CN112896193B - Automobile remote auxiliary driving system and method - Google Patents
Automobile remote auxiliary driving system and method Download PDFInfo
- Publication number
- CN112896193B CN112896193B CN202110278009.9A CN202110278009A CN112896193B CN 112896193 B CN112896193 B CN 112896193B CN 202110278009 A CN202110278009 A CN 202110278009A CN 112896193 B CN112896193 B CN 112896193B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- user
- vehicle
- aerial vehicle
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
- B60W60/00256—Delivery operations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Abstract
The invention provides a remote auxiliary driving system and a method for an automobile.A smart vehicle-mounted gateway comprises a CAN interface, a wireless communication module, a control module and a mobile communication module; the intelligent vehicle gateway is configured to: establishing association information with a first user subsystem; acquiring a first certificate from a platform management subsystem through the associated information, and establishing communication with a simulation cockpit and an unmanned aerial vehicle which have a second certificate by using the first certificate; the first certificate and the second certificate are both generated by the platform management subsystem and are matched with each other; the first certificate and the unmanned aerial vehicle carrying the second certificate are used for identity confirmation, and after the identity confirmation is successful, the unmanned aerial vehicle is guided to be docked to a preset position in the intelligent automobile; acquiring a driving control instruction from the simulation cockpit, and transmitting the driving control instruction to a vehicle control system; and transmitting the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulated cockpit. The intelligent automobile remote auxiliary driving system can assist relevant personnel in remotely assisting driving of the intelligent automobile.
Description
Technical Field
The invention relates to an automobile driving control technology, in particular to an automobile remote auxiliary driving system and method.
Background
Drivers are inevitably fatigued during long-distance driving, and particularly, during high-speed driving, great potential safety hazards are caused during driving; in life, a driver cannot drive after drinking because the public affairs or friends meet the drinking inevitably, and certain inconvenience is brought along with quitting of the drunk driving order. Therefore, a general owner of the vehicle calls a designated driver, but designated driver needs to own a portable electric vehicle, or needs to take a taxi to the original place by self-fee when arriving at some remote positions, which is time-consuming and labor-consuming.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an intelligent vehicle gateway, which can assist remote driving assistance.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an intelligent vehicle-mounted gateway is installed in an intelligent automobile; the CAN interface, the wireless communication module, the control module and the mobile communication module are included; the CAN interface is used for communicating with a vehicle control system and vehicle-mounted electronic equipment; the wireless communication module is used for communicating with the first user subsystem and the unmanned aerial vehicle; the mobile communication module is used for communicating with the platform management subsystem;
the intelligent in-vehicle gateway is configured to:
establishing association information with a first user subsystem, wherein the association information comprises identity information and vehicle information of a first user corresponding to the first user subsystem;
acquiring a first certificate from a platform management subsystem through the associated information, and establishing communication with a simulation cockpit and an unmanned aerial vehicle which have a second certificate by using the first certificate; the first certificate and the second certificate are both generated by the platform management subsystem and are matched with each other; the unmanned aerial vehicle is provided with a camera;
the identity of the unmanned aerial vehicle carrying the second certificate is confirmed by the first certificate, and after the identity is successfully confirmed, the unmanned aerial vehicle is guided to be docked to a preset position in the intelligent automobile;
acquiring a driving control instruction from the simulation cockpit, and transmitting the driving control instruction to a vehicle control system;
the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment is transmitted to the simulated cockpit;
and the unmanned aerial vehicle transmits the shot video pictures to the simulation cockpit when flying and butting to the preset position.
Preferably, the intelligent vehicle-mounted gateway is further configured to send an access key of the wireless communication network to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically accesses the wireless communication network by using the key when approaching the intelligent vehicle.
Preferably, the intelligent vehicle-mounted gateway is further configured to acquire the state information of the vehicle door or the vehicle window through the CAN interface when the unmanned aerial vehicle is detected to approach, and if the corresponding vehicle door or vehicle window is found not to be opened, the vehicle control system is notified to open the vehicle door or vehicle window until the unmanned aerial vehicle is closed after being successfully docked.
Preferably, the intelligent vehicle-mounted gateway is further configured to guide the unmanned aerial vehicle to fly away from the intelligent automobile after receiving the order ending instruction from the platform management subsystem.
Preferably, the mobile communication module is a 5G module.
