Braking method and device for drive-by-wire chassis of unmanned vehicle, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a braking method and device for a drive-by-wire chassis of an unmanned vehicle, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: receiving a target remote control message sent by mobile equipment through a drive-by-wire chassis controller, determining a remote control instruction matched with the target remote control message, and starting timing; when timing reaches a first set time threshold value, if a next target remote control message sent by the mobile equipment is not received, controlling a drive-by-wire chassis of the unmanned vehicle to enter a braking mode, and sending a braking instruction message to the mobile equipment; and in response to a continuous receiving instruction of the first remote control message and the second remote control message, releasing the braking mode, and continuing to execute the operation of receiving the target remote control message sent by the mobile device. According to the scheme of the embodiment of the invention, the problem that the drive-by-wire chassis of the unmanned vehicle cannot receive the instruction sent by the mobile equipment in time in the scene that emergency braking is needed is solved, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a braking method, device, electronic equipment and storage medium for a wire-controlled chassis of an unmanned vehicle. Background Art

[0002] With the development of wireless communication technology, more and more vehicle control systems have begun to use wireless communication technology to achieve remote control of vehicles. At the same time, with the development of mobile device technology, the functions of mobile devices are becoming more and more powerful, and have become an indispensable tool in people's daily lives. Establishing a communication connection between a mobile device and the unmanned vehicle's wire-controlled chassis to achieve remote control of the unmanned vehicle is a common method at this stage.

[0003] However, due to the low antenna signal transmission power of the mobile device, the communication connection between the mobile device and the unmanned vehicle's wire-controlled chassis will fluctuate. The unmanned vehicle's wire-controlled chassis cannot receive the instructions sent by the mobile device in a timely manner when emergency braking is required, posing a safety risk.

[0004] How to solve the problem that the unmanned vehicle's wire-controlled chassis cannot receive instructions sent by mobile devices in a timely manner when emergency braking is required, effectively brake the unmanned vehicle's wire-controlled chassis, and reduce safety risks are key issues in industry research. Summary of the invention

[0005] The present invention provides a braking method, device, electronic device and storage medium for an unmanned vehicle's wire-controlled chassis, so as to solve the problem that the unmanned vehicle's wire-controlled chassis cannot promptly receive instructions sent by a mobile device in a scenario requiring emergency braking. The unmanned vehicle's wire-controlled chassis can be effectively braked, reducing safety risks.

[0006] According to one aspect of the present invention, a braking method for a wire-controlled chassis of an unmanned vehicle is provided, which is applied to a wire-controlled chassis controller, and the method comprises:

[0007] Receive a target remote control message sent by a mobile device, determine a remote control instruction matching the target remote control message, and start timing;

[0008] When the timing reaches a first set time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device;

[0009] In response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued.

[0010] According to one aspect of the present invention, a braking method for a wire-controlled chassis of an unmanned vehicle is provided, which is applied to a mobile device, and the method comprises:

[0011] In response to a remote control command of a target user, generating a target remote control message matching the remote control command, and sending the target remote control message to a wire-controlled chassis controller;

[0012] In response to a received instruction of the brake instruction message, generating target prompt information, and displaying the target prompt information;

[0013] An operation action performed by a target user in response to target prompt information is received, a first remote control message and a second remote control message are generated according to the operation action, and the first remote control message and the second remote control message are continuously sent to the wire-controlled chassis controller.

[0014] According to another aspect of the present invention, a braking device for a wire-controlled chassis of an unmanned vehicle is provided, which is deployed on a wire-controlled chassis controller, and the device comprises:

[0015] A first receiving module, configured to receive a target remote control message sent by a mobile device, determine a remote control instruction matching the target remote control message, and start timing;

[0016] A timing module, configured to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking command message to the mobile device when the timing reaches a first set time threshold and if the next target remote control message sent by the mobile device is not received;

[0017] The second receiving module is used to release the braking mode in response to the continuous reception instructions of the first remote control message and the second remote control message, and continue to perform the operation of receiving the target remote control message sent by the mobile device.

[0018] According to another aspect of the present invention, a braking device for a wire-controlled chassis of an unmanned vehicle is provided, which is deployed on a mobile device, and includes:

[0019] A first generating module, configured to generate a target remote control message matching the remote control command in response to a remote control command of a target user, and send the target remote control message to a wire-controlled chassis controller;

[0020] A second generating module, configured to generate target prompt information in response to a receiving instruction of the braking instruction message, and to display the target prompt information;

[0021] The third generating module is used to receive the operation action performed by the target user in response to the target prompt information, generate the first remote control message and the second remote control message according to the operation action, and continuously send the first remote control message and the second remote control message to the wire-controlled chassis controller.

[0022] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0023] at least one processor; and

[0024] a memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the braking method of the unmanned vehicle wire-controlled chassis described in any embodiment of the present invention.

[0026] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking method of the unmanned vehicle wire-controlled chassis described in any embodiment of the present invention when executed.

[0027] According to another aspect of the present invention, a computer program product is provided, including a computer program, which, when executed by a processor, implements the braking method for the unmanned vehicle wire-controlled chassis according to any embodiment of the present invention.

[0028] The technical solution of the embodiment of the present invention receives the target remote control message sent by the mobile device through the wire-controlled chassis controller, determines the remote control instruction matching the target remote control message, and starts timing; when the timing reaches a first set time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle wire-controlled chassis is controlled to enter a braking mode, and a braking instruction message is sent to the mobile device; in response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued, which solves the problem that the unmanned vehicle wire-controlled chassis cannot receive the instruction sent by the mobile device in time when emergency braking is required, and the unmanned vehicle wire-controlled chassis can be effectively braked, reducing safety risks.

[0029] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 This is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to Embodiment 1 of the present invention;

[0032] Figure 2 is a schematic diagram of a connection relationship between a wire-controlled chassis controller and a mobile device provided according to the first embodiment of the present invention;

[0033] Figure 3 is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to a second embodiment of the present invention;

[0034] Figure 4 is a timing diagram of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to the second embodiment of the present invention;

[0035] Figure 5 is a structural schematic diagram of a braking device for a wire-controlled chassis of an unmanned vehicle provided according to a third embodiment of the present invention;

[0036] Figure 6 is a structural schematic diagram of a braking device for a wire-controlled chassis of an unmanned vehicle provided according to a fourth embodiment of the present invention;

[0037] Figure 7 It is a structural schematic diagram of an electronic device for implementing a braking method for a wire-controlled chassis of an unmanned vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] Embodiment 1

[0041] Figure 1 This is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to an embodiment of the present invention. This embodiment can be applied to braking the wire-controlled chassis of an unmanned vehicle through a wire-controlled chassis controller. The method can be executed by a braking device of the wire-controlled chassis of the unmanned vehicle. The braking device of the wire-controlled chassis of the unmanned vehicle can be implemented in the form of hardware and / or software. The braking device of the wire-controlled chassis of the unmanned vehicle can be configured in an electronic device such as a computer, server or tablet computer deployed with a wire-controlled chassis controller.

[0042] Before specifically introducing the steps of the braking method of the unmanned vehicle's wire-controlled chassis involved in this embodiment, it is also necessary to explain that, in this embodiment, the mobile device and the wire-controlled chassis controller can communicate through a CAN (Controller Area Network) bus converter; Figure 2 is a schematic diagram of a connection relationship between a wire-controlled chassis controller and a mobile device according to a first embodiment of the present invention, such as Figure 2 As shown, the CAN bus converter can receive WiFi (Wireless Fidelity) network messages sent from the mobile device, convert the WiFi network messages into CAN bus messages, and send them to the wire-controlled chassis controller; it can also receive CAN bus messages sent from the wire-controlled chassis controller, convert the CAN bus messages into WiFi network messages, and send them to the wire-controlled chassis controller. It should be noted that in this embodiment, the target application installed in the mobile device can send WiFi network messages to the wire-controlled chassis controller, such as braking messages or steering messages, which are not limited in this embodiment.

[0043] Specifically, refer to Figure 1 , the method comprising:

[0044] Step 110: Receive a target remote control message sent by a mobile device, determine a remote control instruction that matches the target remote control message, and start timing.

[0045] Among them, the mobile device can be a smart phone, a tablet computer or a smart wearable device, etc., which is not limited in this embodiment; the target remote control message can be any remote control message, which may include remote control instructions. For example, the remote control instructions can be: forward at a speed of 5km / h, backward at a speed of 2km / h or braking, etc., which is not limited in this embodiment; it can be understood that the wire-controlled chassis controller can control the chassis movement of the unmanned vehicle according to the received target remote control message.

[0046] Optionally, in this embodiment, after receiving the target remote control message sent by the mobile device, the wire-controlled chassis controller can parse the target remote control message, determine the remote control instruction that matches the target remote control message, and control the chassis movement of the unmanned vehicle based on the remote control instruction that matches the target remote control message; at the same time, after receiving the target remote control message, the timing starts until the next target remote control message is received or the timing reaches a first set time threshold; wherein, the first set time threshold can be 400ms, 500ms or 600ms, etc., which is not limited in this embodiment.

[0047] It should be noted that, in this embodiment, the by-wire chassis controller starts timing immediately after receiving the target remote control message sent by the mobile device, rather than starting timing after parsing the target remote control message.

[0048] In another optional implementation of this embodiment, before the timing reaches the first set time threshold, if a next target remote control message sent by the mobile device is received, a remote control instruction matching the next target remote control message is determined and the timing is restarted.

[0049] Optionally, in this embodiment, timing starts after the target remote control message is received. If the next target remote control message sent by the mobile device is received before the timing reaches the first set time threshold, the remote control instruction matching the next target remote control message can be determined and the timing can be restarted.

[0050] In an example of this embodiment, after receiving a target remote control message with a remote control instruction to move at a speed of 5 km / h, the wire-controlled chassis controller can control the chassis of the unmanned vehicle to move at a speed of 5 km / h and start timing from 0. When the timing reaches 200ms (the first set time threshold is 400ms), the next target remote control message sent by the mobile device to move at a speed of 6 km / h is received. The chassis of the unmanned vehicle can continue to be controlled to move at a speed of 6 km / h and the timing can be restarted from 0.

[0051] Step 120: When the timing reaches the first set time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device.

[0052] In another optional implementation of this embodiment, when the wire-controlled chassis controller timing reaches the first set time threshold, if the next target remote control message sent by the mobile device has not been received, the wire-controlled chassis of the unmanned vehicle is controlled to enter the braking mode. Furthermore, a braking command message can be generated and the generated braking command message is forwarded to the mobile device through the CAN bus converter.

