CN114205398A - Vehicle communication method and system - Google Patents

Vehicle communication method and system Download PDF

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Publication number
CN114205398A
CN114205398A CN202111505106.3A CN202111505106A CN114205398A CN 114205398 A CN114205398 A CN 114205398A CN 202111505106 A CN202111505106 A CN 202111505106A CN 114205398 A CN114205398 A CN 114205398A
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CN
China
Prior art keywords
mode
message
vehicle
control
remote control
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Granted
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CN202111505106.3A
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Chinese (zh)
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CN114205398B (en
Inventor
唐得志
韦圣兵
王志超
刘向红
朱杰
瞿元
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Wuhu Automotive Prospective Technology Research Institute Co ltd
Chery Automobile Co Ltd
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Wuhu Automotive Prospective Technology Research Institute Co ltd
Chery Automobile Co Ltd
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Priority to CN202111505106.3A priority Critical patent/CN114205398B/en
Publication of CN114205398A publication Critical patent/CN114205398A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The application relates to the technical field of automobiles, and discloses a vehicle communication method and a vehicle communication system, wherein the method comprises the steps of receiving a mode selection message sent by a first control platform when a vehicle is in an automatic mode; determining a remote control mode of the vehicle according to the mode selection message, wherein the remote control mode includes any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform; receiving a control message sent by a control platform corresponding to the remote control mode, wherein identifiers of the control message sent by the first control platform and the second control platform are different; and controlling the vehicle to execute corresponding functions according to the control message. The vehicle communication method and the vehicle communication system can support a plurality of control platforms to control the vehicle.

Description

Vehicle communication method and system
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle communication method and system.
Background
With the development of 5G communication technology, the application of the 5G communication technology in vehicles makes remote unmanned driving of vehicles increasingly practical. However, the existing remote unmanned driving based on the 5G communication technology only supports the control of a single control platform on the vehicle, and the communication device has high complexity and high cost.
Disclosure of Invention
In view of this, the present application provides a vehicle communication method and system, which can support a plurality of control platforms to control a vehicle. Specifically, the method comprises the following technical scheme:
the embodiment of the application provides a vehicle communication method, which comprises the following steps:
when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform;
determining a remote control mode of the vehicle according to the mode selection message, wherein the remote control mode includes any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform;
receiving a control message sent by a control platform corresponding to the remote control mode, wherein identifiers of the control message sent by the first control platform and the second control platform are different;
and controlling the vehicle to execute corresponding functions according to the control message.
In an implementation manner of the embodiment of the present application, before receiving the mode selection packet sent by the first control platform, the method further includes:
generating a mode switching message in response to a trigger operation of a user;
and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
In an implementation manner of the embodiment of the present application, determining the remote control mode of the vehicle according to the mode selection packet includes:
acquiring message information in the mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of a second valid bit group in the mode selection message being a first preset content;
determining that the remote control mode is the second remote control mode in response to the contents of the second valid bit group in the mode selection message being second preset contents.
In an implementation manner of the embodiment of the present application, controlling the vehicle to execute a corresponding function according to the control packet includes:
converting the control message into a command message;
determining the function to be executed by the vehicle according to the content of the third valid bit group in the command message;
controlling the vehicle to perform the function.
In an implementation manner of the embodiment of the present application, the method further includes:
when the vehicle is in the automatic mode, the mode selection message is not received within preset time or the received mode selection instruction is abnormal, and the vehicle is controlled to be switched from the automatic mode to a manual mode.
An embodiment of the present application further provides a vehicle communication system, including: the system comprises a processor, a 5G communication device and a CAN communication device, wherein the 5G communication device and the CAN communication device are respectively in communication connection with the processor;
the 5G communication device is configured to: when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform, receiving a control message sent by a control platform corresponding to a remote control mode, and sending the mode selection message and the control message to the processor, wherein the remote control mode comprises any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform;
the processor is configured to: receiving the mode selection message and the control message, determining the remote control mode of the vehicle according to the mode selection message, and controlling the vehicle to execute a corresponding function through the CAN communication device according to the control message, wherein identifiers of the control messages respectively sent by the first control platform and the second control platform are different.
