CN113276861B - Vehicle control method, vehicle control system, and storage medium - Google Patents
Vehicle control method, vehicle control system, and storage medium Download PDFInfo
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- CN113276861B CN113276861B CN202110688685.3A CN202110688685A CN113276861B CN 113276861 B CN113276861 B CN 113276861B CN 202110688685 A CN202110688685 A CN 202110688685A CN 113276861 B CN113276861 B CN 113276861B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
Abstract
The invention discloses a vehicle control method, a vehicle control system and a storage medium, wherein the vehicle control method is applied to a robot, the robot is in communication connection with a vehicle, and the vehicle control method comprises the following steps: receiving a control switching instruction sent by terminal equipment, and determining a control mode corresponding to the control switching instruction; if the control mode is a manual control mode, receiving a first control message sent by the terminal equipment, executing operation corresponding to the first control message and sending the first control message to the vehicle so that the vehicle executes corresponding operation according to the first control message; and if the control mode is the automatic control mode, acquiring environment information, generating a second control message according to the environment information and sending the second control message to the vehicle so that the vehicle executes corresponding operation according to the second control message. The invention expands the application occasions of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a vehicle control method, a vehicle control system, and a computer-readable storage medium.
Background
The current technology for realizing cooperative control of a vehicle and a robot is mainly to preset operations required by the vehicle and the robot respectively, and operate the robot and the vehicle simultaneously, so as to realize cooperative control of the vehicle and the robot on an operation level. The existing cooperative control technology can only stay on an operation layer, so that the consistency of realizing cooperative control of the vehicle and the robot is poor.
Disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle control system and a computer readable storage medium, aiming at solving the problem of poor consistency of cooperative control of a vehicle and a robot in the prior art.
In order to achieve the above object, the present invention provides a vehicle control method applied to a robot that is communicatively connected to a vehicle, the vehicle control method including:
receiving a control switching instruction sent by terminal equipment, and determining a control mode corresponding to the control switching instruction;
if the control mode is the manual control mode, receiving a first control message sent by the terminal equipment, executing an operation corresponding to the first control message and sending the first control message to the vehicle so that the vehicle executes the corresponding operation according to the first control message;
and if the control mode is the automatic control mode, acquiring environment information, generating a second control message according to the environment information, and sending the second control message to the vehicle so that the vehicle executes corresponding operation according to the second control message.
Optionally, if the control mode is the manual control mode, the step of receiving a first control packet sent by the terminal device, executing a corresponding operation according to the first control packet, and sending the first control packet to the vehicle, so that the vehicle executes the corresponding operation according to the first control packet includes:
if the terminal equipment is in the manual control mode, receiving a first control message sent by the terminal equipment;
determining the rotation angle and the rotation sequence of each joint of the robot corresponding to the first control message according to the mapping relation between a preset robot control instruction and a vehicle control instruction;
controlling a motor to execute corresponding operation according to the rotation angle and the rotation sequence;
and sending the first control message to a vehicle so that the vehicle synchronously executes the operation matched with the rotation angle and the rotation sequence of each joint of the robot according to the first control message.
Optionally, the step of acquiring environment information if the control mode is the automatic control mode, generating a second control message according to the environment information, and sending the second control message to the vehicle includes:
if the robot is in the automatic control mode, acquiring a current position coordinate and a vehicle position coordinate, and judging whether the distance between the robot and the vehicle meets a preset control condition or not according to the current position coordinate and the vehicle position coordinate;
if so, acquiring peripheral image information, obstacle information and road information, processing according to a preset destination, the peripheral image information, the obstacle information and the road information to obtain a planned route, generating a second control message according to the planned route, and sending the second control message to the vehicle so that the vehicle runs according to the planned route of the second control message.
Optionally, the step of obtaining the peripheral image information, the obstacle information, and the road information, processing the peripheral image information, the obstacle information, and the road information according to a preset destination to obtain a planned route, generating a second control packet according to the planned route, and sending the second control packet to the vehicle, so that the vehicle travels according to the planned route includes:
marking the steering indication in the route according to the planned route;
and executing corresponding operation according to the planned route and the steering indication, generating a second control message according to the planned route and the steering indication, and sending the second control message to the vehicle so that the vehicle can drive to the position of the robot according to the planned route and the steering indication of the second control message.