[0053] It should be noted that, in this embodiment, the wire-controlled chassis can periodically send a message identifying the current state of the vehicle to the CAN bus converter. For example, a message identifying the current state of the unmanned vehicle's wire-controlled chassis can be sent to the CAN bus converter every 100 ms; specifically, when the vehicle is not in braking mode, the value of the braking bit in the sent message is non-1; when the unmanned vehicle's wire-controlled chassis enters braking mode, the value of the braking bit in the sent message is 1.

[0054] Optionally, in this embodiment, when the timing reaches a second set time threshold, if the first remote control message sent by the mobile device is not received, a prompt message is sent to the mobile device and the communication connection with the mobile device is disconnected; wherein the second set time threshold is greater than the first set time threshold.

[0055] For example, if the first set time threshold is 500 ms, then the second set time threshold may be 1 s or 2 s, which is not limited in this embodiment.

[0056] In this embodiment, when the timing of the wire-controlled chassis controller reaches the first set time threshold, if the next target remote control message sent by the mobile device has not been received, the wire-controlled chassis of the unmanned vehicle is controlled to enter the braking mode. Furthermore, when the timing reaches the second set time threshold, if the remote control message sent by the mobile device is still not received, it means that the network of the mobile device is unstable, that is, the WIFI channel between the mobile device and the CAN bus converter is unstable and the signal delay is high. In this case, a prompt message that the communication connection with the mobile device is about to be disconnected can be sent to the mobile device, and the communication connection with the mobile device can be disconnected.

[0057] It can be understood that in this embodiment, if the wire-controlled chassis controller does not receive the target remote control message sent by the mobile device for a long time, it means that the network of the mobile device is unstable, that is, the WIFI channel between the mobile device and the CAN bus converter is unstable and the signal delay is high, making it difficult to remotely control the unmanned vehicle's wire-controlled chassis in real time.

[0058] Optionally, in this embodiment, after the wire-controlled chassis controller disconnects the communication connection with the mobile device, it may also include: receiving a communication establishment request instruction sent by the mobile device, and establishing a communication connection with the mobile device based on the communication connection establishment request instruction; continuing to execute the operation of receiving a target remote control message sent by the mobile device, determining a remote control instruction that matches the target remote control message, and starting timing.

[0059] In an optional implementation of the present embodiment, after receiving the "prompt information that the communication connection with the mobile device is about to be disconnected" sent by the drive-by-wire chassis controller, the mobile device can switch the network to which the mobile device is currently connected, for example, switching to a network with a stronger signal; further, the communication connection establishment request instruction can be re-sent to the drive-by-wire chassis controller; further, after receiving the communication connection establishment request instruction, the drive-by-wire chassis controller can respond to the instruction, for example, agreeing to establish communication or refusing to establish communication; if the drive-by-wire chassis controller agrees to establish a communication connection with the mobile device, then after the communication connection is established, it can further receive the target remote control message sent by the mobile device, determine the remote control instruction that matches the target remote control message, and start timing.

[0060] In an example of this embodiment, the mobile device connects to the WiFi of the CAN bus converter and establishes a TCP connection with the wire-controlled chassis controller through the Socket. During the remote control process, the Socket may be accidentally interrupted. At this time, in order to facilitate the user to continue the remote control, the APP will prompt the user that it is reconnecting and automatically start trying to re-establish a TCP connection with the converter through the Socket. After the reconnection is successful, the user can continue the mobile phone remote control. This provides the user with the smoothest possible remote control experience and reduces the remote control interruption time caused by such anomalies.

[0061] It can be understood that in this embodiment, after the unmanned vehicle's controlled-by-wire chassis enters the braking mode, the controlled-by-wire chassis controller no longer responds to messages other than the braking message sent by the mobile device.

[0062] Optionally, in this embodiment, after receiving the target remote control message with the remote control instruction to move forward at a speed of 7 km / h, the chassis controller of the wire control can control the chassis of the unmanned vehicle to move forward at a speed of 7 km / h, and start timing from 0. When the timing reaches 500ms (the first set time threshold is 500ms) and the next target remote control message has not been received, the chassis controller of the wire control controls the chassis of the unmanned vehicle to stop moving forward immediately and enter the braking mode, that is, brake immediately. The advantage of this setting is that it can prevent the unmanned vehicle from continuing to move forward and causing accidents such as collisions that affect the safety of the unmanned vehicle.

[0063] Step 130: In response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued.

[0064] Among them, the braking value in the first remote control message is 1, that is, the first remote control message is a braking message; the braking value in the second remote control message is 0, that is, the second remote control message is a non-braking message. It can be understood that in this embodiment, the braking value in each remote control message can be any value between 0 and 1; when the braking value is 0, it means that the unmanned vehicle's wire-controlled chassis is not subject to any braking control; when the braking value is 1, it means that the unmanned vehicle's wire-controlled chassis is completely locked and cannot move forward.

[0065] Optionally, in this embodiment, when the timing reaches the set threshold time, the wire-controlled chassis controller has not received the next target remote control message sent by the mobile device, causing the wire-controlled chassis to enter the braking mode and send a braking instruction message to the mobile device. If the first remote control message and the second remote control message sent by the mobile device are received consecutively, the wire-controlled chassis can release the braking mode, continue to receive the target remote control messages sent by the mobile device, and respond to the target remote control messages.

[0066] Optionally, in the present embodiment, in response to continuous reception instructions of a first remote control message and a second remote control message, releasing the braking mode may include: parsing the first remote control message to determine a first braking value in the first remote control message; upon determining that the first braking value in the first remote control message satisfies a first preset braking value condition, parsing the second remote control message to determine a second braking value in the second remote control message; upon determining that the second braking value in the second remote control message satisfies a second preset braking value condition, releasing the braking mode of the unmanned vehicle's wire-controlled chassis; wherein the first preset braking value condition is that the braking value is 1, and the second preset braking value condition is that the braking value is 0.

[0067] In an optional implementation of the present embodiment, after the wire-controlled chassis controller enters the braking mode and receives the first remote control message, it can parse the first remote control message and determine the braking value in the first remote control message based on the parsing result, which is referred to as the first braking value in the present embodiment; further, it can be determined whether the first braking value satisfies the first preset braking condition, that is, whether the first braking value is 1; after determining that the first braking value is 1, it can further obtain the second remote control message and parse the second remote control message, and determine the braking value in the second remote control message based on the parsing result, which is referred to as the second braking value in the present embodiment; further, it can be determined whether the second braking value satisfies the second preset braking condition, that is, whether the second braking value is 0; after determining that the second braking value is 0, the braking mode can be further released to allow the wire-controlled chassis to enter the normal working mode.

[0068] Optionally, in the present embodiment, after parsing the first remote control message and determining the first braking value in the first remote control message, it also includes: when it is determined that the first braking value in the first remote control message does not meet the first preset braking value condition, not parsing the second remote control message, and continuing to execute the operation of continuously receiving the first remote control message and the second remote control message.

[0069] In an optional implementation of the present embodiment, after the drive-by-wire chassis controller enters the braking mode and receives the first remote control message, it can parse the first remote control message and determine the braking value in the first remote control message based on the parsing result, which is referred to as the first braking value in the present embodiment; further, it can be determined whether the first braking value satisfies the first preset braking condition, that is, whether the first braking value is 1; after determining that the first braking value is not 1, the received second remote control message is not parsed, that is, the remote control instruction in the second remote control message will not be responded to, so that the drive-by-wire chassis continues to maintain the braking mode.

[0070] It should be noted that, in this embodiment, between receiving the first remote control message and the second remote control message, other subsequent remote control messages may be received, and the braking value of each subsequent remote control message may be any value between 0 and 1.

[0071] In an example of this embodiment, after the unmanned vehicle's wire-controlled chassis enters the braking mode, it receives the first remote control message with a braking value of 1, and then successively receives the third remote control message and the fourth remote control message; wherein, the braking value of the third remote control message is 0.9, and the braking value of the fourth remote control message is 0.8; finally, the second remote control message with a braking value of 0 is received, at which time, the wire-controlled chassis controller controls the unmanned vehicle's wire-controlled chassis to release the braking mode.

[0072] The technical solution of this embodiment is to receive the target remote control message sent by the mobile device through the wire-controlled chassis controller, determine the remote control instruction matching the target remote control message, and start timing; when the timing reaches the first set time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle wire-controlled chassis is controlled to enter the braking mode, and a braking instruction message is sent to the mobile device; in response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued, which solves the problem that the unmanned vehicle wire-controlled chassis cannot receive the instruction sent by the mobile device in time when emergency braking is required, and the unmanned vehicle wire-controlled chassis can be effectively braked, reducing safety risks.

[0073] On the basis of the above technical solution, after receiving the target remote control message sent by the mobile device, determining the remote control instruction matching the target remote control message, and starting the timing, it can also include: determining whether a fault signal of the unmanned vehicle's wire-controlled chassis is received; if the fault signal is received, controlling the unmanned vehicle's wire-controlled chassis to enter an active braking mode, and sending an active braking instruction message to the mobile device; in response to a release instruction of the fault signal, sending an active braking instruction release message to the mobile device.

[0074] Optionally, in this embodiment, the wire-controlled chassis controller can also receive fault signals of the unmanned vehicle's wire-controlled chassis in real time. For example, if the left front tire of the unmanned vehicle's wire-controlled chassis is leaking, the wire-controlled chassis controller can receive the signal of the left front tire fault, and will actively make the unmanned vehicle's wire-controlled chassis enter active braking mode. Furthermore, an active braking command message can be sent to the mobile device. At this time, the wire-controlled chassis controller will no longer respond to any instructions from the mobile device, including the first remote control message involved in the above embodiment.

[0075] Furthermore, if the wire-controlled chassis controller determines that the fault has been resolved, for example, the left front tire is no longer leaking, it can actively release the active braking and send an active braking command release message to the mobile device. At this time, it can continue to respond to the remote control message sent by the mobile device.

[0076] The advantage of this setting is that when the unmanned vehicle fails, it can actively enter the braking mode to prevent the unmanned vehicle from operating in a faulty state, thereby improving the safety of the unmanned vehicle.

[0077] Embodiment 2

[0078] Figure 3This is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to the second embodiment of the present invention. This embodiment can be applied to braking the wire-controlled chassis of an unmanned vehicle through a mobile device. The method can be executed by a braking device of the wire-controlled chassis of an unmanned vehicle. The braking device of the wire-controlled chassis of an unmanned vehicle can be implemented in the form of hardware and / or software. The braking device of the wire-controlled chassis of an unmanned vehicle can be configured in electronic devices such as smart phones, smart watches or tablet computers. Figure 3 As shown, the method includes:

[0079] Step 310: In response to the remote control command of the target user, generate a target remote control message matching the remote control command, and send the target remote control message to the wire-controlled chassis controller.

[0080] The target user may be a developer, tester or user of the unmanned vehicle, etc., which is not limited in this embodiment.

[0081] In this embodiment, the target user can operate in the target application (for example, the unmanned vehicle remote control application) installed in the mobile device to generate remote control instructions. For example, the corresponding remote control instructions can be obtained based on the target user clicking an analog button or an analog push rod and other operations. Furthermore, the mobile device can generate a corresponding target remote control message based on the remote control instruction and forward the remote control message to the CAN bus converter. Furthermore, the CAN bus converter can send the target remote control message to the wire-controlled chassis controller.

[0082] In an optional implementation of this embodiment, after receiving the remote control command of the target user in the target application, the mobile device can further generate a target remote control message matching the remote control command, and send the target remote control message to the wire-controlled chassis controller.

[0083] Step 320 : In response to the receiving instruction of the braking instruction message, generate target prompt information and display the target prompt information.

[0084] Among them, the target prompt information can be displayed in the target application, prompting the target user to slide the brake virtual joystick first and then release it to release the unmanned vehicle's wire-controlled chassis brake.

[0085] Optionally, in this embodiment, after receiving the braking command message sent by the wire-controlled chassis controller, the mobile device can further generate target prompt information based on the received braking command message, and generate a target prompt box in the target application, so that the target prompt information is displayed in the target prompt box, so that the target user can operate the braking virtual joystick according to the displayed information.

[0086] Step 330: receiving an operation action performed by the target user in response to the target prompt information, generating a first remote control message and a second remote control message according to the operation action, and continuously sending the first remote control message and the second remote control message to the wire-controlled chassis controller.

[0087] In an optional implementation of the present embodiment, after the target user views the target prompt information displayed in the target application, the target user can perform corresponding actions according to the displayed information. For example, the target user can first slide the brake virtual joystick and then release it according to the displayed information. After the user performs the action, the mobile device can receive the action instruction corresponding to the operation action performed by the target user; further, a first remote control message and a second remote control message can be generated according to the received action instruction, and the first remote control message and the second remote control message can be continuously sent to the wire-controlled chassis controller.

[0088] It should be noted that, in this embodiment, when the user slides the virtual joystick to brake, the mobile device will change the braking value in real time in the remote control message periodically sent to the CAN bus converter; for example, when the user slides to the halfway position of the joystick, the braking value becomes 0.5, and becomes 1 when it slides to the bottom; when the user releases the joystick, it automatically returns to zero, and accordingly, the braking value in the periodic message becomes 0.

[0089] Optionally, in the present embodiment, receiving an operation action performed by a target user in response to target prompt information, and generating a first remote control message and a second remote control message based on the operation action may include: receiving an operation action of the target user on a brake lever, and determining a first braking value and a second braking value based on the operation action; generating the first remote control message and the second remote control message based on the first braking value and the second braking value, respectively.

[0090] Among them, the operation action performed by the target user in response to the target prompt information may include: sliding the braking virtual joystick or releasing the braking virtual joystick, etc., which is not limited in this embodiment.

[0091] Exemplarily, in this embodiment, the braking value corresponding to the operation action of sliding the braking virtual joystick may be 1; and the braking value corresponding to the operation action of releasing the braking virtual joystick may be 0.

[0092] In an optional implementation of the present embodiment, after receiving the operation action performed by the target user in response to the target prompt information, the mobile device can determine the braking value corresponding to the operation action; exemplarily, if the operation action of the target user received by the mobile device is to first slide the braking virtual joystick and then release the braking virtual joystick, then the braking value corresponding to the operation action changes from 1 to 0. At this time, a first remote control message can be generated according to the braking value 1, and then a second remote control message can be generated according to the braking value 0, and the first remote control message and the second remote control message can be sent to the drive-by-wire chassis controller in sequence, so that the drive-by-wire chassis controller can control the drive-by-wire chassis to release the braking mode.

[0093] The technical solution of this embodiment is to generate a target remote control message matching the remote control message by a mobile device in response to the remote control command of the target user, and send the target remote control message to the drive-by-wire chassis controller; generate target prompt information in response to the reception instruction of the braking command message, and display the target prompt information; receive the operation action made by the target user in response to the target prompt information, generate a first remote control message and a second remote control message according to the operation action, and continuously send the first remote control message and the second remote control message to the drive-by-wire chassis controller. After the drive-by-wire chassis controller of the unmanned vehicle enters the braking mode, prompt information can be generated according to the braking command message to prompt the user to perform corresponding operations, and corresponding remote control messages can be generated according to the user's operation actions, which can help the drive-by-wire chassis controller to control the drive-by-wire chassis to release the braking mode, and can effectively brake the drive-by-wire chassis of the unmanned vehicle, reducing safety risks.

[0094] In order to better understand the braking method of the unmanned vehicle wire-controlled chassis involved in the embodiment of the present invention, an example is used below to illustrate it:

[0095] 1. The wire-controlled chassis controller receives periodic mobile phone remote control protocol CAN messages in the CAN bus according to the pre-agreed mobile phone remote control protocol. After receiving each CAN message, it sends control signals such as driving, steering, and braking of the chassis according to the message signal value, and starts timing. When the timing is less than a first set time threshold (for example: 500ms), the next remote control message is received and the timing is reset. When the timing exceeds the first set time threshold, the wire-controlled chassis controller controls the chassis braking and no longer responds to subsequent signals in the remote control message received except the braking signal;

[0096] 2. After the mobile phone is connected to the WiFi of the CAN bus converter, the mobile phone remote control APP establishes a TCP connection with the converter, packages the remote control message into a TCP message according to the data frame format required by the converter, and starts to periodically send and receive TCP messages; the periodic TCP message received by the APP is parsed into the chassis CAN bus message according to the data frame format of the converter, so that the APP can monitor the chassis status. When the user does not send a remote control braking command, and the chassis does not have a fault signal or other conditions that will cause the chassis to brake, but a braking signal appears, it means that the wire-controlled chassis controller has triggered the above-mentioned active braking due to excessive signal delay;

[0097] 3. At this time, the chassis controller no longer responds to remote control commands input by the user except braking. Therefore, the virtual joystick on the APP interface no longer responds to the user's forward and steering gesture sliding operations. Instead, when the user slides, it prompts the user to slide the braking virtual joystick and then release it to release the chassis brake;

[0098] 4. When the user slides the brake virtual joystick of the APP, the brake signal value in the TCP message sent by the APP to the converter periodically is 1. When the user releases the brake virtual joystick, the brake signal value sent by the APP is 0. After the wire-controlled chassis controller receives the signal change from 1 to 0 in the remote control message on the CAN bus, it will release the chassis brake and continue to respond to the control signal of the subsequent remote control message;

[0099] In another optional implementation of this embodiment, the APP identifies whether the safety mechanism is triggered by monitoring the periodic CAN bus messages received, and prompts the user if the signal fluctuates. The user decides when to release the brakes and continue remote control. When the APP does not receive periodic CAN bus messages for more than a certain time threshold (for example: 2s), it can be considered that the current WiFi communication quality is no longer suitable for mobile phone remote control. The APP will prompt the user that the signal delay is too high, exit the remote control interface, and actively disconnect the TCP connection with the converter.

[0100] In another optional implementation of this embodiment, the mobile phone connects to the WiFi of the CAN bus converter and establishes a TCP connection through the Socket. During the remote control process, the Socket may be accidentally disconnected. At this time, in order to facilitate the user to continue the remote control, the APP will prompt the user that it is reconnecting and automatically start trying to re-establish a TCP connection with the converter through the Socket. After the reconnection is successful, the user can continue the mobile phone remote control. This provides the user with the smoothest possible remote control experience and reduces the remote control interruption time caused by such anomalies.

[0101] Figure 4 is a timing diagram of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to the second embodiment of the present invention, with reference to Figure 4 , which mainly include:

[0102] Step 410: periodically send remote control messages;

[0103] Step 420: forward the message;

[0104] Step 430: Control the chassis movement according to the remote control message and start countdown;

[0105] Step 431: Whether the next remote control message is received before the countdown ends;

[0106] If yes, execute step 430;

[0107] Otherwise, execute step 432;

[0108] Step 432, control the chassis to brake, and no longer respond to other remote control message instructions except braking;

[0109] Step 421: forward the message;

[0110] Step 411, prompting the user to release the brake, and not responding to other user inputs except the brake rocker;

[0111] Step 412: the user slides down the brake joystick and lets go, sending a remote control message;

[0112] Step 422: forward the message;

[0113] Step 433: release the chassis brake and start responding to all message instructions;

[0114] Step 423: forward the message;

[0115] Step 413: Start responding to all remote control inputs from the user.

[0116] The scheme of the embodiment of the present invention can reduce the safety risk that the unmanned vehicle's wire-controlled chassis may not be able to respond to the braking or other remote control commands input by the user in a timely manner during the remote control process due to WiFi signal fluctuations; the CAN interface of the CAN bus converter is connected to the chassis CAN bus through a physical interface, and a converter can be unplugged from the physical interface at any time and installed on other chassis, so that one APP + one CAN bus converter can remotely control multiple chassis in turn without equipping each chassis with a separate remote control and receiver, saving a lot of costs. At the same time, multiple CAN bus converters can also be equipped, and a mobile phone can quickly switch the remote control target chassis by connecting to different converter WiFis, which has high flexibility; when the WiFi channel is abnormal and TCP communication cannot be maintained, the user can be prompted in a friendly manner, and automatic reconnection can be attempted to maintain a relatively smooth mobile phone remote control experience.

[0117] Embodiment 3

[0118] Figure 5 Schematic diagram of the structure of a brake device for a wire-controlled chassis of an unmanned vehicle according to Embodiment 3 of the present invention. Figure 5 As shown, the device can be deployed in a wire-controlled chassis controller, and the device includes: a first receiving module 510 , a timing module 520 and a second receiving module 530 .

[0119] The first receiving module 510 is used to receive a target remote control message sent by a mobile device, determine a remote control instruction matching the target remote control message, and start timing;

[0120] The timing module 520 is used to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking command message to the mobile device when the timing reaches a first set time threshold and if the next target remote control message sent by the mobile device is not received;

[0121] The second receiving module 530 is used to release the braking mode in response to the continuous reception instructions of the first remote control message and the second remote control message, and continue to perform the operation of receiving the target remote control message sent by the mobile device.

[0122] In the solution of this embodiment, the wire-controlled chassis controller receives the target remote control message sent by the mobile device through the first receiving module, determines the remote control instruction matching the target remote control message, and starts timing; when the timing reaches the first set time threshold through the timing module, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle wire-controlled chassis is controlled to enter the braking mode, and a braking instruction message is sent to the mobile device; the second receiving module responds to the continuous reception instructions of the first remote control message and the second remote control message, releases the braking mode, and continues to execute the operation of receiving the target remote control message sent by the mobile device, which solves the problem that the unmanned vehicle wire-controlled chassis cannot receive the instruction sent by the mobile device in time when emergency braking is required, and can effectively brake the unmanned vehicle wire-controlled chassis, reducing safety risks.

[0123] In an optional implementation of this embodiment, the braking device of the unmanned vehicle's wire-controlled chassis also includes: a third receiving module, which is used to determine the remote control instruction that matches the next target remote control message if the next target remote control message sent by the mobile device is received before the timing reaches the first set time threshold, and restart the timing.

[0124] In an optional implementation of this embodiment, the brake device of the unmanned vehicle's wire-controlled chassis further includes: a fault signal detection module, configured to determine whether a fault signal of the unmanned vehicle's wire-controlled chassis is received;

[0125] If the fault signal is received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking instruction message is sent to the mobile device; in response to a release instruction of the fault signal, a braking instruction release message is sent to the mobile device.

[0126] In an optional implementation of this embodiment, the second receiving module 530 is specifically configured to parse the first remote control message to determine the first braking value in the first remote control message;

[0127] When it is determined that the first braking value in the first remote control message satisfies a first preset braking value condition, parsing the second remote control message to determine a second braking value in the second remote control message;

[0128] When it is determined that the second braking value in the second remote control message meets the second preset braking value condition, releasing the braking mode of the wire-controlled chassis of the unmanned vehicle;

[0129] The first preset braking value condition is that the braking value is 1, and the second preset braking value condition is that the braking value is 0.

[0130] In an optional implementation of the present embodiment, the second receiving module 530 is further specifically used to not parse the second remote control message and continue to perform the operation of continuously receiving the first remote control message and the second remote control message when it is determined that the first braking value in the first remote control message does not meet the first preset braking value condition.

[0131] In another optional implementation of this embodiment, the brake device of the unmanned vehicle's wire-controlled chassis further includes: a communication disconnection module, which is used to send a prompt message to the mobile device and disconnect the communication connection with the mobile device if the first remote control message sent by the mobile device is not received when the timing reaches the second set time threshold;

[0132] The second set time threshold is greater than the first set time threshold.

[0133] In another optional implementation of this embodiment, the brake device of the unmanned vehicle's wire-controlled chassis further includes: a reconnection module, configured to receive a communication establishment request instruction sent by the mobile device, and establish a communication connection with the mobile device based on the communication connection establishment request instruction;

[0134] Continue to receive the target remote control message sent by the mobile device, determine the remote control instruction matching the target remote control message, and start the timing operation.

[0135] The braking device of the unmanned vehicle's wire-controlled chassis provided in the embodiment of the present invention can execute the braking method of the unmanned vehicle's wire-controlled chassis provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0136] Embodiment 4

[0137] Figure 6 Schematic diagram of the structure of a brake device for a wire-controlled chassis of an unmanned vehicle according to Embodiment 4 of the present invention. Figure 6 As shown, the device can be deployed in a mobile device, and the device includes: a first generating module 610 , a second generating module 620 and a third generating module 630 .

[0138] The first generating module 610 is used to generate a target remote control message matching the remote control command in response to the remote control command of the target user, and send the target remote control message to the wire-controlled chassis controller;

[0139] A second generating module 620, configured to generate target prompt information in response to a received instruction of the braking instruction message, and to display the target prompt information;

[0140] The third generating module 630 is used to receive the operation action performed by the target user in response to the target prompt information, generate a first remote control message and a second remote control message according to the operation action, and continuously send the first remote control message and the second remote control message to the wire-controlled chassis controller.

[0141] In the scheme of this embodiment, the mobile device responds to the remote control command of the target user through the first generating module, generates a target remote control message matching the remote control command, and sends the target remote control message to the wire-controlled chassis controller; generates target prompt information in response to the receiving instruction of the braking command message through the second generating module, and displays the target prompt information; receives the operation action made by the target user in response to the target prompt information through the third generating module, generates the first remote control message and the second remote control message according to the operation action, and continuously sends the first remote control message and the second remote control message to the wire-controlled chassis controller. After the unmanned vehicle wire-controlled chassis controller enters the braking mode, prompt information is generated according to the braking command message to prompt the user to perform corresponding operations, and corresponding remote control messages can be generated according to the user's operation actions, which can help the wire-controlled chassis controller to control the wire-controlled chassis to release the braking mode, and can effectively brake the unmanned vehicle wire-controlled chassis, reducing safety risks.