A second object of the present invention is to provide an automobile remote assistant driving system, which can facilitate a designated driver to remotely drive a vehicle requiring designated driving without physically going to the site.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a remote auxiliary driving system for an automobile comprises a platform management subsystem, a first user subsystem, a second user subsystem and an intelligent automobile; the intelligent automobile is provided with the intelligent vehicle-mounted gateway;
the platform management subsystem is used for performing user management, intelligent automobile management, order processing, order charging, cockpit use simulation management and unmanned aerial vehicle dispatching management; the platform management subsystem charges the simulated cockpit correspondingly after the second user activates the simulated cockpit through the second user subsystem;
the first user subsystem is used for a first user to register and log in, establish association with the intelligent vehicle-mounted gateway, initiate an order request and pay order fees through a third-party payment platform; the first user at least inputs identity information and vehicle information when registering and logging in; the order request at least comprises identity information, vehicle information and position information of a first user;
the second user subsystem is used for a second user to perform registration login, order taking, order expense settlement and use of the simulation cockpit;
the auxiliary driving subsystem comprises a plurality of simulation cockpit and a plurality of unmanned aerial vehicles; the unmanned aerial vehicle is provided with a camera, and the camera is arranged on the unmanned aerial vehicle body through a small mechanical arm; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle in the intelligent automobile in a mode of detecting a preset positioning label in the intelligent automobile through a positioning detection device and adjusts the position according to an adjusting instruction received from the simulation cockpit; the unmanned aerial vehicle acquires driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished; the unmanned aerial vehicle transmits the shot video pictures to the simulated cockpit when flying and hovering to the preset position; the head-mounted equipment is also provided with a gesture motion detection module, and the gesture motion detection module is used for detecting head motions of a second user and generating motion data; the simulation cockpit transmits the action data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the action data, so that the gesture of the camera is synchronous with the head gesture and the action of a second user
The simulation cockpit generates a driving control instruction and an adjusting control instruction according to the operation of a second user, sends the driving control instruction and the adjusting control instruction to the intelligent vehicle-mounted gateway, receives driving data from a driving system and controls the pre-configured head-mounted equipment and the somatosensory posture simulation equipment to work according to the driving data; the head-mounted device is configured with a display module and a headset module.
Preferably, the system further comprises a public security management subsystem, wherein the public security management subsystem is used for receiving the user data files of the second user from the platform management subsystem, processing the assessment application initiated by the second user subsystem and returning assessment passing data to the platform management subsystem after the corresponding assessment of the second user passes;
and the platform management subsystem opens the order receiving permission for the corresponding second user according to the examination passing data received from the public security management subsystem.
A third object of the present invention is to provide a remote assistant driving method for an automobile, which can facilitate a designated driver to remotely drive a vehicle requiring designated driving without physically going to the site.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a remote assistant driving method for an automobile comprises the following steps:
the second user operates the second user subsystem to activate and use a simulated cockpit; the platform management subsystem charges the use behavior of the second user until the use is finished;
the method comprises the steps that a first user operates a first user subsystem to establish associated information with an intelligent vehicle-mounted gateway, wherein the associated information comprises identity information and vehicle information of a corresponding first user;
a first user operates a first user subsystem to initiate an order request;
after receiving the order request, the platform management subsystem inquires whether an idle simulation cockpit exists; if yes, continuously inquiring whether an idle unmanned aerial vehicle exists in a preset range away from the first user; if so, distributing the order request to a current user of the simulation cockpit, and scheduling an unmanned aerial vehicle to be associated with the simulation cockpit; meanwhile, the platform management subsystem distributes a first certificate to the corresponding intelligent vehicle-mounted gateway according to the information in the order request, and distributes a second certificate to the scheduled unmanned aerial vehicle and the simulated cockpit;
the intelligent vehicle-mounted gateway establishes communication with a simulation cockpit and an unmanned aerial vehicle which have second credentials by using the first credentials;
the unmanned aerial vehicle acquires position information of a first user and automatically navigates to the position of the intelligent automobile; when the unmanned aerial vehicle approaches the intelligent automobile, the intelligent vehicle-mounted gateway in the intelligent automobile confirms the identity of the unmanned aerial vehicle carrying the second certificate by using the first certificate, and guides the unmanned aerial vehicle to be docked to a preset position in the intelligent automobile after the identity is successfully confirmed; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle in the intelligent automobile in a mode of detecting a preset positioning label in the intelligent automobile through a positioning detection device;
the second user sends an adjusting instruction to the unmanned aerial vehicle through the simulated cockpit, and the unmanned aerial vehicle adjusts the position according to the adjusting instruction received from the simulated cockpit;
the unmanned aerial vehicle acquires driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished; the unmanned aerial vehicle transmits the shot video picture to the simulation cockpit when flying and hovering to a preset position;
the head-mounted equipment detects the motion data and the attitude data of the head of the second user and transmits the motion data and the attitude data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the attitude data and the motion data so that the attitude of the camera is synchronous with the head attitude and the head movement of the second user;
the intelligent vehicle-mounted gateway acquires the driving control instruction from the simulated cockpit, transmits the driving control instruction to the vehicle control system, and transmits the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulated cockpit. The intelligent vehicle-mounted gateway is also configured to send an access key of the wireless communication network to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically accesses the wireless communication network by using the key when approaching the intelligent vehicle.
The technical effects of the invention are mainly reflected in the following aspects:
1. the intelligent vehicle-mounted gateway is utilized to coordinate the simulation cockpit with the unmanned aerial vehicle, and low-delay real-time data transmission is achieved through a 5G network, so that a second user can remotely drive the intelligent vehicle in the simulation cockpit in real time;
2. the unmanned aerial vehicle is used for replacing a second user to arrive at the scene, and the picture seen by the first-person visual angle of the second user can be more real by controlling the flight of the unmanned aerial vehicle and the posture and the action of the corresponding camera.
