WO2018019141A1

WO2018019141A1 - Emergency driving method and system based on vehicle remote control, and vehicle

Info

Publication number: WO2018019141A1
Application number: PCT/CN2017/093044
Authority: WO
Inventors: 刘恩阜; 尚小良; 刘芳; 田旭东; 郑博
Original assignee: 比亚迪股份有限公司
Priority date: 2016-07-28
Filing date: 2017-07-14
Publication date: 2018-02-01
Also published as: CN107664957B; CN107664957A

Abstract

An emergency driving method and system based on vehicle remote control, and a vehicle. The method comprises the following steps: detecting whether a remote control signal of a controlled vehicle in a remote control mode is abnormally interrupted (S1); if the remote control signal is abnormally interrupted, determining whether a vehicle that is located in the front of the controlled vehicle and that drives in the same direction of the controlled vehicle exists (S2); and if the vehicle driving in the same direction exists, selecting the vehicle driving in the same direction as a target tracking vehicle, and controlling the controlled vehicle to perform tracking driving in reference to the target tracking vehicle (S3).A controlled vehicle can be continuously controlled when a remote control signal is abnormally interrupted, thereby effectively ensuring the safety of the controlled vehicle.

Description

Emergency driving method, system and vehicle based on vehicle remote control

Cross-reference to related applications

The present application claims the priority of the Chinese patent application No. "201610613098.7" filed on July 28, 2016 by the BYD Co., Ltd., entitled "Emergency Driving Method, System and Vehicle Based on Vehicle Remote Control".

Technical field

The present invention relates to the field of vehicle technology, and in particular, to an emergency driving method based on vehicle remote control, an emergency driving system based on vehicle remote control, and a vehicle.

Background technique

With the vigorous development of the Internet and electronic technology industry, today's society has gradually entered the era of intelligence from the mechanical age. As a typical representative of traditional manufacturing industry, automobiles urgently need to be transformed to better integrate into the current trend of the Internet, and open up a new development world for traditional manufacturing. For this reason, automotive intelligence has emerged.

At present, the most common automotive intelligent technologies include auto-driving technology, auto-assisted driving technology and vehicle networking technology. As the name suggests, auto-driving technology means that the car can complete the driving task independently without the operation. The car-assisted driving is to let the electronic The system helps the driver to perform certain minor operational tasks or provide the driver with some useful driving environment parameters, while the Internet of Vehicles technology allows the vehicle to have wireless communication capabilities.

Based on the above-mentioned automobile intelligent technology, a remote control technology is also proposed in which a controlled vehicle can accept a driving command of a remotely controlled vehicle to complete a driving task or a control vehicle can remotely control a controlled vehicle to complete a driving task. However, when the remote control link fails, the controlled vehicle will be out of control and may be in a dangerous situation.

Summary of the invention

The present invention aims to solve at least one of the technical problems in the above-mentioned techniques to some extent. To this end, an object of the present invention is to provide an emergency driving method based on remote control of a vehicle, which can continue to control the controlled vehicle when the remote control signal is abnormally interrupted, thereby effectively ensuring the safety of the controlled vehicle.

A second object of the present invention is to provide an emergency driving system based on vehicle remote control.

A third object of the present invention is to propose a vehicle.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides an emergency driving method based on vehicle remote control, the method comprising the steps of: detecting whether a remote control signal of a controlled vehicle in a remote control mode is abnormal If the remote control signal is abnormally interrupted, it is determined whether there is a vehicle traveling in the same direction in front of the controlled vehicle; if the vehicle traveling in the same direction exists, the vehicle traveling in the same direction is selected as a target Following the vehicle and controlling the controlled vehicle to follow the vehicle with reference to the target following vehicle.

According to the emergency driving method of the vehicle remote control according to the embodiment of the present invention, when it is detected that the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted, it can be determined whether there is a vehicle traveling in the same direction in front of the controlled vehicle, if If there is a vehicle traveling in the same direction, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the target following the vehicle for following travel, thereby being able to continue to carry out the controlled vehicle when the remote control signal is abnormally interrupted. The control effectively ensures the safety of the controlled vehicle, and the method is easy to implement and the implementation cost is low.

