A remote control system and method for starting a smart driving vehicle

Abstract

The invention discloses a remote control start control system and method for an intelligent driving vehicle. The system comprises a portable terminal, a portable radio connected to the portable terminal, an on-board radio connected to the intelligent driving vehicle, a domain controller and a remote control start unit; data between the portable terminal and the portable radio are exchanged in a UDP mode; data are transmitted between the portable radio and the on-board radio by radio; data between the on-board radio and the domain controller are exchanged in a UDP mode; information is exchanged between the domain controller and a power domain, a chassis domain, a body domain, an intelligent driving device and a remote control start unit of the intelligent driving vehicle; an unmanned enabling switch is arranged on the domain controller, and instructions and data of a started vehicle are sent and received through the portable terminal, so as to realize remote control and designated selection of a single or multiple started vehicles; the reception of the remote control start signal is controlled by the portable radio and the on-board radio, and the vehicle chassis is controlled by the domain controller, so as to reduce the number of vehicle gateways and the data link transmission load.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicle control, and more specifically, relates to a remote control system and method for starting an intelligent driving vehicle. Background Art

[0002] Unmanned driving is a hot technology at present, and remote-controlled unmanned vehicles are the final transition to unmanned driving. The safety and reliability of unmanned driving are completely limited by remote control. Wireless remote control can be divided into voice remote control, light remote control, and radio remote control according to the signal transmission method. From the perspective of information exchange, it can be divided into unidirectional control and command interactive control. Unidirectional control has the advantages of simple equipment, easy implementation, and adaptability to various transmission methods, and is widely used.

[0003] However, traditional vehicle remote start has the following defects:

[0004] First, traditional vehicle remote control starts use short-range wireless radio frequency methods (such as Bluetooth, RFID, NFC, etc.) or smartphone apps (base station-satellite-base station). The disadvantage of using wireless radio frequency methods is that the equipment has low power and is easily interfered by external factors, resulting in loss of the remote control function communication chain. The communication distance is greatly affected by distance and obstruction factors, and remote control starts can only be achieved within a range of tens of meters at most; the disadvantage of using satellite-base station is that the vehicle must ensure the interconnection of vehicle-base station-satellite-base station-key data. If any link is lost or the network is congested, such as satellite search failure, the vehicle cannot be covered by the base station signal, and the data link transmission is busy and congested, the function will not be fully realized; even if wireless radio frequency plus satellite-base station method is used at the same time, it is inevitably affected by the superposition of the above two disadvantages;

[0005] Second, traditional vehicle remote start can only perform one-to-one control. For example, a car key can only start one fixed car. It is impossible to use one key to remotely start more than one car at the same time, and it is even more impossible to realize the function of traditional car keys to select and switch to start a specified vehicle.

[0006] Third, in terms of data transmission methods, the various systems in traditional vehicles need to go through multiple transmissions and forwardings, usually requiring message handshakes, verification, wake-up, feedback, execution, etc. The data involved in starting needs to be transmitted between each system controller and gateway.

[0007] Therefore, there is an urgent need for an intelligent driving vehicle remote control starting system that has both normal start and remote control start functions, which can remotely control and specify the vehicle to be started, can start multiple unmanned vehicles at the same time, reduce the number of vehicle gateways, and reduce the data link transmission load between systems. Summary of the invention

[0008] In view of the above defects or improvement needs of the prior art, the present invention provides a remote control starting control system and method for an intelligent driving vehicle. Through a portable terminal, a single vehicle can be selected for remote control starting, or multiple vehicles can be selected for simultaneous starting. During remote control starting, the operator uses the portable terminal to issue a starting command, which is transmitted via radio. The unmanned vehicle receives the remote control starting command via the radio. After signal processing, the remote control command is transmitted in the UDP signal format to interact with the unmanned vehicle domain controller. The domain controller converts the remote control starting signal into a CAN bus message and broadcasts it. The engine ECU, transmission TCU of the powertrain domain and the braking AEB, parking EPB, and steering EPS of the chassis domain are immediately awakened through the CAN bus message. The controller triggers the remote control starting self-test process according to the control process. If the self-test passes, the AEB automatically triggers the braking state, and the engine executes the starting condition according to the control process. After waiting for a period of time, it is determined Whether the remote start is successful, if the remote start is successful, the portable terminal will be fed back with the successful start status information; if the remote start is unsuccessful, the remote start will be fed back with the unsuccessful start status information; if the self-check fails during the start process, the portable terminal status information is fed back, and the operator performs the restart operation or performs a vehicle inspection; the present invention has manual start and remote control start functions. When using remote control start, the vehicle to be started can be remotely controlled and specified to be selected from a distance, and remote remote control can be specified to select a single or multiple vehicles to be started; the reception of the remote control start signal of the present invention will be processed by the portable radio and the vehicle radio, and the vehicle chassis control will be processed by the domain controller, thereby reducing the number of gateways and reducing the data link transmission load between systems; through the comprehensive control of unmanned vehicles, the perception, planning and decision-making control of unmanned driving can be realized; it can make up for the limitations of traditional vehicle remote control start that can only control a single vehicle, the remote control distance is short, and the data link transmission is complex.

[0009] In order to achieve the above-mentioned object, one aspect of the present invention provides a remote control system for starting a smart driving vehicle, comprising a portable terminal, a portable radio connected to the portable terminal for communication, a vehicle radio connected to the smart driving vehicle, a domain controller and a remote control starting unit; wherein,

[0010] The portable terminal includes a display screen with a touch function, a reciprocating mechanical button, a processor connected to the portable radio station and a memory storing the remote control starting software. The portable terminal sends and receives the vehicle commands and data to be started, so as to realize the remote control starting status feedback and reminder of the controlled vehicle. The data between the portable terminal and the portable radio station are exchanged in UDP mode; the portable radio station and the vehicle-mounted radio station are transmitted via radio; the data between the vehicle-mounted radio station and the domain controller are exchanged in UDP mode; the domain controller is connected to the power domain, chassis domain and body domain of the intelligent driving vehicle through wires, and the data are exchanged in CAN bus mode; the domain controller is provided with UDP, CAN, GMSL and I / O data exchange interface channels, which communicate with the power domain, chassis domain, body domain, intelligent driving device and remote control starting unit of the intelligent driving vehicle. information interaction; the domain controller is connected to the remote control starting interface of the remote control starting unit through a wire, the other end of the wire is connected to the starting relay, and the other end of the starting relay controls the on-off of the control signal of the starting motor; the remote control starting unit is issued an instruction by the portable terminal, the instruction is wirelessly transmitted through the portable radio and the vehicle-mounted radio, and the instruction is converted into an electrical signal by the domain controller, the electrical signal controls the relay to traction, and the starter motor control signal is attracted during traction; an unmanned enabling switch is provided on the domain controller; the instructions and data of the started vehicle are sent and received through the portable terminal, so as to realize the remote control and designated selection of single or multiple started vehicles; the reception of the remote control starting signal is controlled by the portable radio and the vehicle-mounted radio, and the vehicle chassis is controlled by the domain controller, so as to realize the reduction of the number of vehicle gateways and the reduction of the data link transmission load; the perception, planning and decision-making control of unmanned driving are realized through the comprehensive control of unmanned vehicles.

[0011] Furthermore, an ad hoc network is formed between the portable radio and the vehicle-mounted radio, and the portable terminal and the smart driving vehicle number are defined by different ad hoc network segments; the UDP data of the portable terminal is converted into radio by the portable radio for communication with the vehicle-mounted radio; the radio sent by the portable radio is received by the vehicle-mounted radio, converted into UDP data, and sent to the domain controller; the UDP data of the domain controller is converted into radio by the vehicle-mounted radio for communication with the portable radio; the radio sent by the vehicle-mounted radio is received by the portable radio, converted into UDP data, and sent to the portable terminal.