Drawings
FIG. 1 is a schematic diagram of an exemplary remote assisted driving system for a vehicle;
FIG. 2 is a block diagram of an intelligent vehicle gateway in an embodiment;
FIG. 3 is a schematic view of a simulated cockpit in an embodiment;
fig. 4 is a schematic diagram of an embodiment of the drone;
FIG. 5 is a structural view of an electric displacement base in the embodiment;
FIG. 6 is a view showing the structure of the grip sleeve in the embodiment.
Description of reference numerals: 1. a six-degree-of-freedom motion platform; 2. a head-mounted device; 3. a virtual cockpit; 4. an unmanned aerial vehicle body; 51. an annular track; 52. a support frame; 521. a limiting strip; 522. a second conductive portion; 53. an electric displacement base; 54. a clamping sleeve; 55. a strut; 61. a main control module; 62. a driver; 63. an electric guide wheel assembly; 64. a first telescopic rod; 641. a first platen; 65. a conductive contact; 66. conducting rings; 71. a secondary control module; 72. a first drive motor; 74. a second telescopic rod; 741. a second platen; 75. a second position sensor; 76. a first conductive portion; 77. a gear; 78. a rack.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.
The first embodiment,
Referring to fig. 1, the embodiment provides an automobile remote assistant driving system, which includes a platform management subsystem, a first user subsystem, a second user subsystem, a public security management subsystem and an intelligent automobile; the intelligent automobile is provided with an intelligent vehicle-mounted gateway. The first user subsystem and the second user subsystem are both borne on a mobile terminal, such as a mobile phone, in an APP mode, and the platform management subsystem is borne on a server.
The auxiliary driving subsystem comprises a plurality of simulation cockpit and a plurality of unmanned aerial vehicles; install the camera on the unmanned aerial vehicle, the camera passes through small-size arm (not shown) and installs on unmanned aerial vehicle body 4, and unmanned aerial vehicle passes through the action of control small-size arm, but the action and the gesture of camera are adjusted to multi-angle ground. The simulation cockpit and the unmanned aerial vehicle can be arranged in various planning places of a city in a cluster mode, a closed place is arranged in the planning places, and the unmanned aerial vehicle and the simulation cockpit are installed inside the simulation cockpit.
The simulated cockpit contains various devices required by the driving of the automobile, such as an electric seat, a brake, a steering wheel, an operating rod and the like. Unmanned aerial vehicle unified parks in intelligent airport, and intelligent airport is every unmanned aerial vehicle configuration parking stall, and installs wireless charging device on the parking stall, charges for the unmanned aerial vehicle who stands by. The drone communicates remotely (e.g., 5G) with the control system of the smart airport, which directs the drone to return to one of the stands when the drone returns. It is worth explaining that when the unmanned aerial vehicle completely returns to the flight, the unmanned aerial vehicle communicates with the nearest intelligent airport to inquire whether the unmanned aerial vehicle has an empty parking space or not by adopting a principle of proximity.
The simulation cockpit is also provided with a head-wearing device 2 and a body sensing posture simulation device, and the head-wearing device 2 is provided with modules such as a display screen and an earphone microphone. Unmanned aerial vehicle is flying and hovering to the predetermined position in the intelligent automobile after with the video picture transmission of shooing to simulation cockpit, and simulation cockpit shows data transmission to in the head mounted device 2 and through the display screen, and the information that shows on the display screen includes speed of a motor vehicle, rotational speed, all kinds of instruction class etc.. Meanwhile, all the sounds of the intelligent automobile on site are acquired by the recording equipment and then transmitted to the simulated cockpit, and are fed back to the second user through the earphone. The body feeling gesture simulation device is used for simulating body feeling of a driver in the driving process of the intelligent automobile as much as possible, the main body of the device is a six-degree-of-freedom motion platform 1, the whole cockpit is installed on the six-degree-of-freedom motion platform 1, and when the intelligent automobile turns, a speed bump and a pothole road surface, feedback can be output through actions of a control platform.
The platform management subsystem is used for user management, intelligent automobile management, order processing, order charging, simulation cockpit use management and unmanned aerial vehicle dispatching management. Specifically, when a first user and a second user register accounts through a first user subsystem and a second user subsystem respectively, relevant data are submitted to a platform management subsystem, the platform management subsystem finishes checking the relevant data by setting an automatic checking program, and corresponding user information is stored in a database.
The second user subsystem is used for the second user to log in, receive orders, settle order charges and use the simulation cockpit. And the platform management subsystem charges the simulated cockpit correspondingly after the second user activates the simulated cockpit through the second user subsystem. Specifically, a two-dimensional code is arranged on the simulated cockpit, a second user operates a second user subsystem to scan the code to identify corresponding information, an activation use request is sent to the platform management subsystem according to the identified information, the platform management subsystem checks corresponding authority of the second user, and if the corresponding authority of the second user is met, the second user starts to charge through the activation use request.
The first user subsystem is used for registering and logging in the first user, establishing association with the intelligent vehicle-mounted gateway, initiating an order request and paying the order fee through the third-party payment platform.