Optionally, if the vehicle is in the manual control mode, after the steps of receiving a first control packet sent by a terminal device, executing a corresponding operation according to the first control packet, and sending the first control packet to a vehicle, the method further includes:
acquiring a vehicle identification number of each vehicle within a preset range, and judging whether the vehicle can perform cooperative control with the robot or not according to the vehicle identification number;
if so, sending a matching request to a vehicle which can be cooperatively controlled with the robot, so that the vehicle and the robot are in communication connection, receiving the first control message and executing corresponding operation.
In order to achieve the above object, the present invention also provides a vehicle control method applied to a vehicle, the vehicle control method including:
receiving a first control message, and executing corresponding operation according to the first control message, wherein the first control message is used for receiving and forwarding the first control message sent by an external terminal when a robot in communication connection with a vehicle is in a manual control mode;
and receiving a second control message, and executing corresponding operation according to the second control message, wherein the second control message is generated and sent according to the environmental information when the robot in communication connection with the vehicle is in the automatic control mode.
Optionally, after the step of receiving the first control packet and performing the corresponding operation according to the first control packet, the method further includes:
and controlling a vehicle control unit to execute corresponding operations according to the rotation angles and the rotation sequence of each joint of the robot according to the first control message, wherein the vehicle control unit comprises a light control module and a vehicle body control module.
Optionally, the step of receiving the second control packet and executing the corresponding operation according to the second control packet further includes:
and controlling a vehicle to run according to a planned route according to the second control message, and controlling a vehicle control unit to execute corresponding operation according to the steering indication, wherein the vehicle control unit comprises a light control module and a vehicle body control module. To achieve the above object, the present invention also provides a vehicle control system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle control method as described above.
To achieve the above object, the present invention also provides a vehicle control system, which includes a robot and a vehicle, the robot includes a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implements the steps of the vehicle control method as described above, the vehicle includes a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implements the steps of the vehicle control method as described above.
To achieve the above object, the present invention also provides a computer readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the above vehicle control method.
According to the vehicle control method, the vehicle control system and the computer readable storage medium, the control mode corresponding to the control switching instruction is determined by receiving the control switching instruction sent by the terminal equipment, the control mode comprises a manual control mode and an automatic control mode, and the control method is more flexible by switching the control mode; by receiving a first control message sent by terminal equipment, executing corresponding operation according to the first control message and sending the first control message to a vehicle, so that the vehicle executes corresponding operation according to the first control message, the vehicle can execute corresponding operation along with the action of a robot under a manual control mode, the action of the robot is such as the actions of lifting, putting down or rotating arms, walking legs, standing and the like, the corresponding operation of the vehicle is the operation of turning on a flash lamp, changing the color of light or driving forwards, stopping driving and the like, and the cooperative control of the robot and the vehicle on a communication layer is realized; by acquiring the environment information, generating a second control message according to the environment information and sending the second control message to the vehicle, under the automatic control mode, the robot can generate the second control message according to the current environment information, and can directly perform cooperative control with the vehicle, so that intelligent control on the communication layer is realized, the vehicle can be applied to more scenes such as performance display, welcome and the like, the interestingness of the vehicle in the using process is improved, and the application range of the vehicle is expanded.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a vehicle control method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a vehicle control method according to the present invention;
FIG. 4 is a flowchart illustrating a third embodiment of a vehicle control method according to the present invention;
FIG. 5 is a flowchart illustrating a fourth embodiment of a vehicle control method according to the present invention;
FIG. 6 is a flowchart illustrating a fifth embodiment of a vehicle control method according to the present invention;
fig. 7 is a flowchart illustrating a sixth embodiment of the vehicle control method of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a vehicle control system according to various embodiments of the present invention. The vehicle control system comprises a robot, a vehicle, a communication module 01, a memory 02, a processor 03 and the like, wherein the communication module 01, the memory 02, the processor 03 and the like are respectively arranged in the robot and the vehicle. Those skilled in the art will appreciate that the vehicle control system shown in FIG. 1 may also include more or fewer components than shown, or combine certain components, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data or information created according to the use of the vehicle control system, or the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 03, which is a control center of the vehicle control system, connects various parts of the entire vehicle control system using various interfaces and lines, and performs various functions of the vehicle control system and processes data by operating or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby integrally monitoring the vehicle control system. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles an operating system, a user interface, application programs, etc., and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 03.
