CN116279491B - System and method for switching between automatic driving and automatic following - Google Patents
System and method for switching between automatic driving and automatic following Download PDFInfo
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- CN116279491B CN116279491B CN202310253219.1A CN202310253219A CN116279491B CN 116279491 B CN116279491 B CN 116279491B CN 202310253219 A CN202310253219 A CN 202310253219A CN 116279491 B CN116279491 B CN 116279491B
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- 238000006243 chemical reaction Methods 0.000 claims description 19
- 230000003111 delayed effect Effects 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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]
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides a system and a method for switching between automatic driving and automatic following, which are applied to the field of unmanned vehicle control and comprise an automatic driving module and an automatic following module; the automatic following module is configured to: continuously outputting a CAN message representing the running state signal, and outputting a CAN message for controlling the movement of the vehicle chassis after the CAN message is started; the autopilot module is configured to: and receiving the CAN message representing the running state signal, judging whether the automatic following module is started, switching to the automatic following module if the automatic following module is started, outputting the CAN message for controlling the movement of the vehicle chassis by the automatic following module, and if the automatic following module is closed, maintaining the control output of the automatic driving module. By configuring the automatic driving module and the automatic following module, barrier-free switching between the automatic driving module and the automatic following module is realized, so that the purpose of automatic switching between automatic following and automatic driving is achieved.
Description
Technical Field
The application relates to the field of unmanned vehicle control, in particular to a system and a method for switching between automatic driving and automatic following.
Background
The automatic following module and the automatic driving module of the low-speed unmanned vehicle are connected into the chassis of the vehicle through the same CAN. Only one control mode can be used at the same time, and when one control mode is used, the other control mode must be manually closed. When the automatic driving module issues a control instruction through the CAN, if the automatic following module issues the control instruction through the CAN, the vehicle chassis CAN be caused to simultaneously receive the control instructions of the automatic driving module and the automatic following module, so that collision is caused, and the vehicle chassis CAN not correctly execute the control instruction.
Therefore, there is a need for an automatic switching method for automatic following and automatic driving, which can switch between automatic following and automatic driving, so that when the automatic following remote control is turned on, the automatic driving module can detect that the automatic following module is turned on, and thus, the automatic driving module stops issuing control instructions. When the automatic following remote control is closed, the automatic driving module can detect that the automatic following module is closed, and a control instruction is issued to the chassis of the vehicle again.
Disclosure of Invention
In view of this, the embodiments of the present specification provide a system and method for switching between automatic driving and automatic following, capable of realizing automatic switching between automatic following and automatic driving.
The embodiment of the specification provides the following technical scheme:
embodiments of the present disclosure provide a system for switching between automatic driving and automatic following, comprising:
an autopilot module and an autopfollowing module;
the automatic following module is configured to: continuously outputting a CAN message representing the running state signal, and outputting a CAN message for controlling the movement of the vehicle chassis after the CAN message is started;
the autopilot module is configured to: and receiving the CAN message representing the running state signal, judging whether the automatic following module is started, switching to the automatic following module if the automatic following module is started, outputting the CAN message for controlling the movement of the vehicle chassis by the automatic following module, and if the automatic following module is closed, maintaining the control output of the automatic driving module.
Through the technical scheme, the automatic driving module CAN detect whether the automatic following module is started according to the CAN message representing the running state signal, so that a control instruction is issued at any time, and then when the automatic following module is started, the automatic driving module CAN automatically stop outputting and switch to the automatic following module for outputting, after the automatic following module is closed, the automatic driving module CAN detect that the automatic following module is closed, and issue the control instruction to the vehicle chassis again, so that under the condition that the automatic driving module and the automatic following module share one CAN communication, the conflict problem of switching between automatic following and automatic driving is effectively avoided, and the aim of automatic switching between automatic following and automatic driving is achieved.
