CN114137989A - Vehicle remote control method, device, equipment and storage medium - Google Patents
Vehicle remote control method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN114137989A CN114137989A CN202111460638.XA CN202111460638A CN114137989A CN 114137989 A CN114137989 A CN 114137989A CN 202111460638 A CN202111460638 A CN 202111460638A CN 114137989 A CN114137989 A CN 114137989A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- instruction
- moving
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 124
- 238000012545 processing Methods 0.000 claims description 20
- 238000013459 approach Methods 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 claims description 10
- 230000002596 correlated effect Effects 0.000 claims description 5
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention belongs to the technical field of remote control, and discloses a vehicle remote control method, a vehicle remote control device, vehicle remote control equipment and a storage medium. The method comprises the following steps: acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle; generating a steering instruction according to the target steering angle; detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance; calculating motion control parameters according to the moving instruction and the steering instruction; and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received. According to the scheme, the information of the moving distance and the steering angle is input quantitatively, the condition of motion is ensured to be consistent with the vehicle moving track conceived by an operator, the harm caused by information transmission delay is eliminated, and the safety of the mobile phone remote control automobile is greatly improved.
Description
Technical Field
The invention relates to the technical field of remote control, in particular to a vehicle remote control method, device, equipment and storage medium.
Background
The technology that the mobile phone APP remotely controls the automobile is increasingly popularized, an operator can operate the mobile phone APP to send signals to control the automobile, and the automobile can run forwards and backwards and turn according to mobile phone instructions. However, the reaction speed and the longer signal transmission path of the operator are limited, errors and delay exist between mobile phone control and real vehicle motion, the phenomenon that the automobile movement effect expected by the operator is inconsistent with the real vehicle motion occurs, the dangerous situation of vehicle motion delay often occurs, and vehicle collision and damage can be caused in serious situations.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle remote control method, a vehicle remote control device, vehicle remote control equipment and a storage medium, and aims to solve the technical problem of information delay between remote control operation and vehicle movement in the prior art.
To achieve the above object, the present invention provides a vehicle remote control method, comprising the steps of:
acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle;
generating a steering instruction according to the target steering angle;
detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance;
calculating motion control parameters according to the moving instruction and the steering instruction;
and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received.
Optionally, the detecting a driving distance of the current vehicle, and generating a movement instruction according to the driving distance and the target movement distance includes:
obtaining the movement parameters of the current vehicle, wherein the movement parameters comprise the corresponding running distance of each tooth in the fluted disc, the number of teeth of the fluted disc, the number of wheel rotations and the number of teeth of the fluted disc which does not rotate for more than one circle;
obtaining the running distance of the current vehicle according to the movement parameters;
determining a residual moving distance according to the driving distance and the target moving distance;
and generating a movement instruction according to the residual movement distance and a preset movement control algorithm.
Optionally, after detecting the driving distance of the current vehicle and generating a movement instruction according to the driving distance and the target movement distance, the method further includes:
predicting a vehicle path area according to the target steering angle and the residual moving distance;
when the current vehicle detects an obstacle, acquiring obstacle coordinates;
generating a parking instruction when the obstacle coordinates are located in the vehicle approach area.
Optionally, the predicting a vehicle path region according to the target steering angle and the remaining moving distance includes:
determining the length of a moving track according to the residual moving distance;
determining the curvature of a moving track according to the steering angle;
fitting the moving track of the current vehicle according to the moving track length and the moving track curvature;
and predicting the vehicle path area according to the preset vehicle information and the movement track.
Optionally, the obtaining an operation instruction of the user, where the operation instruction includes a target moving distance and a target steering angle, further includes:
acquiring barrier information of the current vehicle moving direction;
determining a safety area according to the obstacle information;
determining a safe moving distance according to the safety area;
and generating driving reference information according to the safe moving distance so that an operation interface carries out user operation prompt according to the driving reference information.
Optionally, the determining a safe moving distance according to the safe area includes:
acquiring steering information of the current vehicle;
predicting a region through which the vehicle passes according to the steering information and preset vehicle information;
and determining a safe moving distance according to the area to be passed by the vehicle and the safe area.
