CN113703354A - Control method and device for unmanned vehicle - Google Patents
Control method and device for unmanned vehicle Download PDFInfo
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- CN113703354A CN113703354A CN202110886037.9A CN202110886037A CN113703354A CN 113703354 A CN113703354 A CN 113703354A CN 202110886037 A CN202110886037 A CN 202110886037A CN 113703354 A CN113703354 A CN 113703354A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a control method and a device of an unmanned vehicle, comprising the following steps: receiving a remote control instruction; acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction; and if the vehicle speed information is higher than the preset vehicle speed, rejecting the remote control command. According to the technical scheme of the invention, the current gear state and the vehicle speed information of the vehicle are used for judgment, and the remote control instruction is rejected under the condition of meeting the condition, so that the problem of reduced vehicle robustness caused by sending an error instruction under the remote abnormal working condition is solved, and the safe, effective and stable control of the vehicle is realized.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control method and a control device for an unmanned vehicle.
Background
Under the 5G network environment, a remote cockpit at a far end sends out corresponding control instructions such as gear switching, steering of a steering wheel, acceleration and deceleration pedals, steering lamps, loudspeakers and the like to a vehicle end control system of an unmanned vehicle on a public road through UDP (User Datagram Protocol) communication, and the vehicle end control system receives the corresponding control instructions and directly makes corresponding behaviors.
However, if a logical error occurs in the remote control command, for example, the vehicle end suddenly receives an emergency stop command during normal running of the unmanned vehicle, the vehicle may roll or even overturn, and the like, thereby causing a safety accident.
The reason for the above defects is that the control system of the vehicle end has no complete set of safety function design and completely depends on the stability of the remote control system, so once the remote control system is abnormal, the vehicle end cannot achieve good robustness.
Disclosure of Invention
The invention aims to provide a control method and a control device of an unmanned vehicle, which are used for judging by using the current gear state and the speed information of the vehicle and rejecting a remote control instruction under the condition of meeting conditions, so that the problem of reduced vehicle robustness caused by sending an error instruction under the remote abnormal working condition is solved, and the safe, effective and stable control of the vehicle is realized.
In order to achieve the purpose, the invention provides the following scheme:
a method of controlling an unmanned vehicle, the method comprising:
receiving a remote control instruction;
acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction;
and rejecting the remote control command under the condition that the vehicle speed information is higher than a preset vehicle speed.
Optionally, the preset instruction is a first preset instruction;
under the condition that the remote control instruction is a preset instruction, acquiring vehicle speed information, comprising:
under the condition that the remote control instruction is the first preset instruction, acquiring a current gear state;
and acquiring vehicle speed information under the condition that the current gear state is a first state.
Optionally, after receiving the remote control instruction, the method further includes:
under the condition that the remote control instruction is an accelerator pedal instruction, acquiring the current gear state;
and rejecting the remote control command when the current gear state is a second state.
Optionally, in the case that the remote control command is an accelerator pedal command, after the current gear state is acquired, the method further includes:
and under the condition that the current gear state is not in the second state, controlling an accelerator pedal of the vehicle according to the remote control instruction.
Optionally, the method further includes:
monitoring the remote control command;
and under the condition that the time interval between the moment of receiving the remote control instruction and the current moment exceeds a first preset time length, controlling the vehicle to perform emergency braking and parking.
Optionally, the method further includes:
receiving a remote control exit instruction;
under the condition that the vehicle speed information is greater than or equal to the preset vehicle speed, controlling the vehicle to perform emergency braking and parking, and performing back-out remote control after parking action is completed;
and controlling the vehicle to exit the remote control under the condition that the vehicle speed information is less than the preset vehicle speed.
Optionally, after receiving the remote control instruction, the method further includes:
and under the condition that the remote control instruction is a brake pedal instruction, controlling a brake pedal of the vehicle according to the remote control instruction.
In another aspect, the present invention also provides a control apparatus of an unmanned vehicle, the apparatus including:
the instruction receiving module is used for receiving a remote control instruction;
the information acquisition module is used for acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction;
and the execution module is used for rejecting the remote control instruction under the condition that the vehicle speed information is higher than a preset vehicle speed.
