CN117572869A - Vehicle proximity control method, device, equipment and storage medium - Google Patents
Vehicle proximity control method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a vehicle proximity control method, a device, equipment and a storage medium, wherein the method comprises the following steps: under the condition that a vehicle remote control instruction sent by target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction; transmitting the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes a vehicle control action corresponding to the vehicle control command; the vehicle remote control instruction comprises a running mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset running mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle proximity control method, a device, equipment and a storage medium.
Background
With the development of commercial vehicles, unmanned skateboard chassis is unmanned demand in specific areas such as harbour, wisdom commodity circulation garden is increased increasingly. The conventional remote control system is mainly used in industrial environment, has single structure and function, requires more functions for specific application scenes of port transportation and warehouse-to-warehouse transportation in an intelligent logistics park, has imperfect remote control function of the existing vehicle, and cannot meet vehicle control requirements.
Disclosure of Invention
The embodiment of the invention provides a vehicle short-range control method, a device, equipment and a storage medium, which can enrich the remote control function of a vehicle and improve the practicability of the remote control of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle proximity control method, including:
under the condition that a vehicle remote control instruction sent by target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction;
the vehicle control instruction is sent to a front end area controller of a target vehicle, so that the front end area controller executes vehicle control actions corresponding to the vehicle control instruction;
Wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
In a second aspect, an embodiment of the present invention provides a vehicle proximity control apparatus, the apparatus comprising:
the remote control instruction processing module is used for generating corresponding vehicle control instructions according to the vehicle remote control instructions under the condition that the vehicle remote control instructions sent by the target remote control equipment are received;
the control instruction sending module is used for sending the vehicle control instruction to a front end area controller of a target vehicle so that the front end area controller can execute vehicle control actions corresponding to the vehicle control instruction;
wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
In a third aspect, an embodiment of the present invention provides a computer apparatus, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle proximity control method of any of the embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle proximity control method according to any of the embodiments.
According to the technical scheme provided by the embodiment of the invention, under the condition that the vehicle remote control instruction sent by the target remote control equipment is received, a corresponding vehicle control instruction is generated according to the vehicle remote control instruction; transmitting the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes a vehicle control action corresponding to the vehicle control command; the vehicle remote control instruction comprises a running mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset running mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Drawings
FIG. 1 is a flow chart of a vehicle proximity control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of yet another vehicle proximity control method provided by an embodiment of the present invention;
FIG. 3 is a flow chart of another vehicle proximity control method provided by an embodiment of the present invention;
FIG. 4 is a flow chart of yet another vehicle proximity control method provided by an embodiment of the present invention;
FIG. 5 is a flowchart of an operation for vehicle proximity control provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a vehicle proximity control apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a vehicle proximity control system provided in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a vehicle proximity control method according to an embodiment of the present invention, where the method may be implemented by a vehicle proximity control device, and the device may be implemented in software and/or hardware.
As shown in fig. 1, the vehicle proximity control method includes the steps of:
s110, under the condition that a vehicle remote control instruction sent by the target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction.
The target remote control device may be a remote control device for performing process control on the target vehicle. Specifically, the target remote control device is provided with a plurality of remote control controls, each remote control corresponds to a vehicle remote control instruction, and a user can click on the corresponding remote control, so that the target remote control device sends the vehicle remote control instruction to a target vehicle, and further the target vehicle executes corresponding actions of the vehicle remote control instruction, and the short-range control of the vehicle is realized.
The vehicle remote control instruction comprises a running mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset running mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode. According to the embodiment of the invention, the running mode of the target vehicle is switched, so that the target vehicle can execute unique vehicle actions based on different running modes, and the practicability of remote control of the vehicle is improved.
Specifically, the vehicle remote control instruction includes: at least one of a power-on/off command, a low-voltage start/stop command, a high-voltage power-on/off command, a driving command, a service braking command, an emergency braking command, a parking braking command, a driving mode switching command, a car light control command, a horn control command, an automatic charging control command and a pod unlocking command.
