Unmanned vehicle control device, control method, and vehicle

Abstract

The application relates to the technical field of unmanned driving and provides an unmanned vehicle control device, a control method and a vehicle. The device comprises a TBOX, an intelligent fuse box and N controllers, the intelligent fuse box is connected with the TBOX and the controllers respectively, the TBOX is used for sending a wake-up signal to the intelligent fuse box when a remote starting signal of a cloud platform is received, and the intelligent fuse box is used for controlling the N controllers to be powered on after being woken up by the wake-up signal. By using the existing TBOX in the unmanned vehicle to receive the remote starting signal and using the intelligent fuse box to control the N controllers to be powered on at the same time, the problem that the manual cost is high due to manual power-on and power-off of the unmanned vehicle is solved, and the labor cost and time cost are saved, and the operation efficiency of the unmanned vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned driving, in particular to an unmanned vehicle control device, a control method and a vehicle. BACKGROUND

[0002] The intelligent control of vehicles in the field of unmanned driving is becoming more and more mature. At present, a working task can be issued to an unmanned vehicle through a cloud platform, so that the unmanned vehicle performs unmanned operation, and the actual running state of the unmanned vehicle is monitored.

[0003] However, the current unmanned vehicle still needs an operator to perform power-on and power-off operations on each vehicle, which is high in labor cost and seriously wastes time and running efficiency. SUMMARY

[0004] The present application provides an unmanned vehicle control device, a control method and a vehicle to solve the defects of high operation cost and low running efficiency of the unmanned vehicle in the prior art, and to realize convenient remote power-on and power-off operation of the unmanned vehicle.

[0005] The present application provides an unmanned vehicle control device, comprising a TBOX, an intelligent fuse box and N controllers, wherein the intelligent fuse box is connected to the TBOX and the controllers respectively;

[0006] The TBOX is configured to send a wake-up signal to the intelligent fuse box when receiving a remote start signal from a cloud platform.

[0007] The intelligent fuse box is configured to control the N controllers to power on after being woken up by the wake-up signal.

[0008] According to the unmanned vehicle control device provided by the present application, the N controllers comprise a first controller and a second controller.

[0009] The first controller is configured to send a high-voltage power-on signal to the second controller after power-on.

[0010] The second controller is configured to control the vehicle to power on at high voltage when receiving the high-voltage power-on signal.

[0011] According to the unmanned vehicle control device provided by the present application, the intelligent fuse box comprises an MCU and N MOS tubes corresponding to the N controllers respectively.

[0012] Each MOS tube is connected to a corresponding controller respectively.

[0013] Each MOS tube is further connected to the MCU respectively.

[0014] The MCU is used to control each MOS tube to close to control the power-on of the corresponding controller after being woken up by the wake-up signal.

[0015] According to the unmanned vehicle control device, the intelligent fuse box further comprises N current collection modules corresponding to the N controllers respectively.

[0016] Each controller is connected with the corresponding current collection module respectively.

[0017] Each current collection module is connected with the MCU.

[0018] The current collection module is used to collect the current of the corresponding controller and send the current to the MCU.

[0019] The MCU is further used to control the MOS tube corresponding to the controller with fault to be disconnected when the current collected by the current collection module exceeds the set current threshold.

[0020] According to the unmanned vehicle control device, the intelligent fuse box further comprises a signal receiving module.

[0021] The signal receiving module is connected with the first controller and the MCU respectively, and is used to receive the remote power-off signal forwarded by the first controller and send the remote power-off signal to the MCU.

[0022] The MCU is further used to control each MOS tube to disconnect to control the power-off of the corresponding controller when the remote power-off signal is received.

[0023] According to the unmanned vehicle control device, the intelligent fuse box further comprises a signal receiving module.

[0024] The present application further provides an unmanned vehicle control method based on the unmanned vehicle control device.

[0025] When the TBOX receives the remote start signal of the cloud platform in the start state, the TBOX sends a wake-up signal to the intelligent fuse box.

[0026] The intelligent fuse box controls the power-on of the N controllers after being woken up by the wake-up signal.

[0027] The first controller in the N controllers controls the high-voltage power-on of the unmanned vehicle.

[0028] When the first controller receives the remote power-down signal sent by the cloud platform forwarded by the TBOX, it controls the autonomous vehicle to power down at high voltage and controls the smart fuse box to power down at low voltage.

