CN115214698B - Wire control multi-auxiliary vehicle control system, method and device and vehicle - Google Patents

Wire control multi-auxiliary vehicle control system, method and device and vehicle Download PDF

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Publication number
CN115214698B
CN115214698B CN202211134781.4A CN202211134781A CN115214698B CN 115214698 B CN115214698 B CN 115214698B CN 202211134781 A CN202211134781 A CN 202211134781A CN 115214698 B CN115214698 B CN 115214698B
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control
vehicle
control source
module
target
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CN115214698A (en
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谢昊
蔡营
张驰
徐希
杨硕勋
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Dongfeng Yuexiang Technology Co Ltd
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Dongfeng Yuexiang Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a wire control multi-auxiliary vehicle control system, a method, a device and a vehicle, wherein the system comprises a steering wheel control source, a remote control source, a terminal APP control source and an auxiliary driving controller; the auxiliary driving controller comprises a 5G communication module, a handle receiver module and a WiFi serial port conversion module; the auxiliary driver also comprises a power module, a control module and a CAN transceiver module; the control module is used for analyzing control signals input by each control source according to a preset control source priority order and an application scene and sending the control signals to the CAN transceiving module; the CAN receiving and transmitting module is used for converting the control signals into message data and transmitting the message data to a CAN bus of the whole vehicle so as to realize auxiliary control of the whole vehicle. The invention can realize high-efficiency control in most application scenes.

Description

Wire control multi-auxiliary vehicle control system, method and device and vehicle
Technical Field
The invention relates to the technical field of vehicle control, in particular to a wire-controlled multi-auxiliary vehicle control system, a method and a device and a vehicle.
Background
The current automobile intelligent technology is more mature, and the driving responsibility of the automobile can be completely taken over in the automatic driving of the level L4 and above. Therefore, some manual control components such as a steering wheel, a brake pedal, and an accelerator pedal equipped in a conventional vehicle have been gradually banned. However, under some special conditions, such as the initial debugging of the vehicle, the failure of the automatic driving system, or the current behavior of the vehicle exceeding the automatic driving control range, a complete set of manual assistance system is still required to operate the vehicle.
At present, a remote control or steering wheel control system is adopted for vehicle auxiliary control, but the remote control is limited by the stroke of a rocker, so that the precise control of the vehicle is generally difficult to realize, and the remote control also has safety risk when the vehicle speed is higher; compared with remote control, the control precision and the safety of high-speed control of the steering wheel are greatly improved, but if the vehicle works at a low speed and the requirement on the control precision is not high, the steering wheel control system is redundant and has higher cost.
Therefore, how to fully exert the advantages of each control method to enable the auxiliary control system to realize efficient control in most application scenarios is an urgent problem to be solved.
Disclosure of Invention
In view of the above, there is a need for a control system, method, device and vehicle for a drive-by-wire multi-assist vehicle, which can improve the efficient control of the assist control system in most application scenarios.
In order to achieve the above object, in a first aspect, the present invention provides a drive-by-wire multi-assist vehicle control system, including a steering wheel control source, a remote control source, a terminal APP control source and an assist driving controller;
the auxiliary driving controller comprises a 5G communication module, a handle receiver module and a WiFi serial port module; the 5G communication module is used for being in communication connection with a steering wheel control source; the handle receiver module is used for being in communication connection with a remote control source; the WiFi serial port conversion module is used for being in communication connection with a terminal APP control source;
the auxiliary driving controller also comprises a power module, a control module and a CAN (controller area network) transceiver module; the power supply module is used for converting the voltage of the whole automobile into the voltage required by each module; the control module is used for analyzing control signals input by each control source according to a preset control source priority order and an application scene and sending the control signals to the CAN transceiving module; the CAN transceiving module is used for converting the control signal into message data and transmitting the message data to a finished automobile CAN bus so as to realize finished automobile auxiliary control, wherein the message data comprises a control source identifier.