Preferably, the automatic following module comprises an automatic following remote controller transmitting end and an automatic following receiving conversion module;
the automatic following remote controller transmitting end is configured to: after opening, emitting UWB signals;
the automatic following reception conversion module is configured to: and receiving the UWB signal, converting the UWB signal into a CAN message for controlling the movement of the vehicle chassis, and transmitting the CAN message for controlling the movement of the vehicle chassis to the vehicle chassis.
Preferably, the automatic following reception conversion module is further configured to: judging the position of the current vehicle relative to the transmitting end of the automatic following remote controller according to the UWB signal, calculating the steering angle and speed of the vehicle according to the position of the current vehicle relative to the transmitting end of the automatic following remote controller, converting the steering angle and speed into CAN messages and transmitting the CAN messages to the chassis of the vehicle.
Preferably, the automatic following reception conversion module is configured to: and continuously outputting the CAN message representing the running state signal, and after receiving the UWB signal, delaying to output the CAN message for controlling the movement of the vehicle chassis.
Preferably, the automatic following reception conversion module is configured to: and continuously outputting the CAN message representing the running state signal, and after receiving the UWB signal, delaying 500ms to output the CAN message for controlling the movement of the vehicle chassis.
Preferably, the automatic following reception conversion module is further configured to: no control commands are sent to the vehicle chassis until the UWB signal is received.
Preferably, the autopilot module is configured to: when the automatic following module is started, the current automatic driving task is interrupted or closed, a control instruction is not output any more, and when the automatic following module is closed, the automatic driving task before the execution is resumed or a new task is waited.
The embodiment of the specification also provides a method for switching between automatic driving and automatic following, which comprises the following steps:
starting an automatic driving module;
the automatic following module continuously outputs CAN messages representing the running state signals;
the automatic driving module judges whether the automatic following module is started according to the CAN message representing the running state signal, if the automatic following module is started, the automatic following module is switched to output, the automatic following module outputs the CAN message for controlling the movement of the vehicle chassis, and if the automatic following module is closed, the control output of the automatic driving module is maintained.
Compared with the prior art, the beneficial effects that above-mentioned at least one technical scheme that this description embodiment adopted can reach include at least:
through setting up autopilot module and autopilot module, autopilot module CAN detect whether the autopilot module is opened according to the CAN message of characterization running state signal to issue control command in time, and then when the autopilot module is opened, autopilot module CAN automatic stop output, and switch to the autopilot module output, after the autopilot module closes, autopilot module CAN detect the autopilot module and close, issue control command to the vehicle chassis again, thereby under the circumstances that autopilot module and autopilot module shared one way CAN communication, effectively avoid the automation to follow with the autopilot between the conflict problem of switching, reach the automation and follow with autopilot and accomplish the purpose of automatic switch.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of the connections between an auto-follow module, an autopilot module and a vehicle chassis in the present application;
fig. 2 is a flow chart of a method of switching between autopilot and autopilot in the present application.
Detailed Description
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
The inventors found that: the automatic following module and the automatic driving module of the low-speed unmanned vehicle are connected into the chassis of the vehicle through the same CAN. Only one control mode can be used at the same time, and when one control mode is used, the other control mode must be manually closed. When the automatic driving module issues a control instruction through the CAN, if the automatic following module issues the control instruction through the CAN, the vehicle chassis CAN be caused to simultaneously receive the control instructions of the automatic driving module and the automatic following module, so that collision is caused, and the vehicle chassis CAN not correctly execute the control instruction.
Based on this, the embodiment of the present specification proposes a processing scheme: as shown in fig. 1, the automatic driving system comprises an automatic driving module and an automatic following module, and CAN continuously output a CAN message representing an operation state signal through the automatic following module, so that the automatic driving module CAN judge whether to close the output and switch to the automatic following module according to the CAN message representing the operation state signal, thereby achieving the purposes of automatic following and automatic driving automatic switching.
The following describes the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, the embodiment of the present disclosure provides a system for switching between automatic driving and automatic following, which may include: an autopilot module and an autopfollowing module.
The automatic following module is configured to: and continuously outputting the CAN message representing the running state signal, and outputting the CAN message for controlling the movement of the vehicle chassis after the CAN message is started.