[0029] According to a method for controlling an unmanned vehicle provided by the present invention, the first controller among the N controllers controls the high-voltage power supply of the unmanned vehicle, including:

[0030] When the unmanned vehicle has no power supply failure, the first controller detects whether the mechanical emergency brake switch is engaged via hard wire; if the mechanical emergency brake switch is not engaged, it controls the ON position to close; after confirming that the ON position is closed, it controls the STR position to close; after confirming that the STR position is closed, it detects whether the unmanned vehicle is in a safe state; when the unmanned vehicle is in a safe state, it sends a high-voltage power-on signal to the second controller.

[0031] According to a method for controlling an unmanned vehicle provided by the present invention, the step of controlling the smart fuse box to perform low-voltage power-off includes:

[0032] Send a first power-down signal to the smart fuse box; the first power-down signal is used to enable the smart fuse box to control the other controllers among the N controllers, excluding the first controller, to power down.

[0033] Upon receiving the first power-down flag from the smart fuse box, a second power-down signal is sent to the smart fuse box; the second power-down signal is used to enable the smart fuse box to control the first controller and the smart fuse box itself to power down.

[0034] The present invention also provides a vehicle comprising the unmanned vehicle control device described in any of the preceding claims, or for executing the unmanned vehicle control method described in any of the preceding claims.

[0035] This invention provides a remote control device, control method, and vehicle for unmanned vehicles. By utilizing the existing TBOX in the unmanned vehicle to receive a remote start signal and then using a smart fuse box to control N controllers to power on simultaneously, it solves the problem of high labor costs caused by manually powering on and off unmanned vehicles in related technologies, saving labor and time costs and improving the operating efficiency of unmanned vehicles. Attached Figure Description

[0036] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0037] Figure 1 is a structural schematic diagram of the unmanned vehicle control device provided by the present application;

[0038] Figure 2 is one of the flowcharts of the unmanned vehicle control method provided by the present application;

[0039] Figure 3 is the second flowchart of the unmanned vehicle control method provided by the present application;

[0040] Figure 4 is the third flowchart of the unmanned vehicle control method provided by the present application;

[0041] Figure 5 is the fourth flowchart of the unmanned vehicle control method provided by the present application;

[0042] Figure 6 is the fifth flowchart of the unmanned vehicle control method provided by the present application;

[0043] Figure 7 is a structural schematic diagram of the electronic device provided by the present application.

[0044] Reference signs:

[0045] 100: TBOX; 200: intelligent insurance box; 210: MCU;

[0046] 220: MOS tube; 230: current acquisition module; 240: signal receiving module;

[0047] 250: CAN communication module; 260: power supply control chip. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0049] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0050] As shown in Figure 1 Some embodiments of the present application provide an unmanned vehicle control device, which comprises a TBOX 100, an intelligent insurance box 200 and N controllers, the intelligent insurance box 200 is connected to the TBOX 100 and the controllers respectively.

[0051] The TBOX 100 is configured to send a wake-up signal to the intelligent insurance box 200 when receiving a remote start signal of a cloud platform.

[0052] The intelligent insurance box 200 is configured to control the N controllers to be powered on after being woken up by the wake-up signal.

[0053] In the related art, the unmanned vehicle always needs an operator to manually power on and off, and the operation procedure is complicated. These manual power on and off operations cause waste of time and labor costs. In order to realize convenient remote power on and off operation of the unmanned vehicle, embodiments of the present application provide an unmanned vehicle control device.

[0054] Specifically, the unmanned vehicle in the embodiments of the present application can be an unmanned mine car.

[0055] Specifically, the TBOX 100, i.e. Telematics-Box, can integrate a V2X device.

[0056] Specifically, the N controllers can include a vehicle controller VCU, an autonomous driving domain controller ACU, a SanY motion controller (SYMC), an electronic brake system (EBS), an instrument pack (IPK), etc. The type and number of the controllers are not specifically limited in the present embodiment.

[0057] The cloud platform is an operation platform that can remotely control the unmanned vehicle. The cloud platform can communicate with the TBOX 100 in the vehicle through wireless communication such as 4G / 5G. Exemplarily, the cloud platform can communicate with the V2X device in the TBOX 100 in the vehicle through wireless communication such as 4G / 5G.

[0058] In one specific embodiment, when the cloud platform sends a remote start signal to the unmanned vehicle in the sleep state, the TBOX 100 with the timing start function receives the remote start signal when it is in the start state. After receiving the remote start signal, the TBOX 100 sends a wake-up signal to the intelligent fuse box 200 to wake up the intelligent fuse box 200. After receiving the wake-up signal, the intelligent fuse box 200 wakes up itself. After the intelligent fuse box 200 wakes up itself successfully, the N controllers are powered on at the same time.