[0012] Furthermore, the power domain of the intelligent driving vehicle includes an engine, a gearbox and a transfer case;

[0013] The chassis domain of the intelligent driving vehicle includes parking, braking, and steering; the body domain includes door locks, windows, lights, wipers, and rearview mirrors;

[0014] The intelligent driving domain equipment of the intelligent driving vehicle includes body surround view cameras, millimeter wave radars, microwave radars, lidars and GNSS inertial navigation; the surround view cameras are installed in front of the body, behind the body, left rearview mirror and right rearview mirror, and the data is pushed in GMSL format for video streaming; the millimeter wave radar is installed directly in front of the body, and the data is pushed using UDP; the lidar is installed directly above the cab of the body, and the data is pushed using UDP; the microwave radar is installed in the front and rear directions of the body, and the data is pushed using UDP.

[0015] Furthermore, the functional domains of the domain controller include a power domain, a chassis domain, a body domain and an intelligent driving domain; the power domain of the domain controller includes an engine, a gearbox and a transfer case; the chassis domain of the domain controller includes braking, parking and steering; the body domain of the domain controller includes door locks, windows, lights, wipers and rearview mirrors; the intelligent driving domain of the domain controller includes a body surround view camera, a millimeter wave radar, a laser radar, a microwave radar and an on-board radio;

[0016] The domain controller has central integration and regional control functions; the domain controller includes three parts: domain master processor, operating system and application software and algorithm.

[0017] Furthermore, the domain controller is connected to the unmanned enabling switch through a wire, and the wire extends into the cab to connect to a contact switch. When the contact switch is closed, it is in "unmanned mode", and when the contact switch is disconnected, it is in "manned mode". The manned and unmanned modes of the intelligent driving vehicle are switched by manually opening and closing the unmanned enabling switch;

[0018] When the domain controller performs remote start, the remote start interface outputs a high level, the starter relay is energized, the control signal of the traction starter motor is turned on, and the starter motor runs;

[0019] When the domain controller performs the start self-test and waits for starting, the remote start interface outputs a low level, the start relay does not attract, the control signal of the starter motor is disconnected, and the remote start function is temporarily suspended;

[0020] When the domain controller executes "failed to start" or the remote start operation is not performed, the remote start interface does not output voltage and the remote start function is turned off.

[0021] Furthermore, the remote control starting unit 5 outputs a remote control starting control electrical signal through one I / O interface channel of the domain controller;

[0022] When the remote control starting unit 5 outputs a high level of 24V, it can be understood as a logical start "enable"; when the remote control starting unit 5 outputs a low level of 5V, it can be understood as a logical output start "wait"; when the remote control starting unit 5 outputs 0V, it can be understood as a logical start "off";

[0023] The remote control starting unit 5 is provided with a high-level effective pick-up relay, and the power supply is picked up after the signal pin receives a high level, otherwise the relay does not work.

[0024] A second aspect of the present invention provides an operating method of a remote control system for starting a smart driving vehicle, comprising the following steps:

[0025] S1: Use a portable terminal to select manual start or remote start. The operator can see a list of all vehicle statuses on the display screen and can select "manual start" or "remote start".

[0026] S2: Select the vehicle to be started remotely. In the vehicle list of the portable terminal, check the vehicle to be started. The portable terminal will send a "start preparation" command to the selected vehicle. The command is broadcast to the outside world through the portable radio in the form of ad hoc network radio.

[0027] S3: The vehicle radio receives the "start preparation" command and sends a "prepare response" command to the portable radio;

[0028] S4: After the portable radio receives the "prepare for response" command, the portable terminal automatically sends an "unmanned enable" command to the vehicle that has responded;

[0029] S5: After receiving the "unmanned enable" command, the on-board radio sends the command to the domain controller, which makes the enable switch effective through signal conversion and enters the unmanned enable self-check state; if the self-check state is normal, it will feedback "waiting to start" to the portable terminal; if one or more abnormalities occur in the self-check state, it will feedback "self-check failure" and feedback the abnormal situation to the portable terminal;

[0030] S6: In the list of vehicles to be started on the portable terminal, "Waiting to start" or "Self-test failed" will be displayed. In both states, you can click "Video View" to transmit the video from the vehicle surround view camera. When "Waiting to start" is displayed, the "Confirm Start" screen button lights up. You can click the "Confirm Start" button and the domain controller will execute the remote start process.

[0031] S7: After receiving the high level output from the domain controller, the relay of the remote starter unit attracts the positive and negative poles of the power supply and turns on the starter motor control signal; the AEB receives the execution request to execute the braking state and broadcasts the braking state CAN bus message; the starter motor starts working and drives the engine to run;

[0032] S8: The engine ECU receives the brake signal and speed signal and enters the start control process. If the engine enters the idle condition, it is considered that the start is successful, and a "start success" CAN bus message is sent through the power gateway; if the engine cannot enter the idle condition, it is considered that the start fails, and a "start failure" CAN bus message is sent to the power domain; after the domain controller receives the "start success" command from the power domain, the remote start unit interface outputs a low level and feeds the command back to the portable terminal; the start process lasts for a maximum of 15 seconds. After the domain controller executes the remote start control for a single cumulative power-on of 15 seconds, it will return to the initial state. At this time, the I / O interface channel returns to a low level and the AEB execution request is released;

[0033] S9: The domain controller converts the bus message of "start successful" or "start failed" into UDP data format, sends it through the vehicle radio, receives it through the portable radio, and displays "start successful" or "start failed" on the portable terminal.

[0034] Furthermore, for vehicles that select "manual start" in step S1, the unmanned vehicle will be started by a person in the cab using a key. If the portable terminal and the vehicle to be started are online at the same time, the domain controller will feedback the vehicle start status to the portable terminal, and the vehicle status list of the portable terminal will display "waiting to start", "self-test failed", "start successful" or "start failed";

[0035] In step S4, if the portable radio does not receive the "prepare response" command, the on-board radio of the candidate vehicle does not respond, and the disconnection time lasts for more than 5 seconds. The domain controller feedbacks "self-test failure", and the on-board radio sends a command to the portable radio; after the portable radio receives the command, it displays a prompt of "self-test failure";

[0036] The self-check state in step S5 includes the domain controller converting the UDP data format into a CAN bus message and sending a wake-up command to the power domain and chassis domain. The power domain executes the engine ECU and the transmission TCU, wakes up and self-checks, and the chassis domain executes the parking EPB, the braking AEB, and the steering EPS wake-up and self-checks to check whether the vehicle speed is 0, whether the engine speed is 0, whether the transmission is in neutral, the parking execution feedback, the braking execution feedback, and whether the steering wheel angle is too large; the domain controller will power on the intelligent driving equipment, including the body surround view camera, the millimeter wave radar, the laser radar, and the microwave radar, to check whether the distance between the vehicle and the vehicle in front is too small;

[0037] In step S6, after "Self-test failed" is displayed, the "Confirm Start" screen display button becomes gray, remote start cannot be performed, and further self-test is required; the self-test process starts, and the domain controller outputs a low level to the remote start unit interface; the self-test state passes the "Waiting for Start" state and receives the "Confirm Start" instruction, the domain controller continues to send AEB execution requests to the chassis gateway through the CAN bus, and outputs a high level to the remote start unit interface at the same time; the self-test state does not pass the "Self-test failed", and the domain controller has no output voltage to the remote start unit interface.

