CN113805583A - Multi-control system and control method and system of control mode unmanned platform - Google Patents
Multi-control system and control method and system of control mode unmanned platform Download PDFInfo
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- CN113805583A CN113805583A CN202110989948.4A CN202110989948A CN113805583A CN 113805583 A CN113805583 A CN 113805583A CN 202110989948 A CN202110989948 A CN 202110989948A CN 113805583 A CN113805583 A CN 113805583A
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a control method and a control system of a multi-control system and a control mode unmanned platform in the technical field of unmanned driving, which ensure that a current vehicle can only work in one control mode by reasonably planning the priority of different control modes, and improve the safety of vehicle control. The control method comprises the following steps: the autonomous control mode can be operated only after acquiring the autonomous control authority; when the remote control authority or the remote control authority is activated, the unmanned platform exits the autonomous control mode; when the remote control mode does not acquire the remote control authority, the unmanned platform enters the remote control mode as long as a remote control instruction is output, and at the moment, if the remote control mode acquires the remote control authority, the unmanned platform enters the remote control mode; when the unmanned platform enters a remote control mode, the unmanned platform must acquire remote control authority.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to a control method and a control system of a multi-control system and a control mode unmanned platform.
Background
The ground unmanned platform is a comprehensive system which integrates multiple functions of environment perception, motion control and the like. For the unmanned platform in ground, it possesses good stable control performance to require, utilizes wireless remote controller, and the operator can carry out whole car action to unmanned platform in the stadia, if: the unmanned platform is controlled to perform designated operation under various working conditions by actions of advancing, backing and the like; an operator utilizes a teleoperation terminal to Control, namely the operator utilizes a picture radio station to observe the surrounding situation of the vehicle through pictures at a place (outside the sight distance) far away from the vehicle, and transmits a signal of a remote controller to an Electronic Control Unit (ECU) (also called as a driving computer of the vehicle) through a data radio station, wherein the signal is used for controlling the running state of the vehicle and realizing various functions of the vehicle, so that the whole vehicle action of the vehicle is controlled; when the vehicle is switched to the autonomous mode, the vehicle can autonomously travel, and path planning, autonomous obstacle avoidance and specific task action execution are realized. The task specificity of the unmanned platform is that vehicles are integrated with multiple control systems, but a relatively perfect control strategy of multi-mode control is not provided, so that the problem that the control logic is disordered due to loss of control permission or simultaneous intervention of multiple control modes exists.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a control method and a control system of a multi-control system and a control mode unmanned platform, which ensure that the current vehicle can only work in one control mode by reasonably planning the priority of different control modes, thereby improving the safety of vehicle control.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, a multi-control system and a control method for a control mode unmanned platform are provided, where the control mode includes an autonomous control mode, a remote control mode, and the control method includes: the autonomous control mode can be operated only after acquiring the autonomous control authority; when the remote control authority or the remote control authority is activated, the unmanned platform exits the autonomous control mode; when the remote control mode does not acquire the remote control authority, the unmanned platform enters the remote control mode as long as a remote control instruction is output, and at the moment, if the remote control mode acquires the remote control authority, the unmanned platform enters the remote control mode; when the unmanned platform enters a remote control mode, the unmanned platform must acquire remote control authority.
Further, when the autonomous control authority, the remote control authority and the remote control authority are triggered simultaneously, the authority priority entering the remote control mode is the highest, and the remote control mode is entered.
Further, the method for acquiring the remote control mode authority comprises the following steps: if the human-vehicle distance is less than beta, automatically acquiring the remote control mode authority, wherein the beta is the effective distance from a detection base station on the unmanned platform to an electronic tag, and the electronic tag is worn on an operator; if the distance beta is less than the human-vehicle distance and less than alpha, the remote control mode is entered after triggering the remote control mode authority switch, and the alpha is the effective working distance from the remote controller receiver to the transmitter.
Further, in the autonomous control mode, the remote control mode or the remote control mode may intervene at any time, and at this time, the autonomous control mode exits and enters the remote control mode or the remote control mode; and the autonomous control mode can be re-entered after the autonomous control authority is acquired.