Furthermore, the steering wheel control source comprises a steering wheel, an accelerator brake pedal and a gear rocker, and the steering wheel is connected with the accelerator brake pedal and the gear rocker through a wire harness;
the steering wheel comprises an enabled steering wheel and a disabled steering wheel; the accelerator brake pedal comprises a brake pedal and an accelerator pedal; the gear rocker is a four-gear rocker.
In a second aspect, the present invention also provides a vehicle control method applying the wire-controlled multi-assist vehicle control system, including:
judging the use condition of each control source enabling signal and each disabling signal, and if each control source enabling signal is started, selecting a target control signal of a target control source based on a preset control source priority order;
analyzing the target control signal and converting the target control signal into message data, wherein the message data comprises a target control source ID;
sending the message data to a whole vehicle CAN bus to realize the control of a target vehicle;
and if the control source disabling signals are started, a safety strategy is executed on the target vehicle by combining the current driving state of the target vehicle.
Further, the control source comprises a steering wheel control source, a remote control source and a terminal APP control source;
the preset priority sequence of the control source is a remote control source, a terminal APP control source and a steering wheel control source in sequence.
Further, selecting a target control signal of a target control source further includes:
acquiring a driving state of a target vehicle or a control demand for the target vehicle;
and selecting a target control signal of a target control source based on the driving state of the target vehicle and the control requirement aiming at the target vehicle.
Further, the scene of performing the auxiliary control on the target vehicle includes:
the method comprises a vehicle moving scene, a vehicle driving function test scene and a vehicle emergency treatment scene.
Further, before converting the target control signal into message data, the method further includes:
defining message data, wherein the message data comprises 8 bytes; wherein, BYTE0 represents the control source value; BYTE1 and BYTE2 represent the direction values of the steering wheel; BYTE3 and BYTE4 represent the brake values of the accelerator brake pedal; BYTE5 and BYTE6 represent the throttle value of the throttle brake pedal; BYTE7 indicates the position of the gear on the gear rocker and the enabled state of the steering wheel.
In a third aspect, the present invention also provides a control apparatus for a by-wire multiple assist vehicle, comprising:
the signal selection module is used for judging the use condition of each control source enabling signal and each disabling signal, and selecting a target control signal of a target control source based on a preset control source priority order if each control source enabling signal is started;
the signal conversion module is used for analyzing the target control signal and converting the target control signal into message data, wherein the message data comprises a target control source ID;
the data sending module is used for sending the message data to a whole vehicle CAN bus so as to realize control on a target vehicle;
and the safety strategy execution module is used for executing the safety strategy on the target vehicle by combining the current driving state of the target vehicle if the control source disabling signals are started.
In a fourth aspect, the invention further provides a vehicle comprising the by-wire multi-assist vehicle control system described in any one of the above, and/or the by-wire multi-assist vehicle control apparatus described above.
In a fifth aspect, the present invention also provides a vehicle comprising a memory and a processor, wherein the memory is configured to store a program; the processor, coupled with the memory, is configured to execute the program stored in the memory to implement the steps of any of the vehicle control methods.
The beneficial effects of adopting the embodiment are as follows: the wire control multi-auxiliary vehicle control system provided by the invention reasonably plans the priority and the application scene of each auxiliary control source on the premise of considering the stability, the control performance and the control cost of each control source. Each controller can exert respective advantages, so that the wire-control multi-auxiliary control system can realize high-efficiency control in most application scenes.
Drawings
Fig. 1 (a) is a schematic structural diagram of an embodiment of an assistant driving controller in a wire-controlled multi-assistant vehicle control system provided by the present invention;
fig. 1 (b) is a schematic structural diagram of an embodiment of a steering wheel control source, a remote control source and a terminal APP control source in a drive-by-wire multi-assist vehicle control system provided by the present invention;
FIG. 2 is a flowchart of a method of an embodiment of a vehicle control method using the drive-by-wire multiple assist vehicle control system according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a vehicle control apparatus provided in the present invention;
fig. 4 is a schematic structural diagram of an electronic device included in an embodiment of a vehicle provided by the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. Further, "a plurality" means two or more unless specifically limited otherwise. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
The invention provides a control system, a control method, a control device and a control vehicle of a drive-by-wire multi-auxiliary vehicle, which utilize the difference of application scenes among different control sources to reasonably plan a control mode after combining the different control sources, save the cost and facilitate the auxiliary control system to be effectively utilized in each application scene.
Specific examples are described in detail below, respectively:
referring to fig. 1 (a) and fig. 1 (b), fig. 1 (a) is a schematic structural diagram of an embodiment of an auxiliary driving controller in a wire-controlled multi-assist vehicle control system provided by the present invention, and fig. 1 (b) is a schematic structural diagram of an embodiment of a steering wheel control source, a remote control source and a terminal APP control source in a wire-controlled multi-assist vehicle control system provided by the present invention, in which an embodiment of the present invention discloses a wire-controlled multi-assist vehicle control system, including:
in order to achieve the above object, in a first aspect, the present invention provides a drive-by-wire multiple auxiliary vehicle control system, comprising a steering wheel control source 101, a remote control source 102, a terminal APP control source 103 and an auxiliary driving controller 104;
the assistant driving controller 104 comprises a 5G communication module 1041, a handle receiver module 1042 and a WiFi serial-to-serial module 1043; the 5G communication module 1041 is used for being in communication connection with the steering wheel control source 101; the handle receiver module 1042 is used for communication connection with the remote control source 102; the WiFi serial port conversion module 1043 is used for being in communication connection with the terminal APP control source 103;
the driving assistance controller 104 further includes a power module 1044, a control module 1045, and a CAN transceiver module 1046; the power module 1044 is used for converting the voltage of the whole automobile into the voltage required by each module; the control module 1045 is configured to analyze control signals input by each control source according to a preset priority order of the control sources and an application scenario, and send the control signals to the CAN transceiver module 1046; the CAN transceiver module 1046 is configured to convert the control signal into message data and transmit the message data to a vehicle CAN bus, so as to implement vehicle auxiliary control, where the message data includes a control source identifier.
It CAN be understood that, in order to save hardware cost, the processes of receiving, processing and sending control signals CAN be integrated into an auxiliary driving controller, specifically, the remote control controller comprises a remote control source, a power module, a handle receiver module, a control module and a CAN transceiver module, wherein the power module is used for reducing and stabilizing voltage, the voltage of the whole automobile 9-16 is converted into 5V voltage and 3.3V voltage required by each module, and the output voltage is stabilized within +/-0.1V; 2.4G wireless signals sent by a remote control handle are converted into PWM signals through a handle receiver module and are transmitted to a control module; the general working scene refers to vehicle moving, vehicle running function testing, vehicle emergency treatment and the like; it can be understood that the remote control is most stable and the start is fastest, and the remote control is used as a main vehicle control source in a general working scene, namely vehicle moving, vehicle running function testing, vehicle emergency treatment and the like. After the control module judges that the first priority of the control source is a remote control source and a current application scene is a common working scene, the control module determines to use a control command sent by the remote control source, specifically, CAN process a PWM signal obtained after the processing of the handle receiver module, namely, converts the remote control command into unified message data, carries a remote control source identifier in the message data and outputs the vehicle control data to the CAN receiving and sending module through SPI communication; the CAN transceiver module converts the data sent by the control module into data in a CAN communication mode and transmits the data to a CAN bus of the whole vehicle, so that the whole vehicle is controlled in a near mode by using a remote control handle.
Similarly, the steering wheel controller comprises a steering wheel source, a power supply module, a 5G communication module, a control module and a CAN transceiver module. Different from the remote controller, in the steering wheel controller, the communication mode between the steering wheel source and other modules is 5G communication, and after the 5G communication module receives the steering wheel control command sent by the steering wheel source, the control module also judges the priority of the steering wheel control command, or determines whether to use the steering wheel control command according to the previous application scene. Therefore, after the control module receives the steering wheel control command, the control module also needs to perform data conversion processing on the steering wheel control command, that is, the steering wheel control quality is converted into unified message data, the message data carries a steering wheel control source identifier, and the whole vehicle control data is output to the CAN transceiver module through SPI communication; the CAN transceiver module converts the data sent by the control module into data in a CAN communication mode and transmits the data to a CAN bus of the whole vehicle, so that the steering wheel controller is used for controlling the whole vehicle at high speed and high precision.
In addition, terminal APP controller mainly includes terminal APP control source, power module, WIFI changes serial port module, control module and CAN transceiver module. In the terminal APP controller, an APP control source is connected with other modules in communication through a WIFI serial port conversion module, specifically, the terminal APP control source can send signals such as an accelerator, a brake, a parking, a steering and a gear to the WIFI serial port conversion module through a transmission layer communication protocol connection according to the data structure requirement of the WIFI serial port conversion module, and then the terminal APP control signal is sent to the control module through a serial port by the module to be processed; it can be understood that terminal APP control is not generally recommended to be used on a vehicle with remote control due to limitations of terminal equipment and operation, and is usually used as supplementary control of remote control failure, so that the priority of a terminal APP control source is smaller than that of a remote control source, and the terminal equipment which can smoothly run APP and can be stably connected with WIFI is selected when the vehicle is controlled. Therefore, after receiving the terminal APP control instruction, the control module performs data conversion processing on the terminal APP control instruction, namely converts the terminal APP control instruction into uniform message data, carries a terminal APP control source identifier in the message data, and outputs the whole vehicle control data to the CAN transceiving module through SPI communication; the CAN transceiver module transmits data sent by the control module to a CAN communication mode to a CAN bus of the whole vehicle, so that the control of the whole vehicle by using a terminal APP controller is realized.
Therefore, the wire control multi-auxiliary vehicle control system hardware mainly comprises three parts, namely a steering wheel controller, a remote control controller and a terminal APP controller, wherein the terminal comprises intelligent terminals such as a mobile phone and a computer. Each part is provided with a corresponding data receiving module, a power supply module and a data processing module, and is responsible for carrying out logic processing on received data and forwarding the data to the CAN transceiving module, and then the CAN transceiving module converts the acquired control instruction into a message and sends the message to the whole vehicle CAN network, thereby realizing vehicle control.
The wire-control multi-auxiliary vehicle control system provided by the invention reasonably plans the priority and the application scene of each auxiliary control source on the premise of considering the stability, the control performance and the control cost of each control source. Each controller can exert respective advantages, so that the wire-control multi-auxiliary control system can realize high-efficiency control in most application scenes.
In one embodiment of the present invention, the steering wheel control source 101 comprises a steering wheel 1011, an accelerator brake pedal 1012 and a gear rocker 1013, the steering wheel is connected with the 1011 accelerator brake pedal 1012 and the gear rocker 1013 by wire harness;
steering wheel 1011 includes an enable steering wheel and a disable steering wheel; the accelerator brake pedal 1012 comprises a brake pedal and an accelerator pedal; the gear rocker 1013 is a four-gear rocker, wherein the front end is an R gear, the middle is an N gear, the lower left is a D gear, and the lower right is a P gear.
It can be understood that, the steering wheel is provided with an enable button and a disable button, which respectively correspond to the enable steering wheel and the disable steering wheel, wherein, the enable button is started to indicate that the controller starts to control, and the disable button is started to indicate that the controller finishes to control; the steering wheel can be steered left or right to send a steering control command. The accelerator brake pedal comprises a brake pedal and an accelerator pedal, and the accelerator brake pedal and the accelerator pedal respectively play roles in controlling acceleration and deceleration of the vehicle; the gear rocker is a four-gear rocker, the front end of the gear rocker is an R gear, the middle of the gear rocker is an N gear, the lower left gear of the gear rocker is a D gear, and the lower right gear of the gear rocker is a P gear, so that the gear control of the vehicle is realized.
Based on the above-mentioned wire-controlled multi-assist vehicle control system, correspondingly, please refer to fig. 2, where fig. 2 is a vehicle control method applying the above-mentioned wire-controlled multi-assist vehicle control system provided by the present invention, and the method includes:
step S201: judging the use condition of each control source enabling signal and each disabling signal, and if each control source enabling signal is started, selecting a target control signal of a target control source based on a preset control source priority order;
step S202: analyzing the target control signal and converting the target control signal into message data, wherein the message data comprises a target control source ID;
step S203: sending the message data to a whole vehicle CAN bus to realize the control of a target vehicle;
step S204: and if the control source disabling signals are started, a safety strategy is executed on the target vehicle by combining the current driving state of the target vehicle.
It can be understood that, in the process of controlling the vehicle, the enabling conditions of the control sources are firstly judged, and if the enabling signals are started, the received control signals are selectively processed according to a preset priority strategy; if the disable signal is on, a safety strategy is implemented for the target vehicle based on the current driving state of the target vehicle, such as vehicle speed, whether it is in an autonomous driving state.
The control source comprises a steering wheel control source, a remote control source and a terminal APP control source, and it should be noted that the equipment of the control source end in the invention is not specified, and various brands or newly designed remote controllers/steering wheels/terminal equipment can be selected, but a communication protocol between the equipment and the assistant driving controller needs to be established according to the characteristics of different control equipment.
The remote control is close to the control distance of the terminal APP control, operators can avoid the driving risk of vehicles in time under ordinary conditions, the cost of the controller is lower than that of a steering wheel control source, the controller is usually used as a main auxiliary control method, the remote control is most stable and starts fastest, and a main vehicle control method under ordinary working scenes is required; the terminal APP control is generally used as a supplementary control method for remote control failure due to the limitations of terminal equipment and operation; when the vehicle is subjected to auxiliary control with higher speed or certain requirements on vehicle operation, the steering wheel is adopted for remote control. Therefore, the preset priority sequence of the control source is a remote control source, a terminal APP control source and a steering wheel control source in sequence.
It can be understood that the control source needs to define the control signal in advance before sending the control signal to the controller, and therefore, after receiving and selecting the target control signal, the target control signal needs to be analyzed, and then the target control signal is converted into the message data, it should be noted that the target control signal of any control source should be converted into the message with the same message identification number when being converted into the message data, that is, although the source and the form of the target control signal are different, the control content is essentially the same, and the message data should also include the identification of the target control source, so as to identify the source of the message data. And finally, sending the message data to a whole vehicle CAN bus to realize the driving control of each target vehicle.
The multi-auxiliary vehicle control method is used as a combined control method, and a user can choose or reject a control source according to the self requirement when using the multi-auxiliary vehicle control method to reduce the cost of the controller.
It should be noted that, when function selection is performed, one of remote control and terminal APP control is necessary, and steering wheel control may or may not be selected. The steering wheel remote control is used as an auxiliary control mode with higher cost, and the cost of the steering wheel remote control can be balanced in a 'one-control-more' mode, that is, one steering wheel controller performs connection control with vehicles through the IP addresses of different 5G controllers, and the number of vehicles connectable with the steering wheel controller can be specifically determined according to actual requirements, which is not limited herein.
In the process of controlling the vehicle, if the disable signal is turned on, the control of the vehicle should be stopped, and in order to further determine the safety of the vehicle, the current driving state of the vehicle may be determined, for example, whether the vehicle is in an automatic driving state, whether the rotation speed of the vehicle is 0, and the like. If the vehicle is not in the automatic driving state and the vehicle speed is not 0, a safety strategy is started, such as automatically adjusting the driving speed of the vehicle or forcibly stopping the vehicle to ensure the driving safety.