Although not shown in fig. 1, the vehicle control system may further include a circuit control module, where the circuit control module is configured to be connected to a mains power supply to implement power control, and ensure normal operation of other components.
Those skilled in the art will appreciate that the vehicle control system configuration shown in FIG. 1 does not constitute a limitation of the vehicle control system, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
According to the hardware structure, various embodiments of the method of the present invention are proposed.
Referring to fig. 2, in a first embodiment of a vehicle control method of the present invention, which is applied to a robot that is communicatively connected to a vehicle, the vehicle control method includes the steps of:
step S10, receiving a control switching instruction sent by terminal equipment, and determining a control mode corresponding to the control switching instruction;
in this embodiment, the terminal device may be a mobile phone, a tablet, a computer, or the like, data transmission may be performed between the terminal device and the robot through wireless transmission technologies such as WIFI, bluetooth, or the like, the switching instruction may specifically be an instruction packet in an ethernet packet format, and a person skilled in the art may select different terminal devices, different wireless transmission technologies, and instructions in different formats as needed to implement switching different control modes through the instruction.
The robot can be particularly applied to occasions such as vehicle exhibition performance, stage performance, fixed-point parking, welcome and the like, and the interestingness between the robot and the vehicle is improved through cooperative control of the robot and the vehicle, so that the vehicle is not only applied to the occasions such as driving, and the application scenes of the vehicle and the robot are widened.
Step S20, if the control mode is the manual control mode, receiving a first control message sent by the terminal equipment, executing the operation corresponding to the first control message and sending the first control message to the vehicle so that the vehicle executes the corresponding operation according to the first control message;
in this embodiment, the first control message is an ethernet message, and the first control message may be a command set by a user according to needs, for example, controlling the robot arm to lift up, controlling the robot to walk, and the like.
Step S30, if the control mode is the automatic control mode, acquiring environment information, generating a second control message according to the environment information and sending the second control message to the vehicle so that the vehicle executes corresponding operation according to the second control message;
in this embodiment, the environment information includes: the second control message may be a command that the robot generates itself according to the surrounding environment. For example, the robot changes the forward route according to the obstacle ahead, and the robot makes an adjustment command to the lamps of the vehicle according to the intensity of the peripheral light.
In the invention, a control mode corresponding to a control switching instruction is determined by receiving the control switching instruction sent by terminal equipment, wherein the control mode comprises a manual control mode and an automatic control mode, and the control method is more flexible by switching the control mode; by receiving a first control message sent by terminal equipment, executing corresponding operation according to the first control message and sending the first control message to a vehicle, so that the vehicle executes corresponding operation according to the first control message, the vehicle can execute corresponding operation along with the action of a robot under a manual control mode, the action of the robot is such as the actions of lifting, putting down or rotating arms, walking legs, standing and the like, the corresponding operation of the vehicle is the operation of turning on a flash lamp, changing the color of light or driving forwards, stopping driving and the like, and the cooperative control of the robot and the vehicle on a communication layer is realized; by acquiring the environment information, generating a second control message according to the environment information and sending the second control message to the vehicle, under the automatic control mode, the robot can generate the second control message according to the current environment information, and can directly perform cooperative control with the vehicle, so that intelligent control on the communication layer is realized, the vehicle can be applied to more scenes such as performance display, welcome and the like, the interestingness of the vehicle in the using process is improved, and the application range of the vehicle is expanded.
Further, referring to fig. 3, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes the second embodiment, and the step S20 includes:
step S21, if the terminal equipment is in the manual control mode, receiving a first control message sent by the terminal equipment;
in this embodiment, the first control packet may be received and sent between the robot and the terminal device through WIFI, bluetooth, or a vehicle-mounted ethernet.
Step S22, determining the rotation angle and the rotation sequence of each joint of the robot corresponding to the first control message according to the mapping relation between a preset robot control instruction and a vehicle control instruction;
in this embodiment, the first control message corresponds to the rotation angle and the rotation sequence of each joint of the robot one to one, for example, the first control message is to turn on a right flashlight of the vehicle, and then the right hand joint of the corresponding robot is raised upward, that is, the joint angle of the robot is bent upward, for example, the first control message is to turn on the right flashlight of the vehicle first and then turn on the left flashlight of the vehicle, and then the corresponding robot first raises the right arm upward and then raises the left arm upward, that is, the right hand joint is rotated first and then the left hand joint is rotated and bent upward.