[0038] A third aspect of the present invention provides a remote control method for starting an intelligent driving vehicle, comprising the following steps:

[0039] S100: The domain controller executes the "enter" command, and after entering, the vehicle meets the prerequisite for remote control starting;

[0040] S101: The domain controller determines the relationship between remote control enable and remote control start. When the remote control enable switch on the vehicle is valid and a remote control start command is received from the remote control terminal, the start failure flag of the remote control start control in the domain controller is set to 0;

[0041] S102: The domain controller determines the start status flag. If the start status flag is 0, the domain controller determines the engine ECU feedback speed of the power domain;

[0042] S103: If the engine speed is 0, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state of the chassis domain, and the steering wheel angle;

[0043] S104: If the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90°, the domain controller determines the distance of the obstacle ahead of the vehicle fed back by the intelligent driving perception device;

[0044] S105: If the distance between the sensing device and the vehicle in front or the obstacle is greater than 0.5 meters, the domain controller determines the braking state fed back by the braking system of the chassis domain;

[0045] S106: If the brake state is in progress, the domain controller executes the remote control start control output;

[0046] S107: The domain controller determines the idle state flag fed back by the engine ECU of the power domain; if the engine is in the idle state, the domain controller executes the remote control start-stop output;

[0047] S108: The domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is ≥ 10 seconds, the start failure mark in the domain controller is set to valid, and the domain controller executes the remote control start shutdown output;

[0048] S109: The domain controller executes the "end" command, and the vehicle remote control start control process ends.

[0049] Further, in step S101, when the remote control enable switch on the vehicle is invalid and no remote control start command is received from the remote control terminal, the domain controller executes the remote control start shut-down output and executes steps S108 to S109;

[0050] If the start status flag is not zero in step S102, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state and the steering wheel angle of the chassis domain; and executes steps S104 to S109;

[0051] If the engine speed is not zero in step S103, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0052] In step S104, if the conditions that the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90° cannot be met at the same time, the domain controller executes the remote control start-stop output and executes steps S108 to S109; the sensing device in step S104 includes a millimeter wave radar, a laser radar, or a camera;

[0053] In step S104, if the distance between the sensing device and the front vehicle or obstacle is ≤ 0.5 meters, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0054] In step S106, if the domain controller determines that the braking state fed back by the braking system of the chassis domain is not in the braking state, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0055] In step S107, the domain controller determines that the engine ECU of the power domain feedbacks that the engine is not at the idle mark, and then directly executes steps S108 to S109;

[0056] In step S108, the domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is less than 10 seconds, the domain controller executes the remote control start control output and executes steps S107 to S109.

[0057] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0058] (1) A remote control system and method for starting a smart driving vehicle of the present invention selects remote control of a single vehicle or simultaneous starting of multiple vehicles through a portable terminal; during remote control starting, the operator uses the portable terminal to issue a start command, which is transmitted via radio. The unmanned vehicle receives the remote control start command through the vehicle radio. After signal processing, the remote control command is transmitted in the UDP signal format to interact with the unmanned vehicle domain controller. The domain controller converts the remote control start signal into a CAN bus message and broadcasts it. The engine ECU, transmission TCU of the powertrain domain and the braking AEB, parking EPB, and steering EPS of the chassis domain are immediately awakened through the CAN bus message. The controller triggers the remote control start self-test process according to the control process. If the self-test passes, the AEB automatically triggers the braking state, and the engine executes the start condition according to the control process. After waiting for a period of time, it is determined whether the remote control start is successful. If If the remote start is successful, the portable terminal will be fed back with the status information of successful start; if the remote start is unsuccessful, the remote start unsuccessful status information will be fed back to the remote terminal; if the self-check fails during the start process, the portable terminal status information will be fed back, and the operator will perform the restart operation again, or conduct a vehicle inspection; the present invention has manual start and remote control start functions. When using remote control start, the vehicle to be started can be remotely controlled and specified to be selected from a distance, and remote remote control can be used to specify the selection of a single or multiple vehicles to be started; the reception of the remote control start signal of the present invention will be processed by the portable radio and the vehicle radio, and the vehicle chassis control will be processed by the domain controller, thereby reducing the number of gateways and reducing the transmission load of the data link between the systems; through the comprehensive control of unmanned vehicles, the perception, planning and decision-making control of unmanned driving can be realized; it can make up for the limitations of traditional vehicle remote control start that can only control a single vehicle, the remote control distance is short, and the data link transmission is complex.

[0059] (2) A remote control system and method for starting a smart driving vehicle of the present invention. The smart driving vehicle is suitable for single-vehicle transportation or vehicle convoy transportation in closed parks with or without personnel, such as logistics parks, smart docks, ports, mines, forest areas and other scenes. The present invention has manual start and remote control start functions. When starting remotely, it has single-vehicle start and multi-vehicle convoy start at the same time, vehicle distance detection, start vehicle status detection, and start status feedback. The use of a portable terminal can realize the video feedback of the vehicle camera before starting; when preparing to start the vehicle, the portable terminal can be carried indoors or to a certain place; when starting, the operator selects and clicks on the portable terminal screen to select the starting vehicle. If the selected vehicle and the portable terminal establish a communication connection, it can be realized. The vehicle body camera video is now transmitted back; if the domain controller passes the self-test, remote start can be performed; the domain controller transmits the start status back to the portable terminal; it can reduce the waiting time of the intelligent driving vehicle when starting; if it is the hot summer season, setting the air-conditioning switch to the on position in advance can achieve cooling, heating or ventilation in the cab, etc.; if it is the cold winter season, the vehicle can be warmed up, the windows defrosted, and the cab can be quickly heated up; especially when starting multiple unmanned vehicles at the same time, multiple unmanned vehicles can be remotely started at one time, avoiding the time cost of the operator going to each vehicle; it can make up for the shortcomings of traditional vehicle remote control starting, such as short remote control distance, inability to remotely control multiple vehicles at the same time, and inability to switch between different vehicles, saving a lot of manpower costs and waiting time.

[0060] (3) The present invention provides a control system and method for remote starting of an intelligent driving vehicle. The operator can realize a remote wireless remote start at a long distance from the vehicle. The maximum remote control distance is affected by the radio power. Taking the mainstream 5W-60W rated power radio in the industry as an example, the unmanned vehicle can communicate within a range of 5km-25km. If the communication distance needs to be increased, the radio power can be adjusted to achieve longer distance data link transmission.

[0061] (4) In the remote control system and method for starting a smart driving vehicle of the present invention, the domain controller has central integration and regional control functions; the domain controller includes a domain master processor, an operating system, and application software and algorithms; platformization, high integration, high performance and good compatibility are the main core design concepts of the domain controller; relying on a high-performance domain master processor, rich hardware interface resources and powerful software functional characteristics, the domain controller can integrate the core functions that originally required many ECUs to implement, greatly improving the system function integration, coupled with a standardized interface for data interaction, thus greatly reducing the development and manufacturing costs of this part. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1This is a schematic diagram of the overall structure of a remote control system for starting an intelligent driving vehicle according to an embodiment of the present invention;

[0063] Figure 2 This is a schematic diagram of the structure of various components of a remote control system for starting a smart driving vehicle according to an embodiment of the present invention;

[0064] Figure 3 This is a schematic diagram of the structure of a portable terminal for a remote control system for starting a smart driving vehicle according to an embodiment of the present invention;

[0065] Figure 4 This is a schematic diagram of the structure of a communication device of a remote control system for starting a smart driving vehicle according to an embodiment of the present invention;

[0066] Figure 5 This is a schematic diagram of the structure of a domain controller of a remote control system for starting a smart driving vehicle according to an embodiment of the present invention;

[0067] Figure 6 This is a schematic structural diagram of a remote control starting unit of a remote control system for an intelligent driving vehicle according to an embodiment of the present invention;

[0068] Figure 7 A schematic flow chart of an operation method of a remote control system for starting a smart driving vehicle according to an embodiment of the present invention;

[0069] Figure 8 The present invention is a flowchart of a remote control method for starting a smart driving vehicle according to an embodiment of the present invention.