In an implementation manner of the embodiment of the present application, the CAN communication apparatus is configured to: responding to the trigger operation of a user to generate a mode switching message, and sending the mode switching message to the processor;
the processor is further configured to: and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
In an implementation manner of the embodiment of the present application, the processor is further configured to:
acquiring message information in the mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of a second valid bit group in the mode selection message being a first preset content;
determining that the remote control mode is the second remote control mode in response to the contents of the second valid bit group in the mode selection message being second preset contents.
In an implementation manner of the embodiment of the present application, the processor is further configured to: and converting the control message into a command message, determining a function to be executed by the vehicle according to the content of a third effective bit group in the command message, and controlling the vehicle to execute the function through the CAN communication device.
In an implementation manner of the embodiment of the present application, the vehicle communication system further includes at least one of an ethernet device and a positioning device, and the ethernet device and the positioning device are respectively in communication connection with the processor;
the processor, the 5G communication device, the CAN communication device, the Ethernet device and the positioning device are integrated together.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
according to the vehicle communication method and the vehicle communication system, whether the vehicle is in the first remote control mode or the second remote control mode is determined through the mode selection message, and after the remote control mode is determined, only the control message sent by the control platform corresponding to the remote control mode can be specifically received according to the identifier of the control message, so that the control of the vehicle by a plurality of control platforms can be supported.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a vehicle communication system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram illustrating a vehicle communication system and a control-side communication system transmitting video signals according to an embodiment of the present application;
fig. 3 is a schematic structural diagram illustrating a vehicle communication system and a control-side communication system transmitting a message command according to an embodiment of the present application;
FIG. 4 is a flow chart illustrating a method for vehicle communication according to an embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating a method for vehicle communication according to an embodiment of the present application;
fig. 6 shows a message structure diagram of the Motorola LSB format.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In order to make the technical solutions and advantages of the present application clearer, the following describes the vehicle communication method, system, and the like in detail with reference to the accompanying drawings.
Fig. 1 illustrates a vehicle communication system 10 provided in an embodiment of the present application, which may include at least a processor 101, a 5G communication device 102 and a CAN communication device 103, as shown in fig. 1, where the 5G communication device 102 and the CAN communication device 103 are respectively in communication connection with the processor 101, and the 5G communication device 102 and the CAN communication device 103 are respectively in bidirectional communication with the processor 101. The vehicle communication method described below in the present application may be performed by the vehicle communication system 10 shown in fig. 1.
In the embodiment of the present application, the processor 101 may include a CPU (Central Processing Unit), and the 5G communication device 102 and the CAN communication device 103 may be integrated with the CPU, so that the vehicle communication system 10 in the present application CAN be provided in the form of an integrated circuit and loaded into a vehicle.
In some embodiments, the vehicle communication system 10 may further include a 5G antenna interface 1021 that may be communicatively coupled to the 5G communication device 102. Specifically, the 5G antenna interface 1021 may be connected to at least one signal antenna of the 5G communication device 102, for example, four signal antennas, so as to amplify the transceiving strength of the 5G signal.
The vehicle communication system 10 may further include a CAN interface 1031, which may further include a CAN-High interface, a CAN-Low interface, and a CAN-Ground interface, for enabling input and output of CAN signals.
In order to realize the automatic mode of the vehicle, a plurality of image capturing devices 30, such as cameras, etc., are often provided outside the vehicle for detecting the surroundings of the vehicle. Illustratively, the vehicle exterior may be provided with four cameras, including a front-view camera 301 mounted at the front windshield for detecting the forward-view of the vehicle; a left rear camera 302 and a right rear camera 303 respectively mounted on the left and right rear-view mirrors for detecting the field of view of the vehicle behind the left and right sides, respectively; and a rear-view camera 304 installed at the rear of the vehicle, a user of which detects a rearward view of the vehicle.