Further, after the autonomous manipulation mode is failed, emergency braking may be performed and the autonomous manipulation mode may be turned off through the remote manipulation mode or the remote control mode.
The vehicle ECU is respectively and electrically connected with the autonomous control module, the remote control module and the authority judgment module; the autonomous control module is used for controlling the unmanned platform in an autonomous control mode; the remote control module is used for controlling the unmanned platform in a remote control mode; the remote control module is used for controlling the unmanned platform in a remote control mode; the authority judgment module is configured to judge which control mode the unmanned platform currently operates in according to the multi-control system and the control method of the unmanned platform in the control mode of the first aspect.
Furthermore, the autonomous control module comprises an environment perception module and a behavior decision module which are respectively and electrically connected with the main industrial personal computer; and the main industrial personal computer is in communication connection with the vehicle ECU.
Further, the remote control module comprises a vehicle-mounted radio station in communication connection with the vehicle ECU, and the vehicle-mounted radio station comprises a data transmission radio station transmitter and a picture transmission radio station transmitter.
Further, the remote control module includes a distance detection base station and a remote control transmitter communicatively coupled to the vehicle ECU.
The remote control system further comprises a remote controller, wherein the remote controller comprises a data transmission radio receiving end and a picture transmission radio receiving end which are in communication connection with the remote control module, and a remote control transmitter and an electronic tag which are in communication connection with the remote control module and the vehicle ECU.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, through reasonably planning the priorities of the autonomous control mode, the remote control mode and the remote control mode, the current vehicle can only work in one control mode, the phenomena of disordered control and out-of-control of the vehicle are reduced, and the safety of vehicle control is improved;
(2) the invention can be more suitable for different environmental requirements by combining three control modes of an autonomous control mode, a remote control mode and a remote control mode, and can execute tasks through remote operation or autonomous control in an environment where an operator cannot work safely.
Drawings
Fig. 1 is a block diagram of an unmanned platform control system using a multi-control system and a control method of an unmanned platform in control mode according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle operation mode control architecture according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control strategy of the permission determination module in the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
a control method for a multi-control system and a control mode unmanned platform is provided, wherein the control modes comprise an autonomous control mode, a remote control mode and a remote control mode, and the control method comprises the following steps: the autonomous control mode can be operated only after acquiring the autonomous control authority; when the remote control authority or the remote control authority is activated, the unmanned platform exits the autonomous control mode; when the remote control mode does not acquire the remote control authority, the unmanned platform enters the remote control mode as long as a remote control instruction is output, and at the moment, if the remote control mode acquires the remote control authority, the unmanned platform enters the remote control mode; when the unmanned platform enters a remote control mode, the unmanned platform must acquire remote control authority.
As shown in fig. 3, the specific control process determines whether an autonomous control signal exists, determines whether a remote control signal exists when the autonomous control signal exists, and enters an autonomous control mode when the remote control signal does not exist; when the remote control signal exists, the autonomous control mode exits and the remote control mode is entered; when the autonomous control signal does not exist, judging whether a remote control signal exists or not, and when the remote control signal exists, entering a remote control mode; and when the remote control signal does not exist, judging whether the remote control signal exists, entering a remote control mode when the remote control signal exists, and judging whether the autonomous control signal exists or not when the remote control signal does not exist.
The purpose of this embodiment is to solve the problem that the current unmanned platform including three control modes, namely, an autonomous control mode, a remote control mode and a remote control mode, can safely and effectively switch the control modes, and control permission levels are divided according to the control safety levels, and the control permission levels are respectively the remote control mode > the autonomous control mode from high to low. The authority distribution problem under the emergency state of the vehicle can be effectively processed. Simultaneously, through a reasonable and effective control authority management module, the current vehicle can only work under one control mode, and the control confusion and the vehicle out of control are prevented.
When the autonomous control authority, the remote control authority and the remote control authority are triggered simultaneously, the authority priority entering the remote control mode is the highest, and the remote control mode is entered.