The first user at least inputs identity information and vehicle information when registering and logging in. The order request at least comprises identity information, vehicle information and position information of the first user. In addition, the association information established with the intelligent vehicle-mounted gateway comprises identity information and vehicle information of a first user corresponding to the first user subsystem, and the specific process comprises the following steps: a first user uses a mobile terminal to connect to a wireless communication network of the intelligent vehicle-mounted gateway, and then operates a first user subsystem to search and confirm the intelligent vehicle-mounted gateway; and then, the first user subsystem collects the information of the intelligent vehicle-mounted gateway, packages the information together with the order request and sends the information to the platform management subsystem, and after receiving the data, the platform management subsystem binds and associates the intelligent vehicle-mounted gateway with the information data of the corresponding first user.
The unmanned aerial vehicle confirms the position of self in the intelligent automobile and adjusts the position according to the adjustment instruction received from the simulation cockpit through the mode of the preset positioning label in the intelligent automobile of detection device detection. Specifically, the positioning detection device may be an RFID identifier, and the positioning tag may be an RFID tag, so that when the unmanned aerial vehicle determines that the unmanned aerial vehicle approaches the smart car through the position information, the tag in the smart car is identified, and the relative position of the unmanned aerial vehicle and the smart car is determined through data returned by the tag; since the RFID positioning technology belongs to the prior art, the detailed description of the specific principles is omitted here. Then unmanned aerial vehicle passes through the car shape that intelligent automobile was obtained to intelligent on-vehicle gateway to judge the door window position to formulate the flight orbit with this, then enter into intelligent automobile along the flight orbit in, reach and predetermine the position.
The unmanned aerial vehicle acquires the driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished. Specifically, after the intelligent automobile began to travel, unmanned aerial vehicle need keep in relative position, consequently, unmanned aerial vehicle through the data of traveling that acquires the intelligent automobile, acquire the speed of car, turn to isoparametric to combine detecting device's data, thereby adjust the flying speed of self and turn to, finally reach the removal with the intelligent automobile synchronous.
The head-mounted device 2 is also provided with a gesture motion detection module, and the gesture motion detection module is used for detecting the head motion of the second user and generating motion data; the simulation cockpit transmits the action data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the action data, so that the gesture of the camera is synchronous with the head gesture and the action of a second user.
The simulation cockpit generates a driving control instruction and an adjusting control instruction according to the operation of a second user, sends the driving control instruction and the adjusting control instruction to the intelligent vehicle-mounted gateway, receives driving data from a driving system and controls the pre-configured head-mounted device 2 and the somatosensory posture simulation device to work according to the driving data; the head mounted device 2 is configured with a display module and a headset module.
The public security management subsystem is used for receiving the user data files of the second user from the platform management subsystem, processing the assessment application initiated by the second user subsystem and returning assessment passing data to the platform management subsystem after the corresponding second user assessment passes; and the platform management subsystem opens the order receiving authority for the corresponding second user according to the examination passing data received from the public security management subsystem.
Referring to fig. 2, the intelligent vehicle-mounted gateway includes a CAN interface, a wireless communication module, a control module and a mobile communication module; the CAN interface is used for communicating with the vehicle control system and the vehicle-mounted electronic equipment; the wireless communication module is used for communicating with the first user subsystem and the unmanned aerial vehicle; the mobile communication module is used for communicating with the platform management subsystem. Wherein, the mobile communication module is a 5G module.
After the platform management subsystem successfully processes the order request, whether an idle simulation cockpit exists is inquired; if yes, continuously inquiring whether an idle unmanned aerial vehicle exists in a preset range away from the first user; if so, the order request is distributed to the current user of the simulated cockpit, and an unmanned aerial vehicle is dispatched to be associated with the simulated cockpit. And meanwhile, the platform management subsystem distributes a first certificate to the corresponding intelligent vehicle-mounted gateway according to the information in the order request, and distributes a second certificate to the scheduled unmanned aerial vehicle and the simulated cockpit respectively.
The intelligent vehicle-mounted gateway acquires a first certificate from the platform management subsystem through the associated information, and establishes communication with the simulation cockpit and the unmanned aerial vehicle which have a second certificate by using the first certificate; the first credential and the second credential are both generated by the platform management subsystem and matched to each other.
When unmanned aerial vehicle was close to, the intelligent vehicle-mounted gateway utilized first voucher and carried the unmanned aerial vehicle of second voucher to carry out the identity and confirm to after the success, guide unmanned aerial vehicle butt joint to the preset position in the intelligent automobile.
The intelligent vehicle-mounted gateway acquires the driving control instruction from the simulation cockpit and transmits the driving control instruction to the vehicle control system, and the intelligent vehicle-mounted gateway transmits the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulation cockpit.
In addition, the intelligent vehicle-mounted gateway is also configured to acquire the state information of the vehicle door or the vehicle window through the CAN interface when the unmanned aerial vehicle is detected to approach, and if the corresponding vehicle door or vehicle window is not opened, the vehicle control system is informed to open the vehicle door or vehicle window until the unmanned aerial vehicle is closed after successfully entering.
The intelligent vehicle-mounted gateway is further configured to guide the unmanned aerial vehicle to fly away from the intelligent automobile after receiving the order ending instruction from the platform management subsystem. Specifically, the intelligent vehicle-mounted gateway informs the vehicle control system to open the vehicle window, and simultaneously informs that the vehicle window of the unmanned aerial vehicle is opened, and the unmanned aerial vehicle flies out of the intelligent vehicle from the vehicle window and returns to the home after receiving the notice.
