CN107748563A - Control method, device and the remote control thereof of automatic driving vehicle, device and system - Google Patents
Control method, device and the remote control thereof of automatic driving vehicle, device and system Download PDFInfo
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- CN107748563A CN107748563A CN201710996588.4A CN201710996588A CN107748563A CN 107748563 A CN107748563 A CN 107748563A CN 201710996588 A CN201710996588 A CN 201710996588A CN 107748563 A CN107748563 A CN 107748563A
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- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention relates to a kind of control method of automatic driving vehicle, device and remote control thereof, device and system.Wherein, the control method for the automatic driving vehicle implemented from automatic driving vehicle angle, comprises the following steps：The telecommand of remote control equipment transmission is received, and judges the current driving model of automatic driving vehicle；If automatic driving vehicle is currently at automatic driving mode, telecommand is decrypted, and feedback signal is sent to remote control equipment；If the telecommand after decryption is to start remote driving mode instruction, control automatic driving vehicle enters remote driving pattern, and brakes to parking.The present invention develops the mode of operation of new automatic driving vehicle remote driving, realizes the remote control function of automatic driving vehicle, and control can be remotely controlled during vehicle movement.
Description
Technical field
The present invention relates to automatic driving vehicle technical field, more particularly to a kind of control method of automatic driving vehicle,
Device and remote control thereof, device and system.
Background technology
Current automatic driving vehicle relies primarily on the running status of passenger's Supervised Control vehicle, in some limiting conditions
(such as some danger operating modes, limiting condition turning etc., i.e., it cannot be guaranteed that the situation of personal safety.) under can not meet user will
Ask.And in similar Vehicular intelligent key device, vehicle remote control control loop level method, by sending control signal to vehicle, car
It is unlocked and starts dynamical system, and the traveling of vehicle is controlled according to control signal.
In implementation process, inventor has found that at least there are the following problems in conventional art：Conventional remote controls method is mainly used
In the vehicle being remotely controlled under parked state；And when vehicle in the process of moving when, speed, corner are uncertain, traditional remote controls
Intervention can not ensure the effect to wagon control during traveling and easily produce danger, be easy to when vehicle travels beyond distant
Control scope；Therefore, conventional remote controls method can not be controlled to the vehicle during traveling.
The content of the invention
Based on this, it is necessary to the automatic driving vehicle during traveling can not be controlled for conventional remote controls method
Problem, there is provided a kind of control method of automatic driving vehicle, device and remote control thereof, device and system.
To achieve these goals, on the one hand, implement the embodiments of the invention provide one kind from automatic driving vehicle angle
Automatic driving vehicle control method, comprise the following steps：
The telecommand of remote control equipment transmission is received, and judges the current driving model of automatic driving vehicle；
If automatic driving vehicle is currently at automatic driving mode, telecommand is decrypted, and send instead to remote control equipment
Feedback signal；
If the telecommand after decryption to start remote driving mode instruction, into remote control drive by control automatic driving vehicle
Pattern is sailed, and is braked to parking.
In one of the embodiments, in the step of receiving the telecommand of remote control equipment transmission：Connect by V2X communications
Receive the telecommand of remote control equipment transmission；
In the step of sending feedback signal to remote control equipment：Communicated by V2X and send feedback signal to remote control equipment.
In one of the embodiments, step is also included after controlling automatic driving vehicle to brake to the step of parking：
Exiting in remote control time threshold, receiving and decrypt the telecommand of remote control equipment transmission, and sent out to remote control equipment
Send feedback signal；
If telecommand instructs for remote control after decryption, it is corresponding that control automatic driving vehicle performs remote control instruction
Action；The corresponding action of remote control instruction includes advancing, retreat, turn to and braking；
If telecommand is exits remote control mode instruction after decryption, control automatic driving vehicle is by remote driving mould
Formula switches to automatic driving mode, and brakes to parking.
In one of the embodiments, the step of decrypting telecommand includes：
According to the ID code of vehicle of itself, telecommand is decrypted.
In one of the embodiments, telecommand, the signal function scope of feedback signal are all higher than or equal to 200 meters；
Feedback signal is that the flag bit of telecommand is received for identifying.