The method for acquiring the remote control mode authority comprises the following steps: if the human-vehicle distance is less than beta, automatically acquiring the remote control mode authority, wherein the beta is the effective distance from a detection base station on the unmanned platform to an electronic tag, and the electronic tag is worn on an operator; if the distance beta is less than the human-vehicle distance and less than alpha, the remote control mode is entered after triggering the remote control mode authority switch, and the alpha is the effective working distance from the remote controller receiver to the transmitter.
Under the autonomous control mode, the remote control mode or the remote control mode can intervene at any time, and at the moment, the autonomous control mode exits and enters the remote control mode or the remote control mode; and the autonomous control mode can be re-entered after the autonomous control authority is acquired.
And after the autonomous control mode fails, emergency braking can be performed through the remote control mode or the remote control mode, and the autonomous control mode is closed.
According to the embodiment, the priorities of the autonomous control mode, the remote control mode and the remote control mode are reasonably planned, so that the current vehicle can only work in one control mode, the phenomena of disordered control and out-of-control of the vehicle are reduced, and the safety of vehicle control is improved; by combining the autonomous control mode, the remote control mode and the remote control mode, the system can be more suitable for different environmental requirements, for example, in the environment that an operator cannot work safely, tasks can be executed through remote operation or autonomous control.
Example two:
as shown in fig. 1 to 3, based on a control method of a multi-control system and a control mode unmanned platform according to an embodiment, the embodiment provides a control system of a multi-control system and a control mode unmanned platform, in this embodiment, an unmanned platform takes a common unmanned engineering vehicle as an example, and includes a vehicle ECU, an autonomous control module, a remote control module, and a permission judgment module, and the vehicle ECU is electrically connected to the autonomous control module, the remote control module, and the permission judgment module, respectively; the autonomous control module is used for controlling the unmanned platform in an autonomous control mode; the remote control module is used for controlling the unmanned platform in a remote control mode; the remote control module is used for controlling the unmanned platform in a remote control mode; and the authority judgment module is used for judging which control mode the unmanned platform currently runs in according to the multi-control system and the control method of the unmanned platform in the control mode.
The autonomous control module comprises an environment perception module and a behavior decision module which are respectively and electrically connected with the main industrial personal computer; and the main industrial personal computer is in communication connection with the vehicle ECU. The unique hardware composition of the autonomous control module comprises an environment perception module and a behavior decision module: the environment sensing module comprises an environment sensing sensor and an environment sensing data processing module, and is used for detecting and identifying environmental information of road obstacles and the like, and a plurality of industrial personal computers are configured for data processing based on the arrangement condition of vehicle sensors (namely the environment sensing sensor, including a millimeter wave radar, a laser radar, a binocular depth camera and the like); the combined inertial navigation and navigation positioning data processing module provides real-time course, speed, distance, position and other information for the unmanned vehicle. The whole system behavior decision module receives information of each sensor by the main industrial personal computer to perform data fusion, and makes a whole vehicle comprehensive control strategy, wherein the whole vehicle comprehensive control strategy comprises the steps of prejudging the vehicle running state, planning the vehicle behaviors such as steering, speed, braking and the like of the vehicle, and planning the walking path. The main industrial personal computer is in real-time communication with the ECU of the whole vehicle, and the driving, the braking, the steering and the like of the vehicle are controlled based on a vehicle dynamics model, so that the vehicle can run along a set track.
The remote control module comprises a vehicle-mounted radio station in communication connection with the vehicle ECU, and the vehicle-mounted radio station comprises a data transmission radio station emitter and a picture transmission radio station emitter. Teleoperated systems are mainly based on operations outside the line of sight. The system comprises a plurality of cameras for collecting the surrounding environment and the motion state of the self walking mechanism when the unmanned platform operates, a video collecting and processing unit realizes the collection and coding of multi-channel high-definition videos and cuts and splices images, and the vehicle-mounted radio station comprises a data transmission radio station emitter and an image transmission radio station emitter. The remote control end (remote controller) comprises a data transmission radio receiving end, a picture transmission radio receiving end, a control panel, a display, a vehicle-mounted radio and a vehicle ECU (electronic control Unit) for real-time communication to realize the motion control of the vehicle. The data transmission radio station and the picture transmission radio station are respectively provided with an antenna at the vehicle-mounted end and the control end.
