CN112937556B - Remote vehicle moving system and remote vehicle moving method - Google Patents
Remote vehicle moving system and remote vehicle moving method Download PDFInfo
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- CN112937556B CN112937556B CN202110251472.4A CN202110251472A CN112937556B CN 112937556 B CN112937556 B CN 112937556B CN 202110251472 A CN202110251472 A CN 202110251472A CN 112937556 B CN112937556 B CN 112937556B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a remote vehicle moving system and a remote vehicle moving method, wherein a full-flow safety monitoring strategy is adopted, the remote vehicle moving control can be carried out only after vehicle starting conditions are met, remote vehicle moving activation conditions are met and an audio and video live broadcast channel is successfully established, and the vehicle moving can be finished when an abnormality occurs in the remote vehicle moving process, so that the whole remote vehicle moving process is safer; the real-time interaction of remote vehicle moving signals and audio and video is realized, the information safety of the whole remote vehicle moving process is guaranteed, the whole remote interaction process is clear and understandable, the user experience sense is better, the development and the volume production are easier, the remote conversation can be realized, and the system is safer and more intelligent.
Description
Technical Field
The invention belongs to the field of automatic driving of automobiles, and particularly relates to a remote automobile moving system and a remote automobile moving method.
Background
With the increase of the automobile holding amount in China, the problem of difficult parking is increasingly prominent, and people generally encounter the problem that other vehicles need to be stopped. The existing situation is that a car moving telephone is left, when a car needs to be moved, a car owner receives the telephone, and the car moves to the scene in a busy way. Waiting of other car owners and panic and busy of the car owner are extremely bad user experience, and conflicts and even accidents can be caused when the car owner encounters fire explosion of spleen qi. Based on the above, a technology is urgently needed to solve the pain point that a user must move the vehicle on site.
CN205524063U discloses a move car system and have car that moves car electronic control unit based on mobile terminal, and it adopts other car owners of remote authorization to move the car, because adopt other people to move the car, the vehicle and the safe risk that the process of moving the car brought is high, do not have the volume production feasibility.
Disclosure of Invention
The invention aims to provide an intelligent, safe and practical remote vehicle moving system and a remote vehicle moving method, so that user experience is better.
The remote vehicle moving system comprises a vehicle moving control system, a gateway, an intelligent vehicle body controller, a vehicle-mounted display controller, an electric power steering system, an electronic gear shifting system, an engine management system, a vehicle body stabilizing system, a transmission system, a corner sensor, a cloud end, an external microphone, an external loudspeaker and a mobile terminal, wherein the vehicle moving control system is connected with the gateway; the vehicle moving control system comprises a millimeter wave radar, a forward-looking camera, a vehicle moving controller, an ultrasonic radar and a panoramic camera, wherein the ultrasonic radar and the panoramic camera are respectively connected with the vehicle moving controller through hard wires; the millimeter wave radar, the forward-looking camera, the gateway passes through the Safe CAN bus and is connected with vehicle moving controller, electric Power steering system, electronic shift system, engine management system, automobile Body stable system, derailleur system and corner sensor are connected with the gateway through the Power CAN bus respectively, intelligent automobile Body controller, vehicle-mounted display controller is connected with the gateway through Body CAN bus respectively, vehicle-mounted display controller carries out wireless communication through high in the clouds and mobile terminal, vehicle moving controller, the outer microphone of car, the outer loudspeaker of car is connected with vehicle-mounted display controller through the hard wire respectively.
Preferably, the millimeter wave radars have 5, and 5 millimeter wave radars are respectively arranged in the middle of 4 corners and the front bumper of the vehicle body; the number of the panoramic cameras is 4, and the 4 panoramic cameras are respectively arranged on the left rearview mirror, the right rearview mirror, the middle of the front fuse and the middle of the back surface; the number of the ultrasonic radars is 12, wherein 4 ultrasonic radars are uniformly arranged on a front bumper at intervals, 4 ultrasonic radars are uniformly arranged on a rear bumper at intervals, and the other 4 ultrasonic radars are respectively arranged on the left front part of a vehicle body, the left rear part of the vehicle body, the right front part of the vehicle body and the right rear part of the vehicle body; the front view camera is arranged on a front windshield.
The invention discloses a remote vehicle moving method, which adopts the remote vehicle moving system and comprises the following steps:
under the condition that network communication is normal and identity authentication is successful, the mobile terminal sends a remote vehicle moving starting request to the vehicle-mounted display controller through the cloud end, and the vehicle-mounted display controller judges whether the vehicle state meets the vehicle starting requirement or not after receiving the request.
And if the vehicle starting requirement is not met, the vehicle-mounted display controller sends the information and reasons which do not meet the vehicle starting requirement to the mobile terminal through the cloud end to carry out abnormity prompting.
If the vehicle starting requirement is met, the vehicle-mounted display controller sends a vehicle starting instruction to the intelligent vehicle body controller, and sends a remote vehicle moving starting instruction to the vehicle moving controller after receiving the returned vehicle starting success information.
And the vehicle moving controller judges whether the vehicle state and the vehicle surrounding environment meet the remote vehicle moving activation condition after receiving the remote vehicle moving starting instruction.
If the remote vehicle moving activation condition is not met, the vehicle moving controller sends remote vehicle moving activation failure information and reasons to the vehicle-mounted display controller, the vehicle-mounted display controller forwards the information to the mobile terminal through the cloud for exception prompting, and meanwhile, the vehicle-mounted display controller sends a flameout instruction to the intelligent vehicle body controller for flameout control.
If the remote vehicle moving activation condition is met, the vehicle moving controller sends remote vehicle moving activation success information and a selectable vehicle moving mode to the vehicle-mounted display controller, the vehicle-mounted display controller forwards the information to the mobile terminal through the cloud, the vehicle-mounted display controller sends an audio and video starting instruction, an audio and video live broadcast channel is established with the mobile terminal through the cloud, meanwhile, the remote vehicle moving activation success information is sent to the intelligent vehicle body controller, and the intelligent vehicle body controller enters a remote vehicle moving state (namely, remote vehicle moving is allowed) after receiving the remote vehicle moving activation success information; and the vehicle-mounted display controller judges whether the audio and video live channel is established successfully.