In order to achieve the above object, an embodiment of the second aspect of the present invention provides an emergency driving system based on vehicle remote control, the system comprising: a signal detecting module, wherein the signal detecting module is configured to detect a controlled vehicle in a remote control mode Whether the remote control signal is abnormally interrupted or not; the determining module, configured to determine whether there is a vehicle traveling in the same direction in front of the controlled vehicle when the remote control signal is abnormally interrupted; and a control module, wherein the control module is used When the vehicle traveling in the same direction exists, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the vehicle following the target following vehicle.

According to the emergency driving system for vehicle remote control according to the embodiment of the present invention, when the signal detecting module detects that the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted, the determining module can determine whether there is a direction in front of the controlled vehicle. In the traveling vehicle, if there is a vehicle traveling in the same direction, the control module may select the vehicle traveling in the same direction as the target following vehicle, and control the controlled vehicle to follow the target following the vehicle for following the driving, thereby being able to abnormally control the signal at the remote The controlled vehicle is continuously controlled during the interruption, which effectively ensures the safety of the controlled vehicle, and the system is easier to implement and the implementation cost is lower.

In order to achieve the above object, a third aspect of the present invention provides a vehicle including an emergency driving system based on vehicle remote control proposed by the second aspect of the present invention.

The vehicle according to the embodiment of the present invention can continue driving when the remote control signal is abnormally interrupted, and the safety is high.

The additional aspects and advantages of the invention will be set forth in part in the description which follows.

DRAWINGS

1 is a flow chart of an emergency driving method based on vehicle remote control according to an embodiment of the present invention;

2 is a flow chart of an emergency driving method based on vehicle remote control, in accordance with an embodiment of the present invention;

3 is a block diagram showing an emergency driving system based on vehicle remote control according to an embodiment of the present invention;

4 is a block diagram showing an emergency driving system based on vehicle remote control according to another embodiment of the present invention;

Figure 5 is a block schematic diagram of a vehicle in accordance with an embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

An emergency driving method, system and vehicle based on vehicle remote control according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

1 is a flow chart of an emergency driving method based on vehicle remote control according to an embodiment of the present invention.

As shown in FIG. 1 , an emergency driving method based on vehicle remote control according to an embodiment of the present invention includes the following steps:

S1. Detect whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted.

The controlled vehicle of the embodiment of the present invention has a remote control function, and the controlled vehicle can receive the remote control signal and control the throttle, brake system, clutch, direction and gear position of the controlled vehicle according to the remote control signal for driving.

The reason for the abnormal interruption of the remote control signal may include a signal transmission end failure, a signal reception end failure, a signal forwarding end failure, or a signal transmission path abnormality. In one embodiment of the invention, the remote control signal can be received by the wireless communication module in the controlled vehicle, and when the wireless communication module is unable to receive the remote control signal, the remote control signal can be determined to be abnormally interrupted.

S2, if the remote control signal is abnormally interrupted, it is judged whether there is a vehicle traveling in the same direction in front of the controlled vehicle.

In an embodiment of the present invention, if the remote control signal is abnormally interrupted, the information of the distance sensor, the motion determination sensor, and the field of view acquisition camera may be integrated to determine whether there is a vehicle traveling in the same direction in front.

S3. If there is a vehicle traveling in the same direction, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the vehicle following the target.

After the target following vehicle is selected, the controlled vehicle is controlled to follow the vehicle by following the vehicle by controlling the throttle, brake system, clutch, direction, and gear of the controlled vehicle. At the same time, the distance between the controlled vehicle and the target following vehicle can be obtained, and when the controlled vehicle is controlled, the vehicle speed of the controlled vehicle is controlled to maintain the distance between the controlled vehicle and the target following vehicle as a safety vehicle. distance.

In one embodiment of the present invention, the controlled vehicle may travel along a planned route, and if the target following vehicle is no longer traveling in the same direction as the controlled vehicle follows the target, the target following vehicle is selected for the same direction. Until the completion of the planned route travels to the navigation destination, or the remote control signal returns to normal. Thus, when the remote control signal is abnormally interrupted, the controlled vehicle can still be controlled to complete the predetermined driving task.

