CN111862565A - Vehicle remote control method and system and vehicle - Google Patents
Vehicle remote control method and system and vehicle Download PDFInfo
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- CN111862565A CN111862565A CN202010611484.9A CN202010611484A CN111862565A CN 111862565 A CN111862565 A CN 111862565A CN 202010611484 A CN202010611484 A CN 202010611484A CN 111862565 A CN111862565 A CN 111862565A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/90—Additional features
- G08C2201/93—Remote control using other portable devices, e.g. mobile phone, PDA, laptop
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Abstract
The invention discloses a vehicle remote control method, which relates to a mobile terminal and a vehicle which are communicated with each other, and comprises the following steps: the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal and enters an active safety mode; and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode. The invention also discloses a vehicle remote control system, which comprises the mobile terminal and the vehicle which are communicated with each other, wherein the vehicle is provided with an automatic driving module and a whole vehicle control module. According to the invention, the interactive control of the mobile terminal and the vehicle is realized by adopting a WIFI direct connection technology, and the control of natural people and the active safety obstacle avoidance of the vehicle are combined, so that the vehicle control with higher safety and higher experience degree is realized.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle remote control method, a vehicle remote control system and a vehicle.
Background
With the development of the intelligent era, the intelligent requirement on products is higher and higher, and automobiles are no exception. The high degree of intelligence of the automobile brings great convenience to people's traveling. For example, for a vehicle parked outdoors, when the user does not carry an umbrella in rainy days, the user can have practicability and experience if the user can remotely control the vehicle to drive the vehicle. However, the technology of remote control of vehicles is mainly dependent on bluetooth connection, and the most important disadvantages are short distance, weak penetrability, only one-to-one connection support, short communication life cycle and instability; in addition, the existing wireless remote control car or unmanned aerial vehicle control technology only stops at complete manual control, does not combine with vehicle active safety to avoid obstacles, and cannot guarantee safety.
Disclosure of Invention
An embodiment of the invention provides a vehicle remote control method, which relates to a mobile terminal and a vehicle which are communicated with each other, and comprises the following steps:
the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal and enters an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
Further, the vehicle enters an obstacle avoidance mode when detecting that an obstacle exists in the active safety mode, and does not respond to a vehicle control instruction sent by the mobile terminal.
Specifically, after the detected obstacle disappears, the vehicle responds to the vehicle control command sent by the mobile terminal before the vehicle enters the obstacle avoidance mode again.
Further, the vehicle does not enter an obstacle avoidance mode when an obstacle is not detected in the active safety mode, and responds to a control instruction of the mobile terminal.
Preferably, after the vehicle enters the obstacle avoidance mode, double flashing is started for prompting.
The vehicle remote control system further comprises a vehicle receiving remote control stop instruction sent by the mobile terminal, exiting the active safety mode and switching to a parking gear to enter a waiting state.
The mobile terminal is provided with a virtual steering wheel, and when the virtual steering wheel rotates 180 degrees leftwards or rightwards, the vehicle receives a corresponding control instruction to enable the steering wheel to rotate the maximum number of turns leftwards or rightwards.
And the vehicle receives a command of exiting the control mode sent by the mobile terminal, interrupts the communication connection with the mobile terminal and displays the prompt message.
Specifically, the vehicle and the mobile terminal are in communication connection in a WiFi direct connection mode.
Another embodiment of the present invention provides a vehicle remote control method, which relates to communication interaction between a plurality of mobile terminals and a vehicle, including the steps of:
receiving a vehicle remote control starting instruction sent by a mobile terminal with the highest priority in a plurality of mobile terminals, and entering an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by any mobile terminal according to the state of the obstacle avoidance mode.
Specifically, the priorities of the plurality of mobile terminals are priorities preset according to vehicle management authorities of the mobile terminals.
Preferably, when there are a plurality of vehicle control instructions, the responsive vehicle control instruction is determined according to the priority of the mobile terminal.
Specifically, when the mobile terminal with the higher priority has no instruction within the preset time, the vehicle control instruction sent by the mobile terminal with the lower priority is responded.
Yet another embodiment of the present invention provides a vehicle remote control system including a mobile terminal and a vehicle in communication with each other, the vehicle being provided with an automatic driving module and a vehicle control module, wherein,
the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal, and the automatic driving module forwards corresponding information to the whole vehicle control module so that the vehicle enters an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
Yet another embodiment of the present invention provides a vehicle comprising one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
The present invention also provides one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described above.
The embodiment of the invention adopts the WIFI direct connection technology to replace the Bluetooth technology, so that the interaction control can be realized without an intermediate server between the mobile terminal and the vehicle, and compared with the Bluetooth technology, the WIFI direct connection technology is more stable, has longer distance and stronger penetrating power. Furthermore, the combination of natural human control and active safety obstacle avoidance of the vehicle can realize manual remote control and also ensure the automatic detection safety of the vehicle, thereby realizing safer vehicle control with higher experience.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of communication principles of modules involved in a vehicle remote control method disclosed by an embodiment of the invention;
FIG. 2 is a flow chart of a method for remotely controlling a vehicle according to an embodiment of the present invention;
FIG. 3 is a diagram of an example of a mobile terminal vehicle control application interface as disclosed in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
With the landing and application popularization of the 5G network, the automatic driving is revolutionarily developed. The problem of communication unstability and the security poor that present remote control vehicle exists is solved in order to solve. The invention utilizes wifi direct connection and Ethernet technology, combines natural human control and vehicle active safety obstacle avoidance by opening three-terminal communication of the mobile terminal, the vehicle and the vehicle automatic driving system, solves the problem of pain points of the existing remote control vehicle, and realizes low-delay, many-to-many, safe and reliable control of the vehicle at the mobile phone end.
In order to describe the vehicle remote control method in detail, the present invention first briefly describes a communication structure between terminals to facilitate understanding of the following contents. Specifically, the main modules related to the vehicle comprise a vehicle-mounted system, an automatic driving system SCU, a vehicle control system VCU and a power-assisted steering system EPS, wherein the vehicle-mounted system is integrated in a vehicle-mounted large screen.
For convenience of description, the mobile terminal of the present invention takes a mobile phone as an example, and the vehicle-mounted system takes an Xmart OS as an example for description, specifically, the mobile terminal may be any form of mobile intelligent terminal such as a mobile phone, a pad, and a mobile computer, and the vehicle-mounted system may be any intelligent system capable of establishing a connection with the mobile terminal, which is not limited in the embodiment of the present invention. The mobile phone and the vehicle-mounted large screen are respectively provided with an application program which is communicated with each other and used for realizing remote control of the vehicle, preferably, the application program in the mobile phone is mobile app, and the application program in the vehicle-mounted large screen is XmartApp. Referring to the schematic architecture diagram of fig. 1, wherein,
the mobile phone and the vehicle are connected in a WiFi direct connection mode, the vehicle starts a WiFi hotspot, the mobile phone searches the hotspot and establishes communication connection, and therefore the mobile phone mobile App and the vehicle-mounted large screen Xmart App can communicate with each other. The communication mode supports many-to-many Socket two-way handshake access; establish communication connection through the wiFi mode of directly connecting, make and do not need intermediate server between mobile terminal and the vehicle, can realize interactive control, and because the mode transmission distance that wiFi directly links is far away, the penetrating power is strong, consequently compares bluetooth technology more stable moreover, can solve current bluetooth and connect the unstable problem of communication.