In another aspect, the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the above-described method of controlling an unmanned vehicle.
In another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the above-described method of controlling an unmanned vehicle.
According to the control method and device for the unmanned vehicle, the current gear state and the vehicle speed information of the vehicle are used for judgment, and the problem that the robustness of the vehicle is reduced due to the fact that an error instruction is sent under the remote abnormal working condition is solved by rejecting the remote control instruction under the condition that the condition is met, and the safe, effective and stable control of the vehicle is achieved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for controlling an unmanned vehicle according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for acquiring vehicle speed information when the remote control command is a preset command according to an embodiment of the present invention.
FIG. 3 is a flowchart of a method for a case where the remote control command is an accelerator pedal command according to an embodiment of the present invention.
FIG. 4 is a flowchart of a method after obtaining a current gear state when the remote control command is an accelerator pedal command according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for monitoring the remote control command according to an embodiment of the present invention.
Fig. 6 is a flowchart of a method for receiving a remote control exit instruction according to an embodiment of the present invention.
Fig. 7 is a block diagram of a control device of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
An embodiment of a control method for an unmanned vehicle according to the present invention is described below, and fig. 1 is a flowchart of a method for controlling an unmanned vehicle according to an embodiment of the present invention. The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system products may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or figures. As shown in fig. 1, the present embodiment provides a control method of an unmanned vehicle, the method including:
s101, receiving a remote control instruction;
the remote control instruction may refer to a control instruction sent by a remote end to the vehicle; the remote control commands may include shift commands and pedal commands; the gear shifting commands can comprise a forward gear switching command, a reverse gear switching command, a neutral gear switching command and a parking gear switching command; the pedal commands may include an accelerator pedal command and a brake pedal command. The remote control command may be sent by the remote cockpit via UDP communication.
S102, acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction;
wherein the preset command may be any one of shift commands. The preset instruction can be set according to actual needs. The vehicle speed information may refer to current speed information of the vehicle. The vehicle speed information may be obtained from an instrument panel of the vehicle.
In practical application, the vehicle speed information can be acquired from an instrument panel of the vehicle under the condition that the remote control instruction is a preset instruction.
And S103, rejecting the remote control instruction under the condition that the vehicle speed information is higher than the preset vehicle speed.
The vehicle speed information may represent a current state of the vehicle, and the current state of the vehicle may include a driving state and a parking state. The driving state can mean that the vehicle speed information is greater than or equal to a preset vehicle speed, and the vehicle is in a parking state when the vehicle speed information is less than the preset vehicle speed; the preset vehicle speed may be 5 km/h.
According to the control method of the unmanned vehicle, the current gear state and the vehicle speed information of the vehicle are used for judgment, and the remote control command is rejected under the condition that the conditions are met, so that the problem that the robustness of the vehicle is reduced due to the fact that the remote control command is issued under the abnormal working condition (including the scenes of remote command logic error, command content error and the like) is solved, and the safe, effective and stable control of the vehicle is realized.
Fig. 2 is a flowchart of a method for acquiring vehicle speed information when the remote control command is a preset command according to an embodiment of the present invention. In one possible embodiment, the preset instruction is a first preset instruction; under the condition that the remote control instruction is a preset instruction, acquiring vehicle speed information, comprising:
s201, under the condition that a remote control instruction is a first preset instruction, acquiring a current gear state;
the first preset instruction can be any one of a reverse gear switching instruction, a neutral gear switching instruction and a parking gear switching instruction; the second preset command may be a shift forward command. The first preset instruction can be set according to actual needs. The current gear state may refer to a gear state in which the vehicle is currently located. The current gear state may include a forward gear state, a reverse gear state, a neutral state, and a park state. The current gear state may be obtained from a transmission controller of the vehicle or from an instrument panel of the vehicle, which is not limited herein.
S202, under the condition that the current gear state is the first state, vehicle speed information is obtained.
Wherein the first state may be a forward state.
In practical application, when the remote control instruction is a second preset instruction (i.e., a forward gear switching instruction), since the gear to be switched is the same as the gear in which the current gear state of the vehicle is located, the vehicle is not affected after the switching, the remote control instruction may be rejected, and the remote control instruction may also be received and executed.
It can be understood that when the vehicle is in the forward gear state, the current state of the vehicle is judged according to the vehicle speed information, and the problem that when the vehicle is in the forward gear state and runs normally, the vehicle overturns to cause a safety accident due to the fact that an error control instruction sent by a remote end is received can be avoided.
FIG. 3 is a flowchart of a method for a case where the remote control command is an accelerator pedal command according to an embodiment of the present invention. In one possible embodiment, after receiving the remote control command, the method further comprises:
s301, under the condition that the remote control instruction is an accelerator pedal instruction, acquiring a current gear state;
the acceleration execution instruction can be used for controlling the vehicle to execute an acceleration action.
S302, under the condition that the current gear state is the second state, the remote control instruction is refused.
Wherein the second state may be a neutral state and a park state.
In practical application, when the vehicle is not in a forward gear state and a reverse gear state, and a remote control instruction which is an accelerator pedal instruction is received, the vehicle end can directly refuse the remote control instruction and keep the current control state.
FIG. 4 is a flowchart of a method after obtaining a current gear state when the remote control command is an accelerator pedal command according to an embodiment of the present invention. In one possible embodiment, after acquiring the current gear state in the case where the remote control command is an accelerator pedal command, the method further comprises:
s401, under the condition that the current gear state is not in the second state, controlling an accelerator pedal of the vehicle according to a remote control instruction.
It can be understood that when the received remote control command is an accelerator pedal command, and the current gear state is not the second state, the remote control command can be considered as a correct control command, and the vehicle can be controlled to accelerate according to the remote control command. In practical application, when the time delay of the arrival of the remote accelerator pedal instruction exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle buffers the finally received remote control instruction, and continuously transmits the finally received accelerator pedal instruction to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis, so that the control rule of the drive-by-wire chassis is ensured.
Fig. 5 is a flowchart of a method for monitoring the remote control command according to an embodiment of the present invention. In one possible embodiment, the method further comprises:
s501, monitoring a remote control instruction;
s502, under the condition that the time interval between the moment when the remote control instruction is received and the current moment exceeds a first preset time length, controlling the vehicle to perform emergency braking and parking;
in practical application, the remote end sends the remote control command at a second preset time interval under normal conditions. The first preset duration may be greater than the second preset duration. The emergency braking of the vehicle may refer to controlling the vehicle to stop within a shortest distance by properly applying a brake, and may control the vehicle to switch to a parking gear to complete parking after the vehicle stops. Through the heartbeat protection of the far end and the vehicle end, the condition that the vehicle cannot make corresponding judgment processing if the vehicle does not receive a far end instruction for a long time and is in a failure control state is avoided. The steps S501 to S502 may be triggered at any time, and are not limited herein.
Fig. 6 is a flowchart of a method for receiving a remote control exit instruction according to an embodiment of the present invention. In one possible embodiment, the method further comprises:
s601, receiving a remote control exit instruction;
the remote control exit instruction can be an instruction sent by a remote end and used for controlling the vehicle to exit from the remote control.
S602, under the condition that the vehicle speed information is greater than or equal to the preset vehicle speed, controlling the vehicle to perform emergency braking and parking, and backing out remote control after the parking action is finished;
under the condition that the vehicle speed information is greater than or equal to the preset vehicle speed, when a remote control instruction is received, emergency braking and parking of the vehicle are controlled, and the vehicle is controlled to exit from the remote control after the parking is finished, so that safety accidents caused by the fact that the vehicle exits from the remote control in the driving process, namely the vehicle loses the control are avoided.
And S603, controlling the vehicle to exit the remote control under the condition that the vehicle speed information is less than the preset vehicle speed.
Under the condition that the vehicle speed information is less than the preset vehicle speed, the vehicle is in a parking or low-speed running state at present, and the vehicle can be controlled to exit from remote control under the low-speed state, so that the safety of the vehicle and personnel is ensured. The steps S601 to S603 may be triggered at any time, and are not limited herein.
In one possible embodiment, after receiving the remote control command, the method further comprises:
and S701, under the condition that the remote control instruction is a brake pedal instruction, controlling a brake pedal of the vehicle according to the remote control instruction.