[0070] The abbreviations and key terms used in this invention are defined as follows:

[0071] RFID, short for Radio Frequency Identification, is an automatic identification technology that uses wireless radio frequency to perform non-contact two-way data communication and read and write recording media (electronic tags or radio frequency cards) to achieve the purpose of identifying targets and exchanging data.

[0072] NFC, short for Near Field Communication, is developed based on contactless radio frequency identification (RFID) technology combined with wireless interconnection technology. It provides a very safe and fast communication method for various electronic products that are becoming more and more popular in our daily lives.

[0073] UDP, short for User Datagram Protocol, is a connectionless transport layer protocol in the OSI (Open System Interconnection) reference model that provides simple, unreliable transaction-oriented information transmission services.

[0074] ECU, which stands for Electronic Control Unit, is the Chinese name for electronic control unit. Here it refers specifically to the electronic control unit of the engine;

[0075] TCU, which stands for Transmission Control Unit, is the Chinese name for the transmission control unit. Here it specifically refers to the electronic control unit of the automatic transmission;

[0076] AEB, which stands for Autonomous Emergency Braking, is the Chinese name for automatic emergency braking, which specifically refers to the electronic control unit for braking;

[0077] EPS, which stands for Electric Power Steering, is the Chinese name for electronic power steering, which specifically refers to the electronic control unit of the steering;

[0078] EPB, which stands for Electrical Park Brake, is the Chinese name for electronic parking brake, which specifically refers to the electronic control unit for parking;

[0079] CAN, which stands for Controller Area Network, refers specifically to the serial bus communication method of the vehicle.

[0080] GMSL, or Gigabit Multimedia Serial Links, is a high-speed serial interface suitable for video signal transmission.

[0081] GNSS, which stands for Global Navigation Satellite System, has the Chinese name Global Navigation Satellite System, and here specifically refers to the vehicle's positioning device. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0083] like Figure 1-Figure 8 As shown, one aspect of the present invention provides a remote control system for starting a smart driving vehicle, comprising a portable terminal, a portable radio connected to the portable terminal for communication, a vehicle radio connected to the smart driving vehicle, a domain controller and a remote control starting unit; the portable terminal comprises a display screen with a touch function, a reciprocating mechanical button, a processor connected to the portable radio and a memory storing remote control starting software, which can realize remote control starting status feedback and reminder of the controlled vehicle; display vehicle status information, send and receive vehicle commands and data to be started; data between the portable terminal and the portable radio is exchanged in UDP mode; data between the portable radio and the vehicle radio is transmitted via radio; data between the vehicle radio and the domain controller is exchanged in UDP mode; the domain controller is connected to the power domain, chassis domain and body domain of the smart driving vehicle respectively through wires, and data is exchanged in CAN bus mode; the domain controller is provided with interface channels for UDP, CAN, GMSL and I / O data exchange, and information is exchanged with the power domain, chassis domain, body domain, smart driving device and remote control starting unit of the smart driving vehicle; the domain controller is connected to the remote The remote control starting interface of the control starting unit is connected by a wire, and the other end of the wire is connected to the starting relay. The other end of the starting relay controls the on-off of the control signal of the starting motor; the remote control starting unit is issued an instruction by the portable terminal, and the instruction is wirelessly transmitted through the portable radio and the vehicle-mounted radio. The domain controller converts the instruction into an electrical signal, and the electrical signal controls the relay to traction, and the starter motor control signal is attracted during traction; the domain controller is provided with an unmanned enabling switch; the portable terminal sends and receives the vehicle instructions and data to be started, so as to realize the remote remote control and specify the selection of single or multiple vehicles to be started; through the portable radio The vehicle-mounted radio controls the reception of the remote start signal, and the vehicle chassis is controlled by the domain controller, so as to reduce the number of vehicle gateways and the data link transmission load. The perception, planning and decision-making control of unmanned driving are realized by comprehensive control of unmanned vehicles. The present invention can make up for the limitations of traditional vehicle remote control starting that can only control a single vehicle, the remote control distance is short, and the data link transmission is complex. At the same time, it has normal start and remote control start. When using remote control start, it can remotely control and specify the vehicle to be started from a long distance. It can start multiple unmanned vehicles at the same time, reduce the number of vehicle gateways, and reduce the transmission load of the data link between various systems.

[0084] Furthermore, if Figure 1-Figure 6As shown, the portable terminal and the intelligent driving vehicle are remotely transmitted via radio, and an ad hoc network is formed between the portable radio and the vehicle radio. The portable terminal and each vehicle number are defined by different IP network segments; the vehicle radio is used to receive and send instructions from the portable radio; as shown in Table 1, each of the portable radios occupies an IP address, and each of the vehicle radios occupies an IP address. Each node in the ad hoc network can be set arbitrarily in vehicles 0 to 255. For the convenience of memory, the portable radio is marked as node 0 by default in the network, vehicle 1 is marked as node 1 IP address by default, vehicle 2 is marked as node 2 IP address by default, and so on. Each IP network segment can be changed through settings;

[0085] Table 1 Radio station self-organizing network IP configuration table

[0086]

[0087] The UDP data of the portable terminal is converted into radio through the portable radio to communicate with the vehicle radio; the radio sent by the portable radio is received by the vehicle radio and converted into UDP data and sent to the domain controller; the UDP data of the domain controller is converted into radio through the vehicle radio to communicate with the portable radio; the radio sent by the vehicle radio is received by the portable radio and converted into UDP data and sent to the portable terminal; the domain controller is connected to the intelligent driving device, the vehicle power system, the chassis and the body, and the remote control starting unit 5, and the domain controller has an unmanned enabling switch, which can realize the functional control of the intelligent driving vehicle.

[0088] Furthermore, if Figure 3 As shown, the portable terminal has power-on, power-off and standby functions, and the portable terminal has built-in power-on and power-off buttons, which can realize power-on, power-off and standby; it has a self-check function, and the portable terminal will realize system self-check during the startup of the operating system; the portable terminal has a status display function, and the operating system supporting the portable terminal can realize power display, time display, and communication signal status display; the portable terminal has a remote control function setting, and the operating system supporting the portable terminal can display the status of the unmanned vehicle node in the self-organizing network, can select the remotely started vehicle, can realize the sending of remote control start instructions, and can realize remote control start status feedback and reminder; it has a volume setting function, and the operating system supporting the portable terminal can realize sound setting entry, button volume setting, media volume setting, and navigation volume setting; it has a general setting function, and the operating system supporting the portable terminal can realize date setting, time setting, 24-hour format switch, and screen brightness setting; it has an advanced setting function, and the operating system supporting the portable terminal can realize screen calibration, restore default settings, version information, password setting, and permission setting.

[0089] Furthermore, if Figure 3 As shown, the portable terminal is a small computer with a processor and a memory. It is small in size, easy to carry, and has its own battery. It is operated through a touch screen or through mechanical buttons on the portable terminal. The portable terminal serves as a human-computer interaction device between the operator and the started vehicle, and can display vehicle status information, send and receive started vehicle instructions and data. One portable terminal can be used for remote control start of a single vehicle or a formation of multiple vehicles. That is, one portable terminal can correspond to one smart driving car, and the remote control start of a single vehicle can be achieved through the portable terminal. Alternatively, one portable terminal can correspond to multiple smart driving cars, and the formation remote control start of multiple smart driving cars can be achieved through one portable terminal. The vehicle status on the portable terminal The copy identification forms an ad hoc network IP definition between the portable radio and the vehicle radio (the IP address definition relationship is shown in Table 1, and repeated IP settings are not allowed in the IP address); in the remote control starting system, the portable terminal uses a portable radio, and the intelligent driving vehicle uses a vehicle radio. The portable radio and the vehicle radio transmit data through radio. The portable radio can convert the UDP data of the portable terminal into radio and communicate with the vehicle radio. The portable radio can receive the radio sent by the vehicle radio and convert it into UDP data and send it to the portable terminal. The vehicle radio can convert the UDP data of the domain controller into radio and communicate with the portable radio. The vehicle radio can receive the radio sent by the portable radio and convert it into UDP data and send it to the domain controller.