Optionally, after the obtaining of the operation instruction of the user, the operation instruction includes a target moving distance and a target steering angle, the method further includes:
determining the initial moving speed of the current vehicle according to the target moving distance, wherein the initial moving speed is positively correlated with the target moving distance;
calculating motion control parameters according to the movement command and the steering command, wherein the motion control parameters comprise:
and calculating motion control parameters according to the movement command, the initial movement speed and the steering command.
Further, to achieve the above object, the present invention also provides a vehicle remote control apparatus including:
the acquisition module is used for acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and/or a target steering angle;
the processing module is used for generating a steering instruction according to the target steering angle;
the processing module is further used for detecting the running distance of the current vehicle and generating a moving instruction according to the running distance and the target moving distance;
the processing module is further used for calculating motion control parameters according to the moving instruction and the steering instruction;
and the control module is used for controlling the current vehicle to move until the driving distance is equal to the target moving distance or a parking instruction is received according to the motion control parameters.
Further, to achieve the above object, the present invention also provides a vehicle remote control apparatus including: a memory, a processor and a vehicle remote control program stored on the memory and executable on the processor, the vehicle remote control program configured to implement the steps of the vehicle remote control method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle remote control program that, when executed by a processor, implements the steps of the vehicle remote control method as described above.
The method comprises the steps of obtaining an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle; generating a steering instruction according to the target steering angle; detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance; calculating motion control parameters according to the moving instruction and the steering instruction; and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received. According to the scheme, the information of the moving distance and the steering angle is input quantitatively, the condition of motion is ensured to be consistent with the vehicle moving track conceived by an operator, the harm caused by information transmission delay is eliminated, and the safety of the mobile phone remote control automobile is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle remote control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a vehicle remote control method of the present invention;
FIG. 3 is a schematic diagram illustrating a safety movement determination according to an embodiment of a vehicle remote control method of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating a second embodiment of a vehicle remote control method according to the present invention;
fig. 5 is a block diagram showing the construction of the first embodiment of the vehicle remote control apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle remote control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle remote control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 is not intended to be limiting of vehicle remote control devices and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle remote control program.
In the vehicle remote control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle remote control apparatus of the present invention may be provided in the vehicle remote control apparatus that calls the vehicle remote control program stored in the memory 1005 through the processor 1001 and executes the vehicle remote control method provided by the embodiment of the present invention.
An embodiment of the present invention provides a vehicle remote control method, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of a vehicle remote control method according to the present invention.
In this embodiment, the vehicle remote control method includes the steps of:
step S10: and acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle.
It should be understood that the execution subject of the embodiment is a vehicle remote control terminal, the vehicle remote control terminal is a vehicle control terminal installed with a vehicle remote control system, the vehicle control terminal may be a vehicle control center, and may also be another control terminal having the same or similar function as the vehicle control center, and the embodiment does not limit the expression form of the vehicle remote control terminal.
It should be noted that, in the scenario of vehicle remote control, when a user is inconvenient to drive a vehicle on the vehicle, the user can get off the vehicle and control the vehicle through the mobile terminal, so as to ensure that the user can visually observe the vehicle, but in a general operation process, a hand operator can operate the mobile phone APP to send a signal to control the vehicle, and the vehicle can drive forwards and backwards and turn according to a mobile phone instruction. However, the reaction speed of the operator and the long signal transmission path are limited, errors and delays exist between mobile phone control and real vehicle motion, the phenomenon that the automobile movement effect expected by the operator is inconsistent with the real vehicle motion occurs, and the dangerous situation that the vehicle motion is delayed frequently occurs. The scheme ensures that the movement condition is consistent with the vehicle movement track conceived by an operator by quantitatively inputting the information of the movement distance and the steering angle so as to solve the problem caused by information transmission delay.
It can be understood that the operation instruction of the user is an operation instruction operated by the user on the mobile terminal, the mobile terminal is provided with an APP or other operation interfaces for matching with the current vehicle remote control system, and the operation interfaces can only be controlled by inputting a quantitative steering angle and distance, but not operated in real time, so that parking or untimely movement caused by information delay is avoided.
In a specific implementation, the target moving distance and the target steering angle are the vehicle moving distance and the wheel steering angle input by the user, for example: the operation interface comprises buttons with different angles and distances or an input frame of numerical values, and a user can select or input the buttons or the numerical values according to the requirements of the user.