And S120, sending the vehicle control instruction to a front end area controller of the target vehicle so that the front end area controller executes the vehicle control action corresponding to the vehicle control instruction.
The vehicle control command may be a command for controlling the target vehicle. The front end region controller may be disposed at a front end of the target vehicle. The front end section controller may be used to control the overall motion of the target vehicle. Specifically, after the vehicle control instruction is determined, the vehicle control instruction may be sent to the front-end area controller of the target vehicle, so that the front-end area controller executes the vehicle control action corresponding to the vehicle control instruction, and process control on the target vehicle is completed.
According to the technical scheme provided by the embodiment of the invention, under the condition that the vehicle remote control instruction sent by the target remote control equipment is received, a corresponding vehicle control instruction is generated according to the vehicle remote control instruction; transmitting the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes a vehicle control action corresponding to the vehicle control command; the vehicle remote control instruction comprises a running mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset running mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Fig. 2 is a flowchart of another vehicle proximity control method according to an embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario in which a commercial vehicle is remotely controlled, and further illustrates how, on the basis of the above embodiment, a corresponding vehicle control instruction is generated according to a vehicle remote control instruction when a driving mode switching instruction sent by a target remote control device is received.
As shown in fig. 2, the vehicle proximity control method includes the steps of:
s210, determining a target vehicle running mode according to current vehicle running information and the running mode switching instruction when a vehicle remote control instruction sent by target remote control equipment is received and the vehicle remote control instruction is the running mode switching instruction.
The target remote control device may be a remote control device for performing process control on the target vehicle. Specifically, the target remote control device is provided with a plurality of remote control controls, each remote control corresponds to a vehicle remote control instruction, and a user can click on the corresponding remote control, so that the target remote control device sends the vehicle remote control instruction to a target vehicle, and further the target vehicle executes corresponding actions of the vehicle remote control instruction, and the short-range control of the vehicle is realized.
Further, the travel mode switching instruction may be a remote control instruction for switching the travel mode of the target vehicle. After receiving the running mode switching instruction sent by the target remote control device, the running mode of the target vehicle can be determined together according to the current vehicle running information and the running mode switching instruction.
When the target vehicle running mode is determined according to the current vehicle running information and the running mode switching instruction, the mode switching state can be determined according to the current vehicle running information; when the mode switching state is a switchable state, the target vehicle travel mode is determined according to the travel mode switching instruction.
The vehicle running information may be information related to a running state of the target vehicle. Specifically, the vehicle travel information includes at least one of a vehicle gear, a vehicle speed, an up-down electric state, and a steering angle. The mode switching state may be a state of whether or not the target vehicle can make a running mode switching. Specifically, the mode switching state of the target vehicle may be determined according to the current vehicle running information. For example, a corresponding decision criterion may be set for each index item in the current vehicle running information, and if each index item in the current vehicle running information meets a preset decision criterion, the mode switching state may be determined to be a switchable state; otherwise, the state is not switchable.
When the mode switching state is a switchable state, it indicates that the current running state of the target vehicle satisfies the preset determination criterion for performing running model switching, so that the running mode of the target vehicle can be determined together according to the current vehicle running information and the running mode switching instruction at this time. Specifically, the target vehicle travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
Further, when the target vehicle travel mode is determined according to the travel mode switching instruction, the vehicle travel mode specified in the travel mode switching instruction may be set as the target vehicle travel mode, and when the final vehicle travel mode is not specified by the travel mode switching instruction, the preceding or following travel mode of the current travel mode of the target vehicle may be set as the target vehicle travel mode. The manner in which the target vehicle travel mode is determined based on the travel mode switching instruction is not limited herein.
S220, generating a running mode control instruction corresponding to the running mode switching instruction according to the running mode of the target vehicle.
The travel mode control instruction may be an instruction for controlling a travel mode switching of the target vehicle. Specifically, after the target vehicle running mode is determined, a running mode control instruction corresponding to the running mode switching instruction may be generated according to the target vehicle running mode. The target vehicle is then caused to switch the current vehicle running mode to the target vehicle running mode by sending a running mode control instruction to the front-end region controller of the target vehicle.