[0090] Furthermore, if Figure 2-Figure 4As shown, the portable radio has its own power on and off button, which can be turned on and off; the portable radio has its own indicator light, which can display the remaining power; the vehicle-mounted radio has its own built-in battery, which can be charged using the vehicle power supply 12-24V and work with a point; it has its own power on and off button, which can be turned on and off; the receiving antenna can be extended and tilted; it has its own indicator light, which can display the remaining power; the portable radio and the vehicle-mounted radio, as communication devices, both have the function of self-organizing network, and both have their own antennas; the IP of the self-organizing network of the portable radio and the vehicle-mounted radio can be added and deleted through settings , modify and save. Table 1 shows the default IP configuration of the portable radio and the vehicle radio. During the specific implementation, the IP and the corresponding relationship can be adjusted according to the actual situation on site; the portable terminal and the portable radio are connected through internal wires, and the data is exchanged in UDP mode. The portable radio has its own antenna; the portable radio and the vehicle radio are transmitted through radio, and the radio radiates and receives to the outside world through their respective antennas; the vehicle radio is connected to the vehicle radio antenna through a wire, and the vehicle radio antenna is installed on the vehicle body, which is responsible for expanding the signal range of the vehicle radio.

[0091] Furthermore, if Figure 2-Figure 5As shown, the intelligent driving vehicle has an engine, automatic transmission, transfer case device and function in the powertrain domain, parking, braking, steering devices and functions in the chassis domain, door locks, windows, lights, wipers, rearview mirror devices and functions in the body domain, and cameras, lidars, millimeter-wave radars, ultrasonic radars and GNSS inertial navigation for intelligent driving of unmanned vehicles; the domain controller has UDP, CAN, GMSL, and I / O data interaction interface channels, which can interact with the power domain, chassis domain, body domain, intelligent driving domain equipment (cameras, lidars, millimeter-wave radars, ultrasonic radars, GNSS inertial navigation) and remote starter unit information of the driving vehicle; it has an unmanned enabling switch, which is closed for unmanned driving mode; it can comprehensively control unmanned vehicles to realize perception, planning and decision-making control of unmanned driving; the functional domains of the domain controller include the power domain, chassis domain, body domain and intelligent driving domain; the power domain includes the engine, transmission and transfer case; the chassis domain includes braking, parking and steering, the body domain includes door locks, windows, lights, wipers and rearview mirrors, and the intelligent driving domain includes body surround view cameras, millimeter wave radars, lidars, microwave radars and on-board radios; the domain controller is a computer with a processor and memory. In simple terms, it is the "brain" that controls the intelligent driving vehicle, with central integration and regional control functions; the domain controller is the core of each functional domain of the car, and it mainly includes three parts: domain master processor, operating system and application software and algorithms; platformization, high integration, high performance and good compatibility are the main core design ideas of the domain controller; relying on high-performance domain master processors, rich hardware interface resources and powerful software functional characteristics, the domain controller can integrate the core functions that originally required many ECUs to implement, greatly improving the system function integration, coupled with the standardized interface for data interaction, it can greatly reduce the development and manufacturing costs of this part.

[0092] Furthermore, if Figure 2 and Figure 5As shown, the vehicle-mounted radio station and the domain controller are connected by wires, and data are exchanged in UDP mode; the domain controller is connected to the power domain, chassis domain, and body domain of the intelligent driving vehicle through wires, and data is exchanged in CAN bus mode. The power domain is connected to the engine ECU and automatic transmission TCU, the chassis domain is connected to the braking AEB, parking EPD, and steering EPS, and the body domain is connected to the door locks, wipers, lights, rearview mirrors, etc.; the domain controller and the intelligent driving domain equipment are each connected by a wire; Among them, the intelligent driving domain equipment includes body surround view cameras, millimeter wave radars, microwave radars, lidars, and GNSS inertial navigation; surround view cameras are installed in front of the body, behind the body, left rearview mirror, and right rearview mirror, and data is pushed in GMSL format; the millimeter wave radar is installed in front of the body, and data is pushed in UDP mode; the lidar is installed directly above the cab of the body, and data is pushed in UDP mode; the microwave radar is installed in the front and rear directions of the body, with 4 in the front and rear positions, and data Push is adopted in UDP mode; the domain controller is connected to the unmanned enabling switch on it through a wire, and the wire extends into the cab to access the contact switch. When the contact switch is closed, it is "unmanned mode", and when the contact switch is disconnected, it is "manned mode". By manually opening and closing this switch, the manned and unmanned mode switching of the intelligent driving vehicle can be realized; the domain controller is connected to the remote control starting interface of the remote control starting unit through a wire, and the other end of the wire is connected to the starting relay. The other end of the starting relay controls the on and off of the control signal of the starting motor. When the remote control starting is performed, the remote control starting interface outputs a high level, the starting relay is energized, the control signal of the traction starting motor is turned on, and the starting motor runs; when the domain controller performs the starting self-test and waits for starting, the remote control starting interface outputs a low level, the starting relay is not energized, the control signal of the starting motor is disconnected, and the remote control starting function is temporarily suspended; when the domain controller performs "start failure" or does not perform the remote control starting operation, the remote control starting interface does not output voltage, and the remote control starting function is turned off.

[0093] Furthermore, if Figure 6 As shown, the remote control starting unit 5 outputs a remote control starting control electrical signal through an I / O interface channel of the domain controller. When a high level 24V is output, it can be understood as a logical start "enable", when a low level 5V is output, it can be understood as a logical output start "wait", and when 0V is output, it can be understood as a logical start "off"; the remote control starting unit 5 has a high-level effective closure relay, and the signal pin energizes the power supply after receiving a high level, otherwise the relay does not operate; the remote control starting unit is issued an instruction by a portable terminal, and the instruction is wirelessly transmitted through a portable radio and a vehicle-mounted radio, and the instruction is converted into an electrical signal by the domain controller, and the electrical signal controls the relay to pull, and the starter motor control signal is attracted during traction.

[0094] like Figure 7 As shown, the second aspect of the present invention provides an operation method of a remote control system for starting a smart driving vehicle, comprising the following steps:

[0095] S1: Use the portable terminal to select manual start or remote start. When the operator uses the portable terminal, the display screen can show the status list of all vehicles, and the operator can select "manual start" or "remote start". For vehicles that select "manual start", the unmanned vehicle will be started by a person in the cab using a key. If the portable terminal and the vehicle to be started are online at the same time, the domain controller will feedback the vehicle start status to the portable terminal, and the vehicle status list on the portable terminal will display "waiting to start", "self-test failed", "start successful" or "start failed".

[0096] S2: Select the vehicle to be started remotely. In the vehicle list of the portable terminal, check the vehicle to be started. The portable terminal will send a "start preparation" command to the selected vehicle. The command is broadcast to the outside world through the portable radio in the form of ad hoc network radio.

[0097] S3: The vehicle radio receives the "start preparation" command and sends a "prepare response" command to the portable radio;

[0098] S4: After the portable radio receives the "prepare response" command, the portable terminal automatically sends the "unmanned enable" command to the vehicle that has responded; if the portable radio does not receive the "prepare response" command, the on-board radio of the standby vehicle has no response, and the continuous loss of connection time exceeds 5 seconds, the domain controller feedbacks "self-test failure", and the on-board radio sends a command to the portable radio; after the portable radio receives the command, it displays the prompt "self-test failure";

[0099] S5: After receiving the "unmanned enable" command, the on-board radio sends the command to the domain controller. The domain controller converts the signal to enable the switch and enters the unmanned enable self-test state. If the self-test state is normal, the "waiting to start" signal is fed back to the portable terminal. If one or more abnormalities occur in the self-test state, the "self-test failure" signal is fed back, and the abnormalities are fed back to the portable terminal. The self-test state includes the domain controller converting the UDP data format into a CAN bus message format to send a wake-up command to the power domain and chassis domain. The power domain executes the engine ECU, transmission TCU, wake-up and self-test, and the chassis domain The parking EPB, braking AEB, and steering EPS wake-up and self-check will be executed to check whether the vehicle speed is 0, whether the engine speed is 0, whether the gearbox is in neutral, the parking execution feedback, the braking execution feedback, and whether the steering wheel angle is too large; the domain controller will power on the intelligent driving equipment, including the body surround view camera, millimeter wave radar, laser radar, and microwave radar, to check whether the distance between the vehicle and the vehicle in front is too small; if the above self-check status is normal, the feedback "waiting to start" will be sent to the portable terminal; if one or more abnormalities occur in the self-check status, the feedback "self-check failure" will be sent, and the abnormal situation will be fed back to the portable terminal;

[0100] S6: In the list of vehicles to be started on the portable terminal, "Waiting to start" or "Self-test failed" will be displayed. At this time, both states can be displayed by clicking "Video View" to transmit the video of the vehicle surround view camera back. When "Waiting to start" is displayed, the "Confirm start" screen button lights up, and you can click the "Confirm start" button, and the domain controller will execute the remote start process; when "Self-test failed" is displayed, the "Confirm start" screen display button turns gray, and remote start cannot be performed, and further self-test is required; at the beginning of the self-test process, the domain controller outputs a low level to the remote start unit interface; the self-test state passes the "Waiting to start" state and receives the "Confirm start" command, the domain controller continues to send AEB (automatic emergency braking unit) execution requests to the chassis gateway through the CAN bus (Controller Area Network Bus), and outputs a high level to the remote start unit interface at the same time; the self-test state does not pass the "Self-test failed", and the domain controller has no output voltage to the remote start unit interface;

[0101] S7: After receiving the high level output from the domain controller, the relay of the remote starter unit attracts the positive and negative poles of the power supply and turns on the starter motor control signal; the AEB (automatic emergency brake unit) receives the execution request and executes the braking state, and broadcasts the braking state CAN bus message; the starter motor starts working and drives the engine to run;

[0102] S8: The engine ECU (electronic control unit) receives the brake signal and speed signal and enters the start control process. If the engine enters the idle condition, it is considered that the start is successful, and a "start success" CAN bus message is sent through the power gateway; if the engine cannot enter the idle condition, it is considered that the start fails, and a "start failure" CAN bus message is sent to the power domain; after the domain controller receives the "start success" command from the power domain, the remote control start unit interface outputs a low level and feeds the command back to the portable terminal; the start process lasts for a maximum of 15 seconds. After the domain controller executes the remote control start control for a single cumulative power-on of 15 seconds, it will restore to the initial state. At this time, the I / O interface channel returns to a low level, and the AEB (automatic emergency braking unit) execution request is released;

[0103] S9: The domain controller converts the bus message of "start successful" or "start failed" into UDP (User Datagram Protocol) data format, sends it through the vehicle radio, receives it through the portable radio, and displays "start successful" or "start failed" on the portable terminal.

[0104] like Figure 8 As shown in the figure, "remote control enable = 1" means that the remote control enable switch is valid; "remote control start = 1" means that the remote control start command has been received; "transmission N gear state = 1" means that the transmission is in neutral; "parking execution state = 1" means that parking is in execution; "steering angle < 90°" means that the steering wheel steering angle is < 90°; "remote control start output set to 1" means that the domain controller executes the remote control start control output; "brake state set to 1" means that the brake state fed back by the brake system of the chassis domain is the brake state; "idle state mark = 1" means that the engine is in idle state ... "Set the start control output to 0" indicates that the domain controller executes the remote control start shutdown output; "Set the start failure flag to 1" indicates that the start failure flag in the domain controller is valid; "Set the start failure flag to 0" indicates that the start failure flag in the domain controller is invalid; A third aspect of the present invention provides a remote control start control method for an intelligent driving vehicle, which is implemented by various systems of the vehicle itself and respective controllers in the system, and is implemented by the vehicle's intelligent driving perception device, the intelligent driving domain and its controller, the power domain and its controller, and the chassis domain and its controller, and includes the following steps:

[0105] S100: The domain controller executes the "enter" command, and after entering, the vehicle meets the prerequisite for remote control starting;

[0106] S101: The domain controller determines the relationship between remote control enable and remote control start. When the remote control enable switch on the vehicle is valid and a remote control start command is received from the remote control terminal, the start failure flag of the remote control start control in the domain controller is set to 0;

[0107] S102: The domain controller determines the start status flag. If the start status flag is 0, the domain controller determines the engine ECU feedback speed of the power domain;

[0108] S103: If the engine speed is 0, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state of the chassis domain, and the steering wheel angle;

[0109] S104: If the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90°, the domain controller determines the distance of the obstacle ahead of the vehicle fed back by the intelligent driving perception device;

[0110] S105: If the distance between the sensing device and the vehicle in front or the obstacle is greater than 0.5 meters, the domain controller determines the braking state fed back by the braking system of the chassis domain;

[0111] S106: If the brake state is in progress, the domain controller executes the remote control start control output;

[0112] S107: The domain controller determines the idle state flag fed back by the engine ECU of the power domain; if the engine is in the idle state, the domain controller executes the remote control start-stop output;

[0113] S108: The domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is ≥ 10 seconds, the start failure mark in the domain controller is set to valid, and the domain controller executes the remote control start shutdown output;

[0114] S109: The domain controller executes the "end" command, and the vehicle remote control start control process ends.

[0115] In step S101, when the remote control enable switch on the vehicle is invalid and no remote control start command is received from the remote control terminal, the domain controller executes the remote control start shut-down output and executes steps S108 to S109;

[0116] If the start status flag is not zero in step S102, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state and the steering wheel angle of the chassis domain; and executes steps S104 to S109;

[0117] If the engine speed is not zero in step S103, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0118] In step S104, if the conditions that the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90° cannot be met at the same time, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0119] In step S104, if the distance between the sensing device and the front vehicle or obstacle is ≤ 0.5 meters, the domain controller executes the remote control start-stop output and executes steps S108 to S109; the intelligent driving sensing device includes a millimeter wave radar, a laser radar or a camera;

[0120] In step S106, if the domain controller determines that the braking state fed back by the braking system of the chassis domain is not in the braking state, the domain controller executes the remote control start-stop output and executes steps S108 to S109;

[0121] In step S107, the domain controller determines that the engine ECU of the power domain feedbacks that the engine is not at the idle mark, and then directly executes steps S108 to S109;

[0122] In step S108, the domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is less than 10 seconds, the domain controller executes the remote control start control output and executes steps S107 to S109.