The autopilot module is configured to: and receiving a CAN message representing the running state signal, and judging whether the automatic following module is started or not. If the automatic following module is started, the automatic following module is switched to, and the automatic following module outputs a CAN message for controlling the movement of the vehicle chassis. If the automatic following module is closed, the control output of the automatic driving module is maintained.
When the automatic following module is specifically used, the automatic driving module needs to be started first, and then the automatic driving module detects whether the automatic following module is started or not according to the CAN message representing the running state signal. And if the automatic following module is started, the control output of the automatic driving module is closed, and the automatic following module is switched to control the movement of the chassis of the vehicle. And if the automatic following module is not started or closed, starting the control output of the automatic driving module.
In the use process, the automatic driving module CAN judge whether the automatic following module is started or not through the received CAN message representing the running state signal. And when the automatic driving module is closed, whether the automatic following module is opened is not detected any more.
Further, the automatic following module comprises an automatic following remote controller transmitting end and an automatic following receiving conversion module.
The automatic following remote controller transmitting end is configured to: after being turned on, the UWB signal is emitted.
The automatic following reception conversion module is configured to: and receiving the UWB signal, converting the UWB signal into a CAN message for controlling the movement of the vehicle chassis, and transmitting the CAN message for controlling the movement of the vehicle chassis to the vehicle chassis.
In actual use, the automatic following module is turned on and off, namely, turned on and off automatically following the transmitting end of the remote controller. The automatic following remote controller transmitting end is opened, after the UWB signal is sent, the automatic following receiving conversion module converts the signal representing the opening of the automatic following module into a CAN signal and sends the CAN signal to the vehicle chassis for the automatic driving module to read so as to judge the opening and closing of the automatic following module.
Further, the automatic following reception conversion module is configured to: and continuously outputting the CAN message representing the running state signal, and after receiving the UWB signal, delaying 500ms to output the CAN message for controlling the movement of the vehicle chassis to the vehicle chassis. The step can ensure that the automatic following module controls the vehicle chassis to execute the automatic following instruction after the automatic driving module turns off the control output, thereby effectively avoiding the conflict caused by the simultaneous issuing of the control command by the automatic driving module and the automatic following module. And after the automatic following module is closed, the automatic following control instruction is immediately stopped from being output to the chassis of the vehicle, so that the influence on the control instruction output of the automatic driving module is effectively avoided.
Further, before the automatic following receiving conversion module does not receive the UWB signal, the automatic following receiving conversion module does not issue any control command to the vehicle chassis.
Further, the autopilot module is configured to: when the automatic following module is started, the current automatic driving task is interrupted or closed, and the control instruction is not output any more. When the auto-follow module is turned off, the previous autopilot task resumes execution or waits for a new task.
In the actual use process, the control instructions output by the automatic following module and the automatic driving module to the vehicle chassis are CAN messages which are generated according to CAN DBC files of the vehicle chassis and execute control instructions to the chassis.
In order to facilitate determining the relative position of the current vehicle with respect to the person issuing the following instruction, the automatic following reception conversion module is further configured to: judging the position of the current vehicle relative to the transmitting end of the automatic following remote controller according to the UWB signal, calculating the steering angle and speed of the vehicle according to the position of the current vehicle relative to the transmitting end of the automatic following remote controller, converting the steering angle and speed into CAN messages and transmitting the CAN messages to the chassis of the vehicle. Further, the following direction and speed of the current vehicle can be controlled according to the relative position of the current vehicle with respect to the person who issued the following instruction.
Through configuration autopilot module and autopilot module for after sending the autopilot instruction, the vehicle that is in autopilot at present CAN automatic switch to the autopilot state of following, and under autopilot module and autopilot module sharing CAN communication's the condition all the way, guaranteed that the instruction that autopilot module sent CAN not produce the conflict with the instruction that autopilot module sent, effectually solved autopilot automatic switch to the automatic easy problem that conflicts that follows.