In an embodiment of the present invention, if there is no vehicle traveling in the same direction in front of the controlled vehicle, or the target following vehicle disappears, controlling the controlled vehicle to travel at a low speed, and further acquiring the current geographical location information of the controlled vehicle, Determining whether the controlled vehicle is in a no-signal area; if the controlled vehicle is in a no-signal area, continuously controlling the controlled vehicle to travel at a low speed until the unsignaled area is exited; if the controlled vehicle is not in the unsignaled area, then according to the current geography Bit Set the appropriate parking location to park to the side. After the controlled vehicle stops at the side, it can also send out a distress signal and simultaneously send the current location to find the controlled vehicle.

In an embodiment of the present invention, the controlled vehicle may follow the out-of-signal area when the reference target follows the vehicle for following the driving, or select a suitable parking position to stop by the side, and issue the distress signal and the controlled vehicle. The current location. Thereby, the safety of the controlled vehicle can be ensured to the utmost extent.

In a specific embodiment of the present invention, as shown in FIG. 2, the emergency driving method based on vehicle remote control may include the following steps:

S201. Detect whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted. If yes, step S202 is performed, and if no, step S203 is performed.

S202, starting the emergency driving system. The emergency driving system of the embodiment of the present invention can perform the following method. After the emergency driving system is activated, the emergency driving system has the highest authority for controlled vehicle control.

S203, the emergency driving system is not activated.

When the remote control signal is not abnormally interrupted, the remote control terminal or other set terminal can normally remotely control the controlled vehicle.

S204. Determine whether there is a vehicle traveling in the same direction in front of the controlled vehicle. Wherein, the image captured by the field of view acquisition camera can be analyzed and processed by the image processing unit, and the distance information detected by the distance sensor and the motion state detected by the motion determination sensor are analyzed and processed by the distance and motion processing unit to be controlled. The current driving environment of the vehicle can determine whether there is a vehicle traveling in the same direction according to the current driving environment of the controlled vehicle. If there is a vehicle traveling in the same direction, step S205 is performed; if there is no vehicle traveling in the same direction, step S208 is performed.

S205, entering the following driving mode. In the following travel mode, the controlled vehicle can be controlled to follow the vehicle with reference to the target traveling vehicle in the same direction.

S206, determining whether the target follows the vehicle or not. If yes, go to step S207; if no, go back to step S204 to find other vehicles traveling in the same direction.

S207, driving along the planned route until reaching the navigation destination or the remote control signal returns to normal.

S208, entering a short-range low-speed autonomous driving mode. In the short-range low-speed autonomous driving mode, autonomous driving can be performed under the condition that the minimum speed limit is satisfied according to the current driving environment of the controlled vehicle.

S209. Determine whether the current location is a specific unsignaled area. For example, a controlled vehicle is located in a tunnel or a short-range mountain When the road is in progress, the remote control signal may not be received in a short time. Whether the current location is a specific no-signal area may be determined according to the navigation positioning and the map information, and if yes, step S210 is performed; if not, step S211 is performed.

S210, driving out of the no signal area.

The specific unsignaled area is generally small, and the controlled vehicle can receive the remote control signal again after exiting the unsignaled area, so that the controlled vehicle can be remotely controlled normally.

S211, select a suitable parking position to park on the side. If the controlled vehicle is not in the no-signal area, the transmission of the remote control signal is likely to encounter a fault that is temporarily difficult to remove, and cannot be recovered in a short time, so it is reliable to stop and send the current to the control terminal or other set terminal. Geographic location information and distress signals.

In order to implement the emergency driving method based on vehicle remote control of the above embodiment, the present invention also proposes an emergency driving system based on vehicle remote control.

As shown in FIG. 3, an emergency driving system based on vehicle remote control according to an embodiment of the present invention includes: a signal detecting module 10, a judging module 20, and a control module 30.

