CN113419520A - Parallel driving system and method based on public network condition - Google Patents
Parallel driving system and method based on public network condition Download PDFInfo
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Abstract
The invention relates to the field of unmanned driving, in particular to a parallel driving system and a parallel driving method based on public network conditions. The parallel driving system includes: install 5 fisheye cameras on the car, ultrasonic radar, vehicle control device, CAN bus, network communication device, signal monitoring device and set up server, display, control command collector, 6 degrees of freedom cockpit at the rack end, still include 4G/5G basic station, high in the clouds server under the public network condition. Based on the 5G communication technology, the invention displays the surrounding situation of the vehicle and simulates the current running condition of the vehicle on the premise of ensuring the real-time performance of the parallel driving control, provides a more real driving environment simulation effect for a user, provides an accurate reference basis for the parallel driving control, and thus improves the user experience of the user. And a 4G/5G private network does not need to be built, the project development period is shortened, the network construction cost is reduced, and the method can be realized only in places with public networks.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a parallel driving system and a parallel driving method based on public network conditions.
Background
The initial idea of parallel driving is formed in the middle of the 90 s of the 20 th century, the concept of parallel driving is formally proposed in 2005, the idea of virtual-real interaction between a manual system and an actual system is applied to the driving field, and a prototype of the current parallel driving theory is formed.
At present, the parallel driving system function is realized based on a 4G/5G private network mode, and when a customer controls the parallel driving in a park and a specific open road, the 4G/5G private network needs to be established in the park and the specific development road, so that the development period of a project is prolonged, and higher private network construction cost needs to be invested.
Disclosure of Invention
In view of the current situation, a parallel driving system and method based on the public network condition are provided to improve the user experience.
In order to solve the technical problems, the invention adopts the following technical scheme:
a parallel driving system based on public network condition comprises a vehicle end, a network end and a rack end, and is characterized in that the vehicle end comprises a fisheye camera, an RCU and a vehicle control device which are arranged on a vehicle, the RCU is respectively in signal connection with a network communication device, a signal monitoring device, the fisheye camera and the vehicle control device, the vehicle control device comprises an inertial navigation system, a power control system, an EPS, an EPB, an Eboster and an ESC which are in signal connection with the RCU through a CAN bus,
the fisheye camera is used for monitoring the surrounding situation of the vehicle and generating an environment vision
Frequency monitoring information;
the network communication device is integrated with an SIM card, transmits data based on a 4G/5G communication technology, receives a network signal containing a vehicle control instruction, and forwards the network signal to the CAN bus through the RCU;
the signal monitoring device is used for detecting CAN signals, power signals, camera signals, SIM card signals from the network communication device and network signals in the RCU;
the CAN bus is used for receiving current running state information, forwarding the current running state information to the network communication device through the RCU, receiving a rack-end vehicle control instruction from the RCU and forwarding the rack-end vehicle control instruction to the vehicle control device;
the network end comprises a 4G/5G base station, a cloud server and optical fibers, wherein the cloud server is in data connection with the 4G/5G base station by using an MQTT protocol, the 4G/5G base station is in wireless connection with a network communication device of the vehicle end, and the 4G/5G base station is connected with the rack end rack host through the optical fibers.
Preferably, the network communication device is further configured to receive the environment video monitoring information and the current driving state information from the RCU, and forward the environment video monitoring information and the current driving state information to a network-side 4G/5G base station.
Preferably, there are 5 fisheye cameras.
Preferably, the power control system comprises a VCU, the VCU is connected with an MCU, the MCU is connected with a MOTOR, and the VCU is in signal connection with an RCU through the CAN bus.
Preferably, the rack end comprises a rack host, a vehicle control signal collector, a cockpit with 6 degrees of freedom and a display, wherein the rack host is used for receiving network signals and decoding videos in H264/H265 format; the rack end vehicle control signal collector is used for carrying out serial port collection on the driving operation of an operator to form a vehicle control command, and then converting the vehicle control command into an Ethernet signal to be transmitted to the rack host; the display is used for displaying images of the environment video monitoring information; the 6-degree-of-freedom cockpit is used for simulating current running state information and inputting a vehicle control command; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the motion conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6 degrees of freedom.