The embodiment of the present disclosure also provides a method for switching between automatic driving and automatic following, as shown in fig. 2, which includes the following steps:
and starting the automatic driving module.
The automatic following module continuously outputs CAN messages representing the running state signals.
And the active driving module judges whether the automatic following module is started or not according to the CAN message representing the running state signal. If the automatic following module is started, the automatic following module is switched to output, and the automatic following module outputs a CAN message for controlling the movement of the vehicle chassis, so that the automatic following state is maintained. If the automatic following module is closed, the output of the automatic driving module is kept.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the product embodiments described later, since they correspond to the methods, the description is relatively simple, and reference is made to the description of parts of the system embodiments.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A system for switching between autopilot and autopilot, comprising: an autopilot module and an autopfollowing module;
the automatic following module is configured to: continuously outputting a CAN message representing an operation state signal, and after the CAN message is started, outputting the CAN message for controlling the movement of the vehicle chassis in a delayed manner;
the autopilot module is configured to: judging whether the automatic following module is started or not according to the CAN message representing the running state signal, switching to the automatic following module if the automatic following module is started, outputting the CAN message for controlling the movement of the vehicle chassis by the automatic following module, and keeping the control output of the automatic driving module if the automatic following module is closed.
2. The system for switching between automatic driving and automatic following according to claim 1, wherein the automatic following module comprises an automatic following remote controller transmitting end and an automatic following receiving conversion module;
the automatic following remote controller transmitting end is configured to: after opening, emitting UWB signals;
the automatic following reception conversion module is configured to: and receiving the UWB signal, converting the UWB signal into a CAN message for controlling the movement of the vehicle chassis, and transmitting the CAN message for controlling the movement of the vehicle chassis to the vehicle chassis.
3. The system for switching between autopilot and autopilot of claim 2 wherein the autopilot receive conversion module is further configured to: and judging the position of the current vehicle relative to the transmitting end of the automatic following remote controller according to the UWB signal, calculating the steering angle and speed of the vehicle according to the position of the current vehicle relative to the transmitting end of the automatic following remote controller, converting the steering angle and speed into CAN messages and transmitting the CAN messages to a vehicle chassis.
4. A system for switching between autopilot and autopilot according to claim 2 or 3 wherein the autopilot receive conversion module is configured to: and continuously outputting the CAN message representing the running state signal, and after receiving the UWB signal, delaying to output the CAN message for controlling the movement of the vehicle chassis.
5. The system for switching between autopilot and autopilot of claim 4 wherein the autopilot receive conversion module is configured to: and continuously outputting the CAN message representing the running state signal, and after receiving the UWB signal, delaying 500ms to output the CAN message for controlling the movement of the vehicle chassis.
6. The system for switching between autopilot and autopilot of claim 4 wherein the autopilot receive conversion module is further configured to: no control commands are sent to the vehicle chassis until the UWB signal is received.
7. The system for switching between autopilot and autopilot of claim 4 wherein the autopilot module is configured to: when the automatic following module is started, the current automatic driving task is interrupted or closed, a control instruction is not output any more, and when the automatic following module is closed, the automatic driving task before the execution is resumed or a new task is waited.
8. A method of switching between autopilot and autopilot, comprising the steps of:
starting an automatic driving module;
the automatic following module continuously outputs a CAN message representing an operation state signal, and after the automatic following module is started, the CAN message for controlling the movement of the vehicle chassis is output in a delayed mode;
and the automatic driving module judges whether the automatic following module is started according to the CAN message which characterizes the running state signal, if the automatic following module is started, the automatic following module is switched to output, the automatic following module outputs the CAN message for controlling the movement of the vehicle chassis, and if the automatic following module is closed, the control output of the automatic driving module is maintained.
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| CN202310253219.1A CN116279491B (en) | 2023-03-14 | 2023-03-14 | System and method for switching between automatic driving and automatic following |
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| CN202310253219.1A CN116279491B (en) | 2023-03-14 | 2023-03-14 | System and method for switching between automatic driving and automatic following |
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