The signal detecting module 10 is configured to detect whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted; and the determining module 20 is configured to determine whether there is a co-directional traveling in front of the controlled vehicle when the remote control signal is abnormally interrupted. The vehicle control module 30 is configured to select a vehicle traveling in the same direction as a target following vehicle when there is a vehicle traveling in the same direction, and control the controlled vehicle to follow the vehicle following the target following vehicle.

The reason for the abnormal interruption of the remote control signal may include a signal transmission end failure, a signal reception end failure, a signal forwarding end failure, or a signal transmission path abnormality. In an embodiment of the present invention, as shown in FIG. 4, the signal detecting module 10, the judging module 20, and the control module 30 may be integrated in a vehicle controller, and the emergency driving system based on vehicle remote control may further include a wireless communication module. 40. The remote control signal can be received by the wireless communication module 40. When the wireless communication module 40 cannot receive the remote control signal, the remote control signal can be determined to be abnormally interrupted.

In an embodiment of the present invention, as shown in FIG. 4, the emergency driving system based on vehicle remote control may further include a driving environment detecting module 50. The driving environment detecting module 50 may include a field of view capturing camera, a distance sensor, a motion determining sensor, an image processing unit, and a distance and motion processing unit, wherein the image captured by the image capturing unit may be analyzed and processed by the image processing unit, and The distance and motion processing unit analyzes the distance information detected by the distance sensor and the motion state detected by the motion determination sensor to obtain a current driving environment of the controlled vehicle, so that the determining module 20 can be according to the current driving environment of the controlled vehicle. It is judged whether there is a vehicle traveling in the same direction in front of it.

After the target following vehicle is selected, follow-up travel can be performed by controlling the controlled vehicle's execution module 60 to control the controlled vehicle to follow the target following the vehicle. Wherein, as shown in FIG. 4, the execution module 60 may include an accelerator pedal, a brake pedal, Clutch pedal, steering wheel and shift lever. Meanwhile, the vehicle distance between the controlled vehicle and the target following vehicle may be acquired by the driving environment detecting module 50, and the control module 30 controls the controlled vehicle to control the vehicle speed of the controlled vehicle to control the vehicle and the target following vehicle when controlling the controlled vehicle to travel. The distance between the vehicles is maintained as a safe distance.

As shown in FIG. 4, the vehicle remote control based emergency driving system of the embodiment of the present invention may further include a navigation module 70, and the controlled vehicle travels along the planned route of the navigation module 70, if the controlled vehicle follows the target following the vehicle, if The target following vehicle no longer travels in the same direction, then the control module 30 selects another target traveling vehicle that travels in the same direction until the travel of the planned route reaches the navigation destination, or the remote control signal returns to normal. Thus, when the remote control signal is abnormally interrupted, the controlled vehicle can still be controlled to complete the predetermined driving task.

In an embodiment of the present invention, the control module 30 is further configured to control the controlled vehicle to travel at a low speed when the vehicle in the same direction does not exist in front of the controlled vehicle, or when the target follows the vehicle disappears, and obtain the navigation module 70 according to the navigation module 70. The current geographical location information of the controlled vehicle determines whether the controlled vehicle is in the no-signal area, and continuously controls the controlled vehicle to drive at a low speed until the controlled vehicle is in the no-signal area until the controlled vehicle is not in the no-signal area. In the signal area, the appropriate parking position is selected according to the current geographical location information acquired by the navigation module 70 to park sideways. After the controlled vehicle is parked on the side, the help signal can also be sent through the wireless communication module, and the current location is simultaneously transmitted to conveniently find the controlled vehicle.

Corresponding to the above embodiment, the present invention also proposes a vehicle.