And S230, sending the vehicle control instruction to a front end area controller of the target vehicle so that the front end area controller executes the vehicle control action corresponding to the vehicle control instruction.
Wherein the front end region controller may be disposed at a front end of the target vehicle. The front end section controller may be used to control the overall motion of the target vehicle. The vehicle control command is the travel mode control command mentioned above in the embodiment of the invention. By transmitting the vehicle control instruction to the front-end region controller of the target vehicle, the front-end region controller can be caused to execute the vehicle control action corresponding to the vehicle control instruction, that is, to switch the current running mode of the target vehicle to the target vehicle running mode.
According to the technical scheme provided by the embodiment of the invention, under the condition that a vehicle remote control instruction sent by target remote control equipment is received and the vehicle remote control instruction is a running mode switching instruction, determining a target vehicle running mode according to current vehicle running information and the running mode switching instruction; generating a running mode control instruction corresponding to the running mode switching instruction according to the running mode of the target vehicle; and sending the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes the vehicle control action corresponding to the vehicle control command. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Fig. 3 is a flowchart of another vehicle proximity control method provided by the embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario of remote control of a commercial vehicle, and on the basis of the foregoing embodiment, further describes how, in the case of receiving a parking brake command sent by a target remote control device, a corresponding vehicle control command is generated according to the vehicle remote control command.
As shown in fig. 3, the vehicle proximity control method includes the steps of:
s310, determining a target parking brake state according to current speed information and current gear information of the target vehicle when a vehicle remote control instruction sent by target remote control equipment is received and the vehicle remote control instruction is a parking brake instruction.
The parking brake command may be a remote control command for parking braking the target vehicle. After receiving the parking brake instruction sent by the target remote control device, the target parking brake state can be determined according to the current speed information and the current gear information of the target vehicle.
The current vehicle speed information may be information related to a current vehicle speed of the target vehicle. Specifically, the current vehicle speed information includes a current vehicle speed and a current vehicle gear. The target parking brake state may be a state of whether the target vehicle can perform parking brake. Specifically, when determining the target parking braking state according to the current speed information and the current gear information of the target vehicle, a corresponding judgment standard can be set for each index item in the current speed information, and if each index item in the current speed information meets the preset judgment standard, the target parking braking state can be a braking state; otherwise, the brake is in an unbrakable state.
The method includes the steps that under the condition that the current speed of a target vehicle is smaller than a preset speed threshold value and the current gear of the target vehicle is a braking gear, a target parking braking state is determined to be a braking state; otherwise, the brake is in an unbrakable state. Wherein, but the braking gear includes: one of a park, forward, and vehicle key gear.
S320, generating a parking brake control instruction corresponding to the parking brake instruction according to the target parking brake state.
The parking brake control command may be a control command for performing parking brake on the target vehicle. Specifically, after the target parking brake state is determined, a parking brake control instruction corresponding to the parking brake instruction may be generated according to the target parking brake state. The front end section controller then controls the target vehicle to perform parking braking by transmitting a parking brake control instruction to the front end section controller of the target vehicle.
Further, whether to generate a parking brake control instruction corresponding to the parking brake instruction may be determined according to the target parking brake state. When the target parking brake state is a brake-capable state, the current running state of the target vehicle is indicated to meet the preset judgment standard for parking brake, so that a corresponding control instruction of the parking brake can be generated at the moment; when the target parking brake state is a brake-enabled state, the current running state of the target vehicle is indicated to meet the preset determination criterion for performing the parking brake, and thus a corresponding control command for the parking brake cannot be generated.
And S330, the vehicle control instruction is sent to a front end area controller of the target vehicle, so that the front end area controller executes the vehicle control action corresponding to the vehicle control instruction.