On the one hand, the embodiment of the present invention additionally provides a kind of remote control for the automatic driving vehicle implemented from remote control equipment angle
Method, comprise the following steps：
The telecommand of user's input is encrypted, gives the telecommand after encryption to nobody by V2X communications
Drive vehicle；
In the feedback signal sent by V2X communications receptions to automatic driving vehicle, confirm that automatic driving vehicle is current
In remote range, prompting is sent.
On the one hand, the embodiments of the invention provide a kind of control for the automatic driving vehicle implemented from automatic driving vehicle angle
Device processed, including：
Mode motor judging unit, for receiving the telecommand of remote control equipment transmission, and judge that automatic driving vehicle is worked as
Preceding driving model；
Automobile decryption unit, if being currently at automatic driving mode for automatic driving vehicle, telecommand is decrypted, and
Feedback signal is sent to remote control equipment；
Automobile instruction execution unit, if being controlled for the telecommand after decrypting to start remote driving mode instruction
Automatic driving vehicle enters remote driving pattern, and brakes to parking.
On the other hand, the embodiments of the invention provide a kind of remote control for the automatic driving vehicle implemented from remote control equipment angle
Device, including：
Encrypted transmission unit is remotely controlled, for the telecommand that user inputs to be encrypted, by the telecommand after encryption
By V2X communications to automatic driving vehicle；
Remote control prompt unit, in the feedback signal sent by V2X communications receptions to automatic driving vehicle, confirming
Automatic driving vehicle is currently at remote range, sends prompting.
On the one hand, the embodiment of the present invention additionally provides a kind of unmanned remote control system, including automatic driving vehicle and distant
Control equipment；Remote control equipment connects automatic driving vehicle by V2X communication modules；
The telecommand that remote control equipment inputs to user is encrypted, and the telecommand after encryption is communicated mould by V2X
Block is transferred to automatic driving vehicle；
Automatic driving vehicle receives the telecommand of remote control equipment transmission, and judges the current driving mould of automatic driving vehicle
Formula；If automatic driving vehicle is currently at automatic driving mode, telecommand is decrypted, and feedback letter is sent to remote control equipment
Number；If for the telecommand after decryption to start remote driving mode instruction, control automatic driving vehicle enters remote driving mould
Formula, and brake to parking；
Remote control equipment confirms nobody when receiving the feedback signal that automatic driving vehicle is sent by V2X communication modules
Drive vehicle and be currently at remote range, send prompting.
In one of the embodiments, V2X communication modules are the LTE- that signal communication operating distance is more than or equal to 200 meters
V modules or DSRC modules.
The invention has the advantages that and beneficial effect：
Control method, device and the remote control thereof of automatic driving vehicle of the present invention, device and system, develop it is new nobody
The mode of operation that vehicle remote control drives is driven, realizes the remote control function of automatic driving vehicle, can be during vehicle movement
It is remotely controlled control；Based on the present invention, the function of straighforward operation can be enriched, improves the reliability that remote information transmits.This hair
It is bright automatic driving vehicle can be made to nevertheless suffer from safety supervision in autonomous driving (such as personnel is supervised outside car unmanned
Travel condition of vehicle, and can be with the running status of remote control vehicle), it can directly control automatic driving vehicle to perform response dynamic
Make, no matter make the automatic driving vehicle under automatic Pilot state in mobile status or inactive state can enter remote control again
Pattern, improve the security of automatic driving vehicle and manipulate convenience.
Brief description of the drawings
Fig. 1 is the stream of the control method embodiment 1 for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle
Journey schematic diagram；
Fig. 2 is that the flow of the remote control thereof embodiment 1 for the automatic driving vehicle that the present invention is implemented from remote control equipment angle is shown
It is intended to；
Fig. 3 is the knot of the control device embodiment 1 for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle
Structure schematic diagram；
Fig. 4 is that the structure of the remote control embodiment 1 for the automatic driving vehicle that the present invention is implemented from remote control equipment angle is shown
It is intended to；
Fig. 5 is the structural representation of unmanned remote control system embodiment 1 of the present invention；
Fig. 6 is the specific works flow process schematic diagram of unmanned remote control system of the present invention.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
The control method embodiment 1 for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle：
In order to solve the problems, such as that conventional remote controls method can not be controlled to the automatic driving vehicle during traveling, this hair
It is bright to provide a kind of control method embodiment 1 for the automatic driving vehicle implemented from automatic driving vehicle angle；Fig. 1 is the present invention
The schematic flow sheet of the control method embodiment 1 for the automatic driving vehicle implemented from automatic driving vehicle angle, as shown in figure 1,
It may comprise steps of：
Step S110：The telecommand of remote control equipment transmission is received, and judges the current driving model of automatic driving vehicle；
Specifically, user can press respective keys on remote control equipment, and remote control equipment sends corresponding telecommand；It is based on
The control method of the automatic driving vehicle of the present invention, the transmitting procedure of telecommand can not be limited by driving model, it is non-from
Under dynamic driving model, although automatic driving vehicle can receive telecommand, do not perform.The highest authority of wagon control by
Driving model limits, and in-car driver has highest authority during pilot steering.Wherein, automatic driving vehicle is currently at automatic Pilot
Motion state corresponding to pattern or remote driving pattern, and with certain speed traveling or static, therefore, the present invention can transport in vehicle
During dynamic, control is remotely controlled to automatic driving vehicle.