Referring to fig. 3-6, the unmanned aerial vehicle comprises an unmanned aerial vehicle body 4 and an annular rail 51, wherein the unmanned aerial vehicle body 4 is fixed on the inner side of the annular rail 51. An electric displacement base 53 is mounted on the annular rail 51 to be movable along the annular rail 51.
An electric guide wheel assembly 63 is arranged in the electric displacement base 53, and the electric guide wheel assembly 63 is driven by a driver 62; the motor-driven guide wheel assembly 63 is clamped on the circular track 51, and when the motor-driven guide wheel assembly 63 rotates, the whole motor-driven displacement base 53 can displace along the circular track 51. The electric displacement base 53 is further provided with a first positioning component for preventing the electric displacement base 53 and the annular track 51 from generating relative displacement. The first positioning assembly includes a first telescopic rod 64 and a first pressing plate 641, when the electric displacement base 53 does not need to move, the main control module 61 drives the first telescopic rod 64 to push out, and the first pressing plate 641 presses the annular rail 51, so as to prevent the electric displacement base 53 from moving.
The circular track 51 is provided with first position sensor (not shown) for the bottom of unmanned aerial vehicle body 4, one side at the top all, is provided with the first position label that can be discerned by this first position sensor on the electronic displacement base 53. The driver 62, the first electric clamping assembly and the first position sensor are all electrically connected with the main control module 61. The main control module 61 can confirm the position by the first position sensor when the motorized displacement base 53 moves to the top and bottom of the circular guide rail, respectively.
A conductive ring 66 is concentrically arranged in the annular track 51, and a conductive contact 65 which is always in contact with the conductive ring 66 is arranged on the electric displacement base 53; the conductive ring 66 is electrically connected with the main power supply module of the drone body 4. The conductive contacts 65 are also electrically connected to the main control module 61.
The outer side of the electric displacement base 53 is provided with a clamping sleeve 54 through a support rod 55, the clamping sleeve 54 is sleeved with a semicircular supporting frame 52, and the clamping sleeve 54 is provided with a driving assembly for driving the supporting frame 52 to rotate circumferentially and a locking assembly for locking the supporting frame 52; the drive assembly is connected to a secondary control module 71 within the clamping sleeve 54. The driving assembly comprises a first driving motor 72 and a gear 77 assembly, and one part of the gear 77 assembly extends into the sleeve opening; the outer side wall of the support frame 52 is provided with a rack 78 which is matched with the gear 77 along the circumferential direction. When the first driving motor 72 rotates, the supporting frame 52 can be driven to rotate through the meshing relationship between the gear 77 and the rack 78.
A plurality of lithium battery modules are arranged inside the support frame 52, a first conductive part 76 is arranged in the middle of the outer part of the support frame 52, and a second conductive part 522 is arranged on the clamping sleeve 54; the first conductive part 76 is electrically connected to the lithium battery module, and the second conductive part 522 is electrically connected to the conductive contact 65. The sub control module 71 is provided with a sub power supply module electrically connected to the second conductive part 522.
An arc-shaped opening matched with the support frame 52 is formed at one side of the clamping sleeve 54, and a limiting strip 521 is formed on the inner wall of the arc-shaped opening; the outer side wall of the support frame 52 is circumferentially formed with a limit groove adapted to the limit bar 521.
A second position label is arranged in the middle of the outer side wall of the support frame 52, and a second position sensor 75 capable of identifying the second position label is arranged in the corresponding position on the sleeve seat; the second position sensor 75 is electrically connected to the sub-control module 71. The sub-control module 71 determines whether the supporting frame 52 has rotated 180 degrees by a signal of the second position sensor 75.
One end of the supporting frame 52 is provided with a first connector, and the other end is provided with a first connecting seat, wherein the first connector is in inserting fit with the first connecting part. Specifically, the end of the first connecting seat is provided with a socket into which the first connecting head extends, and a magnet is arranged in the socket; the end of the first connector is provided with an iron block.
The main control system of the unmanned aerial vehicle body 4, the main control module 61 and the auxiliary control module 71 perform data interaction through wireless signals.
The interior of the clamping sleeve 54 is also provided with a second positioning component, and the second positioning component is electrically connected with the secondary control module 71. The second positioning assembly comprises a second telescopic rod 74, and a second pressing plate 741 is mounted at the end of the second telescopic rod 74. When the support frame 52 does not need to rotate, the secondary control module 71 controls the second telescopic rod 74 to be pushed out, and the support frame 52 is pressed tightly by the second pressing plate 741, so that the support frame 52 is prevented from moving.