The brake pedal command may include a brake execution command, and the brake pedal command may be used to control the vehicle to perform a braking action. In practical application, when the time delay of the brake pedal instruction at the far end exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle buffers the finally received far-end control instruction, and continuously transmits the finally received brake pedal instruction to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis, so that the control rule of the drive-by-wire chassis is ensured. The time length of the control period of the wire control chassis is smaller than a first preset time length.
Fig. 7 is a block diagram of a control device of an unmanned vehicle according to an embodiment of the present invention. In another aspect, an embodiment of the present invention further provides a control apparatus for an unmanned vehicle, including:
the instruction receiving module 10 is used for receiving a remote control instruction;
the information acquisition module 20 is configured to acquire vehicle speed information when the remote control instruction is a preset instruction;
and the execution module 30 is used for rejecting the remote control instruction under the condition that the vehicle speed information is higher than the preset vehicle speed.
On the other hand, an embodiment of the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the above-described method of controlling the unmanned vehicle.
In another aspect, the present invention further provides a non-transitory computer readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the above-mentioned control method for an unmanned vehicle.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been presented as a series of interrelated states or acts, it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Similarly, the modules of the control device of the unmanned vehicle are computer programs or program segments for executing one or more specific functions, and the distinction between the modules does not necessarily mean that actual program codes are separated. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A control method of an unmanned vehicle, the method comprising:
receiving a remote control instruction;
acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction;
and rejecting the remote control command under the condition that the vehicle speed information is higher than a preset vehicle speed.
2. The method according to claim 1, wherein the preset instruction is a first preset instruction;
under the condition that the remote control instruction is a preset instruction, acquiring vehicle speed information, comprising:
under the condition that the remote control instruction is the first preset instruction, acquiring a current gear state;
and acquiring vehicle speed information under the condition that the current gear state is a first state.
3. The method of claim 1, wherein after receiving the remote control command, the method further comprises:
under the condition that the remote control instruction is an accelerator pedal instruction, acquiring the current gear state;
and rejecting the remote control command when the current gear state is a second state.
4. The method of claim 3, wherein after acquiring a current gear state in the event the remote control command is an accelerator pedal command, the method further comprises:
and under the condition that the current gear state is not in the second state, controlling an accelerator pedal of the vehicle according to the remote control instruction.
5. The method of claim 1, further comprising:
monitoring the remote control command;
and under the condition that the time interval between the moment of receiving the remote control instruction and the current moment exceeds a first preset time length, controlling the vehicle to perform emergency braking and parking.
6. The method of claim 1, further comprising:
receiving a remote control exit instruction;
under the condition that the vehicle speed information is greater than or equal to the preset vehicle speed, controlling the vehicle to perform emergency braking and parking, and performing back-out remote control after the parking action is finished;
and controlling the vehicle to exit the remote control under the condition that the vehicle speed information is less than the preset vehicle speed.
7. The method of claim 1, wherein after receiving the remote control command, the method further comprises:
and under the condition that the remote control instruction is a brake pedal instruction, controlling a brake pedal of the vehicle according to the remote control instruction.
8. A control apparatus of an unmanned vehicle, characterized in that the apparatus comprises:
the instruction receiving module is used for receiving a remote control instruction;
the information acquisition module is used for acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction;
and the execution module is used for rejecting the remote control instruction under the condition that the vehicle speed information is higher than a preset vehicle speed.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the method of controlling the unmanned vehicle of any of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of controlling an unmanned vehicle of any of claims 1 to 7.
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| CN116520753A (en) * | 2023-06-21 | 2023-08-01 | 禾多科技（北京）有限公司 | Vehicle remote control method, device, electronic equipment and computer readable medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116520753A (en) * | 2023-06-21 | 2023-08-01 | 禾多科技（北京）有限公司 | Vehicle remote control method, device, electronic equipment and computer readable medium |
| CN116520753B (en) * | 2023-06-21 | 2023-09-19 | 禾多科技（北京）有限公司 | Vehicle remote control method, device, electronic equipment and computer readable medium |
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