Step S120：If automatic driving vehicle is currently at automatic driving mode, telecommand is decrypted, and set to remote control
Preparation send feedback signal；
Specifically, automatic driving vehicle is currently at automatic driving mode；In order to ensure the authority of trailer reversing, nobody
Drive vehicle needs to carry out hardware operation inside unmanned vehicle into automatic driving mode, for example, by button switch etc., and drive
The personnel of sailing can open switch further out vehicle by in-car of Pre-handoff；Vehicle can be at moving after switching to automatic driving mode
State or inactive state.
Automatic driving vehicle receive every time instruction after regardless of whether perform all should carry out to remote control equipment send feedback signal.
The feedback signal received based on remote control equipment, remote control user is confirmed instruction transmission state, avoid exceeding remote range；This hair
It is bright to broadcast in order to avoid carrying out the whole network and cause Communication Jamming and unnecessary resource occupation, make the limitation of underwater acoustic remote control distance (be remotely controlled away from
From limitation) in certain limit, and farthest operating distance should be limited in several kilometers (hundreds of meters to several kilometers).Wherein, feedback letter
Number sphere of action should be consistent with the sphere of action of telecommand.In a specific example, telecommand, the letter of feedback signal
Number sphere of action is all higher than or equal to 200 meters, and feedback signal can be the flag bit that telecommand is received for identifying.
Wherein, in order to prevent wireless remote control signals to be intercepted or disturb, telecommand needs to include target vehicle identification mark
Know and transmitted after being encrypted as ciphertext, vehicle end carries out corresponding decryption oprerations after receiving could perform command adapted thereto.Specifically
, in order to ensure that between different remote control systems interference will not be produced, present invention employs the mechanism of communication message encryption；Make remote control
Equipment and corresponding vehicle are communicated using ciphertext, and there is provided the identifier (such as ID code of vehicle) of Corresponding matching.At one
In specific example, the step of decrypting telecommand, can include：According to the ID code of vehicle of itself, telecommand is carried out
Decryption.
Step S130：If the telecommand after decryption controls automatic driving vehicle to start remote driving mode instruction
Into remote driving pattern, and brake to parking.
Specifically, automatic driving vehicle upon receipt of the instructions, can inquire about whether telecommand is current driving model
Corresponding telecommand, if then switching to corresponding driving model or performing corresponding instruction action, if it is not, i.e. telecommand
For other control instructions, then ignore.
Preferably, automatic driving vehicle is entered automatic driving mode and travelled with certain speed；User is on remote control equipment
By remote control mode key is started, remote control equipment is sent to command adapted thereto；Automatic driving vehicle is fed back after receiving instruction, then
Judge whether it is to start remote control mode instruction, if then switching to remote driving pattern and being braked to inactive state, if
Other control instructions are then ignored, and can prevent unmanned vehicle from improper remote state occur.Meanwhile automatic driving vehicle receives instruction
Send feedback information afterwards, remote driving pattern is switched to by automatic driving mode, and wait new telecommand to be received.
It should be noted that in order to enrich the function of automatic driving vehicle, the present invention is according to automatic driving vehicle in traveling
The characteristics of, improved for the distant control function in automatic Pilot field, and other remote controls use communication and control hand
The characteristics of Duan Yongyou differences：The present invention automatically processes telecommand to control automatic driving vehicle to complete various complexity using program
Action, the different conditions (speed, steering, gear etc.) of vehicle are considered in the handoff procedure of driving model, to different demands
Different control logics is designed, specifically, the present invention takes control of authority (in-car automatic driving mode switch) in the car, and is adopted
Communication message encryption (remote control and corresponding vehicle are using ciphertext communication) is taken, ensures will not to produce between different remote control systems dry
Disturb.