[0123] The working principle of the remote control start control system and method of an intelligent driving vehicle provided by the present invention is that when the remote control start is executed and each system works normally, human-computer interaction is performed through the operator's instructions on the portable terminal; the portable radio is responsible for exchanging information between the portable terminal's data link and the unmanned vehicle through radio; the vehicle-mounted radio is responsible for receiving the portable radio instructions and sending feedback status to the domain controller; the vehicle chassis is the traditional motor vehicle chassis, which has functions such as steering, braking, parking, forward, backward, acceleration and acceleration; the domain controller is the "brain" of the unmanned vehicle control, and participates in the manned, unmanned, and remote control of the intelligent driving vehicle throughout the process. Starting, etc.; the remote control starting unit is responsible for converting the remote control starting control signal into an electrical signal, and has the function of controlling the starting and stopping of the starting motor; specifically, through the portable terminal, you can choose to start a single vehicle remotely, or you can choose to start multiple vehicles at the same time; during remote starting, the operator uses the portable terminal to issue a start command, the remote control command is transmitted via radio, and the unmanned vehicle receives the remote control start command through the radio. After the remote control command is processed, it is transmitted in the UDP signal format to interact with the unmanned vehicle domain controller. The domain controller converts the remote control start signal into a CAN bus message format and broadcasts it. The engine ECU, The braking AEB, parking EPB and steering EPS of the transmission TCU and chassis domain are immediately awakened through the CAN bus message. The controller triggers the remote control start self-test process according to the control process. If the self-test passes, AEB automatically triggers the braking state, and the engine executes the starting condition according to the control process. After waiting for a period of time, it is determined whether the remote start is successful. If the remote start is successful, the portable terminal will be fed back with the successful start status information; if the remote start is unsuccessful, the remote control terminal will be fed back with the unsuccessful start status information; if the self-test fails during the starting process, the portable terminal status information is fed back, and the operator performs the restart operation or performs the vehicle Vehicle inspection; the present invention has manual start and remote control start functions. When using remote control start, the vehicle to be started can be remotely controlled and specified to be selected from a distance, and remote control can be specified to select a single or multiple vehicles to be started; the reception of the remote control start signal of the present invention will be processed by the portable radio and the vehicle radio, and the vehicle chassis control will be processed by the domain controller, thereby reducing the number of gateways and reducing the transmission load of the data link between the systems; through the comprehensive control of unmanned vehicles, the perception, planning and decision-making control of unmanned driving can be realized; it can make up for the limitations of traditional vehicle remote control start that can only control a single vehicle, the remote control distance is short, and the data link transmission is complex.

[0124] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote control system for starting a smart driving vehicle, characterized in that: It includes a portable terminal, a portable radio connected to the portable terminal, a vehicle radio connected to the intelligent driving vehicle, a domain controller and a remote control starting unit; wherein, The portable terminal includes a display screen with a touch function, a reciprocating mechanical button, a processor connected to the portable radio station and a memory storing the remote control starting software. The portable terminal sends and receives the vehicle commands and data to be started, so as to realize the remote control starting status feedback and reminder of the controlled vehicle. The data between the portable terminal and the portable radio station are exchanged in UDP mode; the portable radio station and the vehicle-mounted radio station are transmitted via radio; the data between the vehicle-mounted radio station and the domain controller are exchanged in UDP mode; the domain controller is connected to the power domain, chassis domain and body domain of the intelligent driving vehicle through wires, and the data are exchanged in CAN bus mode; the domain controller is provided with UDP, CAN, GMSL and I / O data exchange interface channels, which communicate with the power domain, chassis domain, body domain, intelligent driving device and remote control starting unit of the intelligent driving vehicle. Information interaction; the domain controller is connected to the remote control starting interface of the remote control starting unit through a wire, the other end of the wire is connected to the starting relay, and the other end of the starting relay controls the on-off of the control signal of the starting motor; the remote control starting unit is issued an instruction by the portable terminal, the instruction is wirelessly transmitted through the portable radio and the vehicle-mounted radio, and the instruction is converted into an electrical signal by the domain controller, the electrical signal controls the relay to traction, and the starter motor control signal is attracted during traction; the domain controller is provided with an unmanned enabling switch; the portable terminal sends and receives the vehicle instructions and data to be started, so as to realize the remote control of the designated selection of single or multiple vehicles to be started; the reception of the remote control starting signal is controlled by the portable radio and the vehicle-mounted radio, and the vehicle chassis is controlled by the domain controller, so as to realize the reduction of the number of vehicle gateways and the reduction of the data link transmission load; the perception, planning and decision-making control of unmanned driving are realized through the comprehensive control of unmanned vehicles; The domain controller is connected to the unmanned enabling switch through a wire, and the wire extends into the cab to connect to the contact switch. When the contact switch is closed, it is in "unmanned mode", and when the contact switch is disconnected, it is in "manned mode". The manned and unmanned modes of the intelligent driving vehicle are switched by manually opening and closing the unmanned enabling switch; When the domain controller performs remote start, the remote start interface outputs a high level, the starter relay is energized, the control signal of the traction starter motor is turned on, and the starter motor runs; When the domain controller performs the start self-test and waits for starting, the remote start interface outputs a low level, the start relay does not attract, the control signal of the starter motor is disconnected, and the remote start function is temporarily suspended; When the domain controller executes "failed to start" or the remote start operation is not performed, the remote start interface does not output voltage and the remote start function is turned off.

2. The intelligent driving vehicle remote start control system according to claim 1, characterized in that: An ad hoc network is formed between the portable radio station and the vehicle-mounted radio station, and the portable terminal and the intelligent driving vehicle number are defined through different ad hoc network segments; the UDP data of the portable terminal is converted into radio by the portable radio station for communication with the vehicle-mounted radio station; The vehicle-mounted radio receives the radio sent by the portable radio and converts it into UDP data and sends it to the domain controller; the vehicle-mounted radio converts the UDP data of the domain controller into radio data for communication with the portable radio; The radio signal sent by the vehicle-mounted radio station is received by the portable radio station and converted into UDP data and sent to the portable terminal.

3. The remote control system for starting an intelligent driving vehicle according to claim 2, characterized in that: The power domain of the intelligent driving vehicle includes an engine, a gearbox and a transfer case; The chassis domain of the intelligent driving vehicle includes parking, braking, and steering; the body domain of the intelligent driving vehicle includes door locks, windows, lights, wipers, and rearview mirrors; The intelligent driving domain equipment of the intelligent driving vehicle includes body surround view cameras, millimeter wave radars, microwave radars, lidars and GNSS inertial navigation; the surround view cameras are installed in front of the body, behind the body, left rearview mirror and right rearview mirror, and the data is pushed in GMSL format for video streaming; the millimeter wave radar is installed directly in front of the body, and the data is pushed using UDP; the lidar is installed directly above the cab of the body, and the data is pushed using UDP; the microwave radar is installed in the front and rear directions of the body, and the data is pushed using UDP.

4. A remote control system for starting an intelligent driving vehicle according to any one of claims 1 to 3, characterized in that: The functional domains of the domain controller include the power domain, chassis domain, body domain and intelligent driving domain; the power domain of the domain controller includes the engine, gearbox and transfer case; the chassis domain of the domain controller includes braking, parking and steering; the body domain of the domain controller includes door locks, windows, lights, wipers and rearview mirrors; the intelligent driving domain of the domain controller includes body surround view cameras, millimeter wave radars, laser radars, microwave radars and vehicle radios; The domain controller has central integration and regional control functions; the domain controller includes three parts: domain master processor, operating system and application software and algorithm.

5. The intelligent driving vehicle remote start control system according to claim 4, characterized in that: The remote control starting unit outputs a remote control starting control electrical signal through an I / O interface channel of the domain controller; When the remote control starting unit outputs a high level of 24V, it can be understood as a logical start "enable"; when the remote control starting unit outputs a low level of 5V, it can be understood as a logical output start "wait"; when the remote control starting unit outputs 0V, it can be understood as a logical start "off"; The remote control starting unit is provided with a high-level effective pick-up relay, and the power supply is picked up after the signal pin receives a high level, otherwise the relay does not work.

6. An operating method of a remote control system for an intelligent driving vehicle, characterized in that: The remote control system for starting an intelligent driving vehicle according to any one of claims 1 to 5 is implemented, comprising the following steps: S1: Use the portable terminal to select manual start or remote start. The operator can see the status list of all vehicles on the display screen and can select "manual start" or "remote start". S2: Select the vehicle to be started remotely. Check the vehicle to be started in the vehicle list of the portable terminal. The portable terminal will send a "start preparation" command to the selected vehicle. The command will be broadcast to the outside world through the portable radio in the form of ad hoc network radio. S3: The vehicle radio receives the "start preparation" command and sends a "prepare response" command to the portable radio; S4: After the portable radio receives the "prepare for response" command, the portable terminal automatically sends an "unmanned enable" command to the vehicle that has responded; S5: After receiving the "unmanned enable" command, the on-board radio sends the command to the domain controller, which makes the enable switch effective through signal conversion and enters the unmanned enable self-check state; if the self-check state is normal, it will feedback "waiting to start" to the portable terminal; if one or more abnormalities occur in the self-check state, it will feedback "self-check failure" and feedback the abnormal situation to the portable terminal; S6: In the list of vehicles to be started on the portable terminal, "Waiting to start" or "Self-test failed" will be displayed. In this case, both states can be checked by clicking "Video View" to transmit the video from the vehicle surround view camera. When "Waiting to start" is displayed, the "Confirm Start" screen button lights up. You can click the "Confirm Start" button and the domain controller will execute the remote start process. S7: After receiving the high level output from the domain controller, the relay of the remote starter unit attracts the positive and negative poles of the power supply and turns on the starter motor control signal; the AEB receives the execution request to execute the braking state and broadcasts the braking state CAN bus message; the starter motor starts working and drives the engine to run; S8: The engine ECU receives the brake signal and speed signal and enters the start control process. If the engine enters the idle condition, it is considered that the start is successful, and a "start success" CAN bus message is sent through the power gateway; if the engine cannot enter the idle condition, it is considered that the start fails, and a "start failure" CAN bus message is sent to the power domain; after the domain controller receives the "start success" command from the power domain, the remote start unit interface outputs a low level and feeds the command back to the portable terminal; the start process lasts for a maximum of 15 seconds. After the domain controller executes the remote start control for a single cumulative power-on of 15 seconds, it will return to the initial state. At this time, the I / O interface channel returns to a low level and the AEB execution request is released; S9: The domain controller converts the bus message of "start successful" or "start failed" into UDP data format, sends it through the vehicle radio, receives it through the portable radio, and displays "start successful" or "start failed" on the portable terminal.

7. The method for operating a remote control system for starting a smart driving vehicle according to claim 6, characterized in that: For vehicles that select "manual start" in step S1, the unmanned vehicle will be started by a person in the cab using a key. If the portable terminal and the vehicle to be started are online at the same time, the domain controller will feedback the vehicle start status to the portable terminal, and the vehicle status list of the portable terminal will display "waiting to start", "self-test failed", "start successful" or "start failed"; In step S4, if the portable radio does not receive the "prepare response" command, the standby vehicle's onboard radio has no response response, and the continuous disconnection time exceeds 5 seconds, the domain controller feedbacks "self-test failure", and the onboard radio sends a command to the portable radio; after the portable radio receives the command, it displays a "self-test failure" prompt; The self-check state in step S5 includes the domain controller converting the UDP data format into a CAN bus message and sending a wake-up command to the power domain and chassis domain. The power domain executes the engine ECU and the transmission TCU, wakes up and self-checks, and the chassis domain executes the parking EPB, the braking AEB, and the steering EPS wake-up and self-checks to check whether the vehicle speed is 0, whether the engine speed is 0, whether the transmission is in neutral, the parking execution feedback, the braking execution feedback, and whether the steering wheel angle is too large; the domain controller will power on the intelligent driving equipment, including the body surround view camera, the millimeter wave radar, the laser radar, and the microwave radar, to check whether the distance between the vehicle and the vehicle in front is too small; In step S6, after "self-test failed" is displayed, the "confirm start" screen display button becomes gray, remote start cannot be performed, and further self-test is required; when the self-test process starts, the domain controller outputs a low level to the remote start unit interface; when the self-test status passes the "wait for start" status and receives the "confirm start" instruction, the domain controller continues to send AEB execution requests to the chassis gateway through the CAN bus, and outputs a high level to the remote start unit interface at the same time; when the self-test status does not pass the "self-test failed", the domain controller has no output voltage to the remote start unit interface.

8. A remote control starting control method for an intelligent driving vehicle, characterized in that: The remote control system for starting an intelligent driving vehicle according to any one of claims 1 to 5 is implemented, comprising the following steps: S100: The domain controller executes the "enter" command, and after entering, the vehicle meets the prerequisite for remote control starting; S101: The domain controller determines the relationship between remote control enable and remote control start. When the remote control enable switch on the vehicle is valid and a remote control start command is received from the remote control terminal, the start failure flag of the remote control start control in the domain controller is set to 0; S102: The domain controller determines the start status flag. If the start status flag is 0, the domain controller determines the engine ECU feedback speed of the power domain; S103: If the engine speed is 0, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state of the chassis domain, and the steering wheel angle; S104: If the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90°, the domain controller determines the distance of the obstacle ahead of the vehicle fed back by the intelligent driving perception device; S105: If the distance between the sensing device and the vehicle in front or the obstacle is greater than 0.5 meters, the domain controller determines the braking state fed back by the braking system of the chassis domain; S106: If the brake state is in progress, the domain controller executes the remote control start control output; S107: The domain controller determines the idle state flag fed back by the engine ECU of the power domain; if the engine is in the idle state, the domain controller executes the remote control start-stop output; S108: The domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is ≥ 10 seconds, the start failure mark in the domain controller is set to valid, and the domain controller executes the remote control start shutdown output; S109: The domain controller executes the "end" command, and the vehicle remote control start control process ends.

9. The remote control starting control method of an intelligent driving vehicle according to claim 8, characterized in that: In step S101, when the remote control enable switch on the vehicle is invalid and no remote control start command is received from the remote control terminal, the domain controller executes the remote control start shut-down output and executes steps S108 to S109; If the start status flag is not zero in step S102, the domain controller judges the neutral state of the transmission TCU feedback of the power domain, the parking state of the chassis domain, and the steering wheel angle; and executes steps S104 to S109; If the engine speed is not zero in step S103, the domain controller executes the remote control start-stop output and executes steps S108 to S109; In step S104, if the conditions that the transmission is in neutral, the parking is in execution, and the steering angle of the steering wheel is less than 90° cannot be met at the same time, the domain controller executes the remote control start-stop output and executes steps S108 to S109; the sensing device in step S104 includes a millimeter wave radar, a laser radar, or a camera; In step S104, if the distance between the sensing device and the front vehicle or obstacle is ≤ 0.5 meters, the domain controller executes the remote control start-stop output and executes steps S108 to S109; In step S106, if the domain controller determines that the braking state fed back by the braking system of the chassis domain is not in the braking state, the domain controller executes the remote control start-stop output and executes steps S108 to S109; In step S107, the domain controller determines that the engine ECU of the power domain feedbacks that the engine is not at the idle mark, and then directly executes steps S108 to S109; In step S108, the domain controller determines the idle mark time fed back by the engine ECU of the power domain. If the duration is less than 10 seconds, the domain controller executes the remote control start control output and executes steps S107 to S109.

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