[0059] In this embodiment, the existing TBOX 100 in the unmanned vehicle is used to receive the remote start signal, and the intelligent fuse box 200 is used to control the N controllers to be powered on at the same time, which solves the problem of manually powering on and off the unmanned vehicle in the related art, saves labor cost and time cost, and improves the operation efficiency of the unmanned vehicle.

[0060] In addition, in this embodiment, the intelligent fuse box 200 is used to control the N controllers to be powered on at the same time, which eliminates the steps of waking up and waiting for wake-up between different controllers in the related art, and further improves the operation efficiency of the unmanned vehicle.

[0061] In an exemplary embodiment, as shown in Figure 1 the N controllers include a first controller and a second controller;

[0062] The first controller is configured to send a high-voltage power-on signal to the second controller after being powered on.

[0063] The second controller is configured to control the vehicle to be powered on with high voltage when receiving the high-voltage power-on signal.

[0064] Specifically, the first controller can be the main controller of the unmanned vehicle, which is configured to control the unmanned vehicle to enter a driving mode in which related tasks can be performed by sending a high-voltage power-on signal to the second controller. Exemplarily, the first controller can be a VCU or an ACU.

[0065] In the related art, if the unmanned vehicle needs to perform a related task, the VCU or the ACU needs to control the high-voltage power-on of the unmanned vehicle, in which case the VCU or the ACU needs to wake up the controller with the high-voltage power-on function first, and only after the controller with the high-voltage power-on function is woken up, the VCU or the ACU can further send and control the high-voltage power-on signal. However, in the present embodiment, since the first controller and the second controller are woken up at the same time by the intelligent fuse box 200, when the vehicle needs to perform a related task, the first controller can directly send a high-voltage power-on signal to the second controller, thereby saving the wake-up step and improving the operation efficiency of the unmanned vehicle.

[0066] In an example embodiment, as shown in Figure 1 The intelligent fuse box 200 includes an MCU 210, and N MOS tubes 220 corresponding to the N controllers one by one.

[0067] Each MOS tube 220 is connected to a corresponding controller.

[0068] Each MOS tube 220 is also connected to the MCU 210.

[0069] The MCU 210 is configured to wake up after receiving a wake-up signal, and control each MOS tube 220 to close to power on the corresponding controller.

[0070] In the present embodiment, the MOS tube 220 can function as a switching power supply, and the MOS tube 220 has the advantages of fast switching speed, easy parallel connection, and low required driving power as a switch.

[0071] In a specific embodiment, after receiving a wake-up signal, the MCU 210 in the intelligent fuse box 200 wakes up the intelligent fuse box 200, and after successful self-wake-up, the MCU 210 applies a voltage exceeding the threshold voltage to the gate of each MOS tube 220 in the N MOS tubes 220, controls each MOS tube 220 to close, and the MOS tube 220 is turned on. Since each MOS tube 220 is connected to a corresponding controller, after the MOS tube 220 is turned on, the corresponding controller starts to power on and enters a working state.

[0072] In the present embodiment, a microcontroller MCU 210 is arranged in the intelligent fuse box 200, and the MCU 210 is integrated with a related control circuit that can control the MOS tube 220 to close, thereby controlling the N MOS tubes 220 to simultaneously control the N controllers to power on at the same time, and improving the operation efficiency of the unmanned vehicle.

[0073] In an example embodiment, as shown in Figure 1As shown, the intelligent fuse box 200 further comprises N current collection modules 230 corresponding to the N controllers respectively;

[0074] Each controller is connected with a corresponding current collection module 230 respectively;

[0075] Each current collection module 230 is further connected with the MCU 210;

[0076] The current collection module 230 is configured to collect the current of the corresponding controller and send the current to the MCU 210;

[0077] The MCU 210 is further configured to control the MOS tube 220 corresponding to the controller with fault to be disconnected when the current collected by the current collection module 230 received exceeds the set current threshold.

[0078] In an embodiment, the current collection module 230 can comprise a current sensor, which is configured to collect the current in the power supply circuit where each controller is located in real time, and send the collected current data to the MCU 210. The MCU 210 compares the real-time collected current data with the pre-set current threshold. When the current exceeds the set current threshold, it indicates that the power supply circuit where the controller is located has faults including excessive power consumption, poor contact, short circuit, etc. At this time, the MCU 210 controls the MOS tube 220 corresponding to the controller with fault to be disconnected, thereby protecting the whole vehicle power supply circuit of the unmanned vehicle.

[0079] In the embodiment, the intelligent fuse box 200 is provided with N current collection modules 230 corresponding to the N controllers respectively. Each current collection module 230 can send the collected current data in the circuit where the corresponding controller is located to the MCU 210, so as to facilitate the MCU 210 to control the MOS tube 220 corresponding to the controller with fault to be disconnected, thereby protecting the whole vehicle power supply safety of the unmanned vehicle.