The picture transmission station transmitting terminal is used for transmitting video signals, and the data transmission station transmitting terminal is used for transmitting the running data of the vehicle back and receiving the control command of the vehicle. The receiving end of the image transmission radio station receives the image information and decodes the image, and the receiving end of the data transmission radio station receives the vehicle operation data and sends a control instruction. The control panel is provided with a control rocker and a switch button and is used for driving the vehicle. The display is used for displaying images of the surrounding environment of the vehicle and switching video modes, adjusting the bandwidth, frequency and frequency band of the radio station, and can also display the position information of the vehicle on an electronic map in real time.
The remote control module comprises a distance detection base station and a remote control transmitter which is in communication connection with the vehicle ECU. The remote control system is mainly used for remotely controlling vehicles in a sight distance and comprises a remote control transmitter, a portable remote control receiver and an antenna. The remote control emitter is communicated with the ECU of the whole vehicle in real time to realize the motion control of the vehicle.
The remote controller in the embodiment comprises a data transmission radio receiving end and an image transmission radio receiving end which are in communication connection with the remote control module, and a remote control emitter and an electronic tag which are in communication connection with the remote control module and the vehicle ECU. The remote controller is used for controlling the unmanned platform in a remote control mode or a remote control mode.
The control priority is determined according to the safety level, the remote control operator mostly moves along with the vehicle, the running state and the surrounding driving environment of the vehicle can be observed in a short distance, and the road condition can be judged more accurately to control the vehicle.
The control authority of the vehicle is set to be a remote control mode > an autonomous control mode. The vehicle maneuver mode control architecture is shown in FIG. 2. An operator wears the electronic tag, when the hand-held remote controller is close to the vehicle and the human-vehicle distance is less than beta, the electronic tag is in communication connection with a detection base station installed on the vehicle, and the vehicle control right is transferred to remote control operation. And the remote control authority acquisition signal is fed back to the remote operation platform. When the human-vehicle distance is larger than beta, the communication between the electronic tag and a detection base station installed on the vehicle is interrupted, if the remote control receiver is within the effective working distance alpha, if the remote control operation needs to acquire the authority, the authority switch must be actively triggered, and signals after the authority acquisition are fed back to the remote control platform. If the remote control operation does not acquire the operation authority, the vehicle operation authority is transferred to the remote control mode as long as the remote control instruction is output, and at the moment, an operator controls the vehicle to move through the remote control panel according to the vehicle environment image and the vehicle operation data returned in real time. If the autonomous control mode is needed to obtain the operation permission, an autonomous control enabling switch is arranged on the remote control panel, after the autonomous control enabling switch is pressed down, the vehicle operation permission is transferred to the autonomous control mode, and the autonomous control mode is worthy of trust under general conditions. If a short and unrecognizable route appears, the vehicle is still in an autonomous control mode at the moment when the remote control platform is used for reminding. The remote mode or the teleoperational mode may intervene to take over the vehicle at any one time, at which point the autonomous operational mode exits. And if the autonomous control mode needs to be re-entered, the autonomous control enabling switch needs to be pressed again to acquire the control authority. If the autonomous control mode fails, the autonomous control program can be closed through emergency braking arranged on the operation panel, and the vehicle can be taken over manually. After the emergency brake button is pressed down, the autonomous control enabling reset is carried out, the autonomous control mode exits, and the control authority is lost.
When the remote control mode, the remote control mode and the autonomous control mode are triggered simultaneously, only the remote control mode is executed at the moment. The authority of the autonomous manipulation mode must be established to operate when the autonomous manipulation enabling switch is active. When the vehicle is not controlled by the unmanned technology, the remote control mode and the remote control mode can intervene to take over the vehicle at any time, and the execution priority or the remote control mode is larger than the remote control mode. The specific control of the control authority management module is shown in figure 3.