In an embodiment of the present invention, selecting a target control signal of a target control source further includes:
acquiring a driving state of a target vehicle or a control demand for the target vehicle;
and selecting a target control signal of a target control source based on the driving state of the target vehicle and the control requirement aiming at the target vehicle.
It can be understood that, when the vehicle is running at a high speed or there is a certain requirement for vehicle operation, the control signal of the steering wheel control source can be selected as the target control signal according to the indispensable property of the steering wheel controller in the high-speed control and accurate control of the vehicle. It should be noted that, because the steering wheel control system has higher cost and more hardware devices, the steering wheel control system is more suitable to be fixed at one position, the vehicle real-time environment is fed back through the vehicle-mounted camera, and the remote control is performed through the 5G controller.
In one embodiment of the present invention, a scenario in which assist control is performed on a target vehicle includes:
the method comprises a vehicle moving scene, a vehicle driving function test scene and a vehicle emergency treatment scene, and in addition, a high-speed scene is also included.
In one embodiment of the present invention, before converting the target control signal into the message data, the method further comprises:
defining message data, wherein the message data comprises 8 bytes; wherein, BYTE0 represents the control source value; BYTE1 and BYTE2 represent the direction values of the steering wheel; BYTE3 and BYTE4 represent the brake values of the accelerator brake pedal; BYTE5 and BYTE6 represent the throttle value of the throttle brake pedal; BYTE7 indicates the position of the gear on the gear rocker and the enabled state of the steering wheel.
Specifically, the message data is 8 BYTEs in total, wherein the lowest bit0 of the BYTE0 is constantly 1, which marks the initial position of sending data, bit7 is an enable bit of a corresponding control method, 1 bit enable 0 is disable, bit6 is a vehicle parking control bit, bit5 is current control mode indication, 0 is remote control, 1 is APP control, 2 is steering wheel remote control, and the rest 4 are reserved enabling bits of all parts of the whole vehicle; the combination of BYTE1 and BYTE2 represents the direction value of the current steering wheel, the left-turn direction limit is 0xFFFF, the right-turn direction limit is 0x0000, and the middle value linearly changes along with the rotation of the steering wheel/remote control rocker; the combination of BYTE3 and BYTE4 represents the brake value of the current accelerator brake pedal, the treading bottom value is 0x0000, the non-treading value is 0xFFFF, and the intermediate value changes linearly along with the rotation; the combination of BYTE5 and BYTE6 represents the throttle value of the current throttle brake pedal, the stepping-to-bottom value is 0x0000, the non-stepping value is 0xFFFF, and the intermediate value linearly changes along with the steering wheel/rocker rotation/APP simulation rocker; BYTE7 represents the position of the gear on the gear rocker and the current enabled state of the steering wheel. Referring to table 1, table 1 defines message data.
Table 1 message data definition
Figure 210827DEST_PATH_IMAGE001
For example, converting the implementation steps into a communication language is:
and (3) stepping on a brake, pressing an enable key, sending a vehicle control request, and if the brake pedal is stepped to the bottom at the moment, the direction value is located in the middle, the gear is P gear, and after receiving a control source signal, the controller sends data 0xFF 0xFF 0x7F 0x00 0xFF 0xFF 0xFF 0xFF 0x11 through the CAN transceiver module.
When the vehicle moves forward, the brake is stepped on, and the controller sends 0xFF, 0x7F, 0x00, 0xFF and 0x11; then, the D file is hung, and the controller assembly sends 0xFF 0xFF 0x7F 0x00 0xFF 0xFF 0xFF 12; the accelerator is lightly stepped on, and the controller sends 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0x00 0x12, wherein BYTE5 and BYTE6 change along with the change of the accelerator pedal.