Step S23, controlling a motor to execute corresponding operation according to the rotation angle and the rotation sequence;
in this embodiment, the motor is specifically a servo motor, and may rotate according to an instruction of the control message, and is specifically applied to a robot joint.
And S24, sending the first control message to a vehicle so that the vehicle can synchronously execute the operation matched with the rotation angle and the rotation sequence of each joint of the robot according to the first control message.
In this embodiment, the corresponding operation is an operation performed by the vehicle body control system corresponding to the message, specifically, a light operation, a wiper operation, a door operation, a window operation, a sunroof operation, a seat operation, and the like.
According to the robot control method and device, the rotation angles and the rotation sequences of all joints of the robot are obtained through processing according to the first control message, and the motor is controlled to execute corresponding operations, so that remote operation of various actions of the robot through terminal equipment is achieved, the practicability of the robot is improved, and user operation is facilitated; the first control message is sent to the vehicle, so that the vehicle executes corresponding operations according to the rotation angles and the rotation sequence of the joints of the robot, cooperative control of the robot and the vehicle is achieved, the vehicle and the robot can be applied to more occasions, such as exhibition, performance, welcome and the like, and the application range of the vehicle is widened.
Further, referring to fig. 4, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a third embodiment, and the step S30 includes:
step S31, if the robot is in an automatic control mode, acquiring a current position coordinate and a vehicle position coordinate, and judging whether the distance between the robot and the vehicle meets a preset control condition or not according to the current position coordinate and the vehicle position coordinate;
in this embodiment, current position information of the robot and position information of a vehicle in communication connection with the robot can be acquired according to a GPS or a beidou navigation system, and a linear distance between the robot and the vehicle can be acquired, where the control condition is specifically whether the distance between the robot and the vehicle is less than 100 meters or 150 meters, and of course, a person skilled in the art can set different control conditions as needed to realize cooperative control between the robot and the vehicle.
Step S32, if yes, acquiring peripheral image information, obstacle information and road information, processing according to a preset destination, the peripheral image information, the obstacle information and the road information to obtain a planned route, generating a second control message according to the planned route, and sending the second control message to the vehicle so that the vehicle runs according to the planned route of the second control message;
in this embodiment, after a user inputs a destination, the robot may obtain an optimal route to the destination according to the destination for the user to select, and simultaneously generate a second control message for the route to be sent to the vehicle, where the peripheral information includes vehicles, pedestrians, and the like within a peripheral safe distance, the obstacle information includes information such as trees, speed bumps, roadblocks, and the like, and the road information includes information such as traffic light information, road maintenance information, sidewalks, motorways, and the like.
According to the invention, through the steps of obtaining the current position coordinate and the vehicle position coordinate, and judging whether the distance between the robot and the vehicle meets the control condition or not according to the current position coordinate and the vehicle position coordinate, the problem of control message sending failure caused by too long distance between the robot and the vehicle is avoided, the disconnection between the robot and the vehicle in the driving process is avoided, and the safety in cooperative control is improved; the method comprises the steps of obtaining peripheral image information, obstacle information and road information, processing according to a preset destination, the peripheral image information, the obstacle information and the road information to obtain a planned route, generating a second control message according to the planned route, and sending the second control message to a vehicle, so that the vehicle can run according to the planned route, the robot is used for controlling the vehicle to automatically run, meanwhile, the peripheral environment information is judged, and safety in the running process is improved.
Further, referring to fig. 5, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a fourth embodiment, and the step S32 includes:
step S321, marking the steering indication in the route according to the planned route;
the turn indication may include a left turn direction, a right turn direction, and a turn direction;
step S322, executing corresponding operation according to the planned route and the steering indication, generating a second control message according to the planned route and the steering indication, and sending the second control message to the vehicle so that the vehicle can drive to the position of the robot according to the planned route and the steering indication of the second control message;
in this embodiment, the specific step of executing the corresponding operation according to the planned route and the turning instruction may be that, when the robot encounters an intersection needing to turn right, whether the intersection is a traffic light intersection or not can be judged according to the planned route, then the right turn is performed, the robot can execute the operation of lifting the right arm, meanwhile, a second control message is generated and sent to the vehicle, the vehicle is controlled to start the right turning light to run through, and the robot can be placed in the vehicle or in front of the vehicle;
in the embodiment, the robot can be placed at any place outside the vehicle, and the robot controls the vehicle to run to the place where the robot is placed, so that the robot can be applied to occasions such as parking lots and the like which need to perform parking operation.