A parallel driving method under public network conditions is applied to the parallel driving system based on the public network conditions, and comprises the following steps:
the method comprises the following steps: the operator sends and starts the vehicle instruction, accuse car signal collector gathers this instruction and sends the rack server, after the rack server converts this signal into network signal, transmit to the 4G 5G basic station near the rack through the optic fibre, the 4G 5G basic station near the rack uses MQTT agreement to send this signal to the high in the clouds server, the high in the clouds server is with this signal transmission for the 4G 5G basic station near the vehicle again, the 4G 5G basic station near the vehicle is with signal wireless transmission again for network communication device. When the network delay is detected to be less than 550ms by the rack server, the network state is smooth, the display displays prompt information 'the network is smooth and please start', and when the network delay is greater than or equal to 550ms, the display prompts 'the network state is not good and the driver does not need to drive'. After a signal for starting a vehicle is received, a vehicle-end network communication device can monitor the network state in real time, when the network delay is greater than or equal to 550ms, the network communication device sends the network state to a vehicle RCU, and after the signal monitoring device detects the signal in the RCU, the signal monitoring device indicates the RCU to control a VCU to control the vehicle to keep a parking state and feeds back the parking state to a rack end, so that prompt information of ' poor vehicle network state, drive ' is not required '; if the vehicle network delay is less than 550ms, the vehicle RCU acquires videos around the vehicle and in a cab through 5 fisheye cameras, performs video coding by adopting an H264/H265 coding format, and then transmits the videos to a network communication device;
step two: the network communication device converts the video and the specific running information of the vehicle into a network signal, and the network signal is wirelessly transmitted to a 4G/5G base station nearby the vehicle; the 4G/5G base station wirelessly transmits the received network signals to a cloud server, and the cloud server wirelessly transmits the received network signals to the 4G/5G base station nearby the rack;
step three: the 4G/5G base station transmits the received network signal to the rack host through an optical fiber; the rack host machine restores the received network signals into videos and driving information of vehicles, performs video decoding through an H264/H265 decoding format, and then displays the videos and the driving information on a UI (user interface) of a rack display;
step four: an operator performs operations such as engaging in a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel in a 6-freedom-degree cockpit according to a UI (user interface) displayed by the display; a vehicle control signal collector on the rack collects the driving operation of an operator through a serial port, converts the driving operation into a network signal and transmits the network signal to a rack host;
step five: the rack host transmits the network signal to a 4G/5G base station near the rack through an optical fiber, and then the 4G/5G base station near the rack transmits the network signal to a cloud server through wireless transmission; the cloud server wirelessly transmits the received network signals to a 4G/5G base station near the vehicle, and then the 4G/5G base station wirelessly transmits the network signals to a network communication device.
Preferably, the parallel driving method further includes the step six: the RCU at the vehicle end converts the network signal received by the network communication device into a CAN signal and sends the CAN signal to a corresponding execution controller to finish the parallel driving operation of the vehicle; wherein VCU-MCU-MOTOR executes the operation of stepping on the accelerator and recovering energy; the EPS performs steering operation; the EPB executes an electronic hand brake operation; ebooster, ESC performs the braking operation.
Preferably, the gantry display splices the images of the 5 cameras to form two view frames of front 180 ° and rear 180 °.
Preferably, the vehicle-end RCU is further correspondingly connected with a plurality of ultrasonic radars, the ultrasonic radars are used for detecting obstacles around the vehicle, when the obstacles exist in a preset dangerous distance around the vehicle, an obstacle alarm signal is generated and sent to the signal monitoring device, when the signal monitoring device receives the obstacle alarm signal, the obstacle alarm signal is sent to the vehicle control device through the CAN bus, and the vehicle control device controls the vehicle to brake.