Wherein the front end region controller may be disposed at a front end of the target vehicle. The front end section controller may be used to control the overall motion of the target vehicle. The vehicle control command is in the embodiment of the invention, i.e. the above-mentioned parking brake control command. By transmitting the vehicle control instruction to the front-end section controller of the target vehicle, the front-end section controller can be caused to execute the vehicle control action corresponding to the vehicle control instruction, that is, the front-end section controller controls the target vehicle to perform the parking brake. By means of parking braking, accidents such as sliding of the vehicle during braking can be avoided, and vehicle control safety is improved.
According to the technical scheme provided by the embodiment of the invention, the target parking braking state is determined according to the current speed information and the current gear information of the target vehicle under the condition that the vehicle remote control instruction sent by the target remote control equipment is received and the vehicle remote control instruction is the parking braking instruction; generating a parking brake control instruction corresponding to the parking brake instruction according to the target parking brake state; and sending the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes the vehicle control action corresponding to the vehicle control command. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Fig. 4 is a flowchart of another vehicle proximity control method provided by the embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario of remote control of a commercial vehicle, and on the basis of the foregoing embodiment, further illustrates how, in the case of receiving an unlock instruction of a pod sent by a target remote control device, a corresponding vehicle control instruction is generated according to the vehicle remote control instruction.
As shown in fig. 4, the vehicle proximity control method includes the steps of:
s410, under the condition that a vehicle remote control instruction sent by target remote control equipment is received and the vehicle remote control instruction is a diversion cabin unlocking instruction, determining a target diversion cabin unlocking state according to current speed information and current gear information of the target vehicle.
The pod unlocking instruction may be a remote control instruction for unlocking the pod of the target vehicle. The guide cabin disassembly instruction is used for controlling the guide cabin unlocking device to unlock the guide cabin of the target vehicle and disassemble the guide cabin. After receiving the guide cabin unlocking instruction sent by the target remote control equipment, the target guide cabin unlocking state can be determined according to the current speed information and the current gear information of the target vehicle.
The current vehicle speed information may be information related to a current vehicle speed of the target vehicle. Specifically, the current vehicle speed information includes a current vehicle speed and a current vehicle gear. The target pod unlock state may be a state of whether the target vehicle may perform pod unlock. Specifically, when determining the target pod unlocking state according to the current speed information and the current gear information of the target vehicle, a corresponding judgment standard can be set for each index item in the current speed information, and if each index item in the current speed information meets the preset judgment standard, the target pod unlocking state can be the pod unlocking state; otherwise, the cabin is in an unlocked state.
For example, when the current speed of the target vehicle is zero and the current gear of the target vehicle is a parking gear, determining that the target pod unlocking state is a pod-steerable unlocking state; otherwise, the cabin is in an unlocked state.
S420, generating a pod disassembly instruction corresponding to the pod unlocking instruction according to the target pod unlocking state.
Wherein the pod disassembly command may be a command for controlling the automatic disassembly of the pod of the target vehicle. Specifically, after the target pod unlocking state is determined, a pod disassembly instruction corresponding to the pod unlocking instruction may be generated according to the target pod unlocking state. And then, the guide cabin disassembly command is sent to the front-end area controller of the target vehicle, so that the front-end area controller controls the target vehicle to automatically disassemble the guide cabin.
Further, whether the pod disassembly instruction corresponding to the pod unlocking instruction is generated or not can be determined according to the target parking disassembly state. Under the condition that the disassembly state of the target diversion cabin is a detachable state, the current running state of the target vehicle is indicated to meet the preset judgment standard for disassembling the diversion cabin, and at the moment, a corresponding control instruction for disassembling the diversion cabin can be generated; and under the condition that the disassembly state of the target diversion cabin is a detachable state, the current running state of the target vehicle is indicated to meet the preset judgment standard for disassembling the diversion cabin, so that a corresponding control instruction for disassembling the diversion cabin cannot be generated.
And S430, sending the vehicle control instruction to a front end area controller of the target vehicle so that the front end area controller executes the vehicle control action corresponding to the vehicle control instruction.