Therefore, the operating principle of the unmanned aerial vehicle is as follows: when a certain unmanned aerial vehicle is insufficient in residual electric quantity and cannot return to a flight, the unmanned aerial vehicle calls a nearby intelligent airport, the intelligent airport immediately sends out an auxiliary unmanned aerial vehicle special for replacing power (the structure of the auxiliary unmanned aerial vehicle is basically the same as that of the unmanned aerial vehicle, and the difference is that the auxiliary unmanned aerial vehicle is additionally provided with a power supply) to start to the unmanned aerial vehicle, and after the unmanned aerial vehicle and the auxiliary unmanned aerial vehicle approach each other, the relative position is adjusted to be one above the other. Then, the flight control system of the next unmanned aerial vehicle notifies the corresponding main control module 61, the main control module 61 immediately releases the first positioning assembly, and then controls the driver 62 to work, so that the electric displacement base 53 rotates 180 degrees along the circular track 51, and finally the support frame 52 faces upwards. After completion, two unmanned aerial vehicles slowly are close to until respective support frame 52 docks with first connector through first connector. Certainly, in order to increase the efficiency of butt joint, can be at unmanned aerial vehicle's bottom and top installation infrared sensor, conveniently detect two unmanned aerial vehicle and aim at from top to bottom. When the docking is completed, the sub-control module 71 releases the second positioning assembly immediately, and then controls the first driving motor 72 to operate, so as to drive the supporting frame 52 to rotate 180 degrees. Thus, the support frames 52 of the two drones are interchanged. After completion, the secondary control modules 71 of the two unmanned aerial vehicles control the second positioning assembly to reset and gradually separate, and simultaneously, the main control module 61 of the next unmanned aerial vehicle controls the electric displacement base 53 to return to the original position.
Example II,
On the basis of the first embodiment, the embodiment provides an automobile remote assistant driving method, which comprises the following steps:
the second user operates the second user subsystem to activate and use a simulated cockpit; the platform management subsystem charges the use behavior of the second user until the use is finished;
the method comprises the steps that a first user operates a first user subsystem to establish associated information with an intelligent vehicle-mounted gateway, wherein the associated information comprises identity information and vehicle information corresponding to the first user;
a first user operates a first user subsystem to initiate an order request;
after receiving the order request, the platform management subsystem inquires whether an idle simulation cockpit exists; if yes, continuously inquiring whether an idle unmanned aerial vehicle exists in a preset range away from the first user; if so, distributing the order request to a current user of the simulation cockpit, and scheduling an unmanned aerial vehicle to be associated with the simulation cockpit; meanwhile, the platform management subsystem distributes a first certificate to the corresponding intelligent vehicle-mounted gateway according to the information in the order request, and distributes a second certificate to the scheduled unmanned aerial vehicle and the simulated cockpit;
the intelligent vehicle-mounted gateway establishes communication with a simulation cockpit and an unmanned aerial vehicle which have second credentials by using the first credentials;
the unmanned aerial vehicle acquires position information of a first user and automatically navigates to the position of the intelligent automobile; when the unmanned aerial vehicle approaches the intelligent automobile, the intelligent vehicle-mounted gateway in the intelligent automobile confirms the identity of the unmanned aerial vehicle carrying the second certificate by using the first certificate, and guides the unmanned aerial vehicle to be docked to a preset position in the intelligent automobile after the identity is successfully confirmed; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle in the intelligent automobile in a mode of detecting a preset positioning label in the intelligent automobile through a positioning detection device;
the second user sends an adjusting instruction to the unmanned aerial vehicle through the simulated cockpit, and the unmanned aerial vehicle adjusts the position according to the adjusting instruction received from the simulated cockpit;
the unmanned aerial vehicle acquires driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished; the unmanned aerial vehicle transmits the shot video picture to the simulated cockpit when flying and hovering to a preset position;
the head-mounted equipment 2 detects the motion data and the attitude data of the head of the second user and transmits the motion data and the attitude data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the attitude data and the motion data so as to enable the attitude of the camera to be synchronous with the head attitude and the head movement of the second user;
the intelligent vehicle-mounted gateway acquires the driving control instruction from the simulation cockpit, transmits the driving control instruction to the vehicle control system, and transmits the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulation cockpit.
The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.