Further, the present invention limits the automatic driving vehicle being under automatic driving mode and receives startup remote control mode
Feedback signal and remote driving pattern is switched to after instruction；Remote control equipment sends remote control instruction, and automatic driving vehicle receives
Fed back after information and perform response action.Remote control equipment, which is sent, exits telecommand, and automatic driving vehicle receives anti-after information
Present and exit remote control mode.
In a specific embodiment, in the step of receiving the telecommand of remote control equipment transmission：Pass through V2X
(Vehicle-to-Everything) telecommand of communications reception remote control equipment transmission；
In the step of sending feedback signal to remote control equipment：Communicated by V2X and send feedback signal to remote control equipment.
Specifically, automatic driving vehicle passes through V2X communications receptions to telecommand；In order to further improve remote controlled travelling
The reliability and operability of middle automatic driving vehicle, the present invention are entered using V2X communications to the distant control function in automatic Pilot field
Corresponding improvement is gone；By possessing the characteristics of different using means of communication with other remote controls institute, V2X remote controls have answering for uniqueness
With space, and need to design different control method and logic for difference in functionality space.Therefore, the present invention not only adopts in the car
Control of authority is taken, while communication distance limitation and remote control distance are limited in certain limit (hundreds of meters to several kilometers), is taken
Communication message encryption (remote control and corresponding vehicle are communicated using ciphertext), and the identifier of Corresponding matching is set, ensure different
Interference will not be produced between remote control system.
Wherein, in order to realize using V2X technologies as remote information transfer means, the preferred corresponding communication module of the present invention
As communication carrier, reliability and remote control distance that remote information transmits can be significantly improved.
In a specific embodiment, also include step after controlling automatic driving vehicle to brake to the step of parking
Suddenly：
Exiting in remote control time threshold, receiving and decrypt the telecommand of remote control equipment transmission, and sent out to remote control equipment
Send feedback signal；
If telecommand instructs for remote control after decryption, it is corresponding that control automatic driving vehicle performs remote control instruction
Action；The corresponding action of remote control instruction includes advancing, retreat, turn to and braking；
If telecommand is exits remote control mode instruction after decryption, control automatic driving vehicle is by remote driving mould
Formula switches to automatic driving mode, and brakes to parking.
Specifically, it is default exit remote control time threshold in, receive remote control transmission with remote driving mould
Corresponding to formula during telecommand, automatic driving vehicle can require that control vehicle is advanced, retreated, turned to, braked according to instruction
Deng action.Under remote driving pattern, certain time threshold value (such as one minute) interior automatic driving vehicle does not receive new control
Instruction, then exit remote driving pattern (such as switching to automatic driving mode).Automatic driving vehicle is still under remote driving pattern
Manual drive pattern can be switched at any time, now automatically exit from remote driving pattern.
Automatic driving vehicle receives under remote driving pattern exit telecommand after braked to inactive state, and
Automatic driving mode is returned to by remote driving pattern.
Each embodiment of control method for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle, develop new
The mode of operation of type automatic driving vehicle remote driving, the remote control function of automatic driving vehicle is realized, can be in vehicle movement
During be remotely controlled control；Based on the present invention, by increasing capacitance it is possible to increase the distance of automatic driving vehicle remote control, enrich straighforward operation
Function, improve remote information transmission reliability.The present invention can be such that automatic driving vehicle is nevertheless suffered from autonomous driving
Safety supervision (such as personnel is supervised automatic driving vehicle running status outside car, and can be with the operation of remote control vehicle
State), can directly control automatic driving vehicle to perform response action, make automatic driving vehicle under automatic Pilot state no matter
Still inactive state can enter remote control pattern to mobile status again, improve the security of automatic driving vehicle and manipulate just
Victory.
