CN113189969A - Upper computer system for real-time monitoring and early warning of unmanned vehicle - Google Patents
Upper computer system for real-time monitoring and early warning of unmanned vehicle Download PDFInfo
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- CN113189969A CN113189969A CN202110502426.7A CN202110502426A CN113189969A CN 113189969 A CN113189969 A CN 113189969A CN 202110502426 A CN202110502426 A CN 202110502426A CN 113189969 A CN113189969 A CN 113189969A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention discloses an upper computer system for real-time monitoring and early warning of an unmanned vehicle, which comprises a parallel driving module, a rack host, a communication module, a vehicle end module and a data processing module, wherein the rack host is connected with the communication module; a parallel driving module: the system is used for sending a vehicle control signal to the rack host machine in a parallel driving mode and displaying video information around the vehicle on a display screen; the rack host computer: the parallel driving control system is used for making corresponding action instructions according to the vehicle control signals and transmitting the parallel driving control data to the vehicle end module through the communication module; a vehicle end module: the system is used for collecting and processing automatic driving control data, parallel driving control data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module; a data processing module: the CAN network data processing system is used for receiving CAN network data of the whole vehicle and realizing the functions of monitoring interface data, data online calibration processing, control mode switching and interface popup fault display according to control signals. The invention solves the problem of data loss caused by GPRS network data transmission delay, and CAN monitor all CAN node data of the whole vehicle in real time.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an upper computer system for real-time monitoring and early warning of an unmanned vehicle.
Background
With the continuous development of the automobile industry and the economic society, automobiles gradually enter the popularization stage, and meanwhile, with the progress of communication technology, unmanned automobiles make breakthrough progress in the aspects of feasibility and practicability, so that the unmanned technology capable of greatly relieving the driving fatigue of human beings and improving the driving safety is a current research hotspot.
At present, the monitoring and alarming of the unmanned vehicle are mainly monitored by a cloud-end upper computer, so that the monitoring content is limited, and the GPRS network data transmission delay is realized, for example, in the 'unmanned vehicle running state monitoring and early warning device' (publication number: 207389116U) of Chinese patent, the upper computer monitoring terminal is in a cloud end, and certain network data transmission delay exists, so that data loss or distortion is likely to be caused, and the problem analysis and judgment are not facilitated; in addition, the unmanned vehicle monitoring device disclosed in the chinese patent "an unmanned vehicle monitoring device" (publication number: 209888790U) cannot perform online calibration on the core data of ACU (automatic Control Unit automatic driving controller) and RCU (Remote Control Unit parallel driving controller), which is not conducive to rapid iterative development of ACU and RCU; and the unmanned vehicle with two sets of running schemes of automatic driving and parallel driving can not be automatically switched between the automatic driving monitoring interface and the parallel driving monitoring interface.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an upper computer system for real-time monitoring and early warning of an unmanned vehicle, which CAN monitor all CAN node data of the whole vehicle in real time and CAN give an alarm to prompt a fault in real time.
In order to achieve the aim, the upper computer system for the real-time monitoring and early warning of the unmanned vehicle is characterized by comprising a parallel driving module, a rack host, a communication module, a vehicle end module and a data processing module;
the parallel driving module is used for: the system is used for sending a vehicle control signal to the rack host machine in a parallel driving mode and displaying video information around the vehicle on a display screen;
the rack host computer: the vehicle-mounted parallel driving control system comprises a communication module, a vehicle-mounted module, a display screen, an operator and a vehicle-mounted module, wherein the communication module is used for receiving vehicle peripheral video information sent by the vehicle-mounted module and transmitting the vehicle peripheral video information to the display screen;
the vehicle end module: the system is used for collecting and processing automatic driving control data, parallel driving control data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module;
the data processing module: the CAN network data processing system is used for receiving CAN network data of the whole vehicle and realizing the functions of monitoring interface data, data online calibration processing, control mode switching and interface popup fault display according to control signals.
Further, the vehicle-end module comprises an ACU module, an RCU module, a PCAN module, an ECAN module and an intelligent gateway:
the ACU module: the automatic driving control module is used for acquiring vehicle driving information, outputting automatic driving control data through an automatic driving control algorithm and transmitting the automatic driving control data to the PCAN module;
the RCU module: the parallel driving control module is used for converting the received parallel driving control data into a CAN signal and transmitting the CAN signal to the PCAN module;
the PCAN module: the intelligent gateway is used for transmitting the acquired automatic driving control data, the acquired parallel driving control data and the acquired PCAN network data transmitted by the ACU module and the RCU module to the intelligent gateway;
the ECAN module: the intelligent gateway is used for converting the received new energy control data into CAN signals and transmitting the CAN signals to the intelligent gateway;
the intelligent gateway is used for collecting and processing automatic driving control data, parallel driving control data, PCAN network data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module.