Further, referring to fig. 6, in the vehicle control method according to the present invention according to the first embodiment of the present invention, the present invention proposes a fifth embodiment, and the step S20 is followed by further comprising:
step S201, obtaining a vehicle identification number of each vehicle in a preset range, and judging whether the vehicle can carry out cooperative control with the robot or not according to the vehicle identification number;
in this embodiment, the preset range is specifically a range of a circle with a robot as a center and 100 meters as a radius, and of course, a person skilled in the art may set different radius ranges as required, such as 150 meters, 200 meters, 300 meters, and the like, where the vehicle identification number is specifically frame number information of a vehicle with an external bluetooth or an on-board local area network turned on, and whether the vehicle has a function of performing cooperative control with the robot is determined according to the frame number information.
Step S202, if yes, a matching request is sent to a vehicle which can be cooperatively controlled with the robot, so that the vehicle and the robot are in communication connection, a first control message is received, and corresponding operation is executed;
in this embodiment, the matching request is sent to all vehicles with cooperative control functions and bluetooth and local area networks enabled within a preset range at the same time, and receives a feedback signal indicating whether the connection is successful, and if so, the vehicles within the preset range are controlled to perform corresponding operations at the same time through the first control message.
In the invention, all vehicles meeting the control conditions in the preset range are controlled by the robot to perform corresponding cooperative control, so that a one-to-many control effect is realized, the effects of the vehicles in the occasions such as performances, exhibition, welcome and the like are greatly improved, and a good visual effect is provided.
Further, referring to fig. 7, in a sixth embodiment of the vehicle control method of the invention, which is applied to a vehicle, the vehicle control method includes the steps of:
step S40, receiving a first control message, and executing corresponding operation according to the first control message, wherein the first control message is a first control message sent by an external terminal and received and forwarded when a robot in communication connection with a vehicle is in a manual control mode;
in this embodiment, the first control message is an ethernet message, and the first control message may be a command set by a user according to needs, for example, controlling the robot arm to lift up, controlling the robot to walk, and the like.
And S50, receiving a second control message, and executing corresponding operation according to the second control message, wherein the second control message is generated and sent according to the environment information when the robot in communication connection with the vehicle is in the automatic control mode.
In this embodiment, the second control message may be a command that the robot decides by itself according to the surrounding environment. For example, the robot changes the forward route according to the obstacle ahead, and the robot makes an adjustment command to the lamps of the vehicle according to the intensity of the peripheral light.
In the invention, the control message sent by the robot is received to realize the cooperative control with the robot and realize the synchronous control on the communication layer.
Further, in a vehicle control method according to the present invention as set forth in a sixth embodiment of the invention, the invention proposes a seventh embodiment, and the step S40 is followed by:
and controlling a vehicle control unit to execute corresponding operations according to the rotation angles and the rotation sequence of each joint of the robot according to the first control message, wherein the vehicle control unit comprises a light control module and a vehicle body control module.
In the present embodiment, the light operation of the vehicle may be controlled by the light control module, and the wiper operation, the door operation, the window operation, the sunroof operation, the seat operation, and the like may be controlled by the body control module. By controlling each part of the vehicle body, the communication between the robot and the vehicle is realized, and the use scene of the vehicle is widened.
Further, in a vehicle control method according to the present invention as set forth in a sixth embodiment, the present invention provides an eighth embodiment, and the step S50 is followed by further including:
and controlling a vehicle to run according to a planned route according to the second control message, and controlling a vehicle control unit to execute corresponding operation according to the steering indication, wherein the vehicle control unit comprises a light control module and a vehicle body control module.