If the audio and video live broadcast channel is not established successfully, the vehicle-mounted display controller sends failure information and reasons for establishing the audio and video live broadcast channel to the mobile terminal through the cloud end for exception prompting, and meanwhile sends a flameout instruction to the intelligent vehicle body controller for flameout control;
if the audio and video live broadcast channel is successfully established, the vehicle-mounted display controller sets the remote audio and video state to be started, the vehicle moving controller sends video information collected by the panoramic camera to the vehicle-mounted display controller, the vehicle-mounted display controller processes audio information collected by the external microphone and the received video information to form audio and video stream, and the audio and video stream is sent to the mobile terminal through the cloud.
After receiving the information of successful remote vehicle moving activation, the selectable vehicle moving mode and the audio and video stream, the mobile terminal displays the video content, the selectable vehicle moving mode and the operable function, plays the audio and enables the remote vehicle moving to enter the operable state.
After the user moves the car function operation, the mobile terminal sends the user car moving function operation instruction to the vehicle-mounted display controller through the cloud end, the vehicle-mounted display controller forwards the user car moving function operation instruction to the car moving controller, and the car moving controller executes remote car moving according to the user car moving function operation instruction.
In the remote vehicle moving process, the vehicle moving controller makes obstacle avoidance brake according to the situation of obstacles around the vehicle detected in real time, and sends the vehicle moving state and the audio and video stream to the vehicle-mounted display controller, and the vehicle-mounted display controller forwards the vehicle moving state and the audio and video stream to the mobile terminal through the cloud for video content, vehicle moving state display and audio playing; the mobile terminal sends audio information to the vehicle-mounted display controller through the cloud end, and the vehicle-mounted display controller controls the external loudspeaker to play the audio information after receiving the audio information.
In the remote vehicle moving process, if the vehicle moving controller receives a command for ending the remote vehicle moving or judges that the normal vehicle moving is finished or judges that abnormality occurs in the vehicle moving process, the remote vehicle moving can be ended, parking is carried out, a flameout command is sent to the intelligent vehicle body controller for flameout control, the parking state and the reason of the remote vehicle moving are sent to the vehicle-mounted display controller, and the vehicle-mounted display controller forwards the parking state and the reason to the mobile terminal through the cloud for prompting.
Preferably, after the remote vehicle moving is finished and the vehicle is parked, the vehicle-mounted display controller closes the remote audio and video, stops audio and video processing and enters a sleep state, and the vehicle moving controller exits video acquisition and enters the sleep state.
Preferably, if the vehicle power supply gear is in the OFF gear, the vehicle door is closed, and the vehicle is not in the electronic fence, the vehicle starting requirement is met, otherwise, the vehicle starting requirement is not met; if the gradient of the vehicle is smaller than the preset gradient value, the communication signal intensity of the position where the vehicle is located is larger than the preset signal intensity value, the subsystem function is confirmed to be normal, the weather is good, no living objects exist in the vehicle, and enough vehicle moving space exists around the vehicle, the remote vehicle moving activation condition is met, and otherwise, the remote vehicle moving activation condition is not met.
Preferably, if the condition a1 or the condition a2 is satisfied, it indicates that there is sufficient space around the vehicle for moving the vehicle, otherwise, it indicates that there is not sufficient space around the vehicle for moving the vehicle; wherein,
condition a1 is: d1 ≧ D x Or D2 ≧ D x ；
Condition a2 is: d1 < D x And D2 < D x And D1+ D2 is more than or equal to D y And D3 is more than or equal to vehicle width + D z ；
D1 represents the distance of the vehicle from the front virtual reference vehicle, D2 represents the distance of the vehicle from the rear virtual reference vehicle, D3 represents the distance of the vehicle from the left or right obstacle line, D x Denotes a first predetermined distance, D y Representing a second predetermined distance, D z Representing a third preset distance.
Preferably, if D1 ≧ D x Or D2 ≧ D x And D3 < vehicle width + D z When the vehicle is controlled remotely, the selectable vehicle moving mode is preferentially a remote vehicle control function, a user is prompted to press a forward key, a backward key, a left-turn key or a right-turn key to control the vehicle remotely, the user can select multiple operations, and the prompt is given when the vehicle is stopped actively when encountering an obstacle in the remote vehicle control process;
if D1 ≧ D x Or D2 ≧ D x And D3 is not less than vehicle width + D z When the vehicle is moved to the planning area, the selectable vehicle moving mode is preferably one-key parking, the user is prompted to be capable of one-key parking, and after the user confirms, the system automatically plans the track to control the vehicle to move to the planning area;
if D1 < D x And D2 < D x And D1+ D2 is more than or equal to D y And D3 is more than or equal to vehicle width + D z The selectable vehicle moving mode is preferably one-key parking, the user is prompted to be capable of one-key parking, and after the user confirms, the system automatically plans the track to control the vehicle to move to the planning area;
when the empty parking space after the reference vehicle blocked by the vehicle leaves is detected, the mobile terminal reminds the user whether to confirm the parking space or not, plans the path again, and parks in the empty parking space after the user confirms.
If the system state is overtime, or the gradient exceeds the limit value, or the vehicle speed exceeds the limit value, or the vehicle moving range exceeds the limit value, or an obstacle moves to a sensor blind area, or a subsystem fails, or the vehicle is manually operated, or the communication between the vehicle and the mobile terminal is abnormal, or the system fails, the abnormality is shown in the vehicle moving process, otherwise, the vehicle moving is shown to be normal.