In order to transmit the video signal of the image capturing device 30, the vehicle communication system 10 may further include an ethernet device 104, and the ethernet device 104 may be communicatively connected to the processor 101. Correspondingly, the vehicle communication system 10 may further include an ethernet interface 1041 connected to the ethernet device 104.
As shown in fig. 2, the video signal captured by the image capturing device 30 may be transmitted to the ethernet device 104 via the ethernet interface 1041, the ethernet device 104 then transmits the video information to the processor 101, and the processor 101 may perform encapsulation and decompression processing on the video signal and then transmit the processed video signal to the 5G communication device 102.
When the vehicle is in the remote control mode, the vehicle is controlled by the first control platform or the second control platform. Therefore, besides the realization of the message command communication between the first control platform or the second control platform and the vehicle, the video signal acquired by the image acquisition device needs to be sent to the first control platform or the second control platform, so that a user can conveniently acquire the surrounding environment of the vehicle on the control platform side, and the vehicle can be better remotely controlled.
In some embodiments, the control platform side may include a control side communication system 20, which may include at least a control side processor 201, a control side 5G communication device 202, a control side CAN communication device 203, and a control side ethernet device 204, wherein the control side 5G communication device 202, the control side CAN communication device 203, and the control side ethernet device 204 are communicatively connected to the control side processor 201, respectively. In some embodiments, the control platform side may also include a display 40 to display the vehicle and the surroundings of the vehicle. Correspondingly, the vehicle communication system 10 may also include a locating device 105 and a locating antenna interface 1051. The positioning device 105 can detect the current position information of the vehicle and transmit the current position information to the control platform side via the processor 101 and the 5G communication device 102, so that the display 40 on the control platform side can display the vehicle position more accurately. The positioning antenna interface 1051 can be connected to a signal antenna of the positioning device 105 to increase the signal transceiving strength of the positioning device 105.
As shown in fig. 2, the vehicle communication system 10 may transmit the processed video signal to the cloud server 50 through the 5G communication device 102, and the cloud server 50 may forward the processed video signal to the control-side communication system 20. The control side 5G communication device 202 in the control side communication system 20 receives the processed video signal and transmits the processed video signal to the control side processor 201, and the control side processor 201 decapsulates and decompresses the processed video signal and then may further transmit the video signal to the display 40 through the control side ethernet device 204, so that the video signal may be displayed on the display 40.
The remote control mode in the embodiment of the application can be used as a supplement of automatic driving, when a processing system or a perception system in a vehicle in the automatic driving mode has a fault, the vehicle can be switched to the remote control mode, and in the mode, a user can control the vehicle at a position far away from the vehicle, so that the user can carry out troubleshooting on the vehicle running to a safe place through the remote control. In addition, remote driving is also widely applied to scenes such as disaster relief, road first-aid repair and the like so as to reduce dangerousness.
In some embodiments, the remote control mode may include a fixed platform control mode and a mobile platform control mode, where the position of the control platform corresponding to the fixed platform control mode is fixed, for example, the fixed control platform may be a virtual cockpit, and the position of the control platform corresponding to the mobile platform control mode is movable, for example, the mobile control platform may be a mobile device such as a mobile phone, a tablet computer, a notebook computer, and the like. In some embodiments, the mobile platform control mode can be used as a safety control backup of the fixed platform control mode, so that the safety redundancy of the fixed platform control mode in an emergency situation is improved.
As shown in fig. 3, when the vehicle communication system 10 performs message command communication with the control platform side, taking the vehicle in the fixed platform control mode as an example, the fixed control platform 60 may send the message command to the control side processor 201 through the control side CAN communication device 203, and further send the message command to the vehicle communication system 10 through the control side 5G communication device 202. The message command may include any one of a mode selection message and a control message.