The remote control thereof embodiment 1 for the automatic driving vehicle that the present invention is implemented from remote control equipment angle：
In order to solve the problems, such as that conventional remote controls method can not be controlled to the automatic driving vehicle during traveling, this hair
It is bright to provide a kind of remote control thereof embodiment 1 for the automatic driving vehicle implemented from remote control equipment angle；Fig. 2 is to be of the invention from distant
Control the schematic flow sheet of the remote control thereof embodiment 1 for the automatic driving vehicle that equipment angle is implemented；As shown in Fig. 2 it can include
Following steps：
Step S210：The telecommand of user's input is encrypted, the telecommand after encryption is communicated by V2X and passed
It is defeated by automatic driving vehicle；
Step S220：In the feedback signal sent by V2X communications receptions to automatic driving vehicle, confirm unmanned
Vehicle is currently at remote range, sends prompting.
User exports on remote control equipment starts telecommand, and remote control sends corresponding instruction letter after encrypting transcoding
Number.Remote control equipment sends control instruction, and automatic driving vehicle feeds back after receiving information and performs response action.Remote control equipment is sent
Telecommand is exited, automatic driving vehicle feeds back after receiving information and exits remote control mode.
Wherein, in order to prevent wireless remote control signals to be intercepted or disturb, telecommand needs to include target vehicle mark simultaneously
Transmitted after remote control equipment is encrypted as ciphertext, vehicle end carries out corresponding decryption oprerations after receiving could perform command adapted thereto.
And feedback signal can make remote control user confirm instruction transmission state, avoid exceeding remote range.
Preferably, the present invention using V2X communicate, improved for the distant control function in automatic Pilot field, due to
Other remote controls institute possesses the characteristics of different using means of communication, and V2X remote controls have the application space of uniqueness, it is necessary to for difference
Functional space needs to design different control method and logic.Based on above-mentioned improvement (from automatic driving vehicle angle with reference to more than
Content in the control method of the automatic driving vehicle of implementation) so that the communication of the control method of automatic driving vehicle of the present invention
Coverage distance is wider (200-300 rice), and transmission delay is low (50ms or so), and transmission reliability is high.And conventional remote control systems can only
Run, and be delayed in more than 100ms in 10 meters of vehicle periphery.
The invention can ensure that long-distance remote control has controllable remote-control space, automatic driving vehicle is even in high-speed mobile shape
Also it can guarantee that low delay then improves the accuracy of straighforward operation with the distance of remote control equipment in operable scope under state,
Automatic driving vehicle is set to have higher security in terms of steering and braking.Therefore carried out in automatic driving vehicle a wide range of complicated
During action, the control method of automatic driving vehicle of the invention disclosure satisfy that needs, realize more complicated remote operation behavior.
Each embodiment of remote control thereof for the automatic driving vehicle that the present invention is implemented from remote control equipment angle, can realize nobody
The remote control function of vehicle is driven, control can be remotely controlled during vehicle movement；Based on the present invention, by increasing capacitance it is possible to increase nobody
The distance of vehicle remote control control is driven, enriches the function of straighforward operation, improves the reliability of remote information transmission.The present invention can
Make automatic driving vehicle nevertheless suffered from autonomous driving safety supervision (such as make personnel supervised outside car automatic driving vehicle fortune
Row state, and can be with the running status of remote control vehicle), it can directly control automatic driving vehicle to perform response action, make
Automatic driving vehicle under automatic Pilot state no matter in mobile status or inactive state can enter remote control pattern again,
Improve the security of automatic driving vehicle and manipulate convenience.
The control device embodiment 1 for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle：
Each embodiment of the control method for the automatic driving vehicle implemented based on more than from automatic driving vehicle angle, this hair
Bright to additionally provide a kind of control device embodiment 1 for the automatic driving vehicle implemented from automatic driving vehicle angle, Fig. 3 is this hair
The structural representation of the control device embodiment 1 of the bright automatic driving vehicle implemented from automatic driving vehicle angle；Such as Fig. 3 institutes
Show, can include：
Mode motor judging unit 310, for receiving the telecommand of remote control equipment transmission, and judge automatic driving vehicle
Current driving model；
Automobile decryption unit 320, if being currently at automatic driving mode for automatic driving vehicle, decryption remote control refers to
Order, and send feedback signal to remote control equipment；
Automobile instruction execution unit 330, if being controlled for the telecommand after decrypting to start remote driving mode instruction
Automatic driving vehicle processed enters remote driving pattern, and brakes to parking.
It should be noted that the control device for the automatic driving vehicle that the present invention is implemented from automatic driving vehicle angle is implemented
Each unit in example, it can correspond in the control method for realizing the above-mentioned automatic driving vehicle implemented from automatic driving vehicle angle
Each process step, it is no longer repeated herein.
The remote control embodiment 1 for the automatic driving vehicle that the present invention is implemented from remote control equipment angle：
Each embodiment of the remote control thereof for the automatic driving vehicle implemented based on more than from remote control equipment angle, the present invention is also
A kind of remote control embodiment 1 for the automatic driving vehicle implemented from remote control equipment angle is provided, Fig. 4 is to be of the invention from remote control
The structural representation of the remote control embodiment 1 for the automatic driving vehicle that equipment angle is implemented；As shown in figure 4, it can include：
Encrypted transmission unit 410 is remotely controlled, for the telecommand that user inputs to be encrypted, the remote control after encryption is referred to
Order is by V2X communications to automatic driving vehicle；
Remote control prompt unit 420, in the feedback signal sent by V2X communications receptions to automatic driving vehicle,
Confirm that automatic driving vehicle is currently at remote range, send prompting.
It should be noted that in the remote control embodiment for the automatic driving vehicle that the present invention is implemented from remote control equipment angle
Each unit, can correspond to realize it is above-mentioned from remote control equipment angle implement automatic driving vehicle remote control thereof in each flow
Step, it is no longer repeated herein.
Unmanned remote control system embodiment 1 of the present invention：
In order to solve the problems, such as that conventional remote controls method can not be controlled to the automatic driving vehicle during traveling, simultaneously
It is further elaborated on technical scheme；Present invention also offers a kind of unmanned remote control system embodiment 1；Fig. 5
For the structural representation of unmanned remote control system embodiment 1 of the present invention；As shown in figure 5, can include automatic driving vehicle and
Remote control equipment；Remote control equipment connects automatic driving vehicle by V2X communication modules；
The telecommand that remote control equipment inputs to user is encrypted, and the telecommand after encryption is communicated mould by V2X
Block is transferred to automatic driving vehicle；
Automatic driving vehicle receives the telecommand of remote control equipment transmission, and judges the current driving mould of automatic driving vehicle
Formula；If automatic driving vehicle is currently at automatic driving mode, telecommand is decrypted, and feedback letter is sent to remote control equipment
Number；If for the telecommand after decryption to start remote driving mode instruction, control automatic driving vehicle enters remote driving mould
Formula, and brake to parking；
Remote control equipment confirms nobody when receiving the feedback signal that automatic driving vehicle is sent by V2X communication modules
Drive vehicle and be currently at remote range, send prompting.
Specifically, automatic driving vehicle enters automatic driving mode.User exports startup remote control on remote control equipment and referred to
Order, remote control equipment send corresponding instruction signal after encrypting transcoding.Automatic driving vehicle, which receives, starts remote control mode instruction
Feedback signal and enter remote control mode afterwards；Remote control equipment sends control instruction, and automatic driving vehicle feeds back and held after receiving information
Row response action.Remote control equipment, which is sent, exits telecommand, and automatic driving vehicle feeds back after receiving information and exits remote control mould
Formula.
In a specific embodiment, V2X communication modules can be that signal communication operating distance is more than or equal to 200 meters
LTE-V modules (Long Term Evolution-Vehicle) or DSRC (Dedicated Short Range
Communications：DSRC technology) module.
Wherein, LTE-V is towards intelligent transportation and car networking application, the evolution technology based on 4G LTE systems, can be wrapped
Include two mode of operations of LTE-V-Cell and LTE-V-Direct.
Specifically, the invention provides a kind of unmanned remote control system based on V2X, the system can include nobody
Vehicle and remote control are driven, wherein remote control includes being used to receive the instruction acquisition that user inputs and is converted to electronic signal
Module and the first communication module that information exchange is carried out using V2X communication modes；Automatic driving vehicle is using V2X communication sides
Formula receives the execution module of the second communication module of instruction, the control module of decision-making corresponding instruction action and execution decision-making action.
Vehicle receives instruction that remote control sends and pass through control module control by the second communication module that is loaded on car performs mould
Block performs response action.And above-mentioned first communication module, second communication module can be LTE-V modules or DSRC modules, specifically
Realize instruction transfer function.
Fig. 6 is the specific works flow process schematic diagram of unmanned remote control system of the present invention；It is unmanned distant based on the present invention
The specific workflow of control system can be with as shown in fig. 6, vehicle be remotely controlled control in motion process：
1st, automatic driving vehicle is entered automatic Pilot state and travelled with certain speed；
2nd, by remote driving mode key is started on remote control equipment, remote control equipment is sent to command adapted thereto user；
3rd, automatic driving vehicle receives send feedback information after instruction, into remote driving pattern and carries out Brake stop,
Etc. new telecommand to be received；
4th, remote control equipment send retreat instruction, unmanned vehicle receive instruction after feed back and control vehicle perform backward movement until
Next telecommand exits remote driving pattern beyond time threshold；
5th, remote control equipment, which is sent, exits telecommand, and unmanned vehicle carries out Brake stop after receiving instruction and returns to automatic Pilot
Pattern.
Specifically, automatic driving vehicle enters automatic driving mode and needs to carry out hardware operation, car inside unmanned vehicle
Enter automatic driving mode after can be at mobile status or inactive state.In order to prevent wireless remote control signals to be intercepted or do
To disturb, telecommand needs to include target vehicle identification marking and transmitted after being encrypted as ciphertext, vehicle end carries out phase after receiving
The decryption oprerations answered could perform command adapted thereto.
When automatic driving vehicle is under automatic driving mode, remote control equipment, which is sent, starts remote driving mode instruction, distant
Control operating distance requires more than 200 meters, and farthest operating distance should be limited in several kilometers, avoids progress the whole network from broadcasting and causes communication dry
Disturb and unnecessary resource occupation.And ensure carry out effective remote operation in the range of 200 meters.Because vehicle is in movement
Remote control side with vehicle distances it is difficult to ensure that keep constant, and at 100 meters, sphere of action is more than operating distance when general V2X is direct-connected
Then think for 200 meters to meet to require.Feedback signal sphere of action should be consistent with remote signal sphere of action (to ensure that both sides possess
Communication capacity).
Automatic driving vehicle is fed back after receiving instruction, then judges whether it is to start remote driving mode instruction,
If then enter remote driving pattern, if other control instructions are then ignored.Into after remote driving pattern, vehicle need to enter first
Row is braked to inactive state.Automatic driving vehicle receive every time instruction after regardless of whether perform all should carry out to remote control equipment send
Feedback signal.After remote control equipment sends control instruction, the control module and execution module of automatic driving vehicle require according to instruction
Control vehicle, which is advanced, retreated, turned to, brake etc., to be acted.
Vehicle receives under remote driving pattern exit telecommand after braked to inactive state, and make vehicle return
To automatic driving mode.In addition, under remote driving pattern, certain time threshold value (such as one minute) interior vehicle does not receive new
Control instruction, then exit remote driving pattern.Automatic driving vehicle still can at any time be switched to and driven manually under remote driving pattern
Pattern is sailed, now remote driving pattern automatically exits from.
Wherein, feedback can make remote control user confirm instruction transmission state in above-mentioned steps, avoid exceeding remote range.Move back
Going out to be remotely controlled time threshold can prevent unmanned vehicle from improper remote state occur.
The present invention can make automatic driving vehicle realize the function of remote control, make unmanned under automatic Pilot state
No matter vehicle is in mobile status or inactive state can enter remote control pattern again.The present invention is using V2X technologies as distant
Information transmission means are controlled, and using LTE-V modules or DSRC modules as communication carrier, improve the reliability that remote information transmits
And remote control distance.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.One of ordinary skill in the art will appreciate that realize above-mentioned implementation
All or part of step in example method is by program the hardware of correlation can be instructed to complete, and described program can deposit
Be stored in a computer read/write memory medium, the program upon execution, including the step described in above method, described storage
Medium, such as：ROM/RAM, magnetic disc, CD etc..
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method of automatic driving vehicle, it is characterised in that comprise the following steps：
The telecommand of remote control equipment transmission is received, and judges the current driving model of automatic driving vehicle；
If the automatic driving vehicle is currently at automatic driving mode, the telecommand is decrypted, and set to the remote control
Preparation send feedback signal；
If the telecommand after decryption controls the automatic driving vehicle to enter distant to start remote driving mode instruction
Driving model is controlled, and is braked to parking.
