CN113212398B - Unmanned vehicle control device and method and unmanned vehicle system - Google Patents
Unmanned vehicle control device and method and unmanned vehicle system Download PDFInfo
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- CN113212398B CN113212398B CN202110705511.3A CN202110705511A CN113212398B CN 113212398 B CN113212398 B CN 113212398B CN 202110705511 A CN202110705511 A CN 202110705511A CN 113212398 B CN113212398 B CN 113212398B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/10—Disposition of hand control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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Abstract
The invention discloses an unmanned vehicle control device, an unmanned vehicle control method and an unmanned vehicle system. The unmanned vehicle control device comprises a braking operation trigger instruction generation module used for generating a braking operation trigger instruction; the braking operation triggering instruction is linked with the automatic emergency braking function starting and stopping and the active braking regulation information; the processing module is used for judging the type of the braking operation trigger instruction; if the braking operation triggering instruction is a first type of braking operation triggering instruction, sending an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle; and if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an instruction for starting the disabled emergency braking function and a second unmanned vehicle braking instruction to the unmanned vehicle. The embodiment of the invention can simply realize linkage adjustment of AEB function start-stop and active braking, and the control mode is simple and safe.
Description
Technical Field
The embodiment of the invention relates to an unmanned vehicle technology, in particular to an unmanned vehicle control device, an unmanned vehicle control method and an unmanned vehicle system.
Background
The automatic Emergency Braking function (AEB) refers to a technology for preventing or reducing collision accidents such as rear-end collision and the like when a vehicle normally travels under a non-adaptive cruise condition, for example, when the vehicle encounters an Emergency dangerous condition or the distance between the vehicle and a front vehicle or a pedestrian is less than a safe distance, so that the driving safety is improved.
At present, unmanned vehicles can smoothly pass through by disabling the AEB function in a plurality of complex scenes. Such as: narrow road sections turn, strong interference road sections or dense pedestrian flow road sections, and the AEB function needs to be manually and temporarily disabled at the time. However, the operation of disabling the AEB function of the existing remote control unmanned vehicle is complex, the AEB operating lever and the active brake operating lever need to be operated respectively, and safety risks exist.
Disclosure of Invention
In view of the above, it is desirable to provide an unmanned vehicle control apparatus, method, and unmanned vehicle system that can disable an AEB function easily and safely in a situation where the AEB function needs to be disabled.
The embodiment of the invention provides an unmanned vehicle control device, which comprises:
the braking operation triggering instruction generating module is used for generating a braking operation triggering instruction; the brake operation trigger instruction is linked with the automatic emergency brake function starting and stopping and the active brake adjusting information;
the processing module is used for judging the type of the braking operation trigger instruction; if the braking operation triggering instruction is a first type of braking operation triggering instruction, sending an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle; the first unmanned vehicle braking instruction is related to active braking adjustment information in the first type of braking operation triggering instruction; if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle; the second unmanned vehicle braking command is associated with active braking adjustment information in the second type of braking operation triggering command.
In one embodiment, the brake operation triggering instruction generating module includes a brake lever unit; the processing module comprises a processor;
the shifting range of the brake lever unit comprises a first brake area and a second brake area; if a brake lever in the brake lever unit is shifted to the first brake area, the brake lever unit generates a first type of brake operation trigger command; if a brake bar in the brake bar unit is shifted to the second brake area, the brake bar unit generates a second type of brake operation triggering instruction;
the processor is used for generating an automatic emergency braking function starting command according to the first type of braking operation triggering command and generating a first unmanned vehicle braking command according to the poking amplitude of the brake rod in the first type of braking operation triggering command; the processor is further used for generating an automatic emergency braking function forbidding instruction according to the second type of braking operation triggering instruction, and generating a second unmanned vehicle braking instruction according to the shifting amplitude of the brake lever in the second type of braking operation triggering instruction.
In one embodiment, the toggle range of the brake lever further comprises a reset region, the reset region being located between the first braking region and the second braking region;
if the triggering of the first type of braking operation triggering instruction is finished, the braking rod automatically resets to the reset area, and the processor generates an active braking closing instruction; if the triggering of the second type of braking operation triggering instruction is finished, the braking rod is automatically reset to the reset area, and the processor generates an automatic emergency braking function starting instruction and an active braking closing instruction.
In one embodiment, the first braking region and the second braking region are oppositely disposed with respect to an initial position of the brake lever;
the initial position of the brake lever is the position of the brake lever when the unmanned vehicle stops sending the active braking command.
In one embodiment, the second braking zone comprises a first sub-braking zone and a second sub-braking zone; the first sub-braking zone is located between the first braking zone and the second sub-braking zone;
if the brake rod is shifted to the first sub-braking area and the holding time is longer than or equal to the threshold time, the processor generates an instruction for forbidding the automatic emergency braking function and stops sending an active braking instruction to the unmanned vehicle;
if the brake lever is shifted to the second sub-braking area and the holding time is greater than or equal to the threshold time, the processor generates an instruction for forbidding the automatic emergency braking function and generates a second unmanned vehicle braking instruction according to the shifting amplitude of the brake lever in the second type of braking operation triggering instruction.