In the embodiment of the present invention, the vehicle control command is the pod disassembly command mentioned above. By sending the pod disassembly instruction to the front-end area controller of the target vehicle, the front-end area controller can execute the vehicle control action corresponding to the vehicle control instruction, that is, the pod is automatically disassembled by the target vehicle. Through setting up the guide cabin unblock instruction, can avoid prior art to need the manual work to dismantle the guide cabin, lead to the long problem of vehicle debugging and maintenance cycle, can make target vehicle's automatic dismantlement to the guide cabin, improved the efficiency of vehicle debugging and maintenance greatly, shortened the maintenance cycle.
Illustratively, FIG. 5 is a flowchart of an operation for vehicle proximity control provided by an embodiment of the present invention. As shown in fig. 5, the workflow of performing vehicle proximity control is: starting up by using a start key, and judging whether the remote control device and the remote control receiver are connected and paired or not; if the connection pairing is not performed, alarming is performed, and the state of the equipment is checked manually; if the connection pairing is successful, the short-range remote control is started, and specifically, the short-range remote control comprises: control functions such as high-voltage power-on and power-off, low-voltage start-stop, automatic charging, driving control of service braking, parking braking, running mode switching, lamplight/loudspeaker control and the like; wherein, the driving mode includes: a first half eight mode, a second half eight mode, a diagonal mode and a splay mode; furthermore, the vehicle can feed back the vehicle state to the cloud end, and the short-range remote control is finished.
According to the technical scheme provided by the embodiment of the invention, under the condition that a vehicle remote control instruction sent by target remote control equipment is received and the vehicle remote control instruction is a diversion cabin unlocking instruction, determining a target diversion cabin unlocking state according to the current speed information and the current gear information of a target vehicle; generating a guide cabin disassembly instruction corresponding to the guide cabin unlocking instruction according to the target guide cabin unlocking state; and sending the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes the vehicle control action corresponding to the vehicle control command. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
Fig. 6 is a schematic structural diagram of a vehicle proximity control device according to an embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario in which a commercial vehicle is remotely controlled, and the device may be implemented in software and/or hardware, and integrated into a computer device having an application development function.
As shown in fig. 6, the vehicle proximity control apparatus includes: a road information acquisition module 310, a control parameter determination module 320, and a control parameter determination module 330.
The remote control instruction processing module 310 is configured to generate a corresponding vehicle control instruction according to a vehicle remote control instruction under the condition that the vehicle remote control instruction sent by the target remote control device is received; a control instruction sending module 320, configured to send the vehicle control instruction to a front end area controller of a target vehicle, so that the front end area controller executes a vehicle control action corresponding to the vehicle control instruction; wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
According to the technical scheme provided by the embodiment of the invention, under the condition that the vehicle remote control instruction sent by the target remote control equipment is received, a corresponding vehicle control instruction is generated according to the vehicle remote control instruction; transmitting the vehicle control command to a front-end area controller of the target vehicle so that the front-end area controller executes a vehicle control action corresponding to the vehicle control command; the vehicle remote control instruction comprises a running mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset running mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode. The technical scheme of the embodiment of the invention solves the problems that the existing vehicle remote control technology has single vehicle remote control function and cannot meet the vehicle control requirement, can enrich the vehicle remote control function and improves the practicability of vehicle remote control.
In an alternative embodiment, the remote control command processing module 310 includes: a travel mode switching instruction processing unit configured to: determining a target vehicle running mode according to current vehicle running information and the running mode switching instruction under the condition that the vehicle remote control instruction is the running mode switching instruction; and generating a running mode control instruction corresponding to the running mode switching instruction according to the running mode of the target vehicle.
In an alternative embodiment, the travel mode switching instruction processing unit includes: a vehicle travel mode determination subunit configured to: determining a mode switching state according to the current vehicle running information; wherein the vehicle travel information includes: at least one of a vehicle gear, a vehicle speed, an up-down electric state, and a steering angle; and when the mode switching state is a switchable state, determining the target vehicle running mode according to the running mode switching instruction.
In an alternative embodiment, the remote control command processing module 310 includes: under the condition that the vehicle remote control instruction is a parking brake instruction, determining a target parking brake state according to current speed information and current gear information of the target vehicle; and generating a guide cabin disassembly instruction corresponding to the parking brake instruction according to the target parking brake state.