Furthermore, the data processing module comprises a monitoring interface data module, a data online calibration processing module, a control mode switching module, an interface popup fault processing module and a display module;
the monitoring interface data module: the online calibration processing module is used for judging whether to modify the data according to the protocol, if so, triggering the online calibration processing module of the data, and sending the processed data to the display module;
the data online calibration processing module: the device comprises a protocol module, a display module and a data processing module, wherein the protocol module is used for judging whether to carry out data online calibration processing according to the protocol, if so, executing a data online calibration processing flow and sending the processed data to the display module, otherwise, directly sending the data to the display module;
the control mode switching module: the control mode switching process is executed according to the automatic driving and parallel driving triggering conditions and the ending conditions, and the monitoring interface data module is triggered according to the control instruction;
the interface popup fault processing module: and the interface popup module is used for executing the interface popup fault processing flow according to the fault code specification and sending the control instruction to the display module.
Furthermore, the communication module is a 5G communication module, a 5G communication antenna, a 5G base station, a communication optical fiber and the like.
Furthermore, the vehicle driving information collected by the ACU module includes environment perception information collected by a millimeter wave radar, a camera, a laser radar and a GPS inertial navigation, and the automatic driving control data includes vehicle acceleration, braking, steering, door control and lamp control signals.
Furthermore, the PCAN module is in transmission communication with interfaces of an OBU, an Eboost, an ESC, an EPB, an HMI, a BCM, a VCU and a drive-by-wire chassis system, and acquires road end data, brake system data, electronic parking data, vehicle body signal data, accelerator brake data and the like.
Furthermore, the ECAN module is communicated with interfaces of the MCU, the BMS and the VCU in a transmission mode, and new energy related data are collected.
Furthermore, the data processing module is deployed in the mobile terminal data, and is communicated with the intelligent gateway through the CAN data acquisition equipment to receive CAN network data of the whole vehicle.
Furthermore, the data processing module adopts G language to develop the source code and the interface of the upper computer under the LABVIEW development environment.
Further, the new energy control data includes battery voltage, battery current, battery serial-parallel number, battery cell voltage, battery cell temperature, battery fault, motor revolution number, motor temperature, motor actual torque, motor controller temperature, motor controller current, motor fault, and the like.
The invention has the advantages that:
1. the invention solves the problem of data loss or distortion caused by network data transmission delay, CAN monitor all CAN node data of the whole vehicle in real time, and has complete data without distortion;
2. the invention realizes the function of on-line calibration of the core data of the ACU and the RCU through software and hardware design, and is beneficial to the rapid iterative development of the ACU and the RCU.
3. The invention aims at the unmanned vehicle with two sets of running schemes of automatic driving and parallel driving, can automatically switch the automatic driving interface and the parallel driving interface, and avoids the conditions of data loss and the like possibly caused by manual switching.
4. The invention monitors the CAN network data of the whole vehicle, is convenient for debugging and after-sale maintenance of the whole vehicle, and is utilized and popularized.
Drawings
Fig. 1 is a schematic diagram of an overall architecture of an upper computer system for real-time monitoring and early warning of an unmanned vehicle according to the present invention.
Fig. 2 is a schematic diagram of a manufacturing process of a data processing module in an upper computer system for real-time monitoring and early warning of an unmanned vehicle according to the present invention.
Fig. 3 is a data structure diagram of a data processing module.
Fig. 4 is a flow chart of monitoring data processing of the data processing module.
FIG. 5 is a flow chart of the data online calibration process of the data processing module.
Fig. 6 is a flow chart of control mode switching of the data processing module.
FIG. 7 is a flowchart of interface popup failure processing for a data processing module.
Fig. 8 is a schematic view of a parallel driving mode monitoring interface of the upper computer system.
Fig. 9 is a schematic view of an automatic driving mode monitoring interface of the upper computer system.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
As shown in fig. 1, the upper computer system for real-time monitoring and early warning of an unmanned vehicle provided by the invention comprises a parallel driving module, a rack host, a communication module, a vehicle end module and a data processing module. Wherein:
a parallel driving module: the system is used for sending a vehicle control signal to the rack host machine in a parallel driving mode and displaying video information around the vehicle on a display screen; the parallel driving module comprises a parallel driving rack and a display, and the parallel driving rack and the display are respectively communicated with the rack host.