The embodiment of the invention also provides a control method of the unmanned vehicle, which comprises
Generating a braking operation trigger instruction; the brake operation trigger instruction is linked with the automatic emergency brake function starting and stopping and the active brake adjusting information;
judging the type of a braking operation triggering instruction;
if the braking operation triggering instruction is a first type of braking operation triggering instruction, sending an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle; the first unmanned vehicle braking instruction is related to active braking adjustment information in the first type of braking operation triggering instruction;
if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle; the second unmanned vehicle braking command is associated with active braking adjustment information in the second type of braking operation triggering command.
In one embodiment, the toggle range of the remote control end brake lever unit of the unmanned vehicle comprises a first brake area and a second brake area;
the generating a brake operation trigger command comprises:
acquiring the position of a brake rod;
if the brake lever of the brake lever unit is shifted to the first brake area, generating a first type of brake operation trigger instruction;
if the brake lever of the brake lever unit is shifted to the second brake area, generating a second type of brake operation trigger instruction;
the active braking adjustment information in the first type of braking operation triggering instruction and the active braking adjustment information in the second type of braking operation triggering instruction comprise shifting amplitude of the braking rod.
In one embodiment, the toggle range further comprises a reset region, the reset region being located between the first detent region and the second detent region;
the unmanned vehicle control method further comprises:
if the brake rod is reset to the reset area from the first brake area, stopping sending an active brake instruction to the unmanned vehicle;
and if the brake lever is reset from the second brake area to the reset area, sending an automatic emergency brake function starting command to the unmanned vehicle and stopping sending an active brake command to the unmanned vehicle.
In one embodiment, the second braking zone comprises a first sub-braking zone and a second sub-braking zone; the first sub-braking zone is located between the first braking zone and the second sub-braking zone;
if the braking operation trigger instruction is a second type of braking operation trigger instruction, an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction are sent to the unmanned vehicle, and the method comprises the following steps:
if the braking operation triggering instruction is a second type of braking operation triggering instruction, and the holding time of the brake rod shifting to the first sub-braking area is longer than or equal to the threshold time, sending an instruction for forbidding the automatic emergency braking function to the unmanned vehicle and stopping sending an active braking instruction to the unmanned vehicle;
and if the braking operation triggering instruction is a second type of braking operation triggering instruction and the holding time of the brake lever shifting to the second sub-braking area is more than or equal to the threshold time, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle.
An embodiment of the present invention further provides an unmanned vehicle system, including: an unmanned vehicle and an unmanned vehicle control apparatus according to any of the embodiments described above.
The unmanned vehicle control device provided by the embodiment of the invention can generate a braking operation triggering instruction, the braking operation triggering instruction is linked with the start and stop of the automatic emergency braking function and the active braking regulation information, and if the braking operation triggering instruction is a first type of braking operation triggering instruction, an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction are sent to the unmanned vehicle, so that the unmanned vehicle starts the automatic emergency braking function and carries out active braking according to the first unmanned vehicle braking instruction; and if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an instruction for starting the forbidding emergency braking function and a second unmanned vehicle braking instruction to the unmanned vehicle so as to enable the unmanned vehicle to forbid the automatic emergency braking function and carry out active braking according to the second unmanned vehicle braking instruction. Therefore, the embodiment of the invention can simply realize the linkage adjustment of AEB function start-stop and active braking through the braking operation triggering instruction, and the control mode is simple and safe.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a block diagram of a structure of an unmanned vehicle control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned vehicle control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another unmanned vehicle control device according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of an unmanned vehicle control method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned vehicle system according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The embodiment of the invention provides an unmanned vehicle control device which can be applied to control of an unmanned vehicle. The unmanned vehicle control device provided by the implementation of the invention can be deployed at the unmanned vehicle remote control end. During road conditions such as narrow road turns, heavily trafficked roads, ground depots, etc., the AEB function may cause frequent emergency braking of the vehicle, resulting in reduced passenger comfort in the vehicle. On some road surfaces with reduced adhesive force such as ice, snow, accumulated water and the like, when the conventional AEB works, the emergency brake is performed with great force, so that the car body is out of control. Therefore, when a scene similar to the above-mentioned interference AEB operation is encountered, the unmanned vehicle remote control end is required to send an AEB function disabling instruction to the unmanned vehicle, so as to improve the driving safety performance. The unmanned vehicle control device provided by the embodiment of the invention can be realized by hardware, software or a combination of the hardware and the software. For a hardware-implemented solution, a module unit having a processing and computing function may employ one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, and the like for performing its functions. For example, the software implementation may be implemented by an application installed on the remote control terminal of the unmanned vehicle, or the like.
Fig. 1 is a block diagram of an unmanned vehicle control device according to an embodiment of the present invention, and as shown in fig. 1, the unmanned vehicle control device according to an embodiment of the present invention includes a brake operation trigger instruction generating module 100 and a processing module 200.
The braking operation triggering instruction generating module 100 is configured to generate a braking operation triggering instruction. The braking operation triggering instruction generating module 100 may generate a braking operation triggering instruction according to the input and the operation information of the remote controller. The generated brake operation trigger instruction is linked with AEB function start-stop and active brake regulation information. Namely, the brake operation trigger command comprises an instruction for starting and stopping the AEB function of the unmanned vehicle and active brake regulation information.