Preferably, the signal monitoring device detects the signal while the vehicle is running, and the signal monitoring device includes:
1. when the signal monitoring device detects that the camera signal is lost or the UI interface of the display of the rack simulation device and the HMI interface of the vehicle prompt that the camera signal is lost, the RCU is instructed to issue an edge parking instruction to the VCU, and in addition, the RCU directly executes an EPB pull-up instruction;
2. when the loss of the SIM card signal corresponding to the RCU is detected, the RCU is instructed to send an edge parking instruction to the VCU, and the RCU directly executes an EPB pull-up instruction;
3. when the CAN signal corresponding to the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gears which are classified as N gears and brakes;
4. when the power supply signal of the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gear to be classified into N gear and brakes;
5. when the RCU detects that the corresponding network delay is larger than or equal to 550ms, the RCU is instructed to send an edge parking instruction to the VCU, and the VCU executes an EPB pull-up instruction;
6. when the RCU detects that the emergency stop button is pressed, the RCU is instructed to send an automatic brake execution instruction to the VCU, and the VCU executes the gears which are classified into N gears and brakes.
The technical scheme of the invention has the following beneficial effects:
based on the 5G communication technology, the invention displays the surrounding situation of the vehicle and simulates the current running condition of the vehicle on the premise of ensuring the real-time performance of the parallel driving control, provides a more real driving environment simulation effect for a user, provides an accurate reference basis for the parallel driving control, and thus improves the user experience of the user. And a 4G/5G private network does not need to be built, the project development period is shortened, the network construction cost is reduced, and the method can be realized only in places with public networks. The invention adopts a high-bandwidth cloud server as a transfer station for remote driving data forwarding in a public network environment, transmits a vehicle-end video to a remote driving cabin display, and sends an operation instruction of a remote driving cabin security operator to a vehicle end for remote vehicle control. For the unmanned vehicle operated at low speed, the method can shorten the project development period and reduce the network construction cost.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a parallel driving control system based on a public network condition according to an embodiment of the present invention;
fig. 2 is a flowchart of a parallel driving control method based on public network conditions according to an embodiment of the present invention;
fig. 3 is a flowchart of the real road condition experience realization of the parallel driving control system and method based on the public network condition according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a voltage follower circuit and an amplifier circuit of the signal monitoring device according to the present invention;
FIG. 5 is a schematic diagram of a bandpass filter circuit of the signal monitoring apparatus of the present invention;
FIG. 6 is a small signal peak detection circuit of the signal monitoring device of the present invention;
FIG. 7 is a plan view of a 6 degree-of-freedom cockpit provided by an embodiment of the present invention;
fig. 8 is a flowchart illustrating the determination of parallel driving under abnormal network conditions according to the embodiment of the present invention;
fig. 9 is a distribution and view angle diagram of 5 fisheye cameras provided by an embodiment 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
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic structural diagram of a parallel driving system based on a public network condition according to an embodiment of the present invention.
The system comprises: vehicle end, net end, bench end.
The car end includes: the vehicle control device comprises an inertial navigation system, a power control system, an EPS, an EPB, an Eboster and an ESC which are connected with RCU signals through a CAN bus.
The network communication device is a 4G/5G module, is integrated with an SIM card, and is also integrated with a GPS antenna and a 5G antenna. A Wide and pass FG150/FM 1505G series module can be used, which is based on a high pass SDX55 (CellON 5G modem) platform and covers the 4G/5G band of three operators in China. The vehicle-mounted intelligent network packaging system adopts an M.2/LGA packaging technology, supports various communication interfaces such as USB/PCIE/RGMII and the like, and can be quickly adapted to complete machine products in various industries such as Internet of vehicles, intelligent Internet of vehicles, C-V2X, intelligent transportation, automatic driving and the like.
The network communication device transmits data based on a 4G/5G communication technology, and is used for receiving a network signal containing a vehicle control instruction from the cloud server and forwarding the network signal to the CAN bus through the RCU;
the CAN bus is used for receiving current running state information, forwarding the current running state information to the network communication device through the RCU, receiving a rack-end vehicle control instruction from the RCU and forwarding the rack-end vehicle control instruction to the vehicle control device;
the RCU is used for receiving the environment video monitoring information and the current running state information and forwarding the environment video monitoring information and the current running state information to the network communication device, and is also used for receiving a platform end vehicle control instruction and forwarding the platform end vehicle control instruction to the vehicle control device.