2. the control method of automatic driving vehicle according to claim 1, it is characterised in that
In the step of receiving the telecommand of remote control equipment transmission：Transmitted by remote control equipment described in V2X communications receptions distant
Control instruction；
In the step of sending feedback signal to the remote control equipment：Communicated by V2X and send feedback letter to the remote control equipment
Number.
3. the control method of automatic driving vehicle according to claim 1 or 2, it is characterised in that control it is described nobody
Driving after vehicle was braked to the step of parking also includes step：
Exiting in remote control time threshold, receiving and decrypt the telecommand of the remote control equipment transmission, and set to the remote control
Preparation send feedback signal；
If the telecommand instructs for remote control after decryption, the automatic driving vehicle is controlled to perform the remote control
Acted corresponding to instruction；Corresponding act of the remote control instruction includes advancing, retreat, turn to and braking；
If the telecommand controls the automatic driving vehicle by described distant to exit remote control mode instruction after decryption
Control driving model switches to the automatic driving mode, and brakes to parking.
4. the control method of automatic driving vehicle according to claim 3, it is characterised in that decrypt the telecommand
Step includes：
According to the ID code of vehicle of itself, the telecommand is decrypted.
5. the control method of automatic driving vehicle according to claim 1, it is characterised in that the telecommand, described
The signal function scope of feedback signal is all higher than or equal to 200 meter；The feedback signal is to receive the remote control for identifying
The flag bit of instruction.
6. a kind of remote control thereof of automatic driving vehicle, it is characterised in that comprise the following steps：
The telecommand of user's input is encrypted, gives the telecommand after encryption to nobody by V2X communications
Drive vehicle；
In the feedback signal sent by V2X communications receptions to automatic driving vehicle, confirm that the automatic driving vehicle is current
In remote range, prompting is sent.
A kind of 7. control device of automatic driving vehicle, it is characterised in that including：
Mode motor judging unit, for receiving the telecommand of remote control equipment transmission, and judge that automatic driving vehicle is current
Driving model；
Automobile decryption unit, if being currently at automatic driving mode for the automatic driving vehicle, decrypt the remote control and refer to
Order, and send feedback signal to the remote control equipment；
Automobile instruction execution unit, if being controlled for the telecommand after decrypting to start remote driving mode instruction
The automatic driving vehicle enters remote driving pattern, and brakes to parking.
A kind of 8. remote control of automatic driving vehicle, it is characterised in that including：
Encrypted transmission unit is remotely controlled, for the telecommand that user inputs to be encrypted, by the telecommand after encryption
By V2X communications to automatic driving vehicle；
Remote control prompt unit, in the feedback signal sent by V2X communications receptions to automatic driving vehicle, described in confirmation
Automatic driving vehicle is currently at remote range, sends prompting.
9. a kind of unmanned remote control system, it is characterised in that including automatic driving vehicle and remote control equipment；The remote control equipment
The automatic driving vehicle is connected by V2X communication modules；
The telecommand that the remote control equipment inputs to user is encrypted, and the telecommand after encryption is passed through described
V2X communication modules are transferred to automatic driving vehicle；
The automatic driving vehicle receives the telecommand of remote control equipment transmission, and judges the current driving mould of automatic driving vehicle
Formula；If the automatic driving vehicle is currently at automatic driving mode, the telecommand is decrypted, and to the remote control equipment
Send feedback signal；If the telecommand after decryption controls described unmanned to start remote driving mode instruction
Vehicle enters remote driving pattern, and brakes to parking；
The remote control equipment when receiving the feedback signal that the automatic driving vehicle is sent by the V2X communication modules,
Confirm that the automatic driving vehicle is currently at remote range, send prompting.
10. unmanned remote control system according to claim 9, it is characterised in that the V2X communication modules are led to for signal
Believe that operating distance is more than or equal to 200 meters of LTE-V modules or DSRC modules.
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| CN113306568A (en) * | 2020-02-27 | 2021-08-27 | 大众汽车股份公司 | Autonomous vehicle and method of operating an autonomous vehicle |
| CN111367265A (en) * | 2020-03-11 | 2020-07-03 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle control terminal management method and management system |
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| CN112009497A (en) * | 2020-07-06 | 2020-12-01 | 南京奥联新能源有限公司 | Driving mode switching method of electric vehicle |
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| CN115237012A (en) * | 2022-07-01 | 2022-10-25 | 一汽解放汽车有限公司 | Vehicle control system |
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