The rack host computer: the vehicle driving information is received by the communication module and transmitted to the parallel driving module, corresponding action instructions are made according to vehicle control signals, then parallel driving control data are transmitted to the vehicle end module through the communication module, and the specific process is as follows: the driving information (including audio and video) of the vehicle sent by the vehicle through the RCU is received and displayed to the driver through the display, the driver makes relevant action instructions according to the feedback information, then the action instructions are transmitted to the RCU through the 5G private network by the rack host, and the RCU converts the action instructions of the driver into CAN signals and sends the CAN signals to the PCAN network.
The communication module is a 5G communication module, a 5G communication antenna, a 5G base station, a communication optical fiber and the like.
A vehicle end module: the automatic driving control data, the parallel driving control data and the new energy control data are collected and processed into whole vehicle CAN network data, and the whole vehicle CAN network data are transmitted to the data processing module.
A data processing module: the CAN network data processing system is used for receiving CAN network data of the whole vehicle and realizing the functions of monitoring interface data, data online calibration processing, control mode switching and interface popup fault display according to control signals.
The vehicle-end module comprises a part for data interaction in the PCAN network, a part for data interaction in the ECAN network and an intelligent gateway, and specifically comprises an ACU module, an RCU module, a PCAN module, an ECAN module and an intelligent gateway:
an ACU module: the automatic driving control module is used for acquiring vehicle driving information, outputting automatic driving control data through an automatic driving control algorithm and transmitting the automatic driving control data to the PCAN module; the vehicle driving information collected by the ACU module comprises environment sensing information collected by a millimeter wave radar, a camera, a laser radar and a GPS inertial navigation system, and the automatic driving control data comprises vehicle acceleration, braking, steering, door control and lamp control signals.
An RCU module: the parallel driving control module is used for converting the received parallel driving control data into a CAN signal and transmitting the CAN signal to the PCAN module;
a PCAN module: the intelligent gateway is used for transmitting the acquired automatic driving control data, the acquired parallel driving control data and the acquired PCAN network data transmitted by the ACU module and the RCU module to the intelligent gateway; the PCAN network data comprises CAN communication data such as OBUs, eboster, ESCs, EPBs, HMIs, BCMs, VCUs and the like, and is used for acquiring road end data, brake system data, electronic parking data, vehicle body signal data, accelerator brake data and the like.
An ECAN module: the intelligent gateway is used for transmitting the received new energy CAN data to the intelligent gateway; the ECAN module comprises interfaces of MCU, BMS, VCU and the like for transmission and communication, and collects new energy related data. The new energy control data comprises battery voltage, battery current, battery serial-parallel number, battery monomer single voltage, battery monomer temperature, battery fault, motor revolution number, motor temperature, motor actual torque, motor controller temperature, motor controller current, motor fault and the like.
The intelligent gateway is used for collecting and processing automatic driving control data, parallel driving control data, PCAN network data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module.
The data processing module is deployed in the mobile terminal, and the manufacturing process is as follows, as shown in fig. 2:
step 1: formulating a whole vehicle CAN network communication matrix and a network architecture;
step 2: collecting the CAN network data of the whole vehicle by adopting an intelligent gateway, and extracting and sending the core data;
step 3: constructing an upper computer development hardware supporting platform by adopting CAN data acquisition equipment (a Zhou Li Gong series CAN card) and a mobile PC (personal computer);
step 4: and under an LABVIEW development environment, developing the source code and the interface of the upper computer by adopting a G language.
The data processing module comprises a monitoring interface data module, a data online calibration processing module, a control mode switching module, an interface popup fault processing module and a display module; the data processing module is deployed in mobile terminal data, communicates with the intelligent gateway through the CAN data acquisition equipment and receives CAN network data of the whole vehicle; the data structure of the data processing module is shown in fig. 3.
A monitoring interface data module: the online calibration processing module is used for judging whether to modify the data according to the protocol, if so, triggering the online calibration processing module of the data, and sending the processed data to the display module; the monitoring data processing flow chart is shown in fig. 4: after receiving the data, judging whether the data is CAN node data according to a protocol, if so, processing the data and transmitting the data to a display module; otherwise, no processing is performed.