As shown in fig. 2, the signal monitoring device is configured to detect a CAN signal, a power signal, a camera signal, a SIM card signal from a network communication device, and a network signal in the RCU.
The signal monitoring device adopts a conventional circuit design and CAN be directly and respectively and electrically connected with a CAN bus, a power supply, a camera interface circuit and a network communication interface circuit in the RCU circuit.
The signal monitoring device can be generally composed of a voltage follower, an in-phase proportional amplifier, a band-pass filter circuit, small signal peak detection and other circuits. The voltage follower can improve input impedance, and the input resistance can reach more than 1M omega.
The in-phase proportional amplifier is used for amplifying the amplification factor attenuated in the voltage division network.
The band-pass filter is used for selecting a weak signal of 500 Hz-2 KHz.
And finally, detecting the amplitude value of the sinusoidal signal through a small signal peak value detection circuit.
The voltage follower circuit and the amplifier circuit are shown in fig. 4, the left half part of the voltage follower circuit is a follower, the input voltage is equal to the output voltage, but the input impedance can reach more than 1M omega. The right half part consists of an in-phase proportional amplifier and a resistance capacitor, and ideally, the amplification factor is equal to the attenuation coefficient, so that the peak value of an undistorted weak signal can be detected. The band-pass filter circuit is composed of an audio amplifier OPA2340 and a peripheral resistor capacitor, and frequency selection is achieved between 500Hz and 2 KHz. As shown in fig. 5. The small signal peak detection circuit consists of an amplifier and a peripheral circuit and realizes the detection of the peak value of the detected sinusoidal signal. As shown in fig. 6.
The current running state information is data information of the vehicle in the running process, and is fed back to the CAN bus by the vehicle control device; the RCU receives the CAN bus feedback information and forwards the CAN bus feedback information to the cloud server through the 5G antenna of the network communication device.
Further, based on the basis of the signal monitoring device, when the vehicle is running, the method further has a corresponding functional safety mechanism, and the signal detection by the signal monitoring device comprises:
1. when the signal monitoring device detects that the camera signal is lost or the UI interface of the display of the rack simulation device and the HMI interface of the vehicle prompt that the camera signal is lost, the RCU is instructed to issue an edge parking instruction to the VCU, and in addition, the RCU directly executes an EPB pull-up instruction;
2. when the loss of the SIM card signal corresponding to the RCU is detected, the RCU is instructed to send an edge parking instruction to the VCU, and the RCU directly executes an EPB pull-up instruction;
3. when the CAN signal corresponding to the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gears which are classified as N gears and brakes;
4. when the power supply signal of the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gear to be classified into N gear and brakes;
5. when the RCU detects that the corresponding network delay is larger than or equal to 550ms, the RCU is instructed to send an edge parking instruction to the VCU, and the VCU executes an EPB pull-up instruction;
6. when the RCU detects that the emergency stop button is pressed, the RCU is instructed to send an automatic brake execution instruction to the VCU, and the VCU executes the gears which are classified into N gears and brakes.
The RCU can adopt products such as Suzhou Technological shares company, Qingdao Huaitou intelligent machine company, Yingbo supercomputing (Nanjing) Technological company and the like, can deserialize a camera serialized signal into an MIPI signal, performs deformity correction on a camera image, adopts H.264 or H.265 coding, performs RIP (raster image processor) packaging on a coded video stream, and then pushes the stream in a format of a standard RTSP video stream.
In the design of the RCU, a network communication device and a signal monitoring device can be integrated in a traditional RCU.
For convenience of wiring, the RRU and the RCU can be integrated in the same antenna space, and are connected by a coaxial line, and the coaxial line has 2 functions of power supply and communication. Communication signals are transmitted in an On _ Off _ Keying (OOK On-Off Keying modulation mode, also called binary On-Off Keying) mode, and an OOK modulation and demodulation circuit is arranged at both the RRU end and the RCU end. OOK modem circuit integrated filter circuit, modem chip, OOK chip that TI and MAX design production had at present on the market, compatible with AISG, complete integrated transceiver. The receiver provides a typical dynamic range of 20dB, and the integrated band pass filter operates at 2.176 MHz.