Preferably, the parking includes conventional parking and redundant parking, when the vehicle body stabilizing system is controllable, the vehicle moving controller requests the vehicle body stabilizing system to park (namely conventional parking), when the vehicle body stabilizing system is abnormal, the redundant parking function is effective, the vehicle moving controller requests the electronic gear shifting system to forcibly park the vehicle, after the parking is completed, if the network communication is normal, the mobile terminal carries out related prompt, and if the network communication is abnormal, the mobile terminal prompts that the communication is abnormal according to the current network signal state and needs to return to the field processing.
Preferably, the obstacle situation around the vehicle is obtained in four ways, specifically:
determining a collision distance with a surrounding obstacle based on echo information of the ultrasonic radar;
determining the collision distance with surrounding obstacles based on the grid map of the panoramic camera and the ultrasonic radar;
fusing target information detected by the panoramic camera and target information detected by the ultrasonic radar, and determining the collision distance with surrounding obstacles by combining the driving direction of the vehicle;
and determining the collision distance with surrounding obstacles by combining the vehicle running direction based on the target fusion result of the panoramic camera and the ultrasonic radar and the target fusion result of the millimeter wave radar and the forward-looking camera.
The four acquisition modes exist and are mutually redundant during system control, and when any sensor goes wrong, the system can still be supported to finish parking and quit control, so that the whole remote vehicle moving process is safer.
Compared with the prior art, the invention has the following effects:
(1) adopt full flow safety monitoring strategy, satisfying vehicle start condition, satisfying long-range vehicle moving activation condition and audio and video live broadcast passageway and establish after successfully, can carry out long-range vehicle moving control, can finish the vehicle moving in the unusual meeting of long-range vehicle moving in-process appearance to let whole long-range vehicle moving process safer.
(2) The real-time interaction of remote vehicle moving signals and audios and videos is realized, the vehicle starting conditions are not satisfied, the remote vehicle moving activation conditions are not satisfied, or the audio and video live broadcast channel is failed to be established, and the abnormal conditions are also prompted through the mobile terminal, so that the information safety of the whole remote vehicle moving process is ensured, the whole remote interaction process is clear and easy to understand, the user experience sense is better, and the development and the volume production are easier.
(3) Adopt real-time audio and video technique to interact, no matter the user adopts 5G, 4G or Wifi can both reach the experience of low time delay, let the user have the sensation of being personally on the scene, can realize remote conversation, and is safer, more intelligent.
Drawings
Fig. 1 is a schematic block diagram of a remote vehicle moving system in the present embodiment.
Fig. 2 is a schematic diagram showing the arrangement of the respective sensors in the present embodiment.
Fig. 3 is a schematic diagram of a fusion architecture of each sensor in the present embodiment.
Fig. 4 is an application scenario diagram of the remote vehicle moving function in the embodiment.
Fig. 5 is a control flow diagram of the vehicle handling controller in the embodiment.
Fig. 6 is an interaction flow diagram of the remote vehicle moving system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The remote vehicle moving system shown in fig. 1 and 2 comprises a vehicle moving control system 1, a gateway 6, an intelligent vehicle body controller (iBCM) 8, a vehicle-mounted display controller (THU) 10, an electric power steering system (EPS) 11, an electronic shift system (ESL) 12, an Engine Management System (EMS) 13, a vehicle body stabilizing system (EPBi) 14, a transmission system (TCU) 15, a corner sensor (SAS) 16, a cloud 17, an external microphone 5, an external horn 7 and a mobile terminal 18. The vehicle moving control system 1 comprises a vehicle moving controller 2, 12 Ultrasonic radars (Ultrasonic sensors) 3, 4 panoramic cameras (AVM cameras) 4, 5 millimeter wave radars (Radar) 19 and 1 Front-view Camera (Front Camera) 9. 12 ultrasonic radar 3, 4 panoramic camera 4 are connected with vehicle moving controller 2 through the hard line respectively, 5 millimeter wave radar 19, look ahead camera 9, gateway 6 is connected with vehicle moving controller 2 through the Safe CAN bus, electric Power assisted steering system 11, electronic shift system 12, engine management system 13, automobile Body stable system 14, derailleur system 15 and corner sensor 16 are connected with gateway 6 through the Power CAN bus respectively, intelligent automobile Body controller 8, on-vehicle display controller 10 is connected with gateway 6 through the Body CAN bus respectively, on-vehicle display controller 10 carries out wireless communication through high in the clouds 17 with mobile terminal 18, vehicle moving controller 2, outer microphone 5, outer loudspeaker 7 of car are connected with on-vehicle display controller 10 through the hard line respectively.
As shown in fig. 1 and 2, 5 millimeter wave radars 19 are respectively arranged in the middle of 4 corners and a front bumper of a vehicle body, the millimeter wave radars 19 at the 4 corners are responsible for middle-distance obstacle detection and tracking, the detection coverage area is up to 0.2m-50m, the millimeter wave radar 19 in the middle of the front bumper is responsible for front obstacle detection and tracking, and the detection coverage area is up to 0.2m-100 m. The 4 panoramic cameras 4 are respectively arranged on the left rearview mirror, the right rearview mirror, the middle of the front insurance and the middle of the back surface and are responsible for short-distance obstacle detection, lane line detection, parking space line detection, obstacle type judgment and tracking, and the detection coverage area can reach 0.2-10 m. Wherein 4 ultrasonic radar 3 evenly spaced arrangement are on the front bumper, and 4 ultrasonic radar 3 evenly spaced arrangement are on the rear bumper, and 4 ultrasonic radar 3 arrange respectively in the left front portion of automobile body, automobile body left rear portion, automobile body right side front portion, automobile body right rear portion in addition. The front-view camera 9 is arranged on a front windshield and is responsible for forward Freespace detection, and the detection coverage area can reach 0.5m-100 m. The area 27 indicates the sensing area of 12 ultrasonic radars 3, the area 28 indicates the sensing area of 4 panoramic cameras 4, the area 29 indicates the sensing area of 5 millimeter-wave radars 19, and the area 30 indicates the sensing area of the front camera 9.