In an alternative embodiment, the parking brake command processing unit includes: a parking brake state determination subunit configured to: determining that the target parking brake state is a brake-capable state when the current speed of the target vehicle is smaller than a preset speed threshold and the current gear of the target vehicle is a brake-capable gear; wherein, but the braking gear includes: one of a park, forward, and vehicle key gear.
In an alternative embodiment, the remote control command processing module 310 includes: the pod unlocking instruction processing unit is used for: under the condition that the vehicle remote control instruction is a diversion cabin unlocking instruction, determining a target diversion cabin unlocking state according to the current speed information and the current gear information of the target vehicle; generating a pod disassembly instruction corresponding to the pod unlocking instruction according to the target pod unlocking state; the guide cabin disassembly instruction is used for controlling a guide cabin unlocking device to unlock the guide cabin of the target vehicle and disassemble the guide cabin.
In an alternative embodiment, the vehicle remote control instruction includes: at least one of a power-on/off command, a low-voltage start/stop command, a high-voltage power-on/off command, a driving command, a service braking command, an emergency braking command, a parking braking command, a driving mode switching command, a car light control command, a horn control command, an automatic charging control command and a pod unlocking command.
Fig. 7 is a schematic diagram illustrating a vehicle proximity control system according to an embodiment of the present invention. As shown in fig. 7, the vehicle proximity control system includes: battery, ignition switch, front end area controller, remote control receiver, remote control device, TBOX, vehicle brake and steering control system, etc.; the front end area controller mainly comprises a central processing unit MCU, a CAN communication module, a power supply processing module, a low-voltage start-stop module, a driving module, a gear switching module, a braking module, a driving mode switching module, a parking module, a vehicle body control module, a high-voltage power-on and power-off module, a charging control module, a guide cover unlocking control module and the like.
The central processing unit MCU of the front-end area controller sends control instructions of driving, braking, steering, vehicle body control, parking, charging and the like to the control system of the skateboard chassis through the CAN communication module to realize short-range remote control of the vehicle. Meanwhile, the front end area controller collects vehicle information of the skateboard chassis through the CAN communication module, and when the states of low electric quantity, failure in power-on of high voltage and the like of the vehicle occur, the vehicle information is sent to the TBOX to be uploaded to the cloud, and meanwhile, the vehicle information is fed back to the remote control device to give an alarm prompt.
The driving module, the gear switching module, the braking module, the driving mode switching module, the parking module, the vehicle body control module, the high-voltage power-on and power-off module, the power-on and power-off module and the charging control module are mainly used for processing remote control requirements sent by a remote controller and issuing remote control instructions to a vehicle control system through the CAN module.
The control function of the unmanned skateboard chassis short-range remote control system is as follows:
and (3) system on-off: and the on-off module receives an on-off signal sent by the remote control receiver to process digital switching value and is used for controlling the on-off of the vehicle.
Low-pressure start-stop: the low-voltage start-stop module is used for receiving low-voltage start and stop switching value signals sent by the remote control transceiver, processing and identifying the signals and controlling the low-voltage power on/off of the vehicle, and the low-voltage power on/off module mainly comprises an analog quantity and switching value signal processing unit, a low-voltage component start-stop processing unit, a vehicle state comprehensive judgment and low-voltage power on/off instruction issuing, so that the power on/off of all low-voltage systems is realized;
High-voltage power-on and power-off: the high-voltage power-on/off switch value signals sent by the remote control transceiver are received through the high-voltage power-on/off module, and are processed and identified and used for controlling the high-voltage power-on/off of the new energy vehicle, the high-voltage power-on/off module mainly comprises an analog quantity and switch value signal processing unit, a high-voltage component start-stop processing unit, a vehicle state comprehensive judgment, a high-voltage power-on/off instruction is issued, and the start-stop of systems such as a high-voltage accessory and a motor is controlled to realize the high-voltage power-on/off of the vehicle;
vehicle driving running: the acceleration module mainly comprises an analog signal processing unit and an acceleration and deceleration calculation unit, comprehensively judges the state of the vehicle, issues driving torque control and gear switching instructions, and realizes acceleration and deceleration of the vehicle and gear switching;
the vehicle braking system comprises a vehicle braking module, a remote control transceiver and a vehicle braking module, wherein the vehicle braking module is used for receiving a vehicle braking signal sent by the remote control transceiver and is used for vehicle braking, and the braking module mainly comprises an analog quantity and switching quantity signal processing unit, a deceleration speed calculating unit, and a vehicle state comprehensive judgment and issuing vehicle braking instruction;
the emergency braking module is used for receiving an emergency braking signal sent by the remote control transceiver and used for braking under the emergency condition of the vehicle, and mainly comprises a switching value signal processing unit, and the vehicle state comprehensive judgment and issuing a vehicle braking instruction.