The 5G communication device 102 in the vehicle communication system 10 receives the message command and sends the message command to the processor 101, and the processor 101 may process the message command and then optionally send the processed message command to the CAN communication device 103. The CAN communication device 103 CAN control the execution system 80 in the vehicle to perform corresponding functions and receive signal feedback of the execution system 80. The mobile control platform 70 communicates with the stationary control platform 60 substantially the same procedure when the vehicle is in the mobile platform control mode.
In some embodiments, the vehicle communication system 10 may also include a power supply device 106 and a power interface 1061. The power interface 1061 can connect an external power signal, such as a 12V dc power signal, to the vehicle communication system 10 and distribute the external power signal to the devices
According to the vehicle communication system 10, the processor 101, the 5G communication device 102 and the CAN communication device 103 are integrated, the Ethernet device 104 and the positioning device 105 CAN be further integrated, the module complexity and the cost are reduced, and large-scale mass production and commercial use are facilitated.
FIG. 4 illustrates a vehicle communication method provided by an embodiment of the present application. As shown in fig. 4, the vehicle communication method is performed by the vehicle communication system 10 described above, and includes the steps of:
s401, when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform;
s402, determining a remote control mode of the vehicle according to the mode selection message; wherein the remote control mode includes any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by the second control platform;
s403, receiving a control message sent by a control platform corresponding to the remote control mode; the identifiers of the control messages respectively sent by the first control platform and the second control platform are different;
and S404, controlling the vehicle to execute corresponding functions according to the control message.
According to the vehicle communication method provided by the embodiment of the application, whether the vehicle is in the first remote control mode or the second remote control mode is determined through the mode selection message, and after the remote control mode is determined, only the control message sent by the control platform corresponding to the remote control mode can be specifically received according to the identifier of the control message, so that the control of the vehicle by a plurality of control platforms can be supported.
Optionally, before receiving the mode selection packet sent by the first control platform, the method further includes:
generating a mode switching message in response to a trigger operation of a user;
and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
Optionally, determining the remote control mode of the vehicle according to the mode selection message includes:
acquiring message information in a mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of the second valid bit group in the mode selection message being the first preset content;
and determining the remote control mode to be the second remote control mode in response to the contents of the second valid bit group in the mode selection message being the second preset contents.
Optionally, controlling the vehicle to perform a corresponding function according to the control message includes:
converting the control message into a command message;
determining the function to be executed by the vehicle according to the content of the third effective bit group in the command message;
and controlling the vehicle to perform the function.
Optionally, the method further comprises:
when the vehicle is in the automatic mode, the mode selection message is not received within the preset time or the received mode selection instruction is abnormal, and the vehicle is controlled to be switched from the automatic mode to the manual mode.
FIG. 5 is a flow diagram illustrating another vehicle communication method that may be performed by the vehicle communication system 10 described above, according to an exemplary embodiment. As shown in fig. 5, the method may include:
s501, the CAN communication device responds to the trigger operation of the user to generate a mode switching message.
In a specific embodiment, the user's trigger operation may be pressing a mode switching button. For example, the mode switching button may be a physical button provided on the center console of the vehicle, or may be a physical button or a virtual button provided on the first control platform or the second control platform. The first control platform may be any one of a fixed control platform or a mobile control platform, the second control platform may also be any one of a fixed control platform or a mobile control platform, and the first control platform is different from the second control platform.
When the CAN communication device detects a preset user's trigger operation, a mode switching message may be generated. The manufacturer or designer may determine an identifier (hereinafter referred to as a first identifier) for uniquely identifying the type of the message in advance for the mode switching message, and store a correspondence relationship between the mode switching message and the first identifier in the processor. When the processor receives the message with the first identifier, the processor can determine that the user triggers the triggering operation. Illustratively, the first identifier may be "0 xA 1".