The transmitter is integrated with a band-pass filter, is compatible with AISG emission spectrum, and requires lightning protection and ESD protection in design.
The rack end comprises a rack host (comprising a server), a vehicle control signal collector, a cockpit with 6 degrees of freedom (comprising a steering wheel, gears, an accelerator, a brake and a seat), a display and the like, wherein the rack host is matched with the server, and the server is arranged on the rack host, wherein:
and the server is used for receiving the network signal and decoding the video in the H264/H265 format.
The vehicle control signal collector is used for carrying out serial port collection on the driving operation of an operator to form a vehicle control instruction, and then converting the vehicle control instruction into an Ethernet signal to be transmitted to a server of the rack host;
the display is used for displaying the image of the environment video monitoring information;
the 6-degree-of-freedom cockpit is also called a six-degree-of-freedom driving simulator and is used for simulating current driving state information and inputting a vehicle control command; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6-degree-of-freedom motion. The lower platform 2 of the six-degree-of-freedom driving simulator is arranged on the ground, the upper platform 1 is a motion platform and is supported by six electric cylinders 3, the motion platform 1 is connected with push rods 6 of the electric cylinders 3 through six Hooke joints 5, the electric cylinders 3 are connected with a fixed base 4, and the six electric cylinders are driven by servo motors. The computer control system realizes the six-freedom-degree movement of the moving platform 1 by coordinately controlling the stroke of the electric cylinder 3, namely three translation movements in a Cartesian coordinate system and the rotation around three coordinate axes. As shown in fig. 4.
The network end comprises a 4G/5G base station, a cloud server, an optical fiber and the like. The cloud server establishes data connection with the 4G/5G base station by using an MQTT protocol; the 4G/5G base station establishes wireless connection with the vehicle end network communication device; and the 4G/5G base station is connected with the rack end rack host through an optical fiber.
Based on the above conditions, the system can implement the parallel driving function, as shown in fig. 2 and fig. 5 of the attached drawings of the specification, the corresponding flow of the parallel driving method based on the public network condition is as follows:
s1, an operator sends a vehicle starting instruction, a vehicle control signal collector collects the instruction and sends the instruction to a rack server, the rack server converts the signal into a network signal and transmits the network signal to a 4G/5G base station near the rack through an optical fiber, the 4G/5G base station near the rack sends the signal to a cloud server by using an MQTT protocol, the cloud server sends the signal to the 4G/5G base station near the vehicle, and the 4G/5G base station near the vehicle wirelessly transmits the signal to a network communication device. When the network delay is greater than or equal to 550ms, the display prompts that the network state is not good and the driver does not need to drive, the bench server continuously detects the network delay, and when the bench server detects that the network delay is less than 550ms, the network state is smooth, and the display displays prompt information that the network is smooth and the driver needs to start. After a signal for starting a vehicle is received, a vehicle-end network communication device can monitor the network state in real time, when the network delay is greater than or equal to 550ms, the network communication device sends the network state to a vehicle RCU, and after the signal monitoring device detects the signal in the RCU, the signal monitoring device indicates the RCU to control a VCU to control the vehicle to keep a parking state and feeds back the parking state to a rack end, so that prompt information of ' poor vehicle network state, drive ' is not required ';
s2, if the vehicle-end network communication device detects that the network delay is less than 550ms, the vehicle RCU immediately collects videos around the vehicle and in the cab through 5 fisheye cameras, performs video coding by adopting an H264/H265 coding format, and then transmits the videos to the network communication device;
s3, converting the video and the specific running information of the vehicle into a network signal by the network communication device, and wirelessly transmitting the network signal to a 4G/5G base station near the vehicle by the network communication device;
s4, the 4G/5G base station near the vehicle wirelessly transmits the received network signal to the cloud server, and the cloud server wirelessly transmits the received network signal to the 4G/5G base station near the rack;
s5, the 4G/5G base station near the rack transmits the received network signal to the rack host server through the optical fiber;
s6, the rack host server restores the received network signals into videos and vehicle driving information, the videos are decoded through an H264/H265 decoding format, then 5 cameras are spliced, and a 360-degree annular view is formed and displayed on a UI (user interface) of the rack display; specifically, the rack display splices images of 5 cameras to form two view frames of front 180 degrees and back 180 degrees.