It should be noted that if the user rarely uses the function, the function may not be sensitive to the distance and the angle, and the operation without any prompt is easy to make a misjudgment, or the user needs to adjust the distance several times when reaching a certain distance, so the user experience is greatly impaired. Therefore, the present embodiment proposes a preferred input parameter prompt policy, which provides a series of reliable distance or angle selections for a user based on vehicle safety, specifically as follows, in the present embodiment, obstacle information of a current vehicle moving direction is obtained; determining a safety area according to the obstacle information; determining a safe moving distance according to the safety area; and generating driving reference information according to the safe moving distance so that an operation interface carries out user operation prompt according to the driving reference information.
It should be noted that, a place where there is no obstacle can be determined as a safety area based on the obstacle information, and it is sufficient to ensure that the vehicle stops in the safety area. And according to the maximum distance which can be driven by the vehicle on the current steering path and in the safety area, the safety moving distance is obtained.
In the embodiment, a preferable scheme for determining a safe area and a safe moving distance is provided, for example, steering information of the current vehicle is acquired; predicting a region through which the vehicle passes according to the steering information and preset vehicle information; and determining a safe moving distance according to the area to be passed by the vehicle and the safe area.
Further, as explained with reference to fig. 3, assuming that the obstacle C1 does not exist at this time, if the user does not input the steering angle, it is only necessary to directly obtain whether there is an obstacle in the straight line direction, and it is visible that there is an obstacle C3 on the straight line, and the safe moving distance is the distance between the current vehicle and the obstacle C3 at this time, and it may be actively recommended that the user select a moving distance smaller than the distance between the current vehicle and the obstacle C3, or that the user is prohibited from selecting a moving distance greater than or equal to the distance between the current vehicle and the obstacle C3. If the user selects the steering angle at this time, the moving track can be fitted by the steering angle, and then the area through which the vehicle passes is predicted by combining the vehicle width and other information of the vehicle body, as shown in fig. 3, the area through which the vehicle passes overlaps with the obstacle C2, and it can be determined that the area through which the vehicle passes exceeds the safe area, so that the exceeding part is removed to obtain the safe area, namely the path area a2 in the figure, and the safe moving distance is the length of the moving track B2 at this time.
Step S20: and generating a steering instruction according to the target steering angle.
It should be noted that, after receiving the target steering angle set by the user, the data input by the user terminal may be converted into a command for controlling the vehicle motion controller, and the vehicle controller may generate a steering control parameter according to the steering command to control the tire steering.
Step S30: and detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance.
It is understood that the moving process of the vehicle is a dynamic control process, and the controller controls the vehicle to control the vehicle to move according to the displacement requirement of the signal. When the vehicle moves, the vehicle distance in the controller and a vehicle motion control algorithm monitor and adjust the vehicle to run in real time until the vehicle reaches a specified position.
In this embodiment, a scheme is provided for generating a movement instruction according to the travel distance and the target movement distance, and a movement parameter of the current vehicle is obtained, where the movement parameter includes a travel distance corresponding to each tooth in a chain disc, a chain disc tooth number, a wheel rotation number, and a chain disc tooth number that does not rotate more than one turn; obtaining the running distance of the current vehicle according to the movement parameters; determining a residual moving distance according to the driving distance and the target moving distance; and generating a movement instruction according to the residual movement distance and a preset movement control algorithm.
Wherein the remaining distance may be obtained from a distance measuring sensor, for example: laser rangefinder, ultrasonic ranging and image range finding etc. this kind of mode is quick and convenient, and this embodiment provides one kind and calculates the mode that obtains the surplus distance according to the removal distance, and it does not need extra distance sensor to participate in, has practiced thrift equipment cost, and the cost is lower and calculation accuracy is high, and concrete step is as follows: and receiving a signal of a wheel position sensor on the CAN to calculate the running distance of the vehicle, wherein the signal is a 0-One circle Number rolling change value. D ═ One circle Number + Mod, where D ═ vehicle distance traveled, D ═ distance per tooth, One circle Number ═ Number of teeth per revolution of the wheel, circle count ═ Number of complete revolutions of the wheel, and Mod ═ Number of teeth less than One cycle. The above-mentioned number of teeth is the number of teeth that is used for calculating the specific transmission of wheel rotation, transmission is the gear or the fluted disc that vehicle wheel speed sensor detected, and this embodiment does not restrict transmission's position. After the driving distance is obtained, the remaining movement distance may be determined according to the driving distance and the target movement distance, and the remaining movement distance is combined with a preset motion control algorithm to generate a control instruction, where the preset motion control algorithm may be a PID control algorithm or other motion control algorithms, and the present embodiment does not limit the type of the vehicle motion control algorithm. The vehicle is ensured not to be suddenly stopped and braked according to a preset motion control algorithm, the moving speed is gradually reduced when the vehicle is closer to the target distance, and accidents caused by sudden change of the speed are avoided.