The processing module 200 is configured to determine the type of brake operation trigger command. If the braking operation triggering instruction is a first type of braking operation triggering instruction, the processing module 200 sends an AEB function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle. If the braking operation triggering instruction is a second type braking operation triggering instruction, the processing module 200 sends an instruction for disabling the AEB function and a second braking instruction of the unmanned vehicle to the unmanned vehicle. The first unmanned vehicle braking instruction is related to the active braking adjustment information in the first type of braking operation triggering instruction, and the second unmanned vehicle braking instruction is related to the active braking adjustment information in the second type of braking operation triggering instruction.
The first type of brake operation triggering instruction is generally generated when an unmanned vehicle is driven to brake under normal road conditions. The normal road condition refers to a road condition without interference to the AEB function, such as a normal driving road condition of a highway or the like. When the vehicle runs under normal road conditions, the AEB function can accurately identify the emergency dangerous condition and carry out emergency braking. This situation therefore requires the AEB function to be turned on normally. When the unmanned vehicle runs under normal road conditions, a remote control person can generate a first type of braking operation triggering instruction through inputting an instruction or manually operating a remote control end of the unmanned vehicle, and the first type of braking operation triggering instruction is linked with an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction, so that the unmanned vehicle can actively brake according to the first unmanned vehicle braking instruction while starting the automatic emergency braking function.
The second type of brake operation triggering instruction is generally triggered when the unmanned vehicle is driven to brake in the presence of road conditions interfering with the AEB operation. Road conditions that interfere with the AEB operation include, for example, but are not limited to, narrow road segments, tight turning road segments, dense pedestrian flow road segments, ground depots, toll booths, snow and ice, water accumulation, and the like. Under the above road conditions, the AEB may cause frequent emergency braking, vehicle body runaway, and the like. The AEB functionality needs to be disabled when a scenario like the above-described interfering AEB operation is encountered. Under the scene of the interference of the AEB work, a remote control person can generate a second type of braking operation triggering instruction through inputting an instruction or manually operating a remote control end of the unmanned vehicle, and the second type of braking operation triggering instruction is linked with an automatic emergency braking forbidding function instruction and a second unmanned vehicle braking instruction, so that the unmanned vehicle can actively brake according to the second unmanned vehicle braking instruction under the automatic emergency braking forbidding function.
For example, if the unmanned vehicle is currently running under normal road conditions and is running under the road conditions, if active braking is required, a remote control person at the remote control end of the unmanned vehicle can enable the braking operation trigger instruction generation module to generate a first type of braking operation trigger instruction through input or operation so as to instruct the unmanned vehicle to start the AEB function and perform active braking according to the first braking instruction of the unmanned vehicle. In this case, the AEB function is enabled, and the drone vehicle may also make active braking adjustments based on the first drone vehicle braking command. If the unmanned vehicle meets an emergency dangerous condition or the distance between the unmanned vehicle and the front vehicle and the distance between the unmanned vehicle and the pedestrian are smaller than the safe distance, the AEB function can also carry out auxiliary braking, so that the occurrence of collision accidents such as rear-end collision and the like is avoided or reduced. If the unmanned vehicle is currently running on a pedestrian-flow-dense road section, a remote control person at the remote control end of the unmanned vehicle can enable the brake operation trigger instruction generation module to generate a second type of brake operation trigger instruction through input or operation so as to indicate that the unmanned vehicle forbids an AEB function and actively brake according to the second unmanned vehicle brake instruction. Under the condition, the AEB function is forbidden, so that the problem that the unmanned vehicle cannot pass through smoothly due to frequent emergency braking of the unmanned vehicle caused by starting of the AEB function can be avoided. Because the AEB function starting and stopping and the active braking adjusting information are linked in the second type braking operation triggering instruction, even if the AEB function of the unmanned vehicle is forbidden, the active braking adjusting can be carried out according to the second unmanned vehicle braking instruction, and the driving safety is enhanced.
The unmanned vehicle control device provided by the embodiment of the invention can generate a braking operation triggering instruction linked with AEB function start-stop and active braking regulation information. Namely, the unmanned vehicle can be instructed to carry out active braking and AEB start and stop through a command. Compared with the mode that a remote control person needs to operate the AEB function disabled key and the brake lever on the remote control end of the unmanned vehicle respectively in the prior art, the unmanned vehicle control device provided by the embodiment of the invention can control the start and stop of the AEB function and active brake adjustment in a linkage manner, so that the AEB start-stop control and active brake control of the unmanned vehicle are simple to operate, the operation convenience is improved, and the driving safety is not influenced.
The brake operation trigger command may be a trigger command generated by a software system, a hardware system, or the like. For example, a brake operation trigger command generated by an application installed on the remote control end of the unmanned vehicle, for example, a trigger button, a virtual stick, and the like are displayed on an application display interface of the remote control end of the unmanned vehicle. In addition, a braking operation triggering instruction can also be generated by adjusting an entity operating rod on the remote control end of the unmanned vehicle.