The distance beta refers to an effective distance that the detection base station can detect the electronic tag, namely beta is an effective distance from the detection base station to the electronic tag on the unmanned platform, and the electronic tag is generally worn on an operator and is similar to electronic identity authentication; typically, the maximum distance is 10-20 meters.
The distance alpha refers to the effective working distance from the remote controller receiver to the transmitter, namely alpha refers to the effective working distance from the remote controller receiver to the transmitter, and the maximum distance is generally 500-1000 meters.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method for a multi-control system and a control mode unmanned platform is characterized in that the control mode comprises an autonomous control mode, a remote control mode and a remote control mode, and the control method comprises the following steps:
the autonomous control mode can be operated only after acquiring the autonomous control authority; when the remote control authority or the remote control authority is activated, the unmanned platform exits the autonomous control mode;
when the remote control mode does not acquire the remote control authority, the unmanned platform enters the remote control mode as long as a remote control instruction is output, and at the moment, if the remote control mode acquires the remote control authority, the unmanned platform enters the remote control mode; when the unmanned platform enters a remote control mode, the unmanned platform must acquire remote control authority.
2. The multi-manipulation system and the control method of the manipulation mode unmanned platform as claimed in claim 1, wherein when the autonomous manipulation authority, the remote manipulation authority and the remote control authority are simultaneously triggered, the priority of the authority to enter the remote control mode is highest, and the remote control mode is entered.
3. The multi-control system and the control method of the unmanned platform with control modes according to claim 1, wherein the method for obtaining the authority of the remote control mode comprises the following steps: if the human-vehicle distance is less than beta, automatically acquiring the remote control mode authority, wherein the beta is the effective distance from a detection base station on the unmanned platform to an electronic tag, and the electronic tag is worn on an operator; if the distance beta is less than the human-vehicle distance and less than alpha, the remote control mode is entered after triggering the remote control mode authority switch, and the alpha is the effective working distance from the remote controller receiver to the transmitter.
4. The multi-manipulation system and the control method of the manipulation mode unmanned platform as claimed in claim 1, wherein in the autonomous manipulation mode, the remote manipulation mode or the remote control mode can be intervened at any time, and at this time, the autonomous manipulation mode exits and enters the remote manipulation mode or the remote control mode; and the autonomous control mode can be re-entered after the autonomous control authority is acquired.
5. The multi-steering system and method of controlling a steerable mode unmanned platform of claim 1, wherein the autonomous steering mode is turned off after failure by emergency braking in the remote steering mode or remote control mode.
6. A control system of an unmanned platform with multiple control systems and control modes is characterized by comprising a vehicle ECU, an autonomous control module, a remote control module and a permission judgment module, wherein the vehicle ECU is electrically connected with the autonomous control module, the remote control module and the permission judgment module respectively;
the autonomous control module is used for controlling the unmanned platform in an autonomous control mode;
the remote control module is used for controlling the unmanned platform in a remote control mode;
the remote control module is used for controlling the unmanned platform in a remote control mode;
the permission judging module is used for judging which control mode the unmanned platform is currently operated in according to the multi-control system and the control method of the unmanned platform with the control modes as claimed in any one of claims 1 to 5.
7. The control system of the multi-control system and the control mode unmanned platform as claimed in claim 6, wherein the autonomous control module comprises an environment sensing module and a behavior decision module which are respectively and electrically connected with the main industrial personal computer; and the main industrial personal computer is in communication connection with the vehicle ECU.
8. The control system of claim 6, wherein the remote control module comprises a vehicle-mounted radio station communicatively connected to the vehicle ECU, the vehicle-mounted radio station comprising a data-over radio transmitter and a data-over radio transmitter.
9. The control system of claim 6, wherein the remote control module comprises a distance detection base station and a remote control transmitter communicatively coupled to the vehicle ECU.
10. The control system of claim 6, further comprising a remote controller, wherein the remote controller comprises a data transmission station receiving terminal and a data transmission station receiving terminal in communication connection with the remote control module, a remote control transmitter and an electronic tag in communication connection with the remote control module and the vehicle ECU.
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