[0080] In an exemplary embodiment, the unmanned vehicle control device further comprises a storage battery; the storage battery is connected with the TBOX 100 and the intelligent fuse box 200 respectively; the intelligent fuse box 200 further comprises a power management chip 260, the power management chip 260 is connected with the positive electrode of the storage battery, and the storage battery supplies power to the MCU 210 through the power management chip 260.

[0081] Specifically, as shown in the figure, Figure 1 The first end of the power management chip 260 is connected with the positive electrode VBAT+ of the storage battery, and the second end of the power management chip 260 is grounded GND.

[0082] Exemplarily, the storage battery can be a 12V storage battery or a 24V storage battery.

[0083] In a specific embodiment, the unmanned vehicle can be an unmanned mine car, and correspondingly, the battery can be a 24V battery.

[0084] In an example embodiment, as shown in Figure 1 The intelligent fuse box 200 further includes a CAN communication module 250 connected to the N controllers through a CAN communication interface on the intelligent fuse box 200.

[0085] Specifically, the current and other information of the intelligent fuse box 200 are exchanged with the N controllers through the CAN bus, ensuring that the N controllers can effectively obtain the power supply state information and implement corresponding strategies.

[0086] In an example embodiment, the intelligent fuse box 200 further includes a signal receiving module 240;

[0087] The signal receiving module 240 is connected to the first controller and the MCU 210, respectively, for receiving a remote power-off signal forwarded by the first controller and sending it to the MCU 210.

[0088] The MCU 210 is further configured to control each MOS tube 220 to disconnect the power supply of the corresponding controller when receiving the remote power-off signal.

[0089] In some embodiments, the first controller can be a VCU, and the second controller can be a SanY Motion Controller (SYMC). After the unmanned vehicle completes the corresponding task, a remote power-off signal can be sent to the unmanned vehicle through a cloud platform or a smart terminal. After the TBOX 100 receives the remote power-off signal, it forwards it to the VCU. After the VCU receives the remote power-off signal, it sends a high-voltage power-off signal to the SYMC, which controls the high-voltage power-off of the unmanned vehicle. After the high-voltage power-off of the unmanned vehicle is successful, the SYMC feeds back a high-voltage power-off flag to the VCU. After the VCU receives the high-voltage power-off flag fed back by the SYMC, it starts to control the disconnection of the ON and ACC gears of the unmanned vehicle. After confirming that the ON and ACC gears of the unmanned vehicle are disconnected, the VCU sends a first power-off signal to the MCU 210 through the signal receiving module 240 in the intelligent fuse box 200. After the MCU 210 receives the first power-off signal, it controls all the controllers other than the VCU in the N controllers to be powered off and feeds back a first power-off flag to the VCU. After the VCU receives the first power-off flag, it sends a second power-off signal to the MCU 210 through the signal receiving module 240 in the intelligent fuse box 200. After the MCU 210 receives the second power-off signal, it controls the VCU and the intelligent fuse box 200 to be powered off.

[0090] In the embodiment, by arranging a signal receiving module 240 in the intelligent fuse box 200, the first controller sends the first power-off signal and the second power-off signal, so that the intelligent fuse box 200 can power off all the other controllers except the first controller through the MCU 210, thereby ensuring the power-off safety of the unmanned vehicle, and then power off the first controller and the intelligent fuse box 200 itself, further ensuring the power-off safety of the unmanned vehicle.

[0091] In addition, the VCU or ACU in the related art is directly connected with the battery, if the module with the wake-up function in the VCU or ACU is not mature, the module with the wake-up function is always woken up or always in the working state in the sleep state, so that the static current in the VCU or ACU in the sleep state is too large, and the battery is discharged, but in the embodiment, the battery is powered by the intelligent fuse box 200 for the first controller VCU or ACU, and when the unmanned vehicle is powered off, the intelligent fuse box 200 directly powers off the VCU or ACU, so that the possibility of generating static current in the VCU or ACU in the sleep state is avoided, and the power safety of the unmanned vehicle is further improved.

[0092] The unmanned vehicle control method provided by the embodiment of the application is described below, and the unmanned vehicle control method described below is realized based on the unmanned vehicle control device described above, and the two can be correspondingly referred to each other.