In some embodiments, the brake operation triggering instruction generating module in the unmanned vehicle control device may include a brake lever unit, and the processing module includes a processor. FIG. 2 is a schematic structural view of an unmanned vehicle control device according to an embodiment of the present invention, and as shown in FIG. 2, the toggle range of the brake lever unit 110 includes a first braking region A1 and a second braking region A2. If the brake lever 111 of the brake lever unit 110 is shifted to the first brake area A1, the brake lever unit 110 generates a first type of brake operation triggering command. If the brake lever 111 in the brake lever unit 110 is shifted to the second brake zone a2, the brake lever unit 110 generates a second type of brake operation triggering command. When the unmanned vehicle is running under normal road conditions, that is, the information of the road conditions of the unmanned vehicle does not interfere with the AEB function, the remote operator can operate the brake lever 111 to shift to the first brake area a1, and the brake lever unit 110 generates a first type of brake operation trigger command. When the unmanned vehicle running road condition information has a condition of interfering with the AEB function, the remote controller can operate the brake lever 111 to shift to the second brake area a2, and the brake lever 111 generates a second type of brake operation trigger instruction. The processor 210 is configured to generate an AEB function enabling instruction according to the first type of brake operation trigger instruction, and generate a first unmanned vehicle brake instruction according to the brake lever toggle amplitude in the first type of brake operation trigger instruction, so as to instruct the unmanned vehicle to enable the AEB function and perform active brake adjustment according to the first unmanned vehicle brake instruction. The processor is further used for generating an AEB function disabling instruction according to the second type of brake operation triggering instruction, and generating a second unmanned vehicle brake instruction according to the poking amplitude of the brake rod in the second type of brake operation triggering instruction so as to instruct the unmanned vehicle to disable the AEB function and perform active brake adjustment according to the second unmanned vehicle brake instruction. For example, a greater toggle amplitude of the brake lever may correspond to a greater braking force.
The unmanned vehicle control device is deployed at the remote control end of the unmanned vehicle, the active brake adjusting control and the AEB function start-stop control can share one brake rod, and the AEB function start-stop control and the active brake adjusting control can be realized through one brake rod. According to the embodiment of the invention, the button for forbidding the AEB function is not required to be additionally arranged at the remote control end of the unmanned vehicle, so that the brake lever is not required to be operated while the button for forbidding the AEB is pressed. Therefore, the AEB start-stop control and active brake control operation of the unmanned vehicle are simpler. The remote operator can then perform other operations, such as driving or steering, while simultaneously controlling the AEB on and off and active braking.
In some embodiments, the toggle range of the brake lever can further include a reset region, the reset region being located between the first braking region and the second braking region. Fig. 3 is a schematic structural diagram of another unmanned vehicle control device according to an embodiment of the present invention. As shown in FIG. 3, the toggle range of the brake lever 111 can also include a reset area A3, the reset area A3 being located between the first braking area A1 and the second braking area A2. When the remote control end of the unmanned vehicle is not operated, the brake lever 111 is in the reset range a 3. At this point, the default AEB function is on and no active braking command is sent to the drone. According to the embodiment of the invention, when the brake lever is arranged in the reset area, the AEB function of the default unmanned vehicle is started, and an active braking instruction is not sent to the unmanned vehicle, which is equivalent to that the reset area is the idle stroke of the active braking of the brake lever, and when the brake lever is in the reset area, the unmanned vehicle does not carry out the active braking, so that the misoperation of a remote control personnel can be avoided.
Alternatively, if the triggering of the first type of brake operation triggering command is finished, the brake lever 111 is automatically reset to the reset area a3, and the processor 210 generates a close active brake command. If the triggering of the second type of braking operation triggering command is finished, the brake lever 111 is automatically reset to the reset area a3, and the processor 210 generates an enable AEB function command and a close active braking command.
The brake lever in the unmanned vehicle control device provided by the embodiment of the invention is an automatic resetting shift lever, that is, when the triggering of the first type of brake operation triggering instruction is finished (after a remote control person shifts the brake lever 111 to the first brake area a1 and releases his hand), the brake lever 111 is automatically reset to the reset area A3 from the first brake area a1, and the processor 210 generates an active brake closing instruction to indicate that the unmanned vehicle does not perform active braking any more. At the end of the second type of brake operation triggering command trigger (the remote operator releases the hand after toggling the brake lever 111 to the second brake zone a 2), the brake lever 111 is automatically reset from the second brake zone a2 to the reset zone A3, and the processor 210 generates an enable AEB function command and a close active brake command, indicating that the unmanned vehicle is to enable the AEB function and is no longer actively braking. According to the arrangement, after the AEB function is forbidden, the AEB function does not need to be actively started again, the situation that a remote control person forgets to start the AEB function when the unmanned vehicle runs to a normal road section after the AEB function is forbidden is avoided, and the safety factor of the unmanned vehicle is improved.
In some embodiments, the first braking region and the second braking region may be oppositely disposed with respect to an initial position of the brake lever. The initial position of the brake lever is the position of the brake lever at which the transmission of the active braking command to the drone is stopped. For example, referring to fig. 2, the brake lever 111 is in the initial position, i.e., the position of the brake lever 111 when no braking command is generated for the unmanned vehicle. The first brake zone A1 is located to the left of the brake lever 111 initial position and the second brake zone A2 is located to the right of the brake lever initial position. When the remote control personnel want to enable the AEB function of the unmanned vehicle, the remote control personnel can directly shift the brake rod to the left in the first brake area, and when the remote control personnel want to disable the AEB function, the remote control personnel can directly shift the brake rod to the right in the second brake area.
It should be noted that, the shifting ranges of the first braking area and the second braking area may be set to be the same or different according to the actual application.
In some embodiments, the second braking zone may include a first sub-braking zone and a second sub-braking zone. As shown in fig. 3, the first sub-braking zone a21 is located between the first braking zone a1 and the second sub-braking zone a 22.
If the brake lever 111 toggles to the first sub-braking zone a21 and the hold time is greater than or equal to the threshold time, the processor 210 generates a disable AEB function command and stops sending active braking commands to the drone vehicle. If the brake lever 111 is shifted to the second sub-braking area a22 and the holding time is greater than or equal to the threshold time, the processor 210 generates an instruction for disabling the automatic emergency braking function, and generates a second braking instruction according to the shifting amplitude of the brake lever in the second type of braking operation triggering instruction.
If the brake lever 111 is shifted to the first sub-braking zone a21 and the holding time is less than the threshold time, or if the brake lever 111 is shifted to the second sub-braking zone a22 and the holding time is less than the threshold time, it may be the case that the remote control person touches by mistake. To avoid the inadvertent touch causing the disabling of the AEB function, the processor 210 generates the disable AEB function command to instruct the unmanned vehicle to disable the AEB function under the condition that the brake lever 111 is toggled to the first sub-braking zone a21 and the holding time is greater than or equal to the threshold time, or under the condition that the brake lever 111 is toggled to the second sub-braking zone a22 and the holding time is greater than or equal to the threshold time.
If the current road condition belongs to a road condition without interference on the AEB function, but the current road condition needs to pass through the road section, and active braking is not needed, the brake lever 111 can be shifted to the first sub-braking area a21, and the holding time is longer than or equal to the threshold time, so that the processor generates an instruction for forbidding the AEB function and stops sending the active braking instruction to the unmanned vehicle.
If the current road condition belongs to a road condition without interference on the AEB function and the road section needs to be decelerated or stopped, the brake lever 111 can be shifted to the second sub-braking area a22 and the holding time is longer than or equal to the threshold time, so that the processor generates an instruction for forbidding the AEB function, and generates a second unmanned vehicle braking instruction according to the shifting amplitude of the brake lever in the second type of braking operation triggering instruction.
The embodiment of the invention also provides an unmanned vehicle control method. The unmanned vehicle control method can be executed by an unmanned vehicle control device at a remote control end of the unmanned vehicle, and is used for sending instructions to the unmanned vehicle and instructing the unmanned vehicle to start, disable and actively brake the AEB function according to the instructions. Fig. 4 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 4, the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention includes:
and S31, generating a braking operation trigger command.
The braking operation triggering instruction is linked with AEB function starting and stopping and active braking adjusting information. The brake operation trigger commands comprise a first type of brake operation trigger command and a second type of brake operation trigger command. The brake operation trigger command may be a trigger command generated by a software system and/or a hardware system, etc. For example, a brake operation trigger command generated by an application installed on the remote control end of the unmanned vehicle, for example, a trigger button, a virtual stick, and the like are displayed on an application display interface of the remote control end of the unmanned vehicle. In addition, a braking operation triggering instruction can also be generated by adjusting an entity operating rod on the remote control end of the unmanned vehicle.
And S32, judging the type of the brake operation trigger command.
If the braking operation triggering command is the first type of braking operation triggering command, step S13 is executed, and if the braking operation triggering command is the second type of braking operation triggering command, step S14 is executed.
And S33, sending an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle.
And S34, sending an automatic emergency braking function disabling instruction and a second unmanned vehicle braking instruction to the unmanned vehicle.
The first unmanned vehicle braking instruction is related to active braking adjustment information in the first type braking operation triggering instruction; the second drone vehicle braking command is associated with the active braking adjustment information in the second type of braking operation trigger command. The active braking adjustment information is, for example, a parameter related to the braking force of the active braking.
If the unmanned vehicle is currently running under normal road conditions, the unmanned vehicle is running under the road conditions, if active braking is needed, a remote control person at the remote control end of the unmanned vehicle can enable the braking operation through input or operation, so that the unmanned vehicle control device generates a first type of braking operation trigger instruction to indicate the unmanned vehicle to start the AEB function and to perform active braking according to the first unmanned vehicle braking instruction. If the unmanned vehicle is currently running on a pedestrian-flow-dense road section, a remote control person at the remote control end of the unmanned vehicle can enable the unmanned vehicle control device to generate a second type of braking operation trigger instruction through input or operation so as to indicate that the unmanned vehicle forbids an AEB function and actively brake according to the second unmanned vehicle braking instruction.
The unmanned vehicle control method provided by the embodiment of the invention can generate a braking operation triggering instruction linked with AEB function start-stop and active braking regulation information. Namely, the unmanned vehicle can be instructed to carry out active braking and AEB start and stop through a command. Compared with the mode that a remote control person needs to operate the AEB function disabled key and the brake lever on the remote control end of the unmanned vehicle respectively in the prior art, the unmanned vehicle control method provided by the embodiment of the invention can be used for controlling the start and stop of the AEB function and the active brake adjustment in a linkage manner, so that the AEB start and stop control and the active brake control of the unmanned vehicle are simple to operate, the operation convenience is improved, and the driving safety is not influenced.
In some embodiments, the toggle range of the remote control end brake lever unit of the unmanned vehicle includes a first braking region and a second braking region, and the step S31 of generating the braking operation triggering command includes:
s311, acquiring the position of the brake lever.
And S312, if the brake lever of the brake lever unit is shifted to the first brake area, generating the first type of brake operation trigger instruction.
And S313, if the brake lever of the brake lever unit is shifted to the second brake area, generating the second type of brake operation trigger instruction.
The active braking adjusting information in the first type of braking operation triggering instruction and the active braking adjusting information in the second type of braking operation triggering instruction comprise shifting amplitude of the braking rod.
The remote control end of the unmanned vehicle comprises a brake rod unit, the brake rod unit comprises a brake rod, and the shifting range of the brake rod unit comprises a first brake area and a second brake area. The brake operation triggering command is generated by a position of shifting the brake lever. The embodiment of the invention can acquire the position of the brake lever and then determine whether to generate the first type of brake operation triggering instruction or the second type of brake operation triggering instruction according to the position of the brake lever. For example, referring to fig. 2, when the unmanned vehicle is traveling in a normal road condition, i.e., when the information on the road condition of the unmanned vehicle does not interfere with the AEB function, the remote operator can operate the brake lever 111 to shift to the first brake area a 1. If the brake lever 111 is shifted to the first brake area a1, a first type of brake operation triggering command is generated. When the information of the driving road condition of the unmanned vehicle interferes with the AEB function, the remote operator can operate the brake lever 111 to shift to the second brake area a 2. If the brake lever 111 is shifted to the second brake area a2, a second type of brake operation triggering command is generated. In the embodiment of the invention, the active braking adjustment information in the first type of braking operation triggering instruction and the active braking adjustment information in the second type of braking operation triggering instruction comprise the shifting amplitude of the braking rod. For example, a greater toggle amplitude of the brake lever may correspond to a greater braking force.
In some embodiments, the toggle range can further include a reset region, the reset region being located between the first detent region and the second detent region. When the remote control end of the unmanned vehicle is not operated, the brake rod is in the reset area. At this point, the default AEB function is on and no active braking command is sent to the drone. According to the embodiment of the invention, when the brake lever is arranged in the reset area, the AEB function of the default unmanned vehicle is started, and an active braking instruction is not sent to the unmanned vehicle, which is equivalent to the idle stroke of the active braking of the brake lever in the reset area, so that the misoperation of a remote control personnel can be avoided. The unmanned vehicle control method provided by the embodiment of the invention further comprises the following steps:
and S35, if the brake lever is reset from the first brake area to the reset area, stopping sending the active brake command to the unmanned vehicle.
And S36, if the brake lever is reset from the second brake area to the reset area, sending a command of starting the automatic emergency brake function to the unmanned vehicle and stopping sending the active brake command to the unmanned vehicle.
The brake rod at the remote control end of the unmanned vehicle is a shifting lever capable of automatically resetting, when a remote control person releases a hand after shifting the brake rod to the first braking area, the brake rod automatically resets from the first braking area to the resetting area, so that an active braking instruction can be stopped from being sent to the unmanned vehicle, and the unmanned vehicle does not actively brake any more. If the remote control personnel release the hand after shifting the brake lever to the second braking area, the brake lever is automatically reset to the reset area from the second braking area, then an AEB function starting instruction and an active braking instruction are sent to the unmanned vehicle, the unmanned vehicle is instructed to start the AEB function, and active braking is not performed any more. According to the arrangement, after the AEB function is forbidden, the AEB function does not need to be actively started again, the situation that a remote control person forgets to start the AEB function when the unmanned vehicle runs to a normal road section after the AEB function is forbidden is avoided, and the safety factor of the unmanned vehicle is improved.
In some embodiments, the second braking zone may include a first sub-braking zone and a second sub-braking zone. The first sub-braking zone is located between the first braking zone and the second sub-braking zone.
Correspondingly, if the braking operation triggering instruction is a second type of braking operation triggering instruction, step S34 sends an automatic emergency braking disabling function instruction and a second unmanned vehicle braking instruction to the unmanned vehicle, including:
s341, if the brake operation triggering instruction is a second type of brake operation triggering instruction and the holding time of the brake rod poked to the first sub-brake area is more than or equal to the threshold time, sending an instruction for forbidding the automatic emergency brake function to the unmanned vehicle and stopping sending an active brake instruction to the unmanned vehicle;
and S342, if the brake operation triggering instruction is a second type of brake operation triggering instruction and the holding time of the brake rod shifting to the second sub-brake area is more than or equal to the threshold time, sending an automatic emergency brake forbidding function instruction and a second unmanned vehicle brake instruction to the unmanned vehicle.