The mode switch message may include a first identifier and first message information indicating a control mode of the current vehicle. In some embodiments, the first identifier and the first message information may be jointly packaged and encapsulated and then sent to the processor via the CAN communication device, and the processor parses the encapsulated message to obtain the first identifier and the first message information. In other embodiments, the first message information may be encapsulated separately, and the encapsulated first message information and the first identifier are sent to the processor together via the CAN communication device, so that the processor may recognize the first identifier without decapsulating the mode switch message.
S502, the processor determines that the vehicle is in a manual mode or an automatic mode according to the content of the first effective bit group in the mode switching message.
In a particular embodiment, the location of the first valid bit group may be predetermined by a manufacturer or a designer. Illustratively, the first valid bit group in the mode switch message may be bit0 bits of Byte0 bytes. When the value at bit0 takes a "0" it indicates that the vehicle is in manual mode, and when the value at bit0 takes a "1" it indicates that the vehicle is in automatic mode. In the automatic mode, the vehicle may be further selected to be in a first remote control mode or a second remote control mode.
In this embodiment, the mode switching message may adopt a Motorola LSB format as shown in fig. 6, which includes 64 bits arranged in a form of 8 rows × 8 columns, Byte0, 1, 2 … … 7 are sequentially arranged from top to bottom in rows, and bit0, 1, 2 … … 7 are sequentially arranged from right to left in columns. When the first valid bit group in the mode switching message is bit0 bits of Byte0 Byte, the vehicle can be determined to be in manual mode or automatic mode according to the value at line 1, column 8 in fig. 6.
When the processor determines that the vehicle is in the manual mode, the 5G communication device may be notified so that the 5G communication device does not receive or only receives and does not forward messages sent by the control platform side (whether the first control platform or the second control platform). And when the processor determines that the vehicle is in the automatic mode, it allows the reception of a message from the control platform side to perform the following steps S503 to S509.
S503, when the vehicle is in the automatic mode, the 5G communication device receives the mode selection message sent by the first control platform.
In a specific embodiment, the manufacturer or designer may determine an identifier (hereinafter referred to as a second identifier) for uniquely identifying the type of the message in advance for the mode selection message, and store a corresponding relationship between the mode selection message and the second identifier in the processor. Illustratively, the second identifier may be 0xB 1.
When the processor receives the message with the second identifier, it may determine whether the vehicle is in the first remote control mode or the second remote control mode based on the particular message information in the mode selection message. Wherein the first remote control mode is any one of a fixed platform control mode and a mobile platform control mode, the second remote control mode is any one of a fixed platform control mode and a mobile platform control mode, and the first remote control mode is different from the second remote control mode.
Similar to the above-described mode switching message, the mode selection message may include a second identifier and second message information indicating a remote control mode of the current vehicle, the remote control mode including any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by the second control platform. In some embodiments, the second identifier and the second message information may be jointly packaged and encapsulated and then sent to the 5G communication device in the vehicle communication system via the first control platform, and further sent to the processor via the 5G communication device, and the processor obtains the second identifier and the second message information by parsing the encapsulated message. In other embodiments, the second message information may also be encapsulated separately, and the encapsulated second message information and the second identifier are sent to the processor together via the first control platform and the 5G communication device, so that the processor may recognize the second identifier without decapsulating the mode selection message.
In other embodiments, the mode selection message may also be sent by the second control platform. When the vehicle is in the automatic mode but has not received a mode selection message with the second identifier sent by either the first control platform or the second control platform, the messages from both the first control platform and the second control platform may be received by the 5G communication device. In this case, the mode selection message whose reception time is the closest is used as the standard.
In other words, when the vehicle is in the remote control mode, the mode selection messages sent by other control platforms except the control platform corresponding to the remote control mode can still be continuously received, and the remote control mode can be changed according to the later received mode selection messages.
When the vehicle is in the remote control mode, if the CAN communication device generates a mode switching message in response to a trigger operation of a user, that is, the user presses a mode switching button to switch to the manual mode again, the processor may inform the 5G communication mode that the vehicle is in the manual mode according to the mode switching message. In addition, when the processor detects that the position of the brake pedal or the position of the steering wheel in the vehicle has changed to a preset degree, it can also be determined that the vehicle is in the manual mode. For example, the CAN communication device may receive a signal from a vehicle to perform system feedback and send the feedback information to the processor, and the processor may forcibly switch the vehicle to the manual mode when it is confirmed from the feedback signal that the pressure applied to the brake pedal exceeds 0.7MPa or the torque applied to the steering wheel exceeds 3N · m.
Further, after the 5G communication device receives the mode selection message and the processor determines the remote control mode of the vehicle according to the mode selection message, the 5G communication device only receives the control message sent by the control platform corresponding to the remote control mode, or the 5G communication device may receive the control message from any control platform, but only forwards the control message from the control platform corresponding to the remote control mode to the processor.
Alternatively, when the 5G communication device does not receive a mode selection instruction from any control platform within a preset time or the received mode selection instruction is abnormal, the processor may be informed, and the processor may control the current vehicle to be switched from the automatic mode to the manual mode. In other words, when the vehicle is in the automatic mode, the processor detects that the 5G communication device does not receive the mode selection message within the preset time or the received mode selection command is abnormal, and controls the vehicle to be switched from the automatic mode to the manual mode.
S504, the processor obtains message information in the mode selection message.
In a specific embodiment, the processor may parse and/or decode the mode selection message received from the 5G communication device to obtain the second message information in the mode selection message. Based on the second message information, the processor may perform any of steps S505 and S506 described below.
And S505, the processor determines that the remote control mode is the first remote control mode in response to the content of the second valid bit group in the mode selection message being the first preset content.
In a specific embodiment, the mode selection message may also be in a Motorola LSB format as shown in fig. 6, similar to the mode switch message. The location of the second valid bit group may also be predetermined by the manufacturer or designer. Illustratively, the second valid bit group in the mode selection message may be bit0 bits and bit0 of Byte0 bytes. When the value at bit0 takes a "0" and the value at bit1 takes a "1" (i.e., the "01" combination) it indicates that the vehicle is in the first remote control mode, and when the value at bit0 takes a "1" and the value at bit1 takes a "0" (i.e., the "10" combination) it indicates that the vehicle is in the second remote control mode. For example, the first remote control mode may be a fixed platform control mode controlled by a fixed control platform, and the second remote control mode may be a mobile platform control mode controlled by a mobile control platform.
S506, the processor determines that the remote control mode is the second remote control mode in response to the content of the second valid bit group in the mode selection message being the second preset content.
As above, in a specific embodiment, the second valid bit group may be bit0 bits and bit0 bits of Byte0 bytes, the first predetermined content may be "01" combination, and the second predetermined content may be "10" combination. In other embodiments, the second valid bit group may also select other positions in the message information, and the first preset content and the second preset content may also take other forms.
And S507, the 5G communication device receives the control message sent by the control platform corresponding to the remote control mode.
When the processor executes the above step S505, that is, determines that the vehicle is in the first remote control mode, the 5G communication device only receives the first control message from the first control platform. When the processor executes the above step S506, i.e. determines that the vehicle is in the second remote control mode, the 5G communication device only receives or only forwards the second control message from the second control platform.
In particular embodiments, the first control message may have a third identifier that uniquely identifies the message. Illustratively, the third identifier may be 0x 21. The first control message may have a fourth identifier that uniquely identifies the message. Illustratively, the fourth identifier may be 0x 22. Thus, the 5G communication mode may receive only control packets having the third identifier or the fourth identifier, or forward only control packets having the third identifier or the fourth identifier to the processor. The processor stores the corresponding relation between the first control message and the third identifier and the corresponding relation between the second control message and the fourth identifier. The control message may also be in the Motorola LSB format described above to facilitate vehicle identification.
S508, the processor converts the control message into a command message.
In a specific embodiment, the manufacturer or designer may determine an identifier (hereinafter referred to as a fifth identifier) for uniquely identifying the command message in advance for the command message, and store a correspondence relationship between the command message and the fifth identifier in the processor.
Converting the control message into the command message by the processor may include: and replacing the identifier (the third identifier or the fourth identifier) in the control message with the identifier (the fifth identifier) corresponding to the command message.
S509, the processor determines the function to be executed by the vehicle according to the content of the third valid bit group in the command message.
The command message can be used for realizing functions of steering, braking, driving, gear, hand braking and the like. Each function may correspond to a different sub-valid bit group in the command message, the combination of the plurality of sub-valid bit groups serving as the third valid bit group. As shown in fig. 6, the third valid bit group may include all the bits in the Motorola LSB format message. Illustratively, the sub-effective bit group corresponding to the turning function may be bits 0-bit7 of Byte0 and bits 0-bit7 of Byte1, the sub-effective bit group corresponding to the braking function may be bits 0-bit3 of Byte2, the sub-effective bit group corresponding to the driving function may be bits 0-bit3 of Byte3, the sub-effective bit group corresponding to the gear function may be bits 0-bit1 of Byte4, and the sub-effective bit group corresponding to the handbrake function may be bits 0 of Byte 5.
The various valid bit groups described above may each implement the function of indicating different information by corresponding to a specific position and a combination of specific numbers of positions.
And S510, controlling the vehicle to execute corresponding functions by the processor through the CAN communication device.
The processor may send a message with the fifth identifier to a CAN bus of the vehicle via the CAN communication device to control an execution system of the vehicle to perform a corresponding function.
It should be noted that, in the foregoing embodiment, only the identifier is taken as an example of a specific character set, however, in other embodiments, the various identifiers (including at least the first identifier, the second identifier, the third identifier, the fourth identifier, and the second identifier) may respectively correspond to one identifier set, each identifier set may include a plurality of candidate identifiers, and all the candidate identifiers included in different identifier sets are different. The identifiers can be selected randomly at set time intervals from the corresponding identifier group to serve as a target identifier to send the message. Further, an identifier that has been used may be considered invalid for a period of time. This operation of randomly replacing the identifier can reduce the risk of the vehicle being illegally controlled, and improve the safety of vehicle communication and remote control.
In the embodiment of the application, an identifier which uniquely identifies each message is added to each message, so that the information quantity transmitted by the messages can be expanded under the condition that the bit number of the message information is limited.
Furthermore, different identifiers are added to control messages sent by different control platforms, so that the 5G communication mode can specifically only receive and forward the control messages sent by a specific control platform, switching between different control platforms can be realized, and command confusion from different control platforms can be avoided.
Corresponding to the vehicle communication method, the vehicle communication system provided by the embodiment of the application at least comprises a processor, a 5G communication device and a CAN communication device, wherein the 5G communication device and the CAN communication device are respectively in communication connection with the processor; wherein the content of the first and second substances,
the 5G communication device is configured to: when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform, receiving a control message sent by a control platform corresponding to a remote control mode, and sending the mode selection message and the control message to a processor, wherein the remote control mode comprises any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform;
the processor is configured to: receiving the mode selection message and the control message, determining a remote control mode of the vehicle according to the mode selection message, and controlling the vehicle to execute a corresponding function through the CAN communication device according to the control message, wherein identifiers of the control messages respectively sent by the first control platform and the second control platform are different.
Optionally, the CAN communication device is configured to: generating a mode switching message in response to the triggering operation of the user, and sending the mode switching message to the processor;
the processor is further configured to: and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
Optionally, the processor is further configured to:
acquiring message information in a mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of the second valid bit group in the mode selection message being the first preset content;
and determining the remote control mode to be the second remote control mode in response to the contents of the second valid bit group in the mode selection message being the second preset contents.
Optionally, the processor is further configured to: and converting the control message into a command message, determining the function to be executed by the vehicle according to the content of the third effective bit group in the command message, and controlling the vehicle to execute the function through the CAN communication device.
Optionally, the vehicle communication system further comprises at least one of an ethernet device and a positioning device, the ethernet device and the positioning device being communicatively connected to the processor, respectively;
the processor, the 5G communication device, the CAN communication device, the Ethernet device and the positioning device are integrated together.
With regard to the system in the above-described embodiment, the specific manner in which each device performs the operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
It should be noted that: the vehicle communication system and the vehicle communication method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments in detail and are not described herein again.
In this application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. A vehicle communication method, characterized in that the method comprises:
when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform;
determining a remote control mode of the vehicle according to the mode selection message, wherein the remote control mode includes any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform;
receiving a control message sent by a control platform corresponding to the remote control mode, wherein identifiers of the control message sent by the first control platform and the second control platform are different;
and controlling the vehicle to execute corresponding functions according to the control message.
2. The method according to claim 1, wherein before receiving the mode selection message sent by the first control platform, the method further comprises:
generating a mode switching message in response to a trigger operation of a user;
and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
3. The method of claim 1, wherein determining the remote control mode of the vehicle from the mode selection message comprises:
acquiring message information in the mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of a second valid bit group in the mode selection message being a first preset content;
determining that the remote control mode is the second remote control mode in response to the contents of the second valid bit group in the mode selection message being second preset contents.
4. The method of claim 1, wherein controlling the vehicle to perform a corresponding function according to the control message comprises:
converting the control message into a command message;
determining the function to be executed by the vehicle according to the content of the third valid bit group in the command message;
controlling the vehicle to perform the function.
5. The method of claim 1, further comprising:
when the vehicle is in the automatic mode, the mode selection message is not received within preset time or the received mode selection instruction is abnormal, and the vehicle is controlled to be switched from the automatic mode to a manual mode.
6. A vehicle communication system, characterized in that the vehicle communication system comprises: the system comprises a processor, a 5G communication device and a CAN communication device, wherein the 5G communication device and the CAN communication device are respectively in communication connection with the processor;
the 5G communication device is configured to: when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform, receiving a control message sent by a control platform corresponding to a remote control mode, and sending the mode selection message and the control message to the processor, wherein the remote control mode comprises any one of a first remote control mode controlled by the first control platform and a second remote control mode controlled by a second control platform;
the processor is configured to: receiving the mode selection message and the control message, determining the remote control mode of the vehicle according to the mode selection message, and controlling the vehicle to execute a corresponding function through the CAN communication device according to the control message, wherein identifiers of the control messages respectively sent by the first control platform and the second control platform are different.
7. The vehicle communication system according to claim 6,
the CAN communication device is configured to: responding to the trigger operation of a user to generate a mode switching message, and sending the mode switching message to the processor;
the processor is further configured to: and determining that the vehicle is in a manual mode or an automatic mode according to the content of the first valid bit group in the mode switching message.
8. The vehicle communication system of claim 6, wherein the processor is further configured to:
acquiring message information in the mode selection message;
determining that the remote control mode is the first remote control mode in response to the content of a second valid bit group in the mode selection message being a first preset content;
determining that the remote control mode is the second remote control mode in response to the contents of the second valid bit group in the mode selection message being second preset contents.
9. The system of claim 6,
the processor is further configured to: and converting the control message into a command message, determining a function to be executed by the vehicle according to the content of a third effective bit group in the command message, and controlling the vehicle to execute the function through the CAN communication device.
10. The system of claim 6, wherein the vehicle communication system further comprises at least one of an ethernet device and a location device, each communicatively coupled to the processor;
the processor, the 5G communication device, the CAN communication device, the Ethernet device and the positioning device are integrated together.
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