprises event cancellation, the event cancellation generally occurs in the finger sliding process, the screen-off button is pressed carelessly, the vehicle control operation interface is covered by other interfaces, and the event cancellation processing is added only for error prevention.
The changed value is converted into a corresponding data field in the vehicle control message, see a vehicle control instruction list in a communication protocol, if the angle of a steering wheel is changed, the field corresponding to the angle of the steering wheel is updated, if the states of other controls are changed, the fields of other controls are only updated, each control independently updates the corresponding data field, and when the message is sent, the data fields are sent to an MQTT server together.
And after receiving the message of the MQTT server, the remote driving mobile terminal judges whether the message is a gateway heartbeat message, resets a heartbeat timeout timer if the message is the gateway heartbeat message, judges whether the message is a vehicle state message if the message is not the gateway heartbeat message, analyzes the vehicle state message if the message is the vehicle state message, and updates the vehicle state display content of the remote driving module display unit.
In the third thread, a 500ms period timer is started, and a gateway heartbeat message is issued to the MQTT server when the period is full; and setting a heartbeat timeout timer, and carrying out safety processing when the gateway heartbeat message is not received at the expiration.
In thread one, a 2ms cycle timer is started, and will be current at the expiration of the first cycle and every 5 following cycles: data packing is carried out on the states of a steering wheel corner, an accelerator, a brake, a gear and a hand brake according to a CAN matrix protocol of the vehicle, and a vehicle control message is sent to a CAN bus; when the remote driving mobile terminal exits from the vehicle control state or the heartbeat of the remote driving mobile terminal is disconnected, the vehicle control message sent by the intelligent gateway is in a brake state or a parking state; when the remote driving mobile terminal normally operates and controls the automobile, the intelligent gateway packages and sends the current updated real-time states of the steering wheel corner, the accelerator, the brake, the gear and the hand brake to the CAN bus so as to control the automobile; at the expiration of the second cycle and every 5 cycles thereafter: data packing is carried out on the states of the steering lamps, the dipped headlights, the high beam lights and the position lamps according to a CAN matrix protocol of the vehicle, and a light control message is sent to a CAN bus; when the remote driving mobile terminal enters a vehicle control state, the intelligent gateway packs and sends the current updated real-time light state to the CAN bus to control the vehicle.
When the intelligent gateway receives the message of the MQTT server, judging whether the message is a terminal heartbeat message, resetting a heartbeat timeout timer if the message is the terminal heartbeat message, judging whether the message is a vehicle control message of the remote driving mobile terminal if the message is not the terminal heartbeat message, analyzing the message if the message is the vehicle control message, and updating the vehicle control message.
The first wireless communication module is an Android system smart phone or tablet; before the remote driving mobile terminal communicates with the MQTT server, an MQTT protocol is established to the remote driving mobile terminal, and the method comprises the following steps: adding an MQTT dependent package in a gradle of an Android project; declaring network access rights in android manifest; adding an MQTT service responsible for MQTT connection, sending and receiving messages in the Android project; the MQTT service is started when a remote driving mobile terminal logs in, and is connected with an MQTT server according to input information during logging in the initialization stage of the MQTT service; after the connection is successfully established, subscribing vehicle state information and gateway heartbeat information themes to an MQTT server; simultaneously setting MQTT message monitoring callback, and receiving messages; when the connection is failed to be established, a reconnection mechanism is called, and a relevant prompt is popped up; and packaging the message sending interface, and calling the packaged message sending interface when operating on the Android terminal interface.
When a user operates a steering wheel control, the remote driving mobile terminal converts the clockwise sliding angle or the anticlockwise sliding angle into steering wheel corner data (-4089-; when a user operates a gear control, the remote driving mobile terminal converts the up-down sliding position into corresponding gear data (0-3) in a touch event of the gear control, and updates a data bit corresponding to a vehicle control instruction message body; and by analogy, when other control touch events occur, the events are converted into data, the data are updated to corresponding data bits of the vehicle control instruction message body, and after the data are updated, the data are packaged into vehicle control messages according to the communication protocol and are issued to the MQTT server.
The light is turned on by clicking and then turned off by clicking, and the left turn light is automatically related when the right turn light is turned on under the turning-on state of the left turn light as in the real vehicle state; when the near-close lamp is turned on and the high beam is turned on, the near-close lamp can be automatically turned off.
When the intelligent gateway is communicated with the CAN bus, a vehicle control message in the latest state is sent to the CAN bus every 10ms, the CAN message in the instruction ID set is read, the CAN message is analyzed, the vehicle state message is updated, and the vehicle state message is sent to the MQTT server.
When the mobile phone car control APP is started, a login interface is firstly entered, a user is prompted to input an MQTT server IP address through a text edit box, a setting button is provided, and information such as a modified port number, an account number and a password can be entered. When a login button is clicked, a background service (mqttService) is started, connection with an MQTT server is tried to be established, after the establishment is successful, an APP can subscribe vehicle state information and gateway heartbeat information to the MQTT server, and the APP jumps to a car control owner interface.
A communication protocol is established between the mobile phone vehicle control APP and the intelligent gateway vehicle control program.
Each message consists of an identification bit, a message header, a message body and a check code, and is shown in the following table:
| identification bit | Message header | Message body | Check code | Identification bit |
A flag bit: 0x5a, if the check code, the message header and the message body have 0x5a, the escape processing is carried out according to the following rules that the escape processing process is 0x5a:0x5b 0x020x5b:0x5b 0x 01:
when the message is sent: message encapsulation → computation and filling of check codes → escape;
when receiving the message: escape reduction → verification check code → parsing message.
Header content, as shown in the following table:
| start byte | Field(s) | Data type | Description of the |
|
| 0 | | WORD | ||
| 2 | Message body attributes | WORD | The structure diagram of the message body attribute format is shown in FIG. 2 | |
| 4 | Message serial number | WORD | Cyclically accumulating from 0 in transmission order |
The message body attribute format structure is shown in the following table:
message body
1. The following message types are mainly involved in the communication process:
| message type | Command code |
| Gateway heartbeat | 0x0501 |
| Heartbeat of driving table | 0x0301 |
| Parameters of the instrument | 0x0503 |
| Control command of driving platform | 0x0305 |
| Switching instruction of control target of driving platform | 0x0307 |
| Console control target switch response | 0x0507 |
| Switching remote driving commands | 0x0311 |
| Switching remote driving response | 0x0511 |
2. Intelligent gateway heartbeat:
3. mobile phone control APP heartbeat:
| message ID | Start byte | Field(s) | Data type | Period of time | Description of the |
| 0x0301 | |||||
| 0 | Is free of | Is free of | 1 second | Is free of |
4. Vehicle control instruction
5. Vehicle state data
Check code
The check code means that one byte is occupied from the beginning of the message header and is XOR-ed with the next byte until the previous byte of the check code.
Transmission rules
The data types and transmission rules used in the protocol are shown in the following table:
when a user operates the mobile phone APP steering wheel control, the APP converts the clockwise sliding angle or the anticlockwise sliding angle into steering wheel rotation angle data (-4089-.
When a user operates the mobile phone APP gear control, the APP converts the up-down sliding position into corresponding gear data (0-3) in a touch event of a control view, and updates a data bit corresponding to a vehicle control instruction message body.
And by analogy, when other control touch events occur, the events are converted into data, the data are updated to corresponding data bits of the vehicle control instruction message body, and after the data are updated, the data are packaged into vehicle control messages according to the communication protocol and are issued to the MQTT.
During the vehicle control period, a background service (mqttService) starts a periodic timer, and a heartbeat message (in a protocol, the message ID:0x0301) is issued to the MQTT server every 500ms to inform the intelligent gateway whether the current network is normal or not and whether the mobile phone vehicle control APP is in control or not. Meanwhile, a timeout timer is started, when the intelligent network care jump cannot be received within the instruction time, the information of the user, poor network state and the like is prompted on an interface, and after the heartbeat is recovered, safety vehicle control information such as parking and the like is actively issued to the MQTT, so that the automobile cannot be suddenly out of control after the network is recovered.
Intelligent gateway vehicle control program
After the intelligent gateway is powered on and the Linux system is initialized, the vehicle control program can be automatically operated, and the intelligent gateway can dial up to access the internet through the 5G module. After successful network injection, the vehicle control program establishes connection to the MQTT server, and the corresponding IP address and port information are acquired from the configuration file (/ etc/can.ini) of the intelligent gateway.
After the vehicle control program is connected with the MQTT server, the vehicle control program can subscribe mobile phone vehicle control information and mobile phone vehicle control APP heartbeat information to the MQTT server. And simultaneously starting multiple threads to perform asynchronous flow processing.
Thread one (can _ timer): a 2ms period timer is started, and at the expiration of the first cycle, and every 5 cycles (10ms) that follow, will be current: and the states of the steering wheel corner, the accelerator, the brake, the gear, the hand brake and the like are subjected to data packaging according to a CAN matrix protocol of the vehicle, and a vehicle control message is sent to a CAN bus. When the mobile phone enters a car control state or after the mobile phone car control APP is disconnected in heartbeat, the sent car control message is in a brake state or a parking state. When the mobile phone car control APP normally operates and controls the car, the current updated real-time states of the steering wheel corner, the accelerator, the brake, the gear, the hand brake and the like are packaged and sent to the CAN bus so as to control the car. At the expiration of the second cycle, and every 5 cycles (10ms) that follow, will be current: and the states of the steering lamp, the dipped headlight, the high beam, the position lamp and the like are subjected to data packaging according to a CAN matrix protocol of the vehicle, and a light control message is sent to the CAN bus. When the mobile phone enters a car control state, the current updated real-time light state is packaged and sent to the CAN bus so as to control the car.
And a second thread (cmd _ process) is used for processing the subscribed mobile phone car control APP message, the car control message also follows the communication protocol, and after the mobile phone car control APP message is received, the thread is responsible for analyzing the message and updating each field into car control message data.
And a third thread (send _ heart) for starting a 500ms period timer, and issuing a heartbeat message to the MQTT server when the period is full. Meanwhile, the vehicle state message is processed and packaged according to the communication protocol and is issued to the MQTT server.
And a fourth thread (vehicle _ receive) for receiving the vehicle CAN bus message in a blocking mode, updating the vehicle state message data when the vehicle state message is received, and processing and issuing the vehicle state message data to the MQTT server by the third thread.
The scheme of the invention is designed based on a 5G private network environment, the private network environment has stable network state and low time delay, and can meet the requirement of remote vehicle control. However, the private network environment has regional limitation, is generally built in a garden, and is often unable to use a 5G private network when leaving the garden.
However, if the MQTT (message queue telemetry transmission) server is built on a public network server, the regional limitation can be broken through. By matching with a remote video plug flow technology, the peripheral view of the vehicle is obtained, so that the remote vehicle control function beyond thousands of miles can be realized.
The reason why the MQTT (message queue telemetry transmission) server is not built on the public network server is that the video stream has large time delay and cannot be applied to a remote driving scene, and the scheme is believed to be applied to the public network environment along with the updating iteration of the network, so that the vehicle control is not limited by any region any more.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive step, which shall fall within the scope of the appended claims.
Claims (7)
1. A remote driving method, comprising the steps of:
the remote driving mobile terminal and the intelligent gateway are communicated with the MQTT server;
determining whether the remote driving mobile terminal and the intelligent gateway are connected with the MQTT server or not;
the vehicle control unit is used for receiving the touch operation of a user for controlling the vehicle when the user operates the vehicle control unit and converting the touch operation of the user into a vehicle control message;
the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server and sends a vehicle control message and a terminal heartbeat message to the MQTT server;
the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to an MQTT server and simultaneously starts asynchronous flow processing, wherein the multithreading comprises the following steps:
the method comprises the steps that a first thread and a timing period pack data corresponding to vehicle control information and send a vehicle control message for controlling a vehicle to a CAN bus;
receiving and processing the vehicle control message of the remote driving mobile terminal and updating the data for controlling the vehicle in the thread one;
a third thread, sending a gateway heartbeat message to the MQTT server in a timing period, packaging vehicle state data into a vehicle state message according to a communication protocol, and sending the vehicle state message to the MQTT server;
receiving a vehicle state message of the CAN bus, updating vehicle state data according to the vehicle state message, and sending the vehicle state data to a thread three for processing;
converting the touch operation of the user into a car control message, and converting the touch callback coordinate values into data of the corresponding control in the corresponding control through calculation;
the touch operation comprises finger pointing, finger moving and finger lifting which are sequentially carried out; before data conversion, a coordinate system of a steering wheel control, a gear control, a brake control and an accelerator control is set, then a coordinate change value of the control is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server;
when the steering wheel control sets a coordinate system, the coordinate of the center point of the steering wheel is used as the origin of coordinates, the coordinate of a point on a Y axis is a zero angle, and when the touch event of the steering wheel control is under a finger point, the coordinate under the point and the coordinate of the center point of the steering wheel calculate the clicked angle through a trigonometric function and record the clicked angle as an initial angle, and simultaneously record the clicked angle into the angle updated at the last time; when the touch event of the steering wheel control is finger movement, calculating a current angle according to the position to which the current finger moves, calculating an angle change value according to the current angle and the last updated angle, performing rotation operation on the steering wheel control through the angle change value, refreshing the angle value, converting the current angle value into a corresponding data field in a vehicle control message, updating the vehicle control message, and sending the vehicle control message to an MQTT server; when the touch event of the steering wheel control is finger lifting, the steering wheel control is automatically rotated to the original position, the current angle is automatically returned to the zero angle, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server;
when the gear control sets a coordinate system, the vertex coordinate of the upper left corner of the gear area is used as the origin of coordinates, the Y-axis is divided into four equal parts of areas from top to bottom, the gear pointing icon position is switched through the gear position, the gear position value is refreshed at the same time, the gear value is converted into a corresponding data field in the vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to the MQTT server;
when the touch event of the gear control is a finger point, whether the current brake control vehicle is a point or not can be judged, the current brake control vehicle slides down to a half position, and if the brake is not in the state, information can be provided by popping up: please step on the brake to engage the gear; if the braking state is met, automatically jumping to a gear corresponding to the point of the hand; when the touch event of the gear control is finger sliding, the gear automatically jumps to the position where the finger slides; when the touch event of the gear control is that the finger is lifted, ending the gear engaging action;
when the brake control is set with a coordinate system, the vertex coordinate of the upper left corner of the brake control is used as the origin of coordinates, the Y axis corresponds to the magnitude of brake force, when the touch event of the brake control is finger pointing, the coordinate under the point is recorded as the initial coordinate position, when the touch event of the brake control is finger movement, the brake change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position moved by the current finger, the brake change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; when the touch event of the brake control is that the finger is lifted, changing the brake force to 0, converting the brake change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server;
when the accelerator control sets a coordinate system, the top point coordinate of the upper left corner of the accelerator control is used as a coordinate origin, the Y axis corresponds to the accelerator force, when the touch event of the accelerator control is finger pointing, the coordinates below the point are recorded as an initial coordinate position, when the touch event of the accelerator control is finger movement, the accelerator change value is calculated by subtracting the initial coordinate position from the current Y coordinate position through the Y coordinate position to which the current finger moves, the accelerator change value is converted into a corresponding data field in a vehicle control message, the vehicle control message is updated, and the vehicle control message is sent to an MQTT server; and when the touch event of the accelerator control is finger lifting, changing the accelerator force to 0, converting the accelerator change value into a corresponding data field in the vehicle control message, updating the vehicle control message, and sending the vehicle control message to the MQTT server.
2. The remote driving method according to claim 1,
when the remote driving mobile terminal is communicated with the MQTT server, login is carried out firstly, the IP address of the MQTT server is input through a text editing box, and the port number, the account number and the password are modified through setting buttons;
after logging in, starting a background service to try to establish connection with the MQTT server;
after the remote driving mobile terminal is successfully connected with the MQTT server, the remote driving mobile terminal subscribes a vehicle state message and a gateway heartbeat message to the MQTT server;
when the intelligent gateway is communicated with the MQTT server, the intelligent gateway reads the MQTT server information in the configuration file and is connected with the MQTT server;
and after the intelligent gateway is successfully connected with the MQTT server, the intelligent gateway subscribes a vehicle control message and a terminal heartbeat message to the MQTT server.
3. The remote driving method according to claim 1,
and after receiving the message of the MQTT server, the remote driving mobile terminal judges whether the message is a gateway heartbeat message, resets a heartbeat timeout timer if the message is the gateway heartbeat message, judges whether the message is a vehicle state message if the message is not the gateway heartbeat message, analyzes the vehicle state message if the message is the vehicle state message, and updates the vehicle state display content of the remote driving module display unit.
4. The remote driving method according to claim 1,
in the third thread, a 500ms period timer is started, and a gateway heartbeat message is issued to the MQTT server when the period is full;
and setting a heartbeat timeout timer, and carrying out safety processing when the gateway heartbeat message is not received at the expiration.