If the brake operation triggering instruction is a second type of brake operation triggering instruction, the position of the brake rod is that the brake rod is shifted to the first sub-brake area, and the holding time is longer than or equal to the threshold time, then sending an AEB function disabling instruction to the unmanned vehicle and stopping sending an active brake instruction to the unmanned vehicle.
If the braking operation triggering instruction is a second type of braking operation triggering instruction, the position of the brake rod is that the brake rod is shifted to a second sub-braking area, and the holding time is longer than or equal to the threshold time, an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction are sent to the unmanned vehicle.
According to the embodiment of the invention, when the braking operation triggering instruction is the second type of braking operation triggering instruction, whether the holding time of the braking rod in the first sub-braking area or the second sub-braking area is greater than or equal to the threshold time or not is judged, and if the holding time is too short, a remote control person may touch the braking rod by mistake or a system signal is disturbed and has errors. Therefore, in order to avoid the disabling of the AEB function caused by the reasons of false touch and the like, the embodiment of the invention generates a corresponding instruction for indicating the action of the unmanned vehicle according to the specific position of the brake lever under the condition that the holding time of the brake lever in the first sub-braking area or the second sub-braking area is more than or equal to the threshold time. The threshold time may be specifically set according to a time requirement, which is not limited in the embodiment of the present invention, and may be set to 2 seconds, for example.
If the current road condition belongs to the road condition without interference on the AEB function, but the current road condition still needs to pass through the road section without active braking, the remote control personnel can shift the brake rod to the first sub-braking area, keep the time more than or equal to the threshold time, send an instruction of forbidding the AEB function to the unmanned vehicle and stop sending the active braking instruction to the unmanned vehicle. If the current road condition belongs to the road condition without interference on the AEB function and the speed of the road section needs to be reduced or the road section needs to be stopped, the remote control personnel can shift the brake rod to the second sub-braking area and keep the time more than or equal to the threshold time, and send an instruction for forbidding the automatic emergency braking function and a second unmanned vehicle braking instruction to the unmanned vehicle.
Fig. 5 is a schematic structural diagram of an unmanned vehicle system according to an embodiment of the present invention, and includes an unmanned vehicle 41 and an unmanned vehicle control device 42 described in any of the embodiments above. The unmanned vehicle 41 and the unmanned vehicle control device 42 are connected via a network. The unmanned vehicle control device 42 may start and stop the active braking and the AEB function of the unmanned vehicle 41 in a linkage manner according to the unmanned vehicle control method described in any of the above embodiments.
An embodiment of the present invention also provides a computer-readable storage medium storing a program or instructions for causing a computer to execute a method for controlling an unmanned vehicle, the method including:
generating a braking operation trigger instruction; the brake operation trigger instruction is linked with the automatic emergency brake function starting and stopping and the active brake adjusting information;
judging the type of a braking operation triggering instruction;
if the braking operation triggering instruction is a first type of braking operation triggering instruction, an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction are sent to the unmanned vehicle; the first unmanned vehicle braking instruction is related to active braking adjustment information in the first type of braking operation triggering instruction;
if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle; the second unmanned vehicle braking command is associated with active braking adjustment information in the second type of braking operation triggering command.
The computer executable instructions, when executed by the computer processor, may also be used to implement the solution of the unmanned vehicle control method provided in any of the embodiments of the present application.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned vehicle control device, characterized by comprising:
the braking operation triggering instruction generating module is used for generating a braking operation triggering instruction; the brake operation trigger instruction is linked with the automatic emergency brake function starting and stopping and the active brake adjusting information;
the processing module is used for judging the type of the braking operation trigger instruction; if the braking operation triggering instruction is a first type of braking operation triggering instruction, an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction are sent to the unmanned vehicle; the first unmanned vehicle braking instruction is related to active braking adjustment information in the first type of braking operation triggering instruction; if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle; the second unmanned vehicle braking command is associated with active braking adjustment information in the second type of braking operation triggering command.
2. The unmanned aerial vehicle control device of claim 1, wherein the brake operation triggering instruction generating module comprises a brake lever unit; the processing module comprises a processor;
the shifting range of the brake lever unit comprises a first brake area and a second brake area; if a brake lever in the brake lever unit is shifted to the first brake area, the brake lever unit generates a first type of brake operation trigger command; if a brake bar in the brake bar unit is shifted to the second brake area, the brake bar unit generates a second type of brake operation triggering instruction;
the processor is used for generating an automatic emergency braking function starting command according to the first type of braking operation triggering command and generating a first unmanned vehicle braking command according to the poking amplitude of the brake rod in the first type of braking operation triggering command; the processor is further used for generating an automatic emergency braking function forbidding instruction according to the second type of braking operation triggering instruction, and generating a second unmanned vehicle braking instruction according to the poking amplitude of the brake rod in the second type of braking operation triggering instruction.