Step S40: and calculating motion control parameters according to the moving instruction and the steering instruction.
It should be noted that, according to the movement command and the steering command, the control parameters for specifically controlling the steering of the wheels, the movement of the motor and the related transmission device can be obtained, so as to accurately control the movement of the vehicle.
In the embodiment, the initial moving speed of the current vehicle is determined according to the target moving distance, and the initial moving speed is positively correlated with the target moving distance; calculating motion control parameters according to the movement command and the steering command, wherein the motion control parameters comprise: and calculating motion control parameters according to the movement command, the initial movement speed and the steering command.
It can be understood that, because the moving distance is different, the moving distance is far away, and certain speed is required to ensure that the whole vehicle moving process does not consume too much time, and when the moving distance is small, the driver can be judged to be about to arrive at the target position and position adjustment is carried out, therefore, the moving speed at the moment is low, and the driver can conveniently observe and operate, so the scheme provides the control that the initial moving speed is positively correlated with the target moving distance, the initial speed is controlled to be combined with the motion control algorithm to complete vehicle movement, the vehicle can be ensured to move rapidly in a long distance and slowly in a short distance, and the actual vehicle movement control of the fitting can be completed according to the intention of predicting the vehicle movement.
Step S50: and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received.
It should be noted that, when the driving distance and the target moving distance are equal, it is proved that the vehicle has reached the parking position desired by the user, and the parking instruction is a parking instruction operated when the user finds a problem or a parking instruction generated when the vehicle senses that there is a parking need according to a sensor of the vehicle, so that the safety of the vehicle is ensured, and the safety effect is improved.
The embodiment acquires an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle; generating a steering instruction according to the target steering angle; detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance; calculating motion control parameters according to the moving instruction and the steering instruction; and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received. According to the scheme, the information of the moving distance and the steering angle is input quantitatively, the condition of motion is ensured to be consistent with the vehicle moving track conceived by an operator, the harm caused by information transmission delay is eliminated, and the safety of the mobile phone remote control automobile is greatly improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a vehicle remote control method according to a second embodiment of the present invention.
Based on the first embodiment, the vehicle remote control method of the present embodiment further includes, in step S30:
step S41: and predicting a vehicle path area according to the target steering angle and the residual moving distance.
It should be noted that, a vehicle route region is predicted according to the steering angle and the remaining movement distance, where the route region refers to a region through which the vehicle will pass when the vehicle travels in accordance with the current steering angle or travels a great distance (for example, 50m), and a travel route of the vehicle can be determined by the vehicle route region. Furthermore, a virtual plane image generated by combining the predicted vehicle path area with information of each sensor of the vehicle can be sent to a user side, so that the user can perform operation selection according to the vehicle path area and the obstacle area image.
In this embodiment, after predicting the vehicle approach area according to the target steering angle and the remaining moving distance, the method further includes: generating a vehicle condition image according to the vehicle path area and the environment information; so that the operation interface generates display information according to the vehicle condition image.
In the embodiment, the length of the movement track is determined according to the remaining movement distance; determining the curvature of a moving track according to the steering angle; fitting the moving track of the current vehicle according to the moving track length and the moving track curvature; and predicting the vehicle path area according to the preset vehicle information and the movement track.
In a specific implementation, the generation process of the vehicle path region may be to determine a curvature of a moving track according to a steering angle of the vehicle, determine a length of the moving track according to the remaining moving distance, and fit the vehicle path region that may pass through in the remaining moving process with the vehicle as a starting point by combining the length and the curvature.
Step S42: and when the current vehicle detects an obstacle, acquiring obstacle coordinates.
It is understood that the sensors of the vehicle detect the information of obstacles in the surrounding environment, such as people, vehicles, flowers, walls, etc., and the coordinates or coordinate areas of the obstacles are obtained according to the distance between the obstacles and the vehicle and the coordinate system established by taking the vehicle as the center, so as to provide the basis for the subsequent calculation.
Step S43: generating a parking instruction when the obstacle coordinates are located in the vehicle approach area.
It can be understood that when an obstacle is present to deal with the vehicle approach area, the vehicle is proved to be bound to collide when running according to a preset plan, so that the vehicle can be immediately stopped, and the user is prompted to change the operation and move again. The scheme is mainly used for preventing the occurrence of emergency situations, such as: people or animals suddenly block the moving route, and the vehicle can be stopped to avoid collision.
In a specific implementation, as shown in fig. 3, assuming that a moving trajectory generated by the remaining moving distance and the steering angle of the current vehicle is a moving trajectory B2, it is described that, according to an operation command, the vehicle will travel through the moving trajectory B2, and the approach area is an approach area a2, at this time, the obstacle C1 suddenly enters the approach area a2, and at this time, the vehicle will continue to travel and inevitably collide, so that the vehicle can stop at this time, wait for the obstacle to pass through, and if the obstacle stops on the road, the user can be prompted to move according to the moving trajectory B1 or the approach area a 1. In an actual operation process, there should be multiple movement tracks, that is, each axle should have one movement track, and the area should be wider according to different movement track paths.
On the other hand, since the steering control can be performed even when the vehicle is moving, changing the steering angle during the movement may cause an obstacle to appear during traveling, and the processing in this case is the same as that described above. And generating a new moving track path area for detection by the calculated change of the curvature, detecting whether an obstacle exists, and automatically giving an alarm or braking operation in time if the obstacle exists.
The embodiment predicts a vehicle approach area based on the target steering angle and the remaining moving distance; when the current vehicle detects an obstacle, acquiring obstacle coordinates; generating a parking instruction when the obstacle coordinates are located in the vehicle approach area. Through the scheme, automatic obstacle avoidance and parking of the vehicle are achieved, when the obstacle on the moving route is detected, the vehicle is automatically parked to mark that danger exists on the route, and a user is reminded to change the moving operation, so that the safety of the vehicle is improved.
Furthermore, an embodiment of the present invention further provides a storage medium, where a vehicle remote control program is stored, and the vehicle remote control program, when executed by a processor, implements the steps of the vehicle remote control method as described above.
Referring to fig. 5, fig. 5 is a block diagram showing the configuration of the vehicle remote control apparatus according to the first embodiment of the present invention.
As shown in fig. 5, a vehicle remote control apparatus according to an embodiment of the present invention includes:
the system comprises an acquisition module 10, a control module and a display module, wherein the acquisition module is used for acquiring an operation instruction of a user, and the operation instruction comprises a target moving distance and/or a target steering angle;
the processing module 20 is configured to generate a steering instruction according to the target steering angle;
the processing module 20 is further configured to detect a driving distance of a current vehicle, and generate a moving instruction according to the driving distance and a target moving distance;
the processing module 20 is further configured to calculate a motion control parameter according to the moving instruction and the steering instruction;
and the control module 30 is used for controlling the current vehicle to move until the driving distance is equal to the target moving distance or a parking instruction is received according to the motion control parameters.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
The embodiment obtains the module 10 to obtain the operation instruction of the user, where the operation instruction includes the target moving distance and the target steering angle; the processing module 20 generates a steering instruction according to the target steering angle; the processing module 20 detects the driving distance of the current vehicle and generates a movement instruction according to the driving distance and the target movement distance; the processing module 20 calculates motion control parameters according to the movement instruction and the steering instruction; the control module 30 controls the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received. According to the scheme, the information of the moving distance and the steering angle is input quantitatively, the condition of motion is ensured to be consistent with the vehicle moving track conceived by an operator, the harm caused by information transmission delay is eliminated, and the safety of the mobile phone remote control automobile is greatly improved.
In an embodiment, the processing module 20 is further configured to obtain a movement parameter of the current vehicle, where the movement parameter includes a driving distance corresponding to each tooth in the fluted disc, a number of teeth in the fluted disc, a number of revolutions of a wheel, and a number of teeth in the fluted disc that does not rotate more than one turn;
obtaining the running distance of the current vehicle according to the movement parameters;
determining a residual moving distance according to the driving distance and the target moving distance;
and generating a movement instruction according to the residual movement distance and a preset movement control algorithm.
In one embodiment, the processing module 20 is further configured to predict a vehicle approach area according to the target steering angle and the remaining moving distance;
when the current vehicle detects an obstacle, acquiring obstacle coordinates;
generating a parking instruction when the obstacle coordinates are located in the vehicle approach area.
In an embodiment, the processing module 20 is further configured to determine a moving track length according to the remaining moving distance;
determining the curvature of a moving track according to the steering angle;
fitting the moving track of the current vehicle according to the moving track length and the moving track curvature;
and predicting the vehicle path area according to the preset vehicle information and the movement track.
In an embodiment, the processing module 20 is further configured to obtain obstacle information of a current vehicle moving direction;
determining a safety area according to the obstacle information;
determining a safe moving distance according to the safety area;
and generating driving reference information according to the safe moving distance so that an operation interface carries out user operation prompt according to the driving reference information.
In an embodiment, the processing module 20 is further configured to obtain steering information of the current vehicle;
predicting a region through which the vehicle passes according to the steering information and preset vehicle information;
and determining a safe moving distance according to the area to be passed by the vehicle and the safe area.
In an embodiment, the processing module 20 is further configured to determine an initial moving speed of the current vehicle according to the target moving distance, where the initial moving speed is positively correlated to the target moving distance; and calculating motion control parameters according to the movement command, the initial movement speed and the steering command.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may be referred to a vehicle remote control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle remote control method, characterized by comprising:
acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and a target steering angle;
generating a steering instruction according to the target steering angle;
detecting the running distance of the current vehicle, and generating a moving instruction according to the running distance and the target moving distance;
calculating motion control parameters according to the moving instruction and the steering instruction;
and controlling the current vehicle to move according to the motion control parameters until the driving distance is equal to the target moving distance or a parking instruction is received.
2. The method of claim 1, wherein the detecting a travel distance of a current vehicle and generating a movement instruction according to the travel distance and a target movement distance comprises:
obtaining the movement parameters of the current vehicle, wherein the movement parameters comprise the corresponding running distance of each tooth in the fluted disc, the number of teeth of the fluted disc, the number of wheel rotations and the number of teeth of the fluted disc which does not rotate for more than one circle;
obtaining the running distance of the current vehicle according to the movement parameters;
determining a residual moving distance according to the driving distance and the target moving distance;
and generating a movement instruction according to the residual movement distance and a preset movement control algorithm.
3. The method of claim 2, wherein after calculating motion control parameters based on the movement and steering commands, further comprising:
predicting a vehicle path area according to the target steering angle and the residual moving distance;
when the current vehicle detects an obstacle, acquiring obstacle coordinates;
generating a parking instruction when the obstacle coordinates are located in the vehicle approach area.
4. The method of claim 3, wherein predicting a vehicle approach area based on the target steering angle and a remaining travel distance comprises:
determining the length of a moving track according to the residual moving distance;
determining the curvature of a moving track according to the target steering angle;
fitting the moving track of the current vehicle according to the moving track length and the moving track curvature;
and predicting the vehicle path area according to the preset vehicle information and the movement track.
5. The method of claim 1, wherein the obtaining of the operation instruction of the user, before the operation instruction includes the target moving distance and the target steering angle, further comprises:
acquiring barrier information of the current vehicle moving direction;
determining a safety area according to the obstacle information;
determining a safe moving distance according to the safety area;
and generating driving reference information according to the safe moving distance so that an operation interface carries out user operation prompt according to the driving reference information.
6. The method of claim 5, wherein said determining a safe distance of travel from said safe area comprises:
acquiring steering information of the current vehicle;
predicting a region through which the vehicle passes according to the steering information and preset vehicle information;
and determining a safe moving distance according to the area to be passed by the vehicle and the safe area.
7. The method according to any one of claims 1 to 6, wherein after acquiring an operation instruction of a user, the operation instruction including a target moving distance and a target steering angle, the method further comprises:
determining the initial moving speed of the current vehicle according to the target moving distance, wherein the initial moving speed is positively correlated with the target moving distance;
calculating motion control parameters according to the movement command and the steering command, wherein the motion control parameters comprise:
and calculating motion control parameters according to the movement command, the initial movement speed and the steering command.
8. A vehicle remote control apparatus characterized by comprising:
the acquisition module is used for acquiring an operation instruction of a user, wherein the operation instruction comprises a target moving distance and/or a target steering angle;
the processing module is used for generating a steering instruction according to the target steering angle;
the processing module is further used for detecting the running distance of the current vehicle and generating a moving instruction according to the running distance and the target moving distance;
the processing module is further used for calculating motion control parameters according to the moving instruction and the steering instruction;
and the control module is used for controlling the current vehicle to move until the driving distance is equal to the target moving distance or a parking instruction is received according to the motion control parameters.
9. A vehicle remote control apparatus characterized in that the apparatus comprises: a memory, a processor, and a vehicle remote control program stored on the memory and executable on the processor, the vehicle remote control program configured to implement the steps of the vehicle remote control method of any one of claims 1 to 7.
10. A storage medium characterized in that the storage medium has stored thereon a vehicle remote control program that, when executed by a processor, implements the steps of the vehicle remote control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111460638.XA CN114137989A (en) | 2021-12-01 | 2021-12-01 | Vehicle remote control method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111460638.XA CN114137989A (en) | 2021-12-01 | 2021-12-01 | Vehicle remote control method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114137989A true CN114137989A (en) | 2022-03-04 |
Family
ID=80387299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111460638.XA Pending CN114137989A (en) | 2021-12-01 | 2021-12-01 | Vehicle remote control method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114137989A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024036947A1 (en) * | 2022-08-15 | 2024-02-22 | 上汽通用五菱汽车股份有限公司 | Electric vehicle control method and apparatus, computer device, and readable storage medium |
-
2021
- 2021-12-01 CN CN202111460638.XA patent/CN114137989A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024036947A1 (en) * | 2022-08-15 | 2024-02-22 | 上汽通用五菱汽车股份有限公司 | Electric vehicle control method and apparatus, computer device, and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11738779B2 (en) | Autonomous driving vehicle system | |
| US9429946B2 (en) | Driving control system and dynamic decision control method thereof | |
| US10222796B2 (en) | Autonomous driving control apparatus | |
| CN106515735B (en) | Drive off parking space assist | |
| US9802624B2 (en) | Vehicle adapted for autonomous driving and a method for detecting obstructing objects | |
| KR101957071B1 (en) | Method for the at least semi-autonomous manoeuvring of a motor vehicle, driver assistance system and motor vehicle | |
| US7786896B2 (en) | Parking assistance system and parking assistance method | |
| CN102975716B (en) | The system and method that override detects is turned to for the speed adaptive during automatization's track centering | |
| CN106043302B (en) | The cruise active control system and its method of vehicle | |
| US8954235B2 (en) | System and method for enhanced steering override detection during automated lane centering | |
| US20100332080A1 (en) | Method and apparatus for parking assistance | |
| US20170197615A1 (en) | System and method for reverse perpendicular parking a vehicle | |
| US20120283912A1 (en) | System and method of steering override end detection for automated lane centering | |
| CN111032443B (en) | Parking control method and parking control device | |
| US20230202531A1 (en) | Transitioning steering control from an autonomous vehicle to a driver | |
| JP2017503268A (en) | Method and system for vehicle driver assistance | |
| CN106043299A (en) | Vehicle control apparatus | |
| EP3581452A1 (en) | Driving assist control device | |
| WO2016084487A1 (en) | Vehicle travel control device | |
| US10421394B2 (en) | Driving assistance device, and storage medium | |
| US10183659B2 (en) | Vehicle underside impact avoidance | |
| KR101903969B1 (en) | Controlling apparatus for auto parking of double parked vehicle and method thereof | |
| KR101377036B1 (en) | Parking assist apparstus and method for controlling parking of the same | |
| US9914453B2 (en) | Method for predicting the travel path of a motor vehicle and prediction apparatus | |
| JP3867505B2 (en) | Obstacle detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |