CN114205398B - Vehicle communication method and system - Google Patents
Vehicle communication method and system Download PDFInfo
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- CN114205398B CN114205398B CN202111505106.3A CN202111505106A CN114205398B CN 114205398 B CN114205398 B CN 114205398B CN 202111505106 A CN202111505106 A CN 202111505106A CN 114205398 B CN114205398 B CN 114205398B
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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
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- 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
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- 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
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- 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]
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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 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 comprises 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; receiving a control message sent by a control platform corresponding to the remote control mode, wherein identifiers of the control messages respectively 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 the control of a plurality of control platforms on the vehicle.
Description
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, application of the 5G communication technology in vehicles makes remote unmanned driving of vehicles increasingly realistic. However, existing 5G communication technology-based remote unmanned systems only support control of vehicles by a single control platform, and the complexity and cost of the communication device are high.
Disclosure of Invention
In view of the above, the present application provides a vehicle communication method and system, which can support control of vehicles by a plurality of control platforms. 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 comprises 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;
receiving a control message sent by a control platform corresponding to the remote control mode, wherein identifiers of the control messages respectively 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 the receiving the mode selection packet sent by the first control platform, the method further includes:
responding to the triggering operation of the user to generate a mode switching message;
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 one implementation manner of the embodiment of the present application, determining the remote control mode of the vehicle according to the mode selection message includes:
obtaining message information in the mode selection message;
responding to the content of a second valid bit group in the mode selection message as a first preset content, and determining the remote control mode as the first remote control mode;
and responding to the content of the second valid bit group in the mode selection message as second preset content, and determining the remote control mode as the second remote control mode.
In one implementation manner of the embodiment of the present application, controlling the vehicle to execute the corresponding function according to the control message includes:
converting the control message into a command message;
determining a 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 one 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 or the received mode selection instruction is abnormal within preset time, and the vehicle is controlled to be switched from the automatic mode to the manual mode.
The embodiment of the application also provides a vehicle communication system, which comprises: the device 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: and 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 corresponding functions 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 one implementation of the embodiment of the present application, the CAN communication device is configured to: generating a mode switching message in response to a triggering operation of a 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.
In one implementation of the embodiment of the present application, the processor is further configured to:
obtaining message information in the mode selection message;
responding to the content of a second valid bit group in the mode selection message as a first preset content, and determining the remote control mode as the first remote control mode;
and responding to the content of the second valid bit group in the mode selection message as second preset content, and determining the remote control mode as the second remote control mode.
In one implementation 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 valid bit group in the command message, and controlling the vehicle to execute the function through the CAN communication device.
In one 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, where the ethernet device and the positioning device are respectively connected to the processor in a communication manner;
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 system 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 a plurality of control platforms on the vehicle can be supported.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural diagram of a vehicle communication system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle communication system and a control side communication system for transmitting video signals according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle communication system and a control side communication system for transmitting a message command according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a vehicle communication method according to an embodiment of the present application;
fig. 5 shows a schematic flow chart of a vehicle communication method according to an embodiment of the present application;
fig. 6 shows a schematic diagram of a message structure in Motorola LSB format.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. In order to make the technical solution and advantages of the present application more clear, the following describes the vehicle communication method, system and system in detail with reference to the accompanying drawings.
Fig. 1 illustrates a vehicle communication system 10 according to an embodiment of the present application, as shown in fig. 1, the vehicle communication system may at least include a processor 101, a 5G communication device 102 and a CAN communication device 103, where the 5G communication device 102 and the CAN communication device 103 are respectively communicatively connected to the processor 101, and the 5G communication device 102 and the CAN communication device 103 may respectively implement two-way communication with the processor 101. The vehicle communication method of the application described below may be performed by a vehicle communication system 10 as shown in fig. 1.
In an embodiment of the present application, the processor 101 may include a CPU (central processing unit ) with which the 5G communication device 102 and the CAN communication device 103 may be integrated, so that the vehicle communication system 10 of 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 communicatively connectable with the 5G communication device 102. Specifically, the 5G antenna interface 1021 may be connected to at least one signal antenna, such as four signal antennas, of the 5G communication device 102 to amplify the transceiving strength of the 5G signal.
The vehicle communication system 10 may also include a CAN interface 1031, which may further include a CAN-High interface, a CAN-Low interface, and a CAN-group interface for enabling input and output of CAN signals.
In order to realize an automatic mode of the vehicle, the outside of the vehicle is often provided with a plurality of image pickup devices 30, such as cameras or the like, for detecting the surrounding environment of the vehicle. For example, the vehicle exterior may be provided with four cameras, including a front-view camera 301 mounted at the front windshield for detecting a forward-view of the vehicle; left and right rear cameras 302 and 303 respectively mounted on left and right rear view mirrors for detecting the left and right rear views of the vehicle, respectively; and a rear-view camera 304 mounted at the rear of the vehicle, the user of which detects the rearward view of the vehicle.
In order to transmit the video signal of the image capturing mechanism 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 comprise an ethernet interface 1041 connected to the ethernet device 104.
As shown in fig. 2, the video signal acquired by the image acquisition device 30 may be sent to the ethernet device 104 via the ethernet interface 1041, and then the ethernet device 104 sends the video information to the processor 101, and the processor 101 may perform encapsulation and decompression processing on the video signal and then send 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, in addition to realizing the communication between the first control platform or the second control platform and the message command of the vehicle, the video signal acquired by the image acquisition device is required 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 controlled remotely better.
In some embodiments, the control platform side may include a control side communication system 20 that 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 coupled 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 its surroundings. Correspondingly, the vehicle communication system 10 may further comprise a positioning device 105 and a positioning antenna interface 1051. The positioning device 105 can detect the current position information of the vehicle and send 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 may 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 sends the processed video signal to the control side processor 201, and the control side processor 201 may further send the video signal to the display 40 through the control side ethernet device 204 after decapsulating and decompressing the processed video signal, 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 the supplement of automatic driving, and when a processing system or a sensing system in a vehicle in the automatic driving mode fails, the vehicle can be switched to the remote control mode, and a user can control the vehicle at a position far away from the vehicle in the remote control mode, so that the user can drive the vehicle to a safe place for troubleshooting through remote control. In addition, remote driving is widely applied to scenes such as disaster relief, road rush repair and the like so as to reduce dangers.
In some embodiments, the remote control mode may include a fixed platform control mode and a mobile platform control mode, where the fixed platform control mode corresponds to a control platform whose position is fixed, for example, the fixed control platform may be a virtual cockpit, and the mobile platform control mode corresponds to a control platform whose position is movable, for example, the mobile control platform may be a mobile device such as a mobile phone, a tablet computer, a notebook computer, or the like. In some embodiments, the mobile platform control mode may be used as a backup for safety control of the fixed platform control mode, improving safety redundancy of the fixed platform control mode in case of emergency.
As shown in fig. 3, when the vehicle communication system 10 communicates a message command with the control platform side, 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, for example, when the vehicle is in the fixed platform control mode. 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 transmits the message command to the processor 101, and the processor 101 may process the message command and then optionally transmit the processed message command to the CAN communication device 103. The CAN communication device 103 may control the execution system 80 in the vehicle to perform a corresponding function and receive signal feedback of the execution system 80. When the vehicle is in the mobile platform control mode, the mobile control platform 70 communicates with the stationary control platform 60 in substantially the same manner.
In some embodiments, the vehicle communication system 10 may further include a power device 106 and a power interface 1061. The power interface 1061 interfaces an external power signal, such as a 12V DC power signal, to the vehicle communication system 10 and distributes it to the various devices described above
The vehicle communication system 10 provided by the application integrates the processor 101, the 5G communication device 102 and the CAN communication device 103, and CAN further integrate the Ethernet device 104 and the positioning device 105, thereby reducing the complexity and the cost of the module and being beneficial to realizing large-scale mass-production.
Fig. 4 shows 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 a remote control mode; the identifiers of the control messages respectively sent by the first control platform and the second control platform are different;
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 a plurality of control platforms on the vehicle can be supported.
Optionally, before receiving the mode selection message sent by the first control platform, the method further includes:
responding to the triggering operation of the user to generate a mode switching message;
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:
obtaining message information in a mode selection message;
responding to the content of the second valid bit group in the mode selection message as first preset content, and determining that the remote control mode is a first remote control mode;
and determining that the remote control mode is a second remote control mode in response to the content of the second valid bit group in the mode selection message being a second preset content.
Optionally, controlling the vehicle to execute the corresponding function according to the control message includes:
converting the control message into a command message;
determining a 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 a function.
Optionally, the method further comprises:
when the vehicle is in the automatic mode, the mode selection message is not received or the received mode selection instruction is abnormal within the preset time, and the vehicle is controlled to be switched to the manual mode from the automatic mode.
Fig. 5 is a flow chart 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 triggering operation of a user to generate a mode switching message.
In a specific embodiment, the triggering operation by the user may be pressing a mode switch button. The mode switching button may be a physical button provided on the console in 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 either a fixed control platform or a mobile control platform, and the second control platform may be either 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 triggering operation of a user, a mode switching message CAN be generated. The manufacturer or designer may determine an identifier (hereinafter referred to as a first identifier) for the mode switch message that uniquely identifies the type of message in advance, and store a correspondence between the mode switch message and the first identifier in the processor. When the processor receives the message with the first identifier, it can be determined that the user triggered the trigger operation. Illustratively, the first identifier may be "0xA1".
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 packaged together and then sent to the processor via the CAN communication device, and the processor may obtain the first identifier and the first message information after parsing the packaged message. In other embodiments, the first message information may be separately encapsulated, and the encapsulated first message information and the first identifier may be sent to the processor together via the CAN communication device, so that the processor may identify 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 valid bit group in the mode switching message.
In particular embodiments, the location of the first significant bit group may be predetermined by a manufacturer or designer. Illustratively, the first valid bit group in the mode switch message may be a bit0 bit in a Byte0 Byte. The vehicle is in manual mode when the value at bit0 takes "0" and in automatic mode when the value at bit0 takes "1". 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 the embodiment of the present application, the mode switching message may adopt a Motorola LSB format as shown in fig. 6, where the Motorola LSB format includes 64 bits arranged in a form of 8 rows×8 columns, and 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 in Byte0 Byte, it can be determined whether the vehicle is in manual mode or automatic mode according to the value at the 1 st row and 8 th column in fig. 6.
The 5G communication device may be notified when the processor determines that the vehicle is in manual mode, such 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 is allowed to receive a message from the control platform side to execute steps S503 to S509 described below.
S503, when the vehicle is in an automatic mode, the 5G communication device receives a mode selection message sent by the first control platform.
In a specific embodiment, a manufacturer or designer may determine an identifier (hereinafter referred to as a second identifier) for the mode selection packet in advance, where the identifier uniquely identifies the type of packet, and store a correspondence between the mode selection packet and the second identifier in the processor. Illustratively, the second identifier may be 0xB1.
When the processor receives the message with the second identifier, the processor can determine whether the vehicle is in the first remote control mode or the second remote control mode according to specific message information in the mode selection message. 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 the fixed platform control mode and the mobile platform control mode, and the first remote control mode is different from the second remote control mode.
Similar to the mode switch message described above, 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 packaged together and then sent to a 5G communication device in the vehicle communication system via the first control platform, and further sent to the processor via the 5G communication device, where the processor parses the packaged message to obtain the second identifier and the second message information. In other embodiments, the second message information may also be separately encapsulated, and the encapsulated second message information and the second identifier may be sent to the processor together via the first control platform and the 5G communication device, so that the processor may identify 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 an automatic mode but has not received a mode selection message with a second identifier sent by the first control platform or the second control platform, 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 with the latest reception time is set as the control.
In other words, when the vehicle is in the remote control mode, the mode selection message sent by the control platform other than the control platform corresponding to the remote control mode can still be continuously accepted, and the remote control mode can be changed according to the mode selection message received later.
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 the user, that is, the user switches back to the manual mode by pressing a mode switching button, 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 is changed to a preset degree, the processor can also determine that the vehicle is in the manual mode according to the position change. For example, the CAN communication device may receive a signal from the vehicle to perform system feedback and send the feedback information to the processor, which confirms that the pressure applied to the brake pedal exceeds 0.7MPa or that the torque applied to the steering wheel exceeds 3n·m, based on the feedback signal, to forcibly switch the vehicle to the manual mode.
Further, when 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, the processor may be notified when the 5G communication device does not receive a mode selection instruction from any control platform or the received mode selection instruction is abnormal for a preset time, and the processor may control the current vehicle to switch 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 or the received mode selection instruction is abnormal within the preset time, and controls the vehicle to switch from the automatic mode to the manual mode.
S504, the processor acquires 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 one of the following steps S505 and S506.
S505, the processor responds to the content of the second valid bit group in the mode selection message as the first preset content, and determines that the remote control mode is the first remote control mode.
In a specific embodiment, similar to the mode switch message, the mode select message may also use the Motorola LSB format as shown in fig. 6. The location of the second significance set may also be predetermined by the manufacturer or designer. Illustratively, the second valid bit group in the mode select message may be a bit0 bit and a bit0 bit in a Byte0 Byte. When the value at bit0 takes "0" and the value at bit1 takes "1" (i.e. "01" combination), it means that the vehicle is in the first remote control mode, and when the value at bit0 takes "1" and the value at bit1 takes "0" (i.e. "10" combination), it means that the vehicle is in the second remote control mode. Illustratively, 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.
And S506, the processor responds to the second preset content of the second valid bit group in the mode selection message to determine that the remote control mode is a second remote control mode.
As above, in a specific embodiment, the second significant bit group may be a bit0 and a bit0 in the Byte0 Byte, the first preset content may be a "01" combination, and the second preset content may be a "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.
S507, the 5G communication device receives a control message sent by a control platform corresponding to the remote control mode.
When the processor executes the above step S505, i.e. determines that the vehicle is in the first remote control mode, the 5G communication device receives only 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 a specific embodiment, the first control message may have a third identifier that uniquely identifies the message. Illustratively, the third identifier may be 0x21. The first control message may have a fourth identifier that uniquely identifies the message. Illustratively, the fourth identifier may be 0x22. Whereby the 5G communication mode may receive control messages having only the third identifier or the fourth identifier or forward control messages having only 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 can also adopt the Motorola LSB format so as to facilitate vehicle identification.
S508, the processor converts the control message into a command message.
In a specific embodiment, a manufacturer or designer may determine an identifier (hereinafter referred to as a fifth identifier) for the command message in advance, where the identifier uniquely identifies the message, and store the correspondence between the command message and the fifth identifier in the processor.
The processor converting the control message into a command message may include: the identifier (third identifier or fourth identifier) in the control message is replaced by the identifier (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 such as steering, braking, driving, gear, hand brake and the like. Each function may correspond to a different sub-valid bit group in the command message, and a combination of the sub-valid bit groups serves as the third valid bit group. As shown in fig. 6, the third valid bit group may include all bits in the Motorola LSB format message. Illustratively, the sub-valid bit groups corresponding to the steering function may be bit0-bit7 bits of Byte0 and bit0-bit7 bits of Byte1, the sub-valid bit groups corresponding to the braking function may be bit0-bit3 bits of Byte2, the sub-valid bit groups corresponding to the driving function may be bit0-bit3 bits of Byte3, the sub-valid bit groups corresponding to the gear function may be bit0-bit1 bits of Byte4, and the sub-valid bit groups corresponding to the hand brake function may be bit0 bits of Byte 5.
The various groups of significance may each implement functionality for indicating different information by a combination of numbers corresponding to a particular location and a particular number of locations.
S510, the processor controls the vehicle to execute corresponding functions through the CAN communication device.
The processor may send a message with the fifth identifier via the CAN communication device to a CAN bus of the vehicle to control an execution system of the vehicle to perform a corresponding function.
In the above embodiment, the identifier is only taken as a specific character set for example, however, in other embodiments, the above-mentioned various identifiers (including at least the first identifier, the second identifier, the third identifier, the fourth identifier and the second identifier) may correspond to one identifier set respectively, each identifier set may include a plurality of candidate identifiers, and the candidate identifiers included in different identifier sets are different. The multiple identifiers can randomly select one candidate identifier from the corresponding identifier group as a target identifier for sending the message at a set time. Further, an identifier that has been used may be considered invalid for a period of time. This random identifier change operation can reduce the risk of illegal control of the vehicle and improve the safety of vehicle communication and remote control.
In the embodiment of the application, the identifier for uniquely identifying each message is added to each message, so that the information quantity transmitted by the message can be expanded under the condition that the bit number of the message information is limited.
Further, by adding different identifiers to the control messages sent by different control platforms, the 5G communication mode can specifically receive and forward only the control messages sent by a specific control platform, so that 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 liquid crystal display device comprises a liquid crystal display device,
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 the second control platform;
the processor is configured to: and receiving a mode selection message and a control message, determining a remote control mode of the vehicle according to the mode selection message, and controlling the vehicle to execute corresponding functions through a 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 triggering operation of a user, and sending the mode switching message to a 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:
obtaining message information in a mode selection message;
responding to the content of the second valid bit group in the mode selection message as first preset content, and determining that the remote control mode is a first remote control mode;
and determining that the remote control mode is a second remote control mode in response to the content of the second valid bit group in the mode selection message being a second preset content.
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 valid 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, 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 specific manner in which the various devices perform operations in relation to the systems of the above embodiments have been described in detail in relation to the embodiments of the method and will not be described in detail herein.
It should be noted that: the vehicle communication system provided in the above embodiment and the vehicle communication method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which is not described herein again.
In the present disclosure, 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" refers to two or more, unless explicitly defined otherwise.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application 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 application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (6)
1. A method of vehicle communication, the method comprising:
generating a mode switching message in response to a triggering operation of a user, wherein the mode switching message is provided with a first identifier and first message information, the first identifier is used for identifying the message as the mode switching message, the first message information is used for indicating a control mode of a current vehicle, and the control mode comprises a manual mode and an automatic mode;
determining that the vehicle is in a manual mode or an automatic mode according to the content of a first valid bit group in the mode switching message;
when the vehicle is in an automatic mode, receiving a mode selection message sent by a first control platform or a second control platform, wherein the mode selection message is provided with a second identifier and second message information, the second identifier is used for identifying the message as the mode selection message, and the second message information is used for indicating the remote control mode of the current vehicle;
determining a remote control mode of the vehicle according to the content of the second valid bit group in the mode selection message, 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;
receiving a control message sent by a control platform corresponding to the remote control mode without receiving or forwarding a control message sent by another control platform, wherein a first control message sent by the first control platform is provided with a third identifier, the third identifier is used for identifying that the message is the control message sent by the first control platform, a second control message sent by the second control platform is provided with a fourth identifier, and the fourth identifier is used for identifying that the message is the control message sent by the second control platform; controlling the vehicle to execute corresponding functions according to the control message,
wherein, according to the control message, the vehicle is controlled to execute corresponding functions, including:
replacing the third identifier or the fourth identifier corresponding to the control message with a fifth identifier corresponding to a command message so as to convert the control message into the command message;
determining a function to be executed by the vehicle according to the content of the third valid bit group in the command message;
the vehicle is controlled to perform the function,
the method further comprises the steps of:
when the vehicle is in the remote control mode, receiving mode selection messages sent by other control platforms except the control platform corresponding to the remote control mode, and changing the remote control mode according to the mode selection messages received later;
when the vehicle is in the remote control mode, the mode switching message is generated in response to the triggering operation of a user, and the vehicle is determined to be in the manual mode according to the mode switching message.
2. The method of claim 1, wherein determining the remote control mode of the vehicle based on the mode select message comprises:
obtaining message information in the mode selection message;
responding to the content of a second valid bit group in the mode selection message as a first preset content, and determining the remote control mode as the first remote control mode;
and responding to the content of the second valid bit group in the mode selection message as second preset content, and determining the remote control mode as the second remote control mode.
3. The method according to claim 1, wherein the method further comprises:
when the vehicle is in the automatic mode, the mode selection message is not received or the received mode selection instruction is abnormal within preset time, and the vehicle is controlled to be switched from the automatic mode to the manual mode.
4. A vehicle communication system, the vehicle communication system comprising: the device 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 CAN communication device is configured to: generating a mode switching message in response to a triggering operation of a user, wherein the mode switching message is provided with a first identifier and first message information, the first identifier is used for identifying the message as the mode switching message, the first message information is used for indicating a control mode of a current vehicle, and the control mode comprises a manual mode and an automatic mode;
the processor is configured to: determining that the vehicle is in a manual mode or an automatic mode according to the content of a first valid bit group in the mode switching message;
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 or a second control platform, wherein the mode selection message is provided with a second identifier and second message information, the second identifier is used for identifying the message as the mode selection message, and the second message information is used for indicating the remote control mode of the current vehicle;
the processor is further configured to: determining a remote control mode of the vehicle according to the content of the second valid bit group in the mode selection message;
the 5G communication device is further configured to: receiving a control message sent by a control platform corresponding to a remote control mode without receiving or forwarding a control message sent by another control platform, 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 first control message sent by the first control platform is provided with a third identifier, the third identifier is used for identifying that the message is the control message sent by the first control platform, and the second control message sent by the second control platform is provided with a fourth identifier, and the fourth identifier is used for identifying that the message is the control message sent by the 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 content of a second valid bit group in the mode selection message, controlling the vehicle to execute corresponding functions through the CAN communication device according to the control message,
wherein controlling the vehicle to execute a corresponding function through the CAN communication device according to the control message includes:
replacing the third identifier or the fourth identifier corresponding to the control message with a fifth identifier corresponding to the command message to convert the control message into the command message, determining a function to be executed by the vehicle according to the content of a third valid bit group in the command message, controlling the vehicle to execute the function through the CAN communication device,
the processor is further configured to: when the vehicle is in the remote control mode, receiving mode selection messages sent by other control platforms except the control platform corresponding to the remote control mode, and changing the remote control mode according to the mode selection messages received later;
when the vehicle is in the remote control mode, the mode switching message is generated in response to the triggering operation of a user, and the vehicle is determined to be in the manual mode according to the mode switching message.
5. The vehicle communication system of claim 4, wherein the processor is further configured to:
obtaining message information in the mode selection message;
responding to the content of a second valid bit group in the mode selection message as a first preset content, and determining the remote control mode as the first remote control mode;
and responding to the content of the second valid bit group in the mode selection message as second preset content, and determining the remote control mode as the second remote control mode.
6. The system of claim 4, wherein 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 coupled to the processor, respectively;
the processor, the 5G communication device, the CAN communication device, the ethernet device, and the positioning device are integrated together.
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