3. The drone vehicle control device of claim 2, wherein the toggle range of the brake lever unit further includes a reset area, the reset area being located between the first braking area and the second braking area;
if the triggering of the first type of braking operation triggering instruction is finished, the braking rod automatically resets to the reset area, and the processor generates an active braking closing instruction; if the triggering of the second type of braking operation triggering instruction is finished, the braking rod is automatically reset to the reset area, and the processor generates an automatic emergency braking function starting instruction and an active braking closing instruction.
4. The drone vehicle control device of claim 2, wherein the first braking zone and the second braking zone are oppositely disposed with respect to an initial position of the brake lever;
the initial position of the brake lever is the position of the brake lever when the unmanned vehicle stops sending the active braking command.
5. The unmanned vehicle control apparatus of claim 2, wherein the second braking zone comprises a first sub-braking zone and a second sub-braking zone; the first sub-braking zone is located between the first braking zone and the second sub-braking zone;
if the brake rod is shifted to the first sub-braking area and the holding time is greater than or equal to the threshold time, the processor generates an automatic emergency braking forbidding function command and stops sending an active braking command to the unmanned vehicle;
if the brake rod is shifted to the second sub-braking area and the holding time is longer than or equal to the threshold time, the processor generates an instruction for forbidding the automatic emergency braking function and generates a second unmanned vehicle braking instruction according to the shifting amplitude of the brake rod in the second type of braking operation triggering instruction.
6. An unmanned vehicle control method, comprising:
generating a braking operation trigger instruction; the brake operation trigger instruction is linked with the automatic emergency brake function starting and stopping and the active brake adjusting information;
judging the type of a braking operation triggering instruction;
if the braking operation triggering instruction is a first type of braking operation triggering instruction, sending an automatic emergency braking function starting instruction and a first unmanned vehicle braking instruction to the unmanned vehicle; the first unmanned vehicle braking instruction is related to active braking adjustment information in the first type of braking operation triggering instruction;
if the braking operation triggering instruction is a second type of braking operation triggering instruction, sending an automatic emergency braking function forbidding instruction and a second unmanned vehicle braking instruction to the unmanned vehicle; the second unmanned vehicle braking command is associated with active braking adjustment information in the second type of braking operation triggering command.
7. The unmanned vehicle control method of claim 6, wherein a toggle range of the unmanned vehicle remote control end brake lever unit comprises a first braking zone and a second braking zone;
the generating a brake operation trigger command comprises:
acquiring the position of a brake rod;
if the brake lever of the brake lever unit is shifted to the first brake area, generating a first type of brake operation trigger instruction;
if the brake lever of the brake lever unit is shifted to the second brake area, generating a second type of brake operation trigger instruction;
the active braking adjustment information in the first type of braking operation triggering instruction and the active braking adjustment information in the second type of braking operation triggering instruction comprise shifting amplitude of the braking rod.
8. The unmanned vehicle control method of claim 7, wherein the toggle range further comprises a reset zone, the reset zone being located between the first braking zone and the second braking zone;
the unmanned vehicle control method further comprises:
if the brake rod is reset from the first brake area to the reset area, stopping sending an active brake instruction to the unmanned vehicle;
and if the brake lever is reset from the second brake area to the reset area, sending an automatic emergency brake function starting command to the unmanned vehicle and stopping sending an active brake command to the unmanned vehicle.
9. The unmanned vehicle control method of claim 7, wherein the second braking zone comprises a first sub-braking zone and a second sub-braking zone; the first sub-braking zone is located between the first braking zone and the second sub-braking zone;
if the braking operation trigger instruction is a second type of braking operation trigger instruction, the method for sending the command of forbidding the automatic emergency braking function and the second braking command of the unmanned vehicle to the unmanned vehicle comprises the following steps:
if the braking operation triggering instruction is a second type of braking operation triggering instruction, and the holding time of the brake rod shifting to the first sub-braking area is longer than or equal to the threshold time, sending an instruction for forbidding the automatic emergency braking function to the unmanned vehicle and stopping sending an active braking instruction to the unmanned vehicle;
and if the braking operation triggering instruction is a second type of braking operation triggering instruction, and the keeping time of the brake rod shifting to the second sub-braking area is more than or equal to the threshold time, sending an instruction for forbidding the automatic emergency braking function and a second unmanned vehicle braking instruction to the unmanned vehicle.
10. An unmanned vehicle system, comprising: an unmanned vehicle and the unmanned vehicle control device according to any one of claims 1 to 5.
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| DE102004014358A1 (en) * | 2004-03-24 | 2005-10-13 | Daimlerchrysler Ag | Braking system for a driverless vehicle has means to activate and deactivate the mechanical hydraulic or pneumatic components of the emergency braking system |
| US20180339703A1 (en) * | 2017-05-26 | 2018-11-29 | Sucxess LLC | Vehicle with remote-controlled operating mode |
| US20190187691A1 (en) * | 2017-12-18 | 2019-06-20 | Steeringz, Inc. | Safety of autonomous vehicles by remote support request |
| CN109814569B (en) * | 2019-02-19 | 2022-11-08 | 阿波罗智能技术(北京)有限公司 | Unmanned vehicle control method, device, equipment and computer readable medium |
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