5. The remote driving method according to claim 1,
in thread one, a 2ms cycle timer is started, and will be current at the expiration of the first cycle and every 5 following cycles: data packing is carried out on the states of a steering wheel corner, an accelerator, a brake, a gear and a hand brake according to a CAN matrix protocol of the vehicle, and a vehicle control message is sent to a CAN bus;
when the remote driving mobile terminal exits from the vehicle control state or the heartbeat of the remote driving mobile terminal is disconnected, the vehicle control message sent by the intelligent gateway is in a brake state or a parking state;
when the remote driving mobile terminal normally operates and controls the automobile, the intelligent gateway packages and sends the current updated real-time states of the steering wheel corner, the accelerator, the brake, the gear and the hand brake to the CAN bus so as to control the automobile;
at the expiration of the second cycle and every 5 cycles thereafter: data packing is carried out on the states of the steering lamps, the dipped headlights, the high beam lights and the position lamps according to a CAN matrix protocol of the vehicle, and a light control message is sent to a CAN bus;
when the remote driving mobile terminal enters a vehicle control state, the intelligent gateway packs and sends the current updated real-time light state to the CAN bus to control the vehicle.
6. The remote driving method according to claim 1,
when the intelligent gateway receives the message of the MQTT server, judging whether the message is a terminal heartbeat message, resetting a heartbeat timeout timer if the message is the terminal heartbeat message, judging whether the message is a vehicle control message of the remote driving mobile terminal if the message is not the terminal heartbeat message, analyzing the message if the message is the vehicle control message, and updating the vehicle control message.
7. The remote driving method according to claim 1,
the remote driving mobile terminal comprises a first wireless communication module, wherein the first wireless communication module is used for sending the vehicle control message to a server and receiving a subscription message of the server; the first wireless communication module is an Android system smart phone or tablet;
before the remote driving mobile terminal communicates with the MQTT server, an MQTT protocol is established to the remote driving mobile terminal, and the method comprises the following steps:
adding an MQTT dependent package in a gradle of an Android project;
declaring network access rights in android manifest;
adding an MQTT service responsible for MQTT connection, sending and receiving messages in the Android project;
the MQTT service is started when a remote driving mobile terminal logs in, and is connected with an MQTT server according to input information during logging in the initialization stage of the MQTT service;
after the connection is successfully established, subscribing vehicle state information and gateway heartbeat information themes to an MQTT server;
simultaneously setting MQTT message monitoring callback, and receiving messages;
when the connection is failed to be established, a reconnection mechanism is called, and a relevant prompt is popped up;
and packaging the message sending interface, and calling the packaged message sending interface when operating on the Android terminal interface.
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| CN113075918A (en) * | 2021-03-29 | 2021-07-06 | 东风汽车集团股份有限公司 | Parallel driving vehicle control system and method for crawler-type unmanned vehicle |
| CN113539009A (en) * | 2021-06-08 | 2021-10-22 | 中兴智能汽车有限公司 | Remote driving training platform based on 5G |
| CN113570936A (en) * | 2021-07-22 | 2021-10-29 | 广州小鹏汽车科技有限公司 | Driver simulator interface processing method, remote control platform and system |
| CN113419520A (en) * | 2021-07-28 | 2021-09-21 | 东风悦享科技有限公司 | Parallel driving system and method based on public network condition |
| CN113777996A (en) * | 2021-09-23 | 2021-12-10 | 东风汽车有限公司东风日产乘用车公司 | Remote control method, device and equipment based on mobile terminal |
| CN116346798A (en) * | 2021-12-22 | 2023-06-27 | 比亚迪股份有限公司 | Parameter updating method, device, processing equipment and storage medium |
| CN114355943A (en) * | 2022-01-05 | 2022-04-15 | 合肥中科自动控制系统有限公司 | Remote driving system based on 5G mobile communication technology and high-definition video transmission |
| CN114422497B (en) * | 2022-01-20 | 2023-05-30 | 重庆长安汽车股份有限公司 | Remote control method for vehicle atmosphere lamp and readable storage medium |
| CN114745467B (en) * | 2022-04-28 | 2023-06-06 | 重庆长安汽车股份有限公司 | Method for controlling vehicle equipment by passengers based on MQTT |
| CN115412588B (en) * | 2022-06-20 | 2024-01-23 | 北京车网科技发展有限公司 | Method and device for remotely updating configuration file and electronic equipment |
| CN115437514A (en) * | 2022-09-14 | 2022-12-06 | 润芯微科技(江苏)有限公司 | Vehicle-mounted mouse system and method based on touch pad |
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