In this embodiment, the specific operation executed according to the planned route and the steering indication may be that, when the robot encounters an intersection requiring a right turn, the robot may determine whether the intersection is a traffic light intersection according to the planned route, and then turn right, the robot may execute an operation of lifting a right arm, and simultaneously generate a second control message to be sent to the vehicle, and control the vehicle to start a right turn light to pass through, the robot may be placed in the vehicle or in front of the vehicle, and control the vehicle to run by the robot, which is convenient for a user, and improves the application range of the vehicle, so that the invention is widely applied to occasions such as a parking lot and the like and the field of automatic driving.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 02 in the vehicle control system of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for causing the vehicle control system to perform the method according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. A vehicle control method applied to a robot that is connected in communication with a vehicle, characterized by comprising:
receiving a control switching instruction sent by terminal equipment, and determining a control mode corresponding to the control switching instruction;
if the control mode is the manual control mode, receiving a first control message sent by the terminal equipment, executing an operation corresponding to the first control message and sending the first control message to the vehicle so that the vehicle executes the corresponding operation according to the first control message;
if the control mode is the automatic control mode, acquiring environment information, generating a second control message according to the environment information, and sending the second control message to the vehicle so that the vehicle executes corresponding operation according to the second control message, wherein the robot is arranged outside the vehicle;
if the control mode is a manual control mode, receiving a first control message sent by the terminal equipment, executing an operation corresponding to the first control message and sending the first control message to the vehicle, so that the vehicle executes the corresponding operation according to the first control message, wherein the step comprises the following steps of:
if the terminal equipment is in the manual control mode, receiving a first control message sent by the terminal equipment;
determining the rotation angle and the rotation sequence of each joint of the robot corresponding to the first control message according to the mapping relation between a preset robot control instruction and a vehicle control instruction;
controlling a motor to execute corresponding operation according to the rotation angle and the rotation sequence;
sending the first control message to a vehicle so that the vehicle can synchronously execute operations matched with the rotation angles and the rotation sequences of all joints of the robot according to the first control message;
if the control mode is the automatic control mode, acquiring environmental information, generating a second control message according to the environmental information and sending the second control message to the vehicle, wherein the steps comprise:
if the robot is in the automatic control mode, acquiring a current position coordinate and a vehicle position coordinate, and judging whether the distance between the robot and the vehicle meets a preset control condition or not according to the current position coordinate and the vehicle position coordinate;
if so, acquiring peripheral image information, obstacle information and road information, processing according to a preset destination, the peripheral image information, the obstacle information and the road information to obtain a planned route, generating a second control message according to the planned route, and sending the second control message to the vehicle so that the vehicle runs according to the planned route of the second control message;
the steps of obtaining the peripheral image information, the obstacle information and the road information, processing according to the preset destination, the peripheral image information, the obstacle information and the road information to obtain a planned route, generating a second control message according to the planned route, and sending the second control message to the vehicle so that the vehicle runs according to the planned route of the second control message include:
marking the steering indication in the route according to the planned route;
executing corresponding operation according to the planned route and the steering indication, generating a second control message according to the planned route and the steering indication, and sending the second control message to the vehicle so that the vehicle can drive to the position of the robot according to the planned route and the steering indication of the second control message;
if the vehicle is in the manual control mode, the steps of receiving a first control message sent by the terminal equipment, executing an operation corresponding to the first control message and sending the first control message to the vehicle further comprise:
acquiring a vehicle identification number of each vehicle within a preset range, and judging whether the vehicle can perform cooperative control with the robot or not according to the vehicle identification number;
if so, sending a matching request to a vehicle which can be cooperatively controlled with the robot so as to enable the vehicle and the robot to be in communication connection and receive a first control message and execute corresponding operation;
wherein the vehicle control method is also applied to a vehicle, the vehicle control method further comprising:
receiving a first control message, and executing corresponding operation according to the first control message, wherein the first control message is used for receiving and forwarding the first control message sent by an external terminal when a robot in communication connection with a vehicle is in a manual control mode;
and receiving a second control message, and executing corresponding operation according to the second control message, wherein the second control message is generated and sent according to the environmental information when the robot in communication connection with the vehicle is in the automatic control mode.
2. The vehicle control method according to claim 1, wherein the step of receiving the first control message and performing the corresponding operation according to the first control message further comprises:
and controlling a vehicle control unit to execute corresponding operations according to the rotation angles and the rotation sequence of each joint of the robot according to the first control message, wherein the vehicle control unit comprises a light control module and a vehicle body control module.
3. The vehicle control method according to claim 2, wherein the step of receiving the second control message and performing the corresponding operation according to the second control message further comprises:
and controlling a vehicle to run according to a planned route according to the second control message, and controlling a vehicle control unit to execute corresponding operation according to the steering indication, wherein the vehicle control unit comprises a light control module and a vehicle body control module.
4. A vehicle control system, characterized in that the vehicle control system comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the vehicle control method according to any one of claims 1 to 3.
5. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 3.
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