The data online calibration processing module: the device comprises a protocol module, a display module and a data processing module, wherein the protocol module is used for judging whether to carry out data online calibration processing according to the protocol, if so, executing a data online calibration processing flow and sending the processed data to the display module, otherwise, directly sending the data to the display module; the flow of the data online calibration process is shown in fig. 5: selecting parameters to be modified of relevant parts; modifying the parameter value to be sent; sending parameter data according to a protocol; judging whether the data is successfully sent, if so, ending the process, otherwise, returning to the process for restarting;
the control mode switching module: the control mode switching process is executed according to the automatic driving and parallel driving triggering conditions and the ending conditions, and the monitoring interface data module is triggered according to the control instruction; the flow of control mode switching is shown in fig. 6: judging whether the flag bit of the automatic driving mode is 1, if so, sending the automatic driving mode interface to a display module, otherwise, sending the parallel driving mode interface to the display module; judging whether a flag bit of the parallel driving mode is 1 at intervals of a specified time (10 ms in the embodiment) in the automatic driving mode, if so, sending a parallel driving mode interface to a display module, otherwise, sending the automatic driving mode interface to the display module; and judging whether the flag bit of the automatic driving mode is 1 at a specified time interval (10 ms in the embodiment) in the parallel driving mode, if so, sending the automatic driving mode interface to the display module, and otherwise, sending the parallel driving mode interface to the display module.
Interface popup fault processing module: and the interface popup module is used for executing the interface popup fault processing flow according to the fault code specification and sending the control instruction to the display module. The interface popup window failure processing flow is as shown in fig. 7, and whether a system has failure feedback information is determined at specified time intervals (10 ms in this embodiment), otherwise, waiting is performed, if yes, it is determined whether the failure level is a secondary failure, if yes, an interface popup frame is displayed on the display module to display the failure and trigger a prompt tone, otherwise, an interface popup frame is displayed on the display module to display the failure.
The development process of the data processing module comprises the following steps:
step 1: receiving and sending CAN data basic source code development in an LABVIEW development environment;
step 2: developing a source code of a monitoring interface according to a finished automobile protocol matrix: designing a main interface: the method comprises the following steps of CAN equipment selection, baud rate setting, sub-interface calling and other content development; designing a sub-interface: the method mainly comprises the design of an automatic driving mode monitoring interface, a parallel driving mode monitoring interface and automatic switching logic design;
step 3: carrying out related parameter online modification source code development according to the ACU, RCU bottom layer source codes and the upper computer system agreed protocol;
step 4: carrying out automatic switching source code development on the 2 kinds of unmanned driving mode monitoring interfaces according to the automatic driving and parallel driving triggering conditions and the ending conditions; the parallel driving mode monitoring interface and the automatic driving mode monitoring interface are respectively shown in fig. 8 and fig. 9.
Step 5: and developing a bullet frame fault prompt source code according to the fault code specification.
The upper computer system provided by the invention is arranged at a vehicle end, is used for carrying out real-time monitoring and early warning on the unmanned vehicle, provides two sets of interface automatic switching logic algorithms of an automatic driving interface and a parallel driving interface, and designs a software and hardware framework for on-line modification of ACU and RCU core data. The invention CAN monitor all CAN node data of the whole vehicle in real time, and the data is complete and undistorted, so that the whole vehicle CAN be debugged and maintained after sale; for an unmanned vehicle with two sets of running schemes of automatic driving and parallel driving, automatic switching between an automatic driving monitoring interface and a parallel driving monitoring interface can be carried out, and the situations of data loss and the like caused by manual switching are reduced; the invention can modify the core data of the ACU and the RCU on line, and is beneficial to the rapid iterative development of the ACU and the RCU.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make various changes and modifications within the spirit and scope of the present invention without departing from the spirit and scope of the appended claims.
Claims (10)
1. The utility model provides a host computer system that is used for unmanned vehicle real time monitoring and early warning which characterized in that: the upper computer system comprises a parallel driving module, a rack host, a communication module, a vehicle end module and a data processing module;
a parallel driving module: the system is used for sending a vehicle control signal to the rack host machine in a parallel driving mode and displaying video information around the vehicle on a display screen;
the rack host computer: the parallel driving control system is used for receiving vehicle driving information sent by the vehicle end module through the communication module, transmitting the vehicle driving information to the parallel driving module, making a corresponding action instruction according to a vehicle control signal, and then transmitting parallel driving control data to the vehicle end module through the communication module;
a vehicle end module: the system is used for collecting and processing automatic driving control data, parallel driving control data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module;
a data processing module: the CAN network data processing system is used for receiving CAN network data of the whole vehicle and realizing the functions of monitoring interface data, data online calibration processing, control mode switching and interface popup fault display according to control signals.
2. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 1, characterized in that: the vehicle-end module comprises an ACU module, an RCU module, a PCAN module, an ECAN module and an intelligent gateway:
an ACU module: the automatic driving control module is used for acquiring vehicle driving information, outputting automatic driving control data through an automatic driving control algorithm and transmitting the automatic driving control data to the PCAN module;
an RCU module: the parallel driving control module is used for converting the received parallel driving control data into a CAN signal and transmitting the CAN signal to the PCAN module;
a PCAN module: the intelligent gateway is used for transmitting the acquired automatic driving control data, the acquired parallel driving control data and the acquired PCAN network data transmitted by the ACU module and the RCU module to the intelligent gateway;
an ECAN module: the intelligent gateway is used for converting the received new energy control data into CAN signals and transmitting the CAN signals to the intelligent gateway;
the intelligent gateway is used for collecting and processing automatic driving control data, parallel driving control data, PCAN network data and new energy control data into whole vehicle CAN network data and transmitting the whole vehicle CAN network data to the data processing module.
3. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 1, characterized in that: the data processing module comprises a monitoring interface data module, a data online calibration processing module, a control mode switching module, an interface popup fault processing module and a display module;
a monitoring interface data module: the online calibration processing module is used for judging whether to modify the data according to the protocol, if so, triggering the online calibration processing module of the data, and sending the processed data to the display module;
the data online calibration processing module: the device comprises a protocol module, a display module and a data processing module, wherein the protocol module is used for judging whether to carry out data online calibration processing according to the protocol, if so, executing a data online calibration processing flow and sending the processed data to the display module, otherwise, directly sending the data to the display module;
the control mode switching module: the control mode switching process is executed according to the automatic driving and parallel driving triggering conditions and the ending conditions, and the monitoring interface data module is triggered according to the control instruction;
interface popup fault processing module: and the interface popup module is used for executing the interface popup fault processing flow according to the fault code specification and sending the control instruction to the display module.
4. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 1, characterized in that: the communication module is a 5G communication module, a 5G communication antenna, a 5G base station and a communication optical fiber.
5. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 2, characterized in that: the vehicle driving information collected by the ACU module comprises environment perception information collected by a millimeter wave radar, a camera, a laser radar and a GPS inertial navigation system, and the automatic driving control data comprises vehicle acceleration, braking, steering, door control and lamp control signals.
6. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 2, characterized in that: the PCAN module is in transmission communication with interfaces of an OBU, an Eboost, an ESC, an EPB, an HMI, a BCM, a VCU and a drive-by-wire chassis system, and acquires road end data, brake system data, electronic parking data, vehicle body signal data and accelerator brake data.
7. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 2, characterized in that: and the ECAN module is communicated with the interfaces of the MCU, the BMS and the VCU in a transmission manner to acquire new energy data.
8. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 3, characterized in that: the data processing module is deployed in mobile terminal data, and is communicated with the intelligent gateway through the CAN data acquisition equipment to receive CAN network data of the whole vehicle.
9. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 3, characterized in that: and the data processing module adopts G language to develop the source code and the interface of the upper computer under the LABVIEW development environment.
10. The upper computer system for real-time monitoring and early warning of the unmanned vehicle according to claim 7, characterized in that: the new energy control data comprises battery voltage, battery current, battery serial-parallel number, battery monomer single voltage, battery monomer temperature, battery fault, motor revolution number, motor temperature, motor actual torque, motor controller temperature, motor controller current and motor fault.
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| CN113741223A (en) * | 2021-09-07 | 2021-12-03 | 北京百度网讯科技有限公司 | Vehicle remote control method, device, equipment, medium and automatic driving vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113448276A (en) * | 2021-08-18 | 2021-09-28 | 东风悦享科技有限公司 | Vehicle-end parallel driving controller with function of rack-end signal acquisition instrument and remote parallel driving control system and device |
| CN113448276B (en) * | 2021-08-18 | 2023-12-05 | 东风悦享科技有限公司 | Parallel driving control circuit and system with signal acquisition instrument function |
| CN115497318A (en) * | 2022-09-28 | 2022-12-20 | 东风悦享科技有限公司 | Auxiliary driving platform suitable for public road remote driving |
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