As shown in fig. 3, there are four ways of detecting obstacles around the vehicle based on the sensors, specifically:
first, based on the collision distance detected by 12 ultrasonic radars 3, the collision distance with a surrounding obstacle is obtained based on the echo information (coordinates or distance) of the ultrasonic radar 3 in combination with the detection range (sector range covered by each ultrasonic radar) of the ultrasonic radar 3.
Second, based on the grid map of 4 panoramic cameras 4 and 12 ultrasonic radars 3, the collision distance with the surrounding obstacle is determined: based on echo information (coordinates, height and time stamp) detected by the ultrasonic radar 3 and a result (coordinates, height and time stamp) of point cloud detection of an image of the panoramic camera 4, screening point cloud results in a specific time range and a specific space range, and mapping the screening result to the same coordinate system; according to the well-defined grid map detection range, grids are drawn at certain intervals in the transverse direction and the longitudinal direction respectively, grid maps (GridMap) with height information in the vehicle range are generated based on the screened detection information, each grid can represent the coordinate, the height of an obstacle, the reliability and other information of the grid, and the grid map collision distance (namely the collision distance with the surrounding obstacle) can be obtained by calculating the driving area of the vehicle in the grid maps according to the steering wheel angle.
And thirdly, fusing target information detected by 4 panoramic cameras 4 and target information detected by 12 ultrasonic radars 3 to obtain a complete short-distance obstacle detection result, and determining the collision distance with surrounding obstacles by combining the vehicle running direction.
Fourthly, obtaining a detection result of the whole range based on a target fusion result of the 4 panoramic cameras 4 and the 12 ultrasonic wave radars 3 and a target fusion result of the 5 millimeter wave radars 19 and the 1 forward looking cameras 9, and determining the collision distance with surrounding obstacles according to the driving direction of the vehicle.
The 4 kinds of fusion modes exist simultaneously and are mutually redundant, and when any sensor has a problem, the system can still be supported to complete parking and exit control. By the multi-sensor fusion method, far, medium and near omnibearing detection and sensing are realized, target type judgment can be realized, and different obstacle avoidance and parking logics are realized according to the distance and speed of different target types. Examples are: advance the process at long-range moving car, meet the pedestrian of relative direction, get into 10 meters panorama camera 14 detection range as the pedestrian, the system whistles, flashes the lamp according to relative speed and distance and reminds the pedestrian, if the pedestrian continues to be close to the vehicle, the vehicle begins the brake at the pedestrian entering 3 meters scopes, apart from pedestrian target distance 1.5m after the brake, waits for the pedestrian to leave the back and continues the operation.
In the application scenario of the remote vehicle moving function shown in fig. 4, the vehicle 21 is temporarily parked to block the first reference vehicle 23, the right space of the first reference vehicle 23 is parked with the second reference vehicle 22, the left space of the first reference vehicle 23 is parked with the third reference vehicle 24, and when the first reference vehicle 23 needs to leave, the user (driver) 20 can operate the mobile terminal 18 to move the vehicle 21 remotely without getting to the site to give way.
As shown in fig. 4 to 6, the remote vehicle moving method adopts the remote vehicle moving system, and the method comprises the following steps:
the user 20 opens the remote vehicle moving APP through the mobile terminal 18 and enters the remote vehicle moving control interface.
The mobile terminal 18 checks whether the network status thereof is OK, and prompts an abnormal exit if the network status is abnormal, and prompts an identity authentication if the network status is normal.
The cloud 17 performs identity authentication (such as face recognition, fingerprint recognition, password authentication and the like), if the identity authentication fails, the mobile terminal 18 prompts abnormality or re-authentication, if the authentication succeeds, the mobile terminal 18 sends a remote vehicle moving starting request to the vehicle-mounted display controller 10 through the cloud 17, and the mobile terminal 18 prompts that a remote vehicle moving function is being initialized.
After receiving the remote vehicle moving starting request, the vehicle-mounted display controller 10 determines whether the vehicle state meets the vehicle starting requirement, that is, determines whether the vehicle power supply gear is in the OFF gear, and the vehicle door is closed, and the vehicle is not in the electronic fence (dangerous scenes such as a highway and the like can be effectively excluded).
If the vehicle power supply gear is not in the OFF gear, or the vehicle door is not closed, or the vehicle is in the electronic fence, the vehicle starting requirement is not met, the vehicle-mounted display controller 10 sends the information and the reason which do not meet the vehicle starting requirement to the mobile terminal 18 through the cloud end 17, the mobile terminal 18 carries out abnormal prompt after receiving the information and the reason which do not meet the vehicle starting requirement, and the vehicle moving APP is quitted remotely.
If the power supply gear of the vehicle is in an OFF gear, the vehicle door is closed, and the vehicle is not in the electronic fence, the vehicle starting requirement is met, the vehicle-mounted display controller 10 sends a vehicle starting instruction to the intelligent vehicle body controller 8, the intelligent vehicle body controller 8 starts the vehicle, and the vehicle-mounted display controller 10 sends a remote vehicle moving starting instruction to the vehicle moving controller 2 after receiving vehicle starting success information returned by the intelligent vehicle body controller 8.
After receiving the remote vehicle moving starting instruction, the vehicle moving controller 2 determines whether the vehicle state and the environment around the vehicle meet the remote vehicle moving activation condition, that is, whether the vehicle gradient is smaller than a preset gradient value and the communication signal intensity of the position where the vehicle is located is larger than a preset signal intensity value, and the subsystem functions (such as the electric power steering system 11, the electronic gear shifting system 12, the engine management system 13, the vehicle body stabilizing system 14, the transmission system 15 and the like) confirm normal conditions, the weather is good, no living objects exist in the vehicle, and enough vehicle moving space is reserved around the vehicle.