[0093] As Figure 2 shown, the embodiment of the application also provides an unmanned vehicle control method based on the unmanned vehicle control device in any of the above embodiments, comprising:

[0094] Step 201, when receiving the remote start signal of the cloud platform, the TBOX sends a wake-up signal to the intelligent fuse box in the start state;

[0095] Step 202, after being woken up by the wake-up signal, the intelligent fuse box controls the N controllers to be powered on;

[0096] Step 203, the first controller in the N controllers controls the high-voltage power-on of the unmanned vehicle;

[0097] Step 204, when the first controller receives the remote power-off signal sent by the cloud platform and forwarded by the TBOX, the first controller controls the high-voltage power-off of the unmanned vehicle and controls the intelligent fuse box to be low-voltage powered off.

[0098] In the exemplary embodiment, after being woken up by the wake-up signal, the intelligent fuse box controls the N controllers to be powered on, and collects the current of the controller, compares the current of the controller with the set threshold, and determines whether the vehicle has a power supply fault based on the comparison result.

[0099] Specifically, if the current of the controller is greater than or equal to the set threshold, it indicates that there is a fault such as excessive power load, poor contact, or short circuit in the power supply circuit of the corresponding controller, that is, there is a power supply failure in the vehicle. At this time, the smart fuse box controls the power supply circuit of the corresponding controller to disconnect. If the current of N controllers is less than the corresponding set threshold, it can be indicated that there is no power supply failure in the vehicle, or in other words, it can be indicated that the smart fuse box has been successfully powered on.

[0100] In this embodiment, by utilizing the TBOX and smart fuse box in the autonomous vehicle to control the power-on and power-off process, the problem of requiring manual power-on and power-off of autonomous vehicles in related technologies is solved, saving labor and time costs and improving the operating efficiency of autonomous vehicles. During the power-on process, the smart fuse box simultaneously controls the power-on of N controllers, eliminating the need for sequential wake-up and waiting steps between different controllers in related technologies, further improving the operating efficiency of autonomous vehicles. Moreover, the smart fuse box can collect the current of the controllers and compare the current with a set threshold to determine if there is a power supply fault in the vehicle, providing reliability and assurance for the safe power-on of autonomous vehicles and ensuring the safety of autonomous vehicles during power use. During the power-off process, the smart fuse box also performs low-voltage power-off of the autonomous vehicle, further providing reliability and assurance for the safe power-off of autonomous vehicles.

[0101] In an exemplary embodiment, the first controller among the N controllers controls the high-voltage power supply to the autonomous vehicle, including:

[0102] When the autonomous vehicle experiences a power outage, the first controller uses a hard-wired detection mechanism to check if the mechanical emergency brake switch is engaged. If the mechanical emergency brake switch is not engaged, it controls the ON position to close. After confirming that the ON position is engaged, it controls the STR position to close. After confirming that the STR position is engaged, it checks whether the autonomous vehicle is in a safe state. When the autonomous vehicle is in a safe state, it sends a high-voltage power-on signal to the second controller.

[0103] Specifically, when a vehicle needs to enter a working state to perform a corresponding task, the cloud platform can send a remote start signal to the autonomous vehicle that is in a dormant state.

[0104] In some implementations, the TBOX has a timed start-up function. When the TBOX is in the start-up state, it receives a remote start signal sent by the cloud platform, then sends a first wake-up signal to the smart safe box and waits for the smart safe box's response.

[0105] The intelligent insurance box performs self-waking up after receiving the first wake-up signal, and feeds back the first wake-up flag to the TBOX and simultaneously sends N second wake-up signals to the N controllers if the self-waking up is successful.

[0106] If the TBOX does not receive the first wake-up flag fed back by the intelligent insurance box within the first preset time length, the TBOX sends the first wake-up signal to the intelligent insurance box again and waits for the feedback of the intelligent insurance box. If the TBOX does not receive the feedback of the intelligent insurance box for P times continuously, the TBOX reports the information that the intelligent insurance box is out of order to the cloud platform. P is greater than or equal to 2.

[0107] The intelligent insurance box sends N second wake-up signals to the N controllers simultaneously after the self-waking up is successful, and waits for the feedback of each controller.

[0108] Each controller performs self-waking up after receiving the second wake-up signal, and feeds back the second wake-up flag to the intelligent insurance box if the self-waking up is successful.

[0109] If the intelligent insurance box does not receive the second wake-up flag fed back by any one of the N controllers within the second preset time length, the intelligent insurance box sends the second wake-up signal to the corresponding controller again and waits for the feedback of the corresponding controller. If the intelligent insurance box does not receive the feedback of the corresponding controller for P times continuously, the intelligent insurance box reports the information that the corresponding controller is out of order to the cloud platform. If the controller out of order is not the first controller, the intelligent insurance box also sends the information that the corresