CN113703354B - Control method and device for unmanned vehicle - Google Patents
Control method and device for unmanned vehicle Download PDFInfo
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- CN113703354B CN113703354B CN202110886037.9A CN202110886037A CN113703354B CN 113703354 B CN113703354 B CN 113703354B CN 202110886037 A CN202110886037 A CN 202110886037A CN 113703354 B CN113703354 B CN 113703354B
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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
-
- 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
-
- 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 rejecting the remote control command under the condition that the vehicle speed information is higher than the preset vehicle speed. According to the technical scheme, the current gear state and the vehicle speed information of the vehicle are utilized for judging, and the problem that the robustness of the vehicle is reduced when an error command is sent out under an abnormal working condition at a long distance is solved by rejecting the remote control command under the condition that the condition is met, so that the safe, effective and stable control of the vehicle is realized.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a control method and device of an unmanned vehicle.
Background
Under the 5G network environment, a remote cockpit at a far end sends out corresponding control instructions, such as instructions of gear switching, steering wheel steering, acceleration pedal, steering lamps, horns 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 to directly make corresponding actions.
However, if a logic error occurs in the control command at the far end, for example, the vehicle end suddenly receives a sudden stop command during normal running of the unmanned vehicle, the vehicle may roll or even overturn, etc., resulting in occurrence of a safety accident.
The reason for the defects is that the control system of the vehicle end has no complete safety function design and is completely dependent on the stability of the control system at the far end, so that the vehicle end cannot achieve good robustness once the control system at the far end is abnormal.
Disclosure of Invention
The invention aims to provide a control method and a control device for an unmanned vehicle, which are used for judging by utilizing the current gear state and the vehicle speed information of the vehicle, and solving the problem that the robustness of the vehicle is reduced when an error command is sent out under an abnormal working condition at a long distance by rejecting a remote control command under the condition that the condition is met, so that the safety, the effectiveness and the stability of the vehicle are realized.
In order to achieve the above object, the present invention provides the following solutions:
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;
and under the condition that the remote control instruction is a preset instruction, acquiring the vehicle speed information comprises the following steps:
acquiring a current gear state under the condition that the remote control instruction is the first preset instruction;
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:
acquiring a current gear state under the condition that the remote control instruction is an accelerator pedal instruction;
and rejecting the remote control command under the condition that the current gear state is a second state.
Optionally, after the current gear state is obtained in the case that the remote control command is an accelerator pedal command, the method further includes:
and under the condition that the current gear state is not the second state, controlling an accelerator pedal of the vehicle according to the remote control instruction.
Optionally, the method further comprises:
monitoring the remote control command;
and controlling the vehicle to perform emergency braking and parking under the condition that the time interval between the moment of receiving the remote control instruction and the current moment exceeds a first preset duration.
Optionally, the method further comprises:
receiving a remote control exit instruction;
under the condition that the vehicle speed information is larger than or equal to the preset vehicle speed, controlling the vehicle to carry out emergency braking and parking, and exiting remote control after the parking action is completed;
and controlling the vehicle to exit from the remote control under the condition that the vehicle speed information is smaller than a preset vehicle speed.
Optionally, after receiving the remote control instruction, the method further includes:
and controlling a brake pedal of the vehicle according to the remote control command when the remote control command is a brake pedal command.
In another aspect, the present invention also provides a control device for an unmanned vehicle, the device comprising:
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 perform the control method of the unmanned vehicle described above.
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 method of controlling an unmanned vehicle described above.
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 judging, and the problem that the robustness of the vehicle is reduced due to the fact that an error command is sent out under the abnormal working condition of a remote part is solved by rejecting the remote control command under the condition that the condition is met, so that 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 following description will make a brief introduction to the drawings used in the description of the embodiments or the prior art. It should be apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained from these drawings without inventive effort to those of ordinary skill in the art.
Fig. 1 is a method flowchart of a control method of 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 provided in an embodiment of the present invention in the case where the remote control command is an accelerator pedal command.
Fig. 4 is a flowchart of a method for obtaining a current gear state in the case where 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 command according to an embodiment of the present invention.
Fig. 7 is a block diagram of a control apparatus for an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 method for controlling 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 operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system products, the processes may execute sequentially or in parallel (e.g., in a parallel processor or a multithreaded environment) in accordance with the methods shown 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 be a control instruction for the vehicle sent by the remote end; the remote control commands may include a shift command and a pedal command; the shift commands may include a forward command, a reverse command, a neutral command, and a park command; the pedal commands may include an accelerator pedal command and a brake pedal command. The remote control command may be issued by the remote cockpit over UDP communication.
S102, acquiring vehicle speed information under the condition that a remote control instruction is a preset instruction;
the preset command may be any one of the 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, under the condition that the remote control instruction is a preset instruction, the vehicle speed information can be obtained from the instrument panel of the vehicle.
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 characterize a current state of the vehicle, which may include a driving state and a parking state. The driving state may refer to that the vehicle speed information is greater than or equal to a preset vehicle speed, and a vehicle being less than the preset vehicle speed may represent that the vehicle is in a parking state; the preset vehicle speed may be 5km/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 judging, and under the condition that the conditions are met, the problem that the robustness of the vehicle is reduced when an error command is sent out under the condition that the remote is in an abnormal working condition (including a scene of a logic error of the remote command, a command content error and the like) is solved, so that the safety, the effectiveness and the stability of the vehicle are 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 implementation, the preset instruction is a first preset instruction; under the condition that the remote control instruction is a preset instruction, acquiring the vehicle speed information comprises the following steps:
s201, under the condition that a remote control instruction is a first preset instruction, acquiring a current gear state;
the first preset command can be any one of a reverse gear switching command, a neutral gear switching command and a parking gear switching command; the second preset command may be a shift forward command. The first preset instruction may 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 may be obtained from an instrument panel of the vehicle, which is not limited herein.
S202, acquiring vehicle speed information under the condition that the current gear state is a first state.
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), the gear to be switched is the same as the gear in which the current gear state of the vehicle is located, so that the vehicle is not affected after switching, the remote control instruction can be refused, and the instruction can be received and executed.
It can be understood that when the vehicle is in a forward gear state, the current state of the vehicle is judged through the vehicle speed information, so that the problem that the vehicle overturns and causes a safety accident due to the fact that the vehicle receives an error control instruction sent by a far end when the vehicle is in the forward gear state and normally runs can be avoided.
Fig. 3 is a flowchart of a method provided in an embodiment of the present invention in the case where the remote control command is an accelerator pedal command. In one possible embodiment, after receiving the remote control instruction, the method further comprises:
s301, under the condition that a remote control instruction is an accelerator pedal instruction, acquiring a current gear state;
wherein the acceleration execution instructions may be used to control the vehicle to execute an acceleration action.
S302, rejecting the remote control command under the condition that the current gear state is the second state.
The second state may be a neutral state and a park state.
In practical application, when the vehicle is not in the forward gear state and the reverse gear state, the remote control command is received as the accelerator pedal command, and the vehicle end can directly reject the remote control command, so that the current control state is maintained.
Fig. 4 is a flowchart of a method for obtaining a current gear state in the case where the remote control command is an accelerator pedal command according to an embodiment of the present invention. In one possible embodiment, after the current gear state is obtained in the case where the remote control command is an accelerator pedal command, the method further includes:
s401, controlling an accelerator pedal of the vehicle according to a remote control instruction under the condition that the current gear state is not the second state.
It will be appreciated that when the remote control command is received as an accelerator pedal command, and when the current gear state is not the second state, the remote control command may be considered as a correct control command, and vehicle acceleration may be controlled according to the remote control command. In practical application, when the time delay of the arrival of the remote accelerator pedal command exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle caches the last received remote control command, and continuously transmits the last received accelerator pedal command to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis, so as to ensure the control rule of the drive-by-wire chassis.
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, controlling the vehicle to perform emergency braking and parking under the condition that the time interval between the moment of receiving the remote control instruction and the current moment exceeds a first preset duration;
in practical application, the remote end will send the remote control command at intervals of a second preset duration under normal conditions. The first preset time period may be greater than the second preset time period. The vehicle emergency braking may refer to controlling the vehicle to stop the vehicle within a shortest distance by correctly applying a brake, and controlling the vehicle to be switched to a parking gear after the vehicle is stopped to complete parking. By the heartbeat protection of the far end and the vehicle end, the problem that the vehicle cannot make corresponding judgment processing due to the fact that the vehicle does not receive a far-end instruction for a long time is avoided, and the vehicle is in a failure control state. The steps S501-S502 may be triggered at any time, which is not limited herein.
Fig. 6 is a flowchart of a method for receiving a remote control exit command 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 command may be a command issued by the remote end for controlling the vehicle to exit the remote control.
S602, controlling the vehicle to carry out emergency braking and parking under the condition that the vehicle speed information is greater than or equal to a preset vehicle speed, and exiting remote control after the parking action is completed;
when the vehicle speed information is larger than or equal to the preset vehicle speed, the vehicle is controlled to exit the remote control after the parking is finished by controlling the emergency braking and parking of the vehicle when the remote control instruction is received, so that the safety accident caused by the fact that the vehicle exits from the remote control in the driving process is avoided.
S603, controlling the vehicle to exit from remote control under the condition that the vehicle speed information is smaller than the preset vehicle speed.
Under the condition that the vehicle speed information is smaller 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 in the low-speed state, so that the safety of the vehicle and personnel is ensured. The steps S601-S603 may be triggered at any time, which is not limited herein.
In one possible embodiment, after receiving the remote control instruction, the method further comprises:
s701, controlling a brake pedal of the vehicle according to the remote control command when the remote control command is the brake pedal command.
The brake pedal command may include a brake execution command, and the brake pedal command may be used to control the vehicle to execute a braking action. In practical application, when the time delay of the arrival of the remote brake pedal command exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle caches the last received remote control command, and continuously transmits the last received brake pedal command to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis, so as to ensure the control rule of the drive-by-wire chassis. The time length of the control period of the drive-by-wire chassis is smaller than the first preset time length.