S7, an operator performs operations such as engaging in a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel in the 6-freedom-degree cab according to a UI (user interface) displayed by the display;
s8, a vehicle control signal collector on the rack collects the driving operation of an operator through a serial port, and then converts the driving operation into a network signal to be transmitted to a rack server;
s9, the rack server transmits the network signal to the 4G/5G base station near the rack through the optical fiber, and then the 4G/5G base station near the rack transmits the network signal to the cloud server in a wireless transmission mode;
s10, the cloud server wirelessly transmits the received network signal to a 4G/5G base station near the vehicle, and then the 4G/5G base station near the vehicle wirelessly transmits the network signal to a vehicle end RCU;
s11, the RCU at the vehicle end converts the network signal received by the network communication device into a CAN signal and then sends the CAN signal to a corresponding execution controller to finish the parallel driving operation of the vehicle, namely, the operation of stepping on the accelerator and recovering energy is executed through VCU-MCU-MOTOR; performing a steering operation by the EPS; executing an electronic hand brake operation through the EPB; the braking operation is performed by Ebooster and ESC.
As shown in fig. 6, 5 fisheye cameras 1 are mounted on the vehicle in a front, rear, left, right and interior manner, and are used for monitoring the surroundings of the vehicle and the interior of the vehicle and generating environment video monitoring information;
in addition, the vehicle-end RCU is correspondingly connected with a plurality of ultrasonic radars, the ultrasonic radars are used for detecting obstacles around the vehicle, when the obstacles exist in a preset dangerous distance around the vehicle, the signal monitoring device receives an obstacle alarm signal and indicates the RCU to send the obstacle alarm signal to the vehicle control device through the CAN bus, and the vehicle control device controls the vehicle to brake.
The embodiment of the invention is based on public network and 5G communication technology, displays the surrounding situation of the vehicle and simulates the current running state of the vehicle on the premise of ensuring the real-time performance of parallel driving control, provides a more real driving environment simulation effect for a user, provides an accurate reference basis for the parallel driving control, and thus improves the user experience of the user.
Based on the above conditions, as shown in fig. 3, the system can simulate the experience of the real road condition, and the realization process of the experience of the real road condition is as follows:
s501, an inertial navigation system of the vehicle control device senses the actual condition of the vehicle;
s502, the inertial navigation system sends the acceleration in the X, Y, Z three directions to a vehicle end RCU through a CAN bus;
s503, the RCU at the vehicle end converts the acceleration in the X, Y, Z three directions into a network signal through a 5G network communication device and transmits the network signal to a server of the rack host through an optical fiber (Ethernet);
s504, the server of the rack host transmits the signals to a vehicle control signal collector;
and S505, controlling the 6-degree-of-freedom cockpit by the vehicle control signal collector to realize various actual running conditions (including uphill, downhill, collision and the like) of the vehicle.
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.