[0142] In an optional implementation of this embodiment, the third generating module 630 is specifically configured to receive an operation action of the target user on the brake rocker, and determine the first braking value and the second braking value according to the operation action;

[0143] The first remote control message and the second remote control message are generated according to the first braking value and the second braking value respectively.

[0144] The braking device of the unmanned vehicle's wire-controlled chassis provided in the embodiment of the present invention can execute the braking method of the unmanned vehicle's wire-controlled chassis provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0145] Embodiment 5

[0146] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0147] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0148] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0149] The processor 11 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a braking method for a wire-controlled chassis of an unmanned vehicle, the method comprising: receiving a target remote control message sent by a mobile device through a wire-controlled chassis controller, determining a remote control instruction matching the target remote control message, and starting timing; when the timing reaches a first set time threshold, if the next target remote control message sent by the mobile device is not received, the wire-controlled chassis of the unmanned vehicle is controlled to enter a braking mode, and a braking instruction message is sent to the mobile device; in response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued;

[0150] Alternatively, a target remote control message matching the remote control message is generated through a mobile device in response to a remote control command of a target user, and the target remote control message is sent to a drive-by-wire chassis controller; target prompt information is generated in response to a reception instruction of a braking command message, and the target prompt information is displayed; an operation action performed by the target user in response to the target prompt information is received, a first remote control message and a second remote control message are generated according to the operation action, and the first remote control message and the second remote control message are continuously sent to the drive-by-wire chassis controller.

[0151] In some embodiments, the braking method of the unmanned vehicle's wire-controlled chassis may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the braking method of the unmanned vehicle's wire-controlled chassis described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the braking method of the unmanned vehicle's wire-controlled chassis in any other appropriate manner (e.g., by means of firmware).

[0152] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0153] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0154] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0155] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0156] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0157] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0158] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0159] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A braking method for a wire-controlled chassis of an unmanned vehicle, applied to a wire-controlled chassis controller, characterized in that: The method comprises: Receive a target remote control message sent by a mobile device, determine a remote control instruction matching the target remote control message, and start timing; When the timing reaches a first set time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device; In response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued.

2. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: The method further comprises: Before the timing reaches the first set time threshold, if a next target remote control message sent by the mobile device is received, a remote control instruction matching the next target remote control message is determined, and the timing is restarted.

3. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: After receiving the target remote control message sent by the mobile device, determining the remote control instruction matching the target remote control message, and starting timing, the method further includes: Determine whether a fault signal from the unmanned vehicle's wire-controlled chassis is received; If the fault signal is received, the unmanned vehicle's wire-controlled chassis is controlled to enter an active braking mode, and an active braking command message is sent to the mobile device; in response to a release command of the fault signal, an active braking command release message is sent to the mobile device.

4. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: The releasing of the braking mode in response to the continuous reception instructions of the first remote control message and the second remote control message comprises: Parsing the first remote control message to determine a first braking value in the first remote control message; When it is determined that the first braking value in the first remote control message satisfies a first preset braking value condition, parsing the second remote control message to determine a second braking value in the second remote control message; When it is determined that the second braking value in the second remote control message meets the second preset braking value condition, releasing the braking mode of the wire-controlled chassis of the unmanned vehicle; The first preset braking value condition is that the braking value is 1, and the second preset braking value condition is that the braking value is 0.

5. The braking method of the unmanned vehicle controlled by wire chassis according to claim 4, characterized in that: After parsing the first remote control message and determining the first braking value in the first remote control message, the method further includes: When it is determined that the first braking value in the first remote control message does not satisfy the first preset braking value condition, the second remote control message is not parsed, and the operation of continuously receiving the first remote control message and the second remote control message is continued.

6. The braking method of the unmanned vehicle controlled by wire chassis according to claim 1, characterized in that: The method further comprises: When the timing reaches a second set time threshold, if the first remote control message sent by the mobile device is not received, sending a prompt message to the mobile device and disconnecting the communication connection with the mobile device; The second set time threshold is greater than the first set time threshold.

7. The braking method of the unmanned vehicle by-wire chassis according to claim 6, characterized in that: After disconnecting the communication connection with the mobile device, the method further includes: receiving a communication establishment request instruction sent by the mobile device, and establishing a communication connection with the mobile device based on the communication connection establishment request instruction; Continue to receive the target remote control message sent by the mobile device, determine the remote control instruction matching the target remote control message, and start the timing operation.

8. A braking device for a wire-controlled chassis of an unmanned vehicle, deployed on a wire-controlled chassis controller, characterized in that: The device comprises: A first receiving module, configured to receive a target remote control message sent by a mobile device, determine a remote control instruction matching the target remote control message, and start timing; A timing module, configured to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking command message to the mobile device when the timing reaches a first set time threshold and if the next target remote control message sent by the mobile device is not received; The second receiving module is used to release the braking mode in response to the continuous reception instructions of the first remote control message and the second remote control message, and continue to perform the operation of receiving the target remote control message sent by the mobile device.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the braking method for the unmanned vehicle wire-controlled chassis according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking method of the unmanned vehicle wire-controlled chassis according to any one of claims 1 to 7 when executed.

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