Claims (3)
1. A remote auxiliary driving system of an automobile is characterized by comprising a platform management subsystem, a first user subsystem, a second user subsystem, an auxiliary driving subsystem and an intelligent automobile; the intelligent automobile is provided with an intelligent vehicle-mounted gateway;
the intelligent vehicle-mounted gateway comprises a CAN interface, a wireless communication module, a control module and a mobile communication module; the CAN interface is used for communicating with a vehicle control system and vehicle-mounted electronic equipment; the wireless communication module is used for communicating with the first user subsystem and the unmanned aerial vehicle; the mobile communication module is used for being connected with the platform management subsystem;
the intelligent vehicle gateway is configured to:
establishing association information with a first user subsystem, wherein the association information comprises identity information and vehicle information of a first user corresponding to the first user subsystem;
acquiring a first certificate from a platform management subsystem through the associated information, and establishing communication with a simulation cockpit and an unmanned aerial vehicle which have a second certificate by using the first certificate; the first certificate and the second certificate are both generated by the platform management subsystem and are matched with each other; the unmanned aerial vehicle is provided with a camera;
the identity of the unmanned aerial vehicle carrying the second certificate is confirmed by the first certificate, and after the identity is successfully confirmed, the unmanned aerial vehicle is guided to be docked to a preset position in the intelligent automobile;
acquiring a driving control instruction from the simulation cockpit, and transmitting the driving control instruction to a vehicle control system;
transmitting the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulated cockpit;
the unmanned aerial vehicle transmits the shot video pictures to the simulation cockpit when flying and butting to the preset position;
the platform management subsystem is used for performing user management, intelligent automobile management, order processing, order charging, cockpit use simulation management and unmanned aerial vehicle dispatching management; the platform management subsystem charges the simulated cockpit correspondingly after the second user activates the simulated cockpit through the second user subsystem;
the first user subsystem is used for a first user to register and log in, establish association with the intelligent vehicle-mounted gateway, initiate an order request and pay order fees through a third-party payment platform; the first user at least inputs identity information and vehicle information when registering and logging in; the order request at least comprises identity information, vehicle information and position information of a first user;
the second user subsystem is used for a second user to perform registration login, order taking, order expense settlement and use of the simulation cockpit;
the auxiliary driving subsystem comprises a plurality of simulation cockpit and a plurality of unmanned aerial vehicles; the simulation cockpit is also provided with a head-wearing device and a body feeling posture simulation device; the unmanned aerial vehicle is provided with a camera, and the camera is arranged on the unmanned aerial vehicle body through a small mechanical arm; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle in the intelligent automobile in a mode of detecting a preset positioning label in the intelligent automobile through a positioning detection device and adjusts the position according to an adjusting instruction received from the simulation cockpit; the unmanned aerial vehicle acquires the driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished; the unmanned aerial vehicle transmits the shot video pictures to the simulated cockpit when flying and hovering to the preset position; the head-mounted equipment is also provided with a gesture motion detection module, and the gesture motion detection module is used for detecting head motions of a second user and generating motion data; the simulated cockpit transmits the action data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the action data so that the posture of the camera is synchronous with the head posture and the action of a second user;
the simulation cockpit generates a driving control instruction and an adjusting control instruction according to the operation of a second user, sends the driving control instruction and the adjusting control instruction to the intelligent vehicle-mounted gateway, receives driving data from a driving system and controls the pre-configured head-mounted equipment and the somatosensory posture simulation equipment to work according to the driving data; the head-mounted device is configured with a display module and a headset module.
2. The remote assistant driving system for automobiles according to claim 1, further comprising a public security management subsystem for receiving user data files of the second user from the platform management subsystem, processing examination applications initiated by the second user subsystem and returning examination-passing data to the platform management subsystem after the corresponding second user examination passes;
and the platform management subsystem opens the order receiving permission for the corresponding second user according to the examination passing data received from the public security management subsystem.
3. A remote auxiliary driving method for an automobile is characterized by comprising the following steps:
the second user operates the second user subsystem to activate and use a simulated cockpit; the platform management subsystem charges the use behavior of the second user until the use is finished;
the method comprises the steps that a first user operates a first user subsystem to establish associated information with an intelligent vehicle-mounted gateway, wherein the associated information comprises identity information and vehicle information of a corresponding first user;
a first user operates a first user subsystem to initiate an order request;
after receiving the order request, the platform management subsystem inquires whether an idle simulation cockpit exists; if yes, continuously inquiring whether an idle unmanned aerial vehicle exists in a preset range from the first user; if so, distributing the order request to a current user of the simulation cockpit, and scheduling an unmanned aerial vehicle to be associated with the simulation cockpit; meanwhile, the platform management subsystem distributes a first certificate to the corresponding intelligent vehicle-mounted gateway according to the information in the order request, and distributes a second certificate to the scheduled unmanned aerial vehicle and the simulated cockpit;
the intelligent vehicle-mounted gateway establishes communication with a simulation cockpit and an unmanned aerial vehicle which have second credentials by using the first credentials;