The control of the vehicle is realized through communication interaction among a vehicle-mounted system Xmart OS, a vehicle automatic driving system SCU, a vehicle control system VCU and a power-assisted steering system EPS in the vehicle. The specific communication mode is as follows:
firstly, XmartApp converts a received UDP message into a binary CAN message through CarServices service, and sends the binary CAN message to an SCU on a CAN bus;
then, the SCU communicates with the ECU of the VCU and the EPS according to protocols on the CAN bus respectively. Specifically, the CAN packet protocol is defined as follows:
example one
An embodiment of the present invention provides a vehicle remote control method based on the above communication architecture, and referring to fig. 2, the method includes the following steps:
s11, the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal and enters an active safety mode;
and S12, in the active safety mode, judging whether the vehicle enters an obstacle avoidance mode according to the road condition, and determining whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
Specifically, the mobile terminal and the vehicle-mounted large screen of the vehicle are respectively pre-installed with application programs which can be used for realizing vehicle control through communication interaction. In step S11, the vehicle control application is started after the vehicle is powered on, and a WiFi hotspot is established, and the vehicle waits for connection of the mobile terminal. Specifically, the mobile terminal searches for a WiFi hotspot when initially connected, finds the WiFi hotspot of the vehicle and selects the WiFi hotspot, and establishes connection when a password is input; if the connection is not the initial connection, the mobile terminal can automatically connect with the WiFi hotspot of the vehicle. And when the connection between the mobile terminal and the vehicle is successful, starting the remote mode of the mobile terminal. And when the mobile terminal is successfully connected with the vehicle, the display screen of the mobile terminal and the vehicle-mounted large screen both display a prompt message of 'successful connection'. If the connection fails, the vehicle control application program of the vehicle-mounted large screen waits for reconnection of the mobile terminal, and if the connection does not occur within the preset time, the vehicle control application program of the vehicle-mounted large screen is automatically closed, and meanwhile, the WiFi hotspot is closed.
And sending a corresponding control instruction by clicking a vehicle control application program operation interface of the mobile terminal. When the starting button is clicked, an instruction for starting remote control is sent to the vehicle, the vehicle receives the instruction, converts the instruction into a CAN signal and forwards the CAN signal to the automatic driving system SCU, the SCU forwards the CAN signal to the VCU after receiving the CAN signal, and the VCU controls the vehicle to enter an active safety mode.
In step S12, when the vehicle is in the active safety mode, the vehicle enters the obstacle avoidance mode when detecting that an obstacle exists, and does not respond to the vehicle control command sent by the mobile terminal. If the current mobile terminal sends a forward instruction, but the vehicle on the road ahead detects an obstacle, the forward instruction is not executed, and prompt information is sent. Preferably, after the vehicle enters the obstacle avoidance mode, the double-flash is started to prompt, and meanwhile, the mobile terminal also prompts in modes of vibration, ringing, flashing and the like.
And when the detected obstacle disappears, the vehicle responds to the vehicle control instruction sent by the mobile terminal before the vehicle enters the obstacle avoidance mode again. In the process of advancing, the advancing instruction of the mobile terminal is not executed after the obstacle is detected, and when the obstacle is eliminated, the vehicle sends out the prompt message and automatically executes the advancing instruction.
Specifically, the sensors arranged around the vehicle continuously scan the peripheral information in the driving process of the vehicle, and when a target is detected, the peripheral information is sent to the SCU, the SCU analyzes and judges whether the target is an obstacle, if the target is the obstacle, the SCU does not forward the received control instruction sent by the mobile terminal, and if the target is not the obstacle, the SCU forwards the control instruction sent by the mobile terminal to the VCU, and the VCU controls the vehicle to execute the corresponding instruction.
Further, the vehicle does not enter an obstacle avoidance mode when an obstacle is not detected in the active safety mode, and responds to a control instruction of the mobile terminal.
The mobile terminal is provided with a virtual steering wheel, and when the virtual steering wheel rotates 180 degrees leftwards or rightwards, the vehicle receives a corresponding control instruction to enable the steering wheel to rotate the maximum number of turns leftwards or rightwards.
Fig. 3 is a diagram showing an example of a vehicle control application program interface of a mobile terminal, in which a "start" button is a switch button for starting a vehicle control mode, an "exit" button is a switch button for ending the vehicle control mode, an upper triangular button and a lower triangular button are respectively indicated as forward and backward, a virtual steering wheel is on the left, and the vehicle steering wheel is controlled to rotate by a corresponding angle by controlling the rotation angle of the virtual steering wheel.
The preferred virtual steering wheel is limited to only a left half turn and a right half turn, so that the safety problem caused by the fact that a user cannot remember that the virtual steering wheel rotates for a plurality of turns is avoided. If the current wheel is left, and the user may not know how many turns the virtual steering wheel is to turn to the right at this time, the present invention preferably designs the steering wheel to be square, and the steering wheel can only turn 180 degrees clockwise and counterclockwise respectively, and when turning to the maximum 180 degrees to the left, it is equivalent to turning the real steering wheel of the vehicle counterclockwise by 2 and a half turns. If the angle is changed from the leftmost angle to the right-most angle, only 180 degrees are needed to be changed to-180 degrees, and the virtual keyboard does not need to be rotated for several circles, and based on the principle, the following relationship between the rotation angle of the virtual steering wheel and the real steering wheel is obtained:
when deg res 1 > 0 ° and deg res 1 ≦ 90 °, deg res 2 ═ (500.0 ÷ 90.0) × deg res 1;
when deg. res 1 is 270 deg. or more and deg. res 1 is 360 deg. or less, deg. res 2 is (deg. res 1-360.0) × (500.0 ÷ 90.0).
The depth 1 is the rotation angle of the virtual steering wheel, and the depth 2 is the rotation angle of the real steering wheel of the vehicle. Specifically, when the vehicle receives a steering wheel rotation instruction sent by the mobile terminal, the vehicle-mounted system converts the corresponding instruction into a binary CAN message through a CarServices service, and sends the binary CAN message to the SCU on the CAN bus; the autopilot system SCU then communicates with the ECU of the EPS over the CAN bus to control the true steering wheel of the vehicle to rotate a corresponding angle.
Further, the vehicle receives a vehicle remote control stop instruction sent by the mobile terminal, exits the active safety mode and is switched to a parking gear to enter a waiting state. As shown in fig. 3, when the exit button is clicked, the vehicle receives a corresponding command, converts the command into a CAN signal, and forwards the CAN signal to the VCU, so that the vehicle exits the active safety mode and is switched to the parking position to enter the waiting state.
Further, as shown in fig. 3, when the "back" button is clicked, the vehicle receives a command for exiting the control mode sent by the mobile terminal, interrupts the communication connection with the mobile terminal, and displays a prompt message.
According to the vehicle remote control method, stable, safe and reliable vehicle remote control is achieved through WiFi direct connection of the mobile terminal and the vehicle and communication interaction of the mobile terminal, the vehicle and the vehicle SCU.
Example two
In order to further explain the vehicle remote control method of the present invention, a second embodiment of the present invention takes a mobile phone as an example, and provides a supplementary description of a specific embodiment. The method comprises the following steps that a vehicle remote control application program is installed at a mobile phone end, a vehicle-mounted system is integrated on a vehicle-mounted large screen of a vehicle, and a corresponding vehicle remote control application program XmartApp is installed at the vehicle-mounted large screen end, and specifically comprises the following steps:
A. The vehicle is powered on ready;
B. starting XmartApp on the vehicle-mounted large screen, automatically establishing a WIFI hotspot, and waiting for connection of a mobile phone;
C. the mobile phone is connected with a vehicle-mounted large-screen WIFI hotspot, and an App remote control mode of the mobile phone is started;
D. if the mobile phone is successfully connected with the vehicle Socket, the vehicle-mounted large screen prompts connection establishment;
E. if the connection between the mobile phone and the vehicle fails, the vehicle-mounted large screen XmartApp waits for retry, if the vehicle-mounted large screen XmartApp is not connected with any mobile phone for more than 5min, the App is automatically closed, and the WIFI hotspot is closed;
F. if the mobile phone is successfully connected with the vehicle, a 'start' button is clicked through the mobile phone app, a 'KEY _ ENTER' signal is sent to the vehicle, the vehicle CAN turn into a CAN signal to forward to an automatic driving system SCU after receiving the signal, the SCU CAN forward to a vehicle control system VCU after receiving the signal, and the VCU enables the vehicle to ENTER an active safety mode;
G. clicking a FORWARD button on the mobile phone app to send a KEY _ FORWARD signal to the vehicle, converting the vehicle into a CAN signal after the vehicle receives the CAN signal and forwarding the CAN signal to the SCU, forwarding the CAN signal to the VCU after the SCU receives the CAN signal, and enabling the VCU to drive the vehicle FORWARDs;
H. clicking a 'back' button on the mobile phone app, sending a 'KEY _ backup WARD' signal to the vehicle, converting the vehicle into a CAN signal after receiving the CAN signal and forwarding the CAN signal to the SCU, forwarding the CAN signal to the VCU after receiving the SCU, and enabling the VCU to drive the vehicle BACKWARDs;
I. Sliding a virtual steering wheel leftwards or rightwards on the mobile phone app, sending a Steer _ Angle signal to the vehicle, enabling the vehicle to turn into a CAN signal after receiving the CAN signal and forward the CAN signal to the SCU, enabling the SCU to forward the CAN signal to the EPS after receiving the CAN signal, and enabling the vehicle steering wheel to rotate leftwards or rightwards to a real Angle through the EPS;
J. clicking an EXIT button on the mobile phone app to send a KEY _ EXIT signal to the vehicle, converting the vehicle into a CAN signal after receiving the CAN signal and transmitting the CAN signal to the SCU, transmitting the CAN signal to the VCU after receiving the SCU, and enabling the vehicle to EXIT the active safety mode by the VCU; at the moment, the vehicle switches the P gear and waits; if the 'start' button is clicked, the F flow can be re-entered;
K. and clicking a 'return' button on the mobile phone App, the mobile phone App exits the remote control mode and is disconnected with the vehicle-mounted large-screen WIFI, and at the moment, the large-screen XmartApp prompts 'disconnection'.
According to the vehicle remote control method provided by the embodiment of the invention, a user interacts with the corresponding vehicle control application program of the vehicle-mounted large screen by operating the vehicle control application program interface of the mobile terminal, so that the vehicle can respond to the control instruction sent by the mobile terminal, and the remote control of the vehicle is realized.
EXAMPLE III
The invention also provides a vehicle remote control method, when a plurality of mobile terminals simultaneously control the vehicle, the mobile terminals respectively establish communication connection with the vehicle through WiFi hot spots started by the vehicle, and control the vehicle according to different priorities, which specifically comprises the following steps:
S41, receiving a vehicle remote control starting instruction sent by a mobile terminal with the highest priority in the plurality of mobile terminals, and entering an active safety mode;
the mobile terminals need to perform identity registration, and different priorities are set according to vehicle management authority, for example, the mobile terminal bound with the vehicle owner account is set to be the highest priority, and other mobile terminals authorized by the vehicle owner to control the vehicle can set the priority according to the granted control authority. The priority can be directly customized by the owner and authorized to different mobile terminals, and the vehicle system can also determine different priorities according to the control authority of the mobile terminals authorized by the owner. Wherein, the vehicle remote control starting command must be sent by the mobile terminal with the highest priority, and other priority mobile terminals send the command to be not responded by default. However, if the other mobile terminals are granted the authority of the vehicle remote control starting instruction, when the mobile terminal bound with the vehicle owner account does not send the instruction, the vehicle remote control starting instruction sent by the mobile terminal is responded. At any time, however, the priority of the other terminals cannot be better than the highest priority mobile terminal to cause the vehicle to execute the control command.
And when the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal with the highest priority, the vehicle enters an active safety mode. And when the mobile terminal with the low priority is not responded, sending prompt information to the mobile terminal with the low priority. Specifically, the mobile terminal and the vehicle-mounted large screen of the vehicle are respectively pre-installed with application programs which can be used for realizing vehicle control through communication interaction.
After the vehicle is powered on, the vehicle control application program is started, a WiFi hotspot of the vehicle control application program is established, and connection of the mobile terminal is waited. Specifically, the mobile terminal searches for a WiFi hotspot when initially connected, finds the WiFi hotspot of the vehicle and selects the WiFi hotspot, and establishes connection when a password is input; if the connection is not the initial connection, the mobile terminal can automatically connect with the WiFi hotspot of the vehicle. And when the connection between the mobile terminal and the vehicle is successful, starting the remote mode of the mobile terminal. And when the mobile terminal is successfully connected with the vehicle, the display screen of the mobile terminal and the vehicle-mounted large screen both display a prompt message of 'successful connection'. If the connection fails, the vehicle control application program of the vehicle-mounted large screen waits for reconnection of the mobile terminal, and if the connection does not occur within the preset time, the vehicle control application program of the vehicle-mounted large screen is automatically closed, and meanwhile, the WiFi hotspot is closed.
And sending a corresponding control instruction by clicking a vehicle control application program operation interface of the mobile terminal. When the starting button is clicked, an instruction for starting remote control is sent to the vehicle, the vehicle receives the instruction, converts the instruction into a CAN signal and forwards the CAN signal to the automatic driving system SCU, the SCU forwards the CAN signal to the VCU after receiving the CAN signal, and the VCU controls the vehicle to enter an active safety mode.
And S42, in the active safety mode, judging whether the vehicle enters an obstacle avoidance mode according to the road condition, and determining whether to respond to a vehicle control instruction sent by any mobile terminal according to the state of the obstacle avoidance mode.
And when the vehicle is in an active safety mode, the vehicle enters an obstacle avoidance mode when an obstacle is detected to exist, and does not respond to a vehicle control instruction sent by any mobile terminal. If any mobile terminal sends a forward instruction at present, but the vehicle on the road ahead detects an obstacle, the forward instruction is not executed, and prompt information is sent. Preferably, after the vehicle enters the obstacle avoidance mode, the double-flash is started to prompt, and meanwhile, the mobile terminal also prompts in modes of vibration, ringing, flashing and the like.
And when the detected obstacle disappears, the vehicle responds to a vehicle control instruction sent by the mobile terminal before the vehicle enters the obstacle avoidance mode again, wherein the vehicle control instruction refers to an instruction sent by a higher priority before the vehicle enters the obstacle avoidance mode. Specifically, the forward command executed here is sent by a higher priority before the vehicle enters the obstacle avoidance mode.
Specifically, the sensors arranged around the vehicle continuously scan the peripheral information in the driving process of the vehicle, and when a target is detected, the peripheral information is sent to the SCU, the SCU analyzes and judges whether the target is an obstacle, if the target is the obstacle, the SCU does not forward the received control instruction sent by the mobile terminal, and if the target is not the obstacle, the SCU forwards the control instruction sent by the mobile terminal to the VCU, and the VCU controls the vehicle to execute the corresponding instruction.
Further, the vehicle does not enter an obstacle avoidance mode when an obstacle is not detected in the active safety mode, responds to the control command of the mobile terminal according to the priority, preferentially responds to the mobile terminal with higher priority, and responds to the vehicle control command sent by the mobile terminal with secondary priority when the mobile terminal with higher priority does not operate within a specific time.
The mobile terminal is provided with a virtual steering wheel, and when the virtual steering wheel rotates 180 degrees leftwards or rightwards, the vehicle receives a corresponding control instruction to enable the steering wheel to rotate the maximum number of turns leftwards or rightwards.
Example four
The invention also provides a vehicle remote control system, which comprises a mobile terminal and a vehicle, wherein the mobile terminal and the vehicle are communicated with each other, the vehicle is provided with an automatic driving module SCU and a vehicle control module VCU, and the vehicle remote control system comprises a vehicle body control module VCU,
The vehicle receives a vehicle remote control starting instruction sent by the mobile terminal, and the automatic driving module forwards corresponding information to the whole vehicle control module so that the vehicle enters an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
Further, the vehicle remote control system further comprises an electric power steering module EPS, the mobile terminal is provided with a virtual steering wheel, and when the virtual steering wheel rotates 180 degrees leftwards or rightwards, the vehicle receives a corresponding control instruction and forwards the control instruction to the EPS so that the steering wheel rotates the maximum number of turns leftwards or rightwards.
The vehicle remote control process performed by the vehicle remote control system according to this embodiment has been described in detail through the above embodiments, and is not described herein again.
Embodiments of the present invention also provide a vehicle, including one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the vehicle remote control method as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a program code, and the program code comprises instructions for executing part or all of the steps of the method or the system in the above method embodiments.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "an embodiment of the present invention" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrase "in embodiments of the invention" appearing in various places throughout the specification are not necessarily all referring to the same embodiments. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein. It should be understood that the term "and/or" herein is merely one type of association relationship describing an associated object, meaning that three relationships may exist, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
The vehicle remote control method, system and vehicle disclosed in the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (16)
1. A vehicle remote control method, characterized in that the method relates to a mobile terminal and a vehicle communicating with each other, comprising the steps of:
the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal and enters an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
2. The method of claim 1, further comprising, in the active safety mode, entering an obstacle avoidance mode when an obstacle is detected, and not responding to a vehicle control command sent by the mobile terminal.
3. The method of claim 2, wherein when the detected obstacle disappears, the vehicle responds to the vehicle control command sent by the mobile terminal before the vehicle enters the obstacle avoidance mode again.
4. The method of claim 1, wherein the vehicle does not enter an obstacle avoidance mode when an obstacle is not detected in the active safety mode, and responds to a control command of the mobile terminal.
5. The method as claimed in claim 2, wherein after the vehicle enters the obstacle avoidance mode, the double flash is started to prompt.
6. The method of claim 1, further comprising the vehicle receiving a vehicle remote control stop command sent by the mobile terminal, exiting the active safety mode and switching to the park position to enter a waiting state.
7. The method according to claim 1, wherein the mobile terminal is provided with a virtual steering wheel, and when the virtual steering wheel is rotated 180 degrees to the left or right, the vehicle receives a corresponding control command to rotate the steering wheel to the left or right for a maximum number of turns.
8. The method of claim 1, wherein the vehicle receives an instruction sent by the mobile terminal to exit the control mode, interrupts the communication connection with the mobile terminal, and displays a prompt message.
9. The method according to any one of claims 1 to 8, wherein the vehicle and the mobile terminal establish a communication connection via WiFi direct connection.
10. A method for remote control of a vehicle, said method involving communication interactions between a plurality of mobile terminals and a vehicle, comprising the steps of:
receiving a vehicle remote control starting instruction sent by a mobile terminal with the highest priority in a plurality of mobile terminals, and entering an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by any mobile terminal according to the state of the obstacle avoidance mode.
11. The method according to claim 10, wherein the priorities of the plurality of mobile terminals are priorities preset according to vehicle management authorities of the mobile terminals.
12. The method of claim 10, wherein when there are a plurality of vehicle control commands, the responsive vehicle control commands are determined according to a priority of the mobile terminal.
13. The method of claim 12, wherein the vehicle control command sent by the mobile terminal with low priority is responded when the mobile terminal with high priority has no command within a preset time.
14. A vehicle remote control system is characterized in that the system comprises a mobile terminal and a vehicle which are communicated with each other, the vehicle is provided with an automatic driving module and a whole vehicle control module, wherein,
the vehicle receives a vehicle remote control starting instruction sent by the mobile terminal, and the automatic driving module forwards corresponding information to the whole vehicle control module so that the vehicle enters an active safety mode;
and under the active safety mode, the vehicle judges whether to enter an obstacle avoidance mode according to the road condition, and determines whether to respond to a vehicle control instruction sent by the mobile terminal according to the state of the obstacle avoidance mode.
15. A vehicle comprising one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of one or more of claims 1-13.
16. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-13.
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| CN202010611484.9A CN111862565A (en) | 2020-06-29 | 2020-06-29 | Vehicle remote control method and system and vehicle |
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| CN202010611484.9A CN111862565A (en) | 2020-06-29 | 2020-06-29 | Vehicle remote control method and system and vehicle |
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| CN113923633A (en) * | 2021-09-29 | 2022-01-11 | 湖北亿咖通科技有限公司 | Intelligent cabin control method, system and equipment integrating mobile terminal |
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Effective date of registration: 20201216 Address after: No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. |
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