During backward movement, the brake is stepped on, and the controller sends 0xFF 0xFF 0x7F 0x00 0xFF 0xFF 0xFF 11; then, the controller sends 0xFF, 0x7F, 0x00, 0xFF, 0x14 to the R file; when the accelerator is lightly stepped on, the controller sends 0xFF 0xFF 0x7F 0xFF 0xFF 0xFF 0x00 0x14, wherein BYTE5 and BYTE6 change along with the change of the accelerator pedal.
When the steering wheel/remote joystick/APP analog joystick rotates clockwise to the right-pointing direction, the controller sends 0xFF 0xFF 0xFF 0x00 0xFF 0xFF 0xFF 0x11, wherein BYTE1 and BYTE2 change along with the change of the steering wheel; counterclockwise is left-pointing direction, the controller sends 0xFF 0x24 0xFF 0x00 0xFF 0xFF 0xFF 11, in which BYTE1 and BYTE2 change following the steering wheel/remote joystick/APP analog joystick change.
Therefore, the control message data sent by various control sources at the vehicle end are consistent, so that seamless switching among different control modes can be realized, namely, the three control modes are selected and combined under the premise of considering cost and actual control requirements, and efficient control is realized under the condition of lowest cost.
In order to better implement the vehicle control method in the embodiment of the present invention, on the basis of the vehicle control method, please refer to fig. 3 correspondingly, fig. 3 is a schematic structural diagram of an embodiment of the vehicle control device provided by the present invention, and an embodiment of the present invention provides a vehicle control device 300, including:
the signal selection module 301 is configured to determine a use status of each control source enable signal and a disable signal, and select a target control signal of a target control source based on a preset priority order of the control sources if each control source enable signal is turned on;
a signal conversion module 302, configured to parse the target control signal and convert the target control signal into message data, where the message data includes a target control source ID;
the data sending module 303 is configured to send the message data to a vehicle CAN bus to implement control over a target vehicle;
and the safety strategy executing module 304 is configured to, if the control source disable signals are turned on, execute a safety strategy on the target vehicle in combination with the current driving state of the target vehicle.
Here, it should be noted that: the apparatus 300 provided in the foregoing embodiments may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principles of the modules or units may refer to the corresponding contents in the foregoing method embodiments, which are not described herein again.
In addition, the embodiment of the invention also provides a vehicle which comprises any one of the drive-by-wire multi-auxiliary vehicle control system and/or the drive-by-wire multi-auxiliary vehicle control device. And the vehicle comprises a memory and a processor, wherein the memory is used for storing programs; the processor, coupled with the memory, is configured to execute the program stored in the memory to implement the steps of the vehicle control method. Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device included in an embodiment of a vehicle according to the present invention.
The electronic device 400 in the embodiment of the present invention includes a vehicle-mounted terminal. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
The electronic device includes: a memory and a processor, wherein the processor herein may be referred to as the processing device 401 hereinafter, and the memory may include at least one of a Read Only Memory (ROM) 402, a Random Access Memory (RAM) 403 and a storage device 408 hereinafter, as shown in detail below:
as shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM402, and the RAM403 are connected to each other through a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, an embodiment of the invention includes a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 409, or from the storage device 408, or from the ROM 402. The computer program performs the above-described functions defined in the methods of embodiments of the invention when executed by the processing apparatus 401.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (8)

1. A by-wire, multi-assist vehicle control system, comprising: the system comprises a steering wheel control source, a remote control source, a terminal APP control source and an auxiliary driving controller; the auxiliary driving controller comprises a 5G communication module, a handle receiver module and a WiFi serial port module; the 5G communication module is used for being in communication connection with a steering wheel control source; the handle receiver module is used for being in communication connection with a remote control source; the WiFi serial port conversion module is used for being in communication connection with a terminal APP control source;
the auxiliary driving controller also comprises a power module, a control module and a CAN (controller area network) transceiver module; the power supply module is used for converting the voltage of the whole automobile into the voltage required by each module; the control module is used for analyzing a target control signal input by a target control source according to a preset control source priority order and an application scene, and sending the target control signal to the CAN transceiving module, wherein the preset control source priority order sequentially comprises a remote control source, a terminal APP control source and a steering wheel control source, and the application scene comprises a vehicle moving scene, a vehicle driving function test scene, a vehicle emergency processing scene and a high-speed scene; the CAN transceiving module is used for converting the target control signal into message data and transmitting the message data to a finished automobile CAN bus so as to realize finished automobile auxiliary control, wherein the message data comprises a control source identifier.
2. The multiple assist by wire vehicle control system of claim 1, wherein the steering wheel control source comprises a steering wheel, a throttle brake pedal, and a gear rocker, the steering wheel being harness connected with the throttle brake pedal and the gear rocker;
the steering wheel comprises an enabling steering wheel and a disabling steering wheel; the accelerator brake pedal comprises a brake pedal and an accelerator pedal; the gear rocker is a four-gear rocker.
3. A vehicle control method to which the by-wire multiple assist vehicle control system according to any one of claims 1 to 2 is applied, characterized by comprising:
judging the use condition of each control source enabling signal and each control source disabling signal, if each control source enabling signal is started, selecting a target control signal of a target control source based on a preset control source priority order and an application scene, wherein each control source comprises a steering wheel control source, a remote control source and a terminal APP control source; the preset priority sequence of the control sources sequentially comprises a remote control source, a terminal APP control source and a steering wheel control source, and the application scenes comprise a vehicle moving scene, a vehicle driving function test scene, a vehicle emergency treatment scene and a high-speed scene;
analyzing the target control signal and converting the target control signal into message data, wherein the message data comprises a target control source ID;
sending the message data to a whole vehicle CAN bus to realize the control of a target vehicle;
and if the control source disabling signals are started, a safety strategy is executed on the target vehicle by combining the current driving state of the target vehicle.
4. The vehicle control method according to claim 3, wherein selecting the target control signal of the target control source further comprises:
acquiring a driving state of a target vehicle and a control demand for the target vehicle;
and selecting a target control signal of a target control source based on the driving state of the target vehicle and the control requirement aiming at the target vehicle.
5. The vehicle control method according to claim 3, characterized in that before converting the target control signal into message data, the method further comprises:
defining message data, wherein the message data comprises 8 bytes; wherein BYTE0 represents a control source value; BYTE1 and BYTE2 represent the direction values of the steering wheel; BYTE3 and BYTE4 represent the brake values of the accelerator brake pedal; BYTE5 and BYTE6 represent the throttle value of the throttle brake pedal; BYTE7 indicates the position of the gear on the gear rocker and the enabled state of the steering wheel.
6. A multiple assist by wire vehicle control apparatus, comprising:
the signal selection module is used for judging the use conditions of the enable signals and the disable signals of the control sources, and selecting target control signals of the target control sources based on a preset control source priority order and an application scene if the enable signals of the control sources are started, wherein each control source comprises a steering wheel control source, a remote control source and a terminal APP control source; the preset priority sequence of the control sources sequentially comprises a remote control source, a terminal APP control source and a steering wheel control source, and the application scenes comprise a vehicle moving scene, a vehicle driving function test scene, a vehicle emergency treatment scene and a high-speed scene;
the signal conversion module is used for analyzing the target control signal and converting the target control signal into message data, wherein the message data comprises a target control source ID;
the data sending module is used for sending the message data to a whole vehicle CAN bus so as to realize control on a target vehicle;
and the safety strategy execution module is used for executing the safety strategy on the target vehicle by combining the current driving state of the target vehicle if the control source disabling signals are started.
7. A vehicle comprising a by-wire multiple assist vehicle control system according to any one of claims 1-2, and/or comprising a by-wire multiple assist vehicle control apparatus according to claim 6.
8. A vehicle comprising a memory and a processor, wherein the memory is configured to store a program; the processor, coupled with the memory, is configured to execute the program stored in the memory to implement the steps of the vehicle control method according to any one of the preceding claims 3 to 5.
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