the unmanned aerial vehicle acquires position information of a first user and automatically navigates to the position of the intelligent automobile; when the unmanned aerial vehicle approaches the intelligent automobile, the intelligent vehicle-mounted gateway in the intelligent automobile confirms the identity of the unmanned aerial vehicle carrying the second certificate by using the first certificate, and guides the unmanned aerial vehicle to be docked to a preset position in the intelligent automobile after the identity is successfully confirmed; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle in the intelligent automobile in a mode of detecting a preset positioning label in the intelligent automobile through a positioning detection device;
the second user sends an adjusting instruction to the unmanned aerial vehicle through the simulated cockpit, and the unmanned aerial vehicle adjusts the position according to the adjusting instruction received from the simulated cockpit;
the unmanned aerial vehicle acquires driving data of the intelligent automobile through the intelligent vehicle-mounted gateway, and keeps the position of the unmanned aerial vehicle in the intelligent automobile according to the driving data and the detection result of the detection device until the order is finished; the unmanned aerial vehicle transmits the shot video picture to the simulation cockpit when flying and hovering to a preset position;
the head-mounted equipment detects the motion data and the attitude data of the head of the second user and transmits the motion data and the attitude data to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the small mechanical arm to work according to the attitude data and the motion data so that the attitude of the camera is synchronous with the head attitude and the head movement of the second user;
the intelligent vehicle-mounted gateway acquires the driving control instruction from the simulation cockpit, transmits the driving control instruction to the vehicle control system, and transmits the driving data generated by the vehicle control system and the vehicle-mounted electronic equipment to the simulation cockpit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278009.9A CN112896193B (en) | 2021-03-16 | 2021-03-16 | Automobile remote auxiliary driving system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278009.9A CN112896193B (en) | 2021-03-16 | 2021-03-16 | Automobile remote auxiliary driving system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112896193A CN112896193A (en) | 2021-06-04 |
| CN112896193B true CN112896193B (en) | 2022-06-24 |
Family
ID=76105717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110278009.9A Active CN112896193B (en) | 2021-03-16 | 2021-03-16 | Automobile remote auxiliary driving system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112896193B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919487B (en) * | 2022-05-18 | 2023-04-18 | 台州职业技术学院 | Intelligent automobile carrying unmanned aerial vehicle |
| CN116170468B (en) * | 2023-02-20 | 2023-10-17 | 电讯盈科(横琴)科技有限公司 | Unmanned system heterogeneous network communication system and method for 5G private network private line |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160121861A (en) * | 2015-04-13 | 2016-10-21 | 용비에이티(주) | The UAVs mounting system in the car |
| CN208401845U (en) * | 2015-12-31 | 2019-01-18 | 沈玮 | For promoting the system of nolo flight tool network |
| MX2017007070A (en) * | 2017-06-05 | 2019-02-08 | Univ Autonoma De Ciudad Juarez | Long range communication device for unmanned aerial vehicles. |
| CN111198573A (en) * | 2018-11-20 | 2020-05-26 | 上海擎感智能科技有限公司 | Vehicle, vehicle equipment and unmanned aerial vehicle control method based on vehicle equipment |
| CN210454716U (en) * | 2019-08-19 | 2020-05-05 | 长沙智能驾驶研究院有限公司 | 5G remote driving system |
| CN111580522A (en) * | 2020-05-15 | 2020-08-25 | 东风柳州汽车有限公司 | Control method for unmanned vehicle, and storage medium |
| CN212208563U (en) * | 2020-06-09 | 2020-12-22 | 五维智联(北京)科技有限公司 | Remote driving system |
| CN112462790B (en) * | 2021-01-27 | 2021-06-22 | 新石器慧义知行智驰(北京)科技有限公司 | Remote control method and system for unmanned vehicle |
-
2021
- 2021-03-16 CN CN202110278009.9A patent/CN112896193B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112896193A (en) | 2021-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10685503B2 (en) | System and method for associating user and vehicle information for communication to a third party | |
| CN112896193B (en) | Automobile remote auxiliary driving system and method | |
| KR102618527B1 (en) | Apparatus for charging electric vehicle and controlling method thereof | |
| CN109703607B (en) | Intelligent luggage van | |
| JP6436543B2 (en) | Mobile calling system and calling apparatus | |
| JP6731006B2 (en) | Vehicle calling system | |
| US20160339791A1 (en) | Autonomous charging for electric vehicles | |
| JP2019140879A (en) | External charger and vehicle management system | |
| CA3073823A1 (en) | Identifying unassigned passengers for autonomous vehicles | |
| CN108422884B (en) | Electric automobile electric energy supplement system based on unmanned aerial vehicle | |
| RU2741449C1 (en) | Automated parking system and server | |
| WO2022141648A1 (en) | Method for human-computer interaction and device for human-computer interaction | |
| US20200298880A1 (en) | Self-driving vehicle driving control system and self-driving vehicle | |
| CN112776766B (en) | Vehicle transportation control device, vehicle transportation control method, and vehicle transportation system | |
| WO2022143181A1 (en) | Information processing method and apparatus, and information processing system | |
| KR102303422B1 (en) | Autonomous vehicle control system for maximizing autonomy, and Autonomy providing server for the same | |
| JP2020031461A (en) | Non-contact power supply system and parking lot system | |
| US20220128889A1 (en) | Mounting Assembly for a Cabin Camera | |
| KR20230135707A (en) | Self-driving wireless charging robot and management server for electric vehicles | |
| US20230315101A1 (en) | Mobile object and control method therefor | |
| CN211956219U (en) | Remote control car | |
| JP2023141027A (en) | Unmanned vehicle, program, information processing method, and information processing system | |
| WO2023208621A1 (en) | Transportation device, coupling assembly for affixing onto a movable device, and method of driving a movable device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220608 Address after: 637000 b-f-72, science and technology enterprise incubation center, building 2, No. 8, jiazigou Road, Jialing District, Nanchong City, Sichuan Province Applicant after: Sichuan junchi Zhixing Technology Co.,Ltd. Address before: 318010 No.2, building 25, Ni Li Zhang community, Xiachen street, Jiaojiang District, Taizhou City, Zhejiang Province Applicant before: Wang Shuangshuang |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230814 Address after: 801-802, 808-811, 9th Floor, 8th Floor, No. 18, Zhigu Street, Tangjiawan Town, High-tech Zone, Zhuhai City, Guangdong Province, 519000 Patentee after: Zhuhai Junchi Zhilian Technology Co.,Ltd. Address before: 637000 b-f-72, science and technology enterprise incubation center, building 2, No. 8, jiazigou Road, Jialing District, Nanchong City, Sichuan Province Patentee before: Sichuan junchi Zhixing Technology Co.,Ltd. |