The parking brake module is used for receiving a parking brake signal sent by the remote control transceiver and used for parking braking, and mainly comprises an analog quantity and switching quantity signal processing unit, a parking brake deceleration speed calculating unit, a vehicle state comprehensive judgment and issuing a parking brake instruction;
the driving mode is switched, the driving mode switching module is used for receiving the first half eight, the second half eight, the diagonal and splay mode switching signals sent by the remote control transceiver and controlling the steering direction and the angle and selecting the steering mode, and the steering module mainly comprises a steering mode analog quantity and switching value signal processing unit, a steering angle calculating unit, a vehicle state comprehensive judgment unit and a steering angle and rotating speed control instruction;
the vehicle light/horn control module is used for receiving light/horn signals sent by the remote control transceiver through the vehicle body control module and is used for lighting the light and activating the horn to give out warning, and mainly comprises a light and horn driving processing unit, comprehensively judging the vehicle state and issuing a light/horn control command;
the automatic charging control is realized by receiving a charging control signal sent by the remote control transceiver through the charging control module, and is used for starting charging or ending charging of the vehicle, wherein the charging control module comprises a charging control button, a starting charging signal processing unit, an ending charging signal processing unit and a charging indicator lamp, and the vehicle state is comprehensively judged and a charging control instruction is issued;
The dome unlocking module is used for receiving a dome unlocking control signal sent by the remote control transceiver through the dome unlocking module and used for unlocking the dome of the chassis of the skateboard, and the dome unlocking module body control module mainly comprises a dome unlocking processing unit, comprehensively judges the vehicle state and issues a dome unlocking control instruction;
the central processing unit MCU transmits processing instructions such as driving running, gear switching, braking, running mode switching, parking braking, light horn control, high-voltage power-on and power-off, automatic charging, emergency braking and the like of the vehicle to a motor, a battery, braking, steering and other systems of the scooter chassis vehicle through the CAN communication module to realize remote control of the vehicle function, and simultaneously transmits an alarm state to the TBOX, and the alarm state is uploaded to the cloud platform for information storage and subsequent control, so that the scooter chassis low-voltage start-stop, high-voltage power-on and power-off, vehicle acceleration and deceleration running, braking, parking, emergency braking, energy recovery, running mode switching, automatic vehicle charging, light and horn control, guide cover unlocking, vehicle state information uploading cloud and other short-range vehicle control functions CAN be realized.
The vehicle proximity control device provided by the embodiment of the invention can execute the vehicle proximity control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Computer device 12 may be any terminal device having computing capabilities and may be configured in a vehicle proximity control device.
As shown in FIG. 8, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 may be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown in fig. 8, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in fig. 8, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the vehicle proximity control method provided by the present embodiment, the method includes:
under the condition that a vehicle remote control instruction sent by target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction;
the vehicle control instruction is sent to a front end area controller of a target vehicle, so that the front end area controller executes vehicle control actions corresponding to the vehicle control instruction;
wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle proximity control method as provided by any embodiment of the present invention, comprising:
under the condition that a vehicle remote control instruction sent by target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction;
The vehicle control instruction is sent to a front end area controller of a target vehicle, so that the front end area controller executes vehicle control actions corresponding to the vehicle control instruction;
wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A vehicle proximity control method, comprising:
under the condition that a vehicle remote control instruction sent by target remote control equipment is received, generating a corresponding vehicle control instruction according to the vehicle remote control instruction;
the vehicle control instruction is sent to a front end area controller of a target vehicle, so that the front end area controller executes vehicle control actions corresponding to the vehicle control instruction;
wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
2. The method of claim 1, wherein generating the corresponding vehicle control command from the vehicle remote control command comprises:
determining a target vehicle running mode according to current vehicle running information and the running mode switching instruction under the condition that the vehicle remote control instruction is the running mode switching instruction;
and generating a running mode control instruction corresponding to the running mode switching instruction according to the running mode of the target vehicle.
3. The method according to claim 2, wherein the determining a target vehicle travel mode according to current vehicle travel information and the travel mode switching instruction includes:
determining a mode switching state according to the current vehicle running information; wherein the vehicle travel information includes: at least one of a vehicle gear, a vehicle speed, an up-down electric state, and a steering angle;
and when the mode switching state is a switchable state, determining the target vehicle running mode according to the running mode switching instruction.
4. The method of claim 1, wherein generating the corresponding vehicle control command from the vehicle remote control command comprises:
under the condition that the vehicle remote control instruction is a parking brake instruction, determining a target parking brake state according to current speed information and current gear information of the target vehicle;
and generating a parking brake control instruction corresponding to the parking brake instruction according to the target parking brake state.
5. The method of claim 4, wherein determining the target parking brake state based on the current vehicle speed information and the current gear information of the target vehicle comprises:
Determining that the target parking brake state is a brake-capable state when the current speed of the target vehicle is smaller than a preset speed threshold and the current gear of the target vehicle is a brake-capable gear;
wherein, but the braking gear includes: one of a park, forward, and vehicle key gear.
6. The method of claim 1, wherein generating the corresponding vehicle control command from the vehicle remote control command comprises:
under the condition that the vehicle remote control instruction is a diversion cabin unlocking instruction, determining a target diversion cabin unlocking state according to the current speed information and the current gear information of the target vehicle;
generating a pod disassembly instruction corresponding to the pod unlocking instruction according to the target pod unlocking state;
the guide cabin disassembly instruction is used for controlling a guide cabin unlocking device to unlock the guide cabin of the target vehicle and disassemble the guide cabin.
7. The method of claim 1, wherein the vehicle remote control command comprises: at least one of a power-on/off command, a low-voltage start/stop command, a high-voltage power-on/off command, a driving command, a service braking command, an emergency braking command, a parking braking command, a driving mode switching command, a car light control command, a horn control command, an automatic charging control command and a pod unlocking command.
8. A vehicle proximity control apparatus, the apparatus comprising:
the remote control instruction processing module is used for generating corresponding vehicle control instructions according to the vehicle remote control instructions under the condition that the vehicle remote control instructions sent by the target remote control equipment are received;
the control instruction sending module is used for sending the vehicle control instruction to a front end area controller of a target vehicle so that the front end area controller can execute vehicle control actions corresponding to the vehicle control instruction;
wherein the vehicle remote control instruction includes a travel mode switching instruction; the running mode switching instruction is used for switching a preset running mode of the target vehicle; the preset travel mode includes: at least one of a first half eight travel mode, a second half eight travel mode, a diagonal travel mode, and a splayed travel mode.
9. A computer device, the computer device comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle proximity control method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle proximity control method as claimed in any one of claims 1-7.
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| CN202311596967.6A CN117572869A (en) | 2023-11-27 | 2023-11-27 | Vehicle proximity control method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311596967.6A CN117572869A (en) | 2023-11-27 | 2023-11-27 | Vehicle proximity control method, device, equipment and storage medium |
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| CN202311596967.6A Pending CN117572869A (en) | 2023-11-27 | 2023-11-27 | Vehicle proximity control method, device, equipment and storage medium |
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