Fig. 7 is a block diagram of a control apparatus for an unmanned vehicle according to an embodiment of the present invention. On the other hand, the embodiment of the invention also provides a control device of the unmanned vehicle, which comprises:
an instruction receiving module 10, configured to receive 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;
the execution module 30 is configured to reject the remote control command when the vehicle speed information is higher than a preset vehicle speed.
In another aspect, 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 perform the control method of the unmanned vehicle described above.
In another aspect, an embodiment of the present invention further provides a non-volatile computer readable storage medium, on which computer program instructions are stored, where the computer program instructions, when executed by a processor, implement the method for controlling an unmanned vehicle described above.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as two series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Likewise, the modules of the control device of the unmanned vehicle refer to computer programs or program segments for performing one or more specific functions, and the distinction of the modules does not represent that the actual program code must also be separate. In addition, any combination of the above embodiments may be used to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of each embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (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. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.
The foregoing description has fully disclosed specific embodiments of this invention. It should be noted that any modifications to the specific embodiments of the invention may be made by those skilled in the art without departing from the scope of the invention as defined in the appended claims. Accordingly, the scope of the claims of the present invention is not limited to the foregoing detailed description.
Claims (9)
1. A control method of an unmanned vehicle, the method comprising:
receiving a remote control instruction; the remote control command comprises a gear shifting command and a pedal command;
acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction; the preset instruction is any one of the gear shifting instructions;
rejecting the remote control command under the condition that the vehicle speed information is higher than a preset vehicle speed, and keeping the current control state;
acquiring a current gear state under the condition that the remote control instruction is an accelerator pedal instruction;
rejecting the remote control command under the condition that the current gear state is a second state, and maintaining the current control state; the second state comprises a neutral state or a parking state;
when the current gear state is not the second state and the remote control instruction is a pedal instruction, and when the time delay of the arrival of the remote pedal instruction exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle caches the last received remote control instruction, and continuously transmits the last received pedal instruction to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis; the time length of the control period of the drive-by-wire chassis is smaller than a first preset time length; the pedal command includes a brake pedal command or an accelerator pedal command.
2. The method of claim 1, wherein the preset instruction is a first preset instruction;
and under the condition that the remote control instruction is a preset instruction, acquiring the vehicle speed information comprises the following steps:
acquiring a current gear state under the condition that the remote control instruction is the first preset instruction;
and acquiring vehicle speed information under the condition that the current gear state is a first state.
3. The method according to claim 1, wherein, in the case where the remote control command is an accelerator pedal command, after acquiring the current gear state, the method further comprises:
and controlling an accelerator pedal of the vehicle according to the remote control command under the condition that the current gear state is not the second state.
4. The method according to claim 1, wherein the method further comprises:
monitoring the remote control command;
and controlling the vehicle to perform emergency braking and parking under the condition that the time interval between the moment of receiving the remote control instruction and the current moment exceeds a first preset duration.
5. The method according to claim 1, wherein the method further comprises:
receiving a remote control exit instruction;
under the condition that the vehicle speed information is larger than or equal to the preset vehicle speed, controlling the vehicle to carry out emergency braking and parking, and exiting remote control after the parking action is completed;
and controlling the vehicle to exit from the remote control under the condition that the vehicle speed information is smaller than the preset vehicle speed.
6. The method of claim 1, wherein after receiving the remote control instruction, the method further comprises:
and controlling a brake pedal of the vehicle according to the remote control command when the remote control command is a brake pedal command.
7. A control device of an unmanned vehicle, the device comprising:
the instruction receiving module is used for receiving a remote control instruction; the remote control command comprises a gear shifting command and a pedal command;
the information acquisition module is used for acquiring vehicle speed information under the condition that the remote control instruction is a preset instruction; the preset instruction is any one of the gear shifting instructions; acquiring a current gear state under the condition that the remote control instruction is an accelerator pedal instruction;
the execution module is used for rejecting the remote control instruction and keeping the current control state under the condition that the vehicle speed information is higher than a preset vehicle speed; rejecting the remote control command under the condition that the current gear state is a second state, and keeping the current control state, wherein the second state comprises a neutral gear state or a parking gear state; when the current gear state is not the second state and the remote control instruction is a pedal instruction, and when the time delay of the arrival of the remote pedal instruction exceeds the control period from the vehicle to the drive-by-wire chassis, the vehicle caches the last received remote control instruction, and continuously transmits the last received pedal instruction to the drive-by-wire chassis according to the control period required by the drive-by-wire chassis; the time length of the control period of the drive-by-wire chassis is smaller than a first preset time length; the pedal command includes a brake pedal command or an accelerator pedal command.
8. 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 an unmanned vehicle of any of claims 1 to 6.
9. A non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of controlling an unmanned vehicle according to any of claims 1 to 6.
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| CN113090751A (en) * | 2019-12-23 | 2021-07-09 | 观致汽车有限公司 | Vehicle and control method and device thereof |
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