Among them, eps (electric Power steering), which is a Power steering system that relies on a motor to provide an assist torque;
rcu (remote Control unit), i.e. parallel steering controller;
can (controller Area network), i.e., controller Area network;
sim (subscriber Identity module), i.e. a subscriber Identity module;
vcu (vehicle Control unit), i.e. a vehicle Control unit, which is a core Control component of the whole automobile and is equivalent to the brain of the automobile. The device collects an accelerator pedal signal, a brake pedal signal and other component signals, and controls the action of each component controller on the lower layer after making corresponding judgment, so that the device plays a role in controlling the running of a vehicle;
mcu (motor Control unit), namely a motor Control unit, namely a motor controller. Controlling the rotation state of the motor according to the instruction of the VCU;
an Electronic Stability Controller (ESC), namely an electronic Stability control system of a vehicle body, which is an active safety technology for assisting a driver to control a vehicle, wherein the ESC mainly controls the longitudinal Stability and the transverse Stability of the vehicle to ensure the stable running of the vehicle;
EPB (electrical park brake), i.e. an electronic Parking system, which controls the Parking brake by electronic circuitry. The function is the same as that of a mechanical pull rod hand brake;
hmi (human Machine interface), a human-Machine interface, is a medium for interaction and information exchange between systems and users, and it implements conversion between internal forms of information and human-acceptable forms.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A parallel driving system based on public network condition comprises a vehicle end, a network end and a rack end, and is characterized in that the vehicle end comprises a fisheye camera, an RCU and a vehicle control device which are arranged on a vehicle, the RCU is respectively in signal connection with a network communication device, a signal monitoring device, the fisheye camera and the vehicle control device, the vehicle control device comprises an inertial navigation system, a power control system, an EPS, an EPB, an EPS and an ESC which are in signal connection with the RCU through a CAN bus,
the fisheye camera is used for monitoring the surrounding situation of the vehicle and generating an environment vision
Frequency monitoring information;
the network communication device is integrated with an SIM card, transmits data based on a 4G/5G communication technology, receives a network signal containing a vehicle control instruction, and forwards the network signal to the CAN bus through the RCU;
the signal monitoring device is used for detecting CAN signals, power signals, camera signals, SIM card signals from the network communication device and network signals in the RCU;
the CAN bus is used for receiving current running state information, forwarding the current running state information to the network communication device through the RCU, receiving a rack-end vehicle control instruction from the RCU and forwarding the rack-end vehicle control instruction to the vehicle control device;
the network end comprises a 4G/5G base station, a cloud server and optical fibers, wherein the cloud server is in data connection with the 4G/5G base station by using an MQTT protocol, the 4G/5G base station is in wireless connection with a network communication device of the vehicle end, and the 4G/5G base station is connected with the rack end rack host through the optical fibers.
2. The public network based parallel driving system according to claim 1, wherein the network communication device is further configured to receive the environmental video monitoring information and the current driving status information from the RCU, and forward the environmental video monitoring information and the current driving status information to a network-end 4G/5G base station.
3. The public network based parallel steering system of claim 1, wherein there are 5 fisheye cameras.
4. The system of claim 1, wherein the power control system comprises a VCU, the VCU is connected to a MCU, the MCU is connected to a MOTOR, and the VCU is signally connected to the RCU via the CAN bus.
5. The public network based parallel driving system as claimed in claim 1, wherein the rack end comprises a rack host, a car control signal collector, a cockpit with 6 degrees of freedom, and a display, wherein the rack host is used for receiving network signals and performing video decoding in H264/H265 format; the rack end vehicle control signal collector is used for carrying out serial port collection on the driving operation of an operator to form a vehicle control command, and then converting the vehicle control command into an Ethernet signal to be transmitted to the rack host; the display is used for displaying images of the environment video monitoring information; the 6-degree-of-freedom cockpit is used for simulating current running state information and inputting a vehicle control command; the 6-degree-of-freedom cockpit comprises a mechanical structure for simulating the motion conditions of a steering wheel, gears, an accelerator, a brake and a seat and 6 degrees of freedom.