If the vehicle gradient is larger than or equal to the preset gradient value or the communication signal intensity of the position where the vehicle is located is smaller than or equal to the preset signal intensity value, or the subsystem is abnormally functional, or the weather is bad, or living things exist in the vehicle, or the vehicle moving space around the vehicle is not enough, indicating that the remote vehicle moving activation condition is not met, the vehicle moving controller 2 sends the remote vehicle moving activation failure information and reason to the vehicle-mounted display controller 10, the vehicle-mounted display controller 10 forwards the remote vehicle moving activation failure information and reason to the mobile terminal 18 through the cloud end 17, meanwhile, the vehicle-mounted display controller 10 sends a flameout instruction to the intelligent vehicle body controller 8, the intelligent vehicle body controller 8 controls flameout (enters a flameout state) after receiving the flameout instruction, the mobile terminal 18 gives an exception prompt after receiving remote vehicle moving activation failure information and reasons, and the vehicle exits from the remote vehicle moving APP. Wherein if D1+ D2 < 0.6m, it indicates that there is not enough space around the vehicle for moving, D1 indicates the distance of the vehicle from the front virtual reference vehicle 25, and D2 indicates the distance of the vehicle from the rear virtual reference vehicle 26.
If the vehicle gradient is smaller than the preset gradient value and the communication signal intensity of the position of the vehicle is larger than the preset signal intensity value, the subsystem function confirms the normal state, the weather is good, no living things exist in the vehicle, and enough vehicle moving space is arranged around the vehicle, the vehicle moving controller 2 sends the remote vehicle moving activation success information and the optional vehicle moving mode to the vehicle-mounted display controller 10, the vehicle-mounted display controller 10 forwards the remote vehicle moving activation success information and the optional vehicle moving mode to the mobile terminal 18 through the cloud end 17, the vehicle-mounted display controller 10 sends an audio and video starting instruction, and an audio and video live broadcast channel is established with the mobile terminal 18 through the cloud end 17, meanwhile, the vehicle-mounted display controller 10 sends the remote vehicle moving activation success information to the intelligent vehicle body controller 8, and the intelligent vehicle body controller 8 enters a remote vehicle moving state (allows remote vehicle moving) after receiving the remote vehicle moving activation success information. If the condition a1 or the condition a2 is satisfied, it indicates that there is sufficient space around the vehicle for moving the vehicle. Condition a1 is: d1 is more than or equal to 4m or D2 is more than or equal to 4 m; condition a2 is: d1 is less than 4m, D2 is less than 4m, D1+ D2 is more than or equal to 0.6m, and D3 is more than or equal to vehicle width +0.8 m; d3 represents the distance of the vehicle 21 from the left or right obstacle line.
The vehicle-mounted display controller 10 judges whether the audio/video live channel is established successfully.
If the audio and video live channel is not established successfully, the vehicle-mounted display controller 10 sends failure information and reasons for establishing the audio and video live channel to the mobile terminal 18 through the cloud end 17, meanwhile, sends a flameout instruction to the intelligent vehicle body controller 8, and the intelligent vehicle body controller 8 carries out flameout control after receiving the flameout instruction; and after receiving the audio and video live broadcast channel establishment failure information and reasons, the mobile terminal 18 carries out exception prompting and quits the remote vehicle moving APP.
If the audio and video live broadcast channel is successfully established, the vehicle-mounted display controller 10 sets the remote audio and video state to be on, the vehicle moving controller 2 sends the video information acquired by the 4 panoramic cameras 4 to the vehicle-mounted display controller 10, and the vehicle-mounted display controller 10 processes the audio information acquired by the external microphone 5 and the received video information to form audio and video streams and sends the audio and video streams to the mobile terminal 18 through the cloud end 17.
After receiving the information of successful remote vehicle moving activation and the selectable vehicle moving mode and the audio and video stream, the mobile terminal 18 displays the video content, the selectable vehicle moving mode and the operable function, plays the audio, and enables the remote vehicle moving to enter an operable state (the selectable vehicle moving mode).
The alternative vehicle moving modes are as follows:
if D1 is larger than or equal to 4m or D2 is larger than or equal to 4m and D3 is smaller than the vehicle width +0.8m, the selectable vehicle moving mode is preferentially the remote vehicle control function, the mobile terminal 18 prompts a driver to remotely control the vehicle by pressing forward, backward, left-turn or right-turn keys, and the driver can select multiple operations and actively stop when encountering an obstacle in the remote vehicle control process.
If D1 is larger than or equal to 4m or D2 is larger than or equal to 4m, and D3 is larger than or equal to +0.8m of the vehicle width, the selectable vehicle moving mode is one-key parking-out preferentially, a driver is prompted to be capable of parking-out one key, and after the driver confirms, the system automatically plans the track to control the vehicle to move to a planning area (such as the area S in the figure 4). Of course, the driver can also select the remote vehicle control function to control the vehicle to move forward, backward, turn left or turn right.
If D1 is less than 4m, D2 is less than 4m, D1+ D2 is more than or equal to 0.6m, and D3 is more than or equal to vehicle width +0.8m, the selectable vehicle moving mode is one-key parking-out preferentially, a driver is prompted to be capable of one-key parking-out, and after the driver confirms, the system automatically plans the track to control the vehicle to move to a planning area (such as the area S in the figure 4). Of course, the driver can also select the remote vehicle control function to control the vehicle to move forward, backward, turn left or turn right.
When the reference vehicle (i.e., the first reference vehicle 23) blocked by the vehicle 21 leaves, the driver can select one key to return to the initial position, the vehicle 21 still detects the parking space in real time during the parking process to the initial position, and when the empty space after the reference vehicle blocked by the vehicle leaves is detected, the driver is reminded through the mobile terminal 18 whether to confirm the parking space, and plans the path again, and the vehicle is parked to the empty space after the driver confirms the empty space.
After a user 20 performs a vehicle moving function operation (for example, selects one-touch parking or selects remote vehicle control), the mobile terminal 18 sends the vehicle moving function operation instruction to the vehicle-mounted display controller 10 through the cloud 17, the vehicle-mounted display controller 10 forwards the vehicle moving function operation instruction to the vehicle moving controller 2, the vehicle moving controller 2 executes remote vehicle moving according to the vehicle moving function operation instruction, and the automatic control electric power steering system 11, the electronic gear shifting system 12, the engine management system 13, the vehicle body stabilizing system 14 and the transmission system 15 realize remote vehicle moving.
In the remote vehicle moving process, the vehicle moving controller 2 detects the situation of obstacles around the vehicle in real time through the ultrasonic radar 3, the panoramic camera 4, the millimeter wave radar 19 and the forward looking camera 9 to perform obstacle avoidance braking, the vehicle moving controller 2 sends the vehicle moving state and the audio and video stream to the vehicle-mounted display controller 10, the vehicle-mounted display controller 10 sends the vehicle moving state and the audio and video stream to the mobile terminal 18 through the cloud 17, and the mobile terminal 18 receives the vehicle moving state and the audio and video stream and then performs video content, vehicle moving state display and audio playing. The mobile terminal 18 sends audio information to the vehicle-mounted display controller 10 through the cloud 17, and the vehicle-mounted display controller 10 controls the external loudspeaker 7 to play the audio information after receiving the audio information, so that communication between the user 20 and an owner of the first reference vehicle 23 can be achieved.
In the remote vehicle moving process, if the vehicle moving controller 2 receives a remote vehicle moving finishing instruction sent by the mobile terminal 18 or judges that normal vehicle moving is finished, the remote vehicle moving is finished, parking is carried out and a flameout instruction is sent to the intelligent vehicle body controller 8, the intelligent vehicle body controller 8 carries out flameout control (enters a flameout state) after receiving the flameout instruction, the vehicle moving controller 2 sends the remote vehicle moving finishing parking state to the vehicle-mounted display controller 10, the intelligent vehicle body controller 8 sends the flameout state to the vehicle-mounted display controller 10, the vehicle-mounted display controller 10 forwards the remote vehicle moving finishing parking state and the flameout state to the mobile terminal 18 through the cloud end 17, and the mobile terminal 18 prompts that the remote vehicle moving is finished after receiving the remote vehicle moving finishing parking state and the flameout state and the vehicle is safely flameout and parked. After the remote vehicle moving is finished and the vehicle is parked, the vehicle-mounted display controller 10 closes the remote audio and video, stops audio and video processing and enters a dormant state, and the vehicle moving controller 2 quits video acquisition and enters the dormant state.
In the remote vehicle moving process, if the vehicle moving controller 2 judges that abnormality occurs in the vehicle moving process, the remote vehicle moving can be finished, parking is carried out, a flameout instruction is sent to the intelligent vehicle body controller 8, the intelligent vehicle body controller 8 carries out flameout control (enters a flameout state) after receiving the flameout instruction, the vehicle moving controller 2 sends the parking state and reason of the remote vehicle moving end to the vehicle-mounted display controller 10, the intelligent vehicle body controller 8 sends the flameout state to the vehicle-mounted display controller 10, the vehicle-mounted display controller 10 forwards the parking state and reason of the remote vehicle moving end and the flameout state to the mobile terminal 18 through the cloud end 17, and after the mobile terminal 18 receives the parking state and reason of the remote vehicle moving end and the flameout state, the remote vehicle moving end is prompted, the vehicle is safely flameout and parked, and the reason for the abnormal vehicle moving is prompted. After the remote vehicle moving is finished and the vehicle is parked, the vehicle-mounted display controller 10 closes the remote audio and video, stops audio and video processing and enters a dormant state, and the vehicle moving controller 2 quits video acquisition and enters the dormant state. If the system state is overtime, or the gradient exceeds the limit value, or the vehicle speed exceeds the limit value, or the vehicle moving range exceeds the limit value (the farthest forward or backward direction is controlled by 10m relative to the initial position), or an obstacle moves to a sensor blind area, or a subsystem fails, or the vehicle is operated manually (such as the state of a vehicle door is changed, a brake is stepped on, a gear is shifted, an accelerator is stepped on, and the like), or the communication between the vehicle and a mobile terminal is abnormal, or the system fails, the abnormal condition is indicated in the vehicle moving process.
During the remote vehicle moving process, the monitoring of the vehicle body stabilization system (EPBi) 14 and the monitoring of the vehicle moving controller 2 are included. In the vehicle moving control process, the vehicle body stabilizing system 14 monitors and diagnoses a request signal of the vehicle moving controller 2, when the received request signal is abnormal (communication interruption and message information monitoring are abnormal), the vehicle body stabilizing system 14 actively controls the vehicle to stop, at the moment, the vehicle moving controller 2 is still in a control state, and the vehicle moving controller 2 monitors and finishes system quitting. The parking comprises conventional parking and redundant parking, when the vehicle body stabilizing system 14 is controllable, the vehicle moving controller 2 requests the vehicle body stabilizing system 14 to park, when the vehicle body stabilizing system 14 is abnormal, the redundant parking function is effective, the vehicle moving controller 2 requests the electronic gear shifting system 12 to forcibly park the vehicle 21, after parking is completed, if network communication is normal, the mobile terminal 18 carries out related prompt, if the network communication is abnormal, the mobile terminal 18 prompts that communication is abnormal according to the current network signal state, and field processing needs to be returned. The remote vehicle moving and exiting processing mechanism is reliable.
Claims (9)
1. A remote vehicle moving method is characterized in that an adopted remote vehicle moving system comprises a vehicle moving control system (1), a gateway (6), an intelligent vehicle body controller (8), a vehicle-mounted display controller (10), an electric power steering system (11), an electronic gear shifting system (12), an engine management system (13), a vehicle body stabilizing system (14), a transmission system (15), a corner sensor (16), a cloud end (17), an external vehicle microphone (5), an external vehicle horn (7) and a mobile terminal (18); the vehicle moving control system (1) comprises a millimeter wave radar (19), a forward looking camera (9), a vehicle moving controller (2), an ultrasonic radar (3) and a panoramic camera (4), wherein the ultrasonic radar and the panoramic camera are respectively connected with the vehicle moving controller (2) through hard wires; the system comprises a millimeter wave radar (19), a front-view camera (9) and a gateway (6), wherein the millimeter wave radar (19), the front-view camera (9) and the gateway (6) are connected with a vehicle moving controller (2) through a Safe CAN bus, an electric Power-assisted steering system (11), an electronic gear shifting system (12), an engine management system (13), a vehicle Body stabilizing system (14), a transmission system (15) and a corner sensor (16) are respectively connected with the gateway (6) through a Power CAN bus, an intelligent vehicle Body controller (8) and a vehicle-mounted display controller (10) are respectively connected with the gateway (6) through a Body CAN bus, the vehicle-mounted display controller (10) is in wireless communication with a mobile terminal (18) through a cloud (17), and the vehicle moving controller (2), an outside microphone (5) and an outside horn (7) are respectively connected with the vehicle-mounted display controller (10) through hard wires; the method is characterized by comprising the following steps:
under the conditions that network communication is normal and identity authentication is successful, the mobile terminal (18) sends a remote vehicle moving starting request to the vehicle-mounted display controller (10) through the cloud end (17), and the vehicle-mounted display controller (10) judges whether the vehicle state meets the vehicle starting requirement or not after receiving the request;
if the vehicle starting requirement is not met, the vehicle-mounted display controller (10) sends information and reasons which do not meet the vehicle starting requirement to the mobile terminal (18) through the cloud end (17) for exception prompt;
if the vehicle starting requirement is met, the vehicle-mounted display controller (10) sends a vehicle starting instruction to the intelligent vehicle body controller (8), and sends a remote vehicle moving starting instruction to the vehicle moving controller (2) after the returned vehicle starting success information is received;
the vehicle moving controller (2) judges whether the vehicle state and the vehicle surrounding environment meet the remote vehicle moving activation condition after receiving the remote vehicle moving starting instruction;
if the remote vehicle moving activation condition is not met, the vehicle moving controller (2) sends remote vehicle moving activation failure information and reasons to the vehicle-mounted display controller (10), the vehicle-mounted display controller (10) forwards the information to the mobile terminal (18) through the cloud end (17) for exception prompting, and meanwhile the vehicle-mounted display controller (10) sends a flameout instruction to the intelligent vehicle body controller (8) for flameout control;
if the remote vehicle moving activation condition is met, the vehicle moving controller (2) sends remote vehicle moving activation success information and a selectable vehicle moving mode to the vehicle-mounted display controller (10), the vehicle-mounted display controller (10) forwards the information to the mobile terminal (18) through the cloud end (17), the vehicle-mounted display controller (10) issues an audio and video starting instruction, an audio and video live broadcast channel is established with the mobile terminal (18) through the cloud end (17), meanwhile, the remote vehicle moving activation success information is sent to the intelligent vehicle body controller (8), and the intelligent vehicle body controller (8) enters a remote vehicle moving state after receiving the remote vehicle moving activation success information; the vehicle-mounted display controller (10) judges whether the audio and video live channel is established successfully;
if the audio and video live channel is not established successfully, the vehicle-mounted display controller (10) sends failure information and reasons for establishing the audio and video live channel to the mobile terminal (18) through the cloud end (17) for exception prompting, and simultaneously sends a flameout instruction to the intelligent vehicle body controller (8) for flameout control;
if the audio and video live broadcast channel is successfully established, the vehicle-mounted display controller (10) sets a remote audio and video state to be on, the vehicle moving controller (2) sends video information acquired by the panoramic camera (4) to the vehicle-mounted display controller (10), the vehicle-mounted display controller (10) processes audio information acquired by the external microphone (5) and the received video information to form audio and video streams, and the audio and video streams are sent to the mobile terminal (18) through the cloud end (17);
after receiving the information of successful activation of remote vehicle moving, the selectable vehicle moving mode and the audio and video stream, the mobile terminal (18) displays the video content, the selectable vehicle moving mode and the operable function, plays the audio and enables the remote vehicle moving to enter the operable state;
after the user moves the vehicle, the mobile terminal (18) sends the vehicle moving function operation instruction of the user to the vehicle-mounted display controller (10) through the cloud end (17), the vehicle-mounted display controller (10) forwards the vehicle moving function operation instruction to the vehicle moving controller (2), and the vehicle moving controller (2) executes remote vehicle moving according to the vehicle moving function operation instruction of the user;
in the remote vehicle moving process, the vehicle moving controller (2) makes obstacle avoidance brake according to the situation of obstacles around the vehicle detected in real time, and sends the vehicle moving state and audio and video streams to the vehicle-mounted display controller (10), and the vehicle-mounted display controller (10) forwards the vehicle moving state and the audio and video streams to the mobile terminal (18) through the cloud (17) to display video content, the vehicle moving state and audio; the mobile terminal (18) sends audio information to the vehicle-mounted display controller (10) through the cloud (17), and the vehicle-mounted display controller (10) controls the external loudspeaker (7) to play the audio information after receiving the audio information;
in the remote vehicle moving process, if the vehicle moving controller (2) receives a command for ending the remote vehicle moving or judges that the normal vehicle moving is finished or judges that abnormality occurs in the vehicle moving process, the remote vehicle moving can be ended, parking is carried out, a flameout command is sent to the intelligent vehicle body controller (8) for flameout control, the parking state and the reason of the remote vehicle moving ending are sent to the vehicle-mounted display controller (10), and the vehicle-mounted display controller (10) forwards the parking state and the reason to the mobile terminal (18) through the cloud end (17) for prompting.
2. The remote vehicle moving method according to claim 1, characterized in that: the number of the millimeter wave radars (19) is 5, and the 5 millimeter wave radars are respectively arranged in the middle of 4 corners and the front bumper of the vehicle body; the number of the panoramic cameras (4) is 4, and the 4 panoramic cameras are respectively arranged on the left rearview mirror, the right rearview mirror, the middle of the front fuse and the middle of the back surface; the number of the ultrasonic radars (3) is 12, wherein 4 ultrasonic radars are uniformly arranged on the front bumper at intervals, 4 ultrasonic radars are uniformly arranged on the rear bumper at intervals, and the other 4 ultrasonic radars are respectively arranged on the left front part of the vehicle body, the left rear part of the vehicle body, the right front part of the vehicle body and the right rear part of the vehicle body; the front view camera (9) is arranged on the front windshield.
3. The remote vehicle moving method according to claim 1, characterized in that: after the remote vehicle moving is finished and the vehicle is parked, the vehicle-mounted display controller (10) closes the remote audio and video, stops audio and video processing and enters a dormant state, and the vehicle moving controller (2) quits video acquisition and enters the dormant state.
4. The remote vehicle moving method according to claim 3, characterized in that:
if the power supply gear of the vehicle is in an OFF gear, the vehicle door is closed, and the vehicle is not in the electronic fence, the vehicle starting requirement is met, otherwise, the vehicle starting requirement is not met;
if the gradient of the vehicle is smaller than the preset gradient value, the communication signal intensity of the position where the vehicle is located is larger than the preset signal intensity value, the subsystem function is confirmed to be normal, the weather is good, no living objects exist in the vehicle, and enough vehicle moving space exists around the vehicle, the remote vehicle moving activation condition is met, and otherwise, the remote vehicle moving activation condition is not met.
5. The remote vehicle moving method according to claim 4, characterized in that: if the condition a1 or the condition a2 is satisfied, it indicates that there is sufficient space around the vehicle, otherwise, it indicates that there is not sufficient space around the vehicle; wherein,
condition a1 is: d1 is not less than D x Or D2 ≧ D x ；
Condition a2 is: d1 < D x And D2 < D x And D1+ D2 is more than or equal to D y And D3 is more than or equal to vehicle width + D z ；
D1 represents the distance of the vehicle from the front virtual reference vehicle, D2 represents the distance of the vehicle from the rear virtual reference vehicle, D3 represents the distance of the vehicle from the left or right obstacle line, D x Denotes a first predetermined distance, D y Representing a second predetermined distance, D z Representing a third preset distance.
6. The remote vehicle moving method according to claim 5, characterized in that:
if D1 ≧ D x Or D2 ≧ D x And D3 < vehicle width + D z When the vehicle is controlled remotely, the selectable vehicle moving mode is preferentially a remote vehicle control function, a user is prompted to press a forward key, a backward key, a left-turn key or a right-turn key to control the vehicle remotely, the user can select multiple operations, and the prompt is given when the vehicle is stopped actively when encountering an obstacle in the remote vehicle control process;
if D1 ≧ D x Or D2 ≧ D x And D3 is not less than vehicle width + D z When the vehicle is moved to the planning area, the selectable vehicle moving mode is preferably one-key parking, the user is prompted to be capable of one-key parking, and after the user confirms, the system automatically plans the track to control the vehicle to move to the planning area;
if D1 < D x And D2 < D x And D1+ D2 is more than or equal to D y And D3 is more than or equal to vehicle width + D z The selectable vehicle moving mode is preferably one-key parking, the user is prompted to be capable of one-key parking, and after the user confirms, the system automatically plans the track to control the vehicle to move to the planning area;
when the reference vehicle blocked by the vehicle leaves, the user can select one key to return to the initial position, the parking space is still detected in real time in the process that the vehicle is parked at the initial position, when the empty parking space after the reference vehicle blocked by the vehicle leaves is detected, the user is reminded through the mobile terminal (18) whether to confirm the parking space, the path is planned again, and the vehicle is parked at the empty parking space after the user confirms.
7. The remote vehicle moving method according to any one of claims 1 to 6, characterized in that: if the system state is overtime, or the gradient exceeds the limit value, or the vehicle speed exceeds the limit value, or the vehicle moving range exceeds the limit value, or an obstacle moves to a sensor blind area, or a subsystem fails, or the vehicle is manually operated, or the communication between the vehicle and the mobile terminal is abnormal, or the system fails, the abnormality is shown in the vehicle moving process, otherwise, the vehicle moving is shown to be normal.
8. The remote vehicle moving method according to any one of claims 1 to 6, characterized in that: the parking comprises conventional parking and redundant parking, when the vehicle body stabilizing system (14) is controllable, the vehicle moving controller (2) requests the vehicle body stabilizing system (14) to park, when the vehicle body stabilizing system (14) is abnormal, the redundant parking function is effective, the vehicle moving controller (2) requests the electronic gear shifting system (12) to forcibly park the vehicle, after parking is completed, if network communication is normal, the mobile terminal (18) carries out related prompt, if the network communication is abnormal, the mobile terminal (18) prompts that communication is abnormal according to the current network signal state, and field processing is required to be returned.
9. The remote vehicle moving method according to any one of claims 1 to 6, characterized in that: the obtaining mode of the obstacle situation around the vehicle has four types, specifically:
determining a collision distance with a surrounding obstacle based on echo information of the ultrasonic radar (3);
determining the collision distance with surrounding obstacles based on the grid images of the panoramic camera (4) and the ultrasonic radar (3);
fusing target information detected by the panoramic camera (4) and target information detected by the ultrasonic radar (3), and determining the collision distance with surrounding obstacles by combining the driving direction of the vehicle;
and determining the collision distance with surrounding obstacles by combining the vehicle driving direction based on the target fusion result of the panoramic camera (4) and the ultrasonic radar (3) and the target fusion result of the millimeter wave radar (19) and the forward looking camera (9).
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