The vehicle of the embodiment of the present invention is a controlled vehicle in a remote control mode. As shown in FIG. 5, the vehicle 200 of the embodiment of the present invention includes the emergency driving system 100 based on the vehicle remote control proposed by the above embodiment of the present invention. For more specific implementation manners, refer to the foregoing embodiments. To avoid redundancy, details are not described herein again.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Out, Clockwise, Counterclockwise, Axial "" The orientation or positional relationship indicated to the "," "circumferential" or the like is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplified description, and does not indicate or imply that the device or component referred to has The specific orientation, construction and operation in a particular orientation are not to be construed as limiting the invention.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the present invention, the first feature "on" or "under" the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact. Moreover, the first feature "above", "above" and "above" the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature. The first feature "below", "below" and "below" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

An emergency driving method based on vehicle remote control, characterized in that it comprises the following steps:

Detecting whether the remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted;

If the remote control signal is abnormally interrupted, determining whether there is a vehicle traveling in the same direction in front of the controlled vehicle;

If the vehicle traveling in the same direction exists, the vehicle traveling in the same direction is selected as the target following vehicle, and the controlled vehicle is controlled to follow the vehicle following the target following vehicle.
The emergency driving method based on vehicle remote control according to claim 1, wherein the controlled vehicle travels along a planned route, and if the controlled vehicle follows the target following vehicle travel, if the target follows If the vehicle is no longer traveling in the same direction, then another target traveling in the same direction is selected to follow the vehicle.
The emergency driving method based on vehicle remote control according to claim 2, wherein the controlling the controlled vehicle to follow the target following the vehicle for following driving comprises:

Obtaining a distance between the controlled vehicle and the target following vehicle;

The vehicle distance between the controlled vehicle and the target following vehicle is maintained as a safe distance by controlling the speed of the controlled vehicle while controlling the running of the controlled vehicle.
The emergency driving method based on vehicle remote control according to claim 2, further comprising:

If there is no vehicle traveling in the same direction in front of the controlled vehicle, or the target following vehicle disappears, controlling the controlled vehicle to travel at a low speed, and further acquiring current geographical location information of the controlled vehicle to determine the Whether the controlled vehicle is in a no-signal area;

If the controlled vehicle is in a no-signal area, continuously controlling the controlled vehicle to travel at a low speed until the signal-free area is driven out;

If the controlled vehicle is not in the no-signal area, then the appropriate parking position is selected based on the current geographic location information to park sideways.
The emergency driving method based on vehicle remote control according to claim 4, wherein the controlled vehicle further issues a distress signal after being parked on the side.
An emergency driving system based on vehicle remote control, characterized in that it comprises:

a signal detecting module, configured to detect whether a remote control signal of the controlled vehicle in the remote control mode is abnormally interrupted;

a judging module, configured to determine, when the remote control signal is abnormally interrupted, whether there is a vehicle traveling in the same direction in front of the controlled vehicle;

a control module, the control module is configured to select the same-traveled vehicle when the vehicle traveling in the same direction exists The vehicle follows the vehicle as a target and controls the controlled vehicle to follow the vehicle following the target following the vehicle.
The emergency steering system based on vehicle remote control according to claim 6, further comprising a navigation module, the controlled vehicle traveling along a planned route of the navigation module, following the target in the controlled vehicle When following the vehicle, if the target following vehicle is no longer traveling in the same direction, the control module selects another target traveling vehicle that is traveling in the same direction.
The emergency driving system for vehicle remote control according to claim 7, further comprising: a driving environment detecting module, wherein the driving environment detecting module is configured to acquire between the controlled vehicle and the target following vehicle The vehicle distance, the control module maintains the vehicle speed of the controlled vehicle to maintain a safe distance between the controlled vehicle and the target following vehicle while controlling the controlled vehicle to travel .
The emergency driving system based on vehicle remote control according to claim 7, wherein the control module is further configured to: when there is no vehicle traveling in the same direction in front of the controlled vehicle, or when the target following vehicle disappears, Controlling the controlled vehicle to travel at a low speed, and determining, according to the current geographic location information of the controlled vehicle acquired by the navigation module, whether the controlled vehicle is in a no-signal region, when the controlled vehicle is in a no-signal region Continuously controlling the controlled vehicle to travel at a low speed until the signal-free area is exited, and when the controlled vehicle is not in the no-signal area, selecting a suitable parking position according to current geographic location information acquired by the navigation module Stop by the side.
The emergency driving system based on vehicle remote control according to claim 7, further comprising a wireless communication module, further transmitting a distress signal through the wireless communication module after the controlled vehicle is parked on the side.
A vehicle characterized by comprising an emergency driving system based on vehicle remote control according to any one of claims 6-10.