6. A parallel driving method based on public network conditions, which is applied to the parallel driving system based on public network conditions of claim 7, and is characterized in that:
the method comprises the following steps: an operator sends a vehicle starting instruction, a vehicle control signal collector collects the instruction and sends the instruction to a rack server, the rack server converts the signal into a network signal and transmits the network signal to a 4G/5G base station near the rack, the 4G/5G base station near the rack sends the signal to a cloud server by using an MQTT protocol, the cloud server sends the signal to the 4G/5G base station near the vehicle, and the 4G/5G base station near the vehicle wirelessly transmits the signal to a network communication device;
when the network delay detected by the rack server is less than 550ms, the network state is smooth, the display displays prompt information of 'smooth network and starting', and when the network delay is more than or equal to 550ms, the display prompts 'bad network state and drive' to avoid;
after a signal for starting a vehicle is received, a vehicle-end network communication device can monitor the network state in real time, when the network delay is greater than or equal to 550ms, the network communication device sends the network state to a vehicle RCU, and after the signal monitoring device detects the signal in the RCU, the signal monitoring device indicates the RCU to control a VCU to control the vehicle to keep a parking state and feeds back the parking state to a rack end, so that prompt information of ' poor vehicle network state, drive ' is not required '; if the vehicle network delay is less than 550ms, the vehicle RCU acquires videos around the vehicle and in a cab through 5 fisheye cameras, performs video coding by adopting an H264/H265 coding format, and then transmits the videos to a network communication device;
step two: the network communication device converts the video and the specific running information of the vehicle into a network signal, and the network signal is wirelessly transmitted to a 4G/5G base station nearby the vehicle; the 4G/5G base station wirelessly transmits the received network signals to a cloud server, and the cloud server wirelessly transmits the received network signals to the 4G/5G base station nearby the rack;
step three: the 4G/5G base station transmits the received network signal to the rack host through an optical fiber; the rack host machine restores the received network signals into videos and driving information of vehicles, performs video decoding through an H264/H265 decoding format, and then displays the videos and the driving information on a UI (user interface) of a rack display;
step four: an operator performs operations such as engaging in a gear, pulling an electronic hand brake, stepping on an accelerator, stepping on a brake and turning a steering wheel in a 6-freedom-degree cockpit according to a UI (user interface) displayed by the display; a vehicle control signal collector on the rack collects the driving operation of an operator through a serial port, converts the driving operation into a network signal and transmits the network signal to a rack host;
step five: the rack host transmits the network signal to a 4G/5G base station near the rack through an optical fiber, and then the 4G/5G base station near the rack transmits the network signal to a cloud server through wireless transmission; the cloud server wirelessly transmits the received network signals to a 4G/5G base station near the vehicle, and then the 4G/5G base station wirelessly transmits the network signals to a network communication device.
7. The parallel driving method based on the public network condition as claimed in claim 6, further comprising the steps of six: the RCU at the vehicle end converts the network signal received by the network communication device into a CAN signal and sends the CAN signal to a corresponding execution controller to finish the parallel driving operation of the vehicle; wherein VCU-MCU-MOTOR executes the operation of stepping on the accelerator and recovering energy; the EPS performs steering operation; the EPB executes an electronic hand brake operation; ebooster, ESC performs the braking operation.
8. The parallel driving method based on the public network condition as claimed in claim 6, wherein the rack display splices the images of 5 cameras to form two view frames of front 180 ° and back 180 °.
9. The parallel driving method based on the public network condition as claimed in claim 1, wherein the vehicle-side RCU is further connected with a plurality of ultrasonic radars correspondingly, the ultrasonic radars are used for detecting obstacles around the vehicle, when an obstacle exists in a preset dangerous distance around the vehicle, an obstacle alarm signal is generated and sent to the signal monitoring device, when the signal monitoring device receives the obstacle alarm signal, the obstacle alarm signal is sent to the vehicle control device through the CAN bus, and the vehicle control device controls the vehicle to brake.
10. The method of claim 1, wherein the detecting the signal by the signal monitoring device comprises:
1. when the signal monitoring device detects that the camera signal is lost or the UI interface of the display of the rack simulation device and the HMI interface of the vehicle prompt that the camera signal is lost, the RCU is instructed to issue an edge parking instruction to the VCU, and in addition, the RCU directly executes an EPB pull-up instruction;
2. when the loss of the SIM card signal corresponding to the RCU is detected, the RCU is instructed to send an edge parking instruction to the VCU, and the RCU directly executes an EPB pull-up instruction;
3. when the CAN signal corresponding to the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gears which are classified as N gears and brakes;
4. when the power supply signal of the RCU is detected to be lost, the RCU is instructed to send a braking instruction to the VCU, and the VCU executes the gear to be classified into N gear and brakes;
5. when the RCU detects that the corresponding network delay is larger than or equal to 550ms, the RCU is instructed to send an edge parking instruction to the VCU, and the VCU executes an EPB pull-up instruction;
6. when the RCU detects that the emergency stop button is pressed, the RCU is instructed to send an automatic brake execution instruction to the VCU, and the VCU executes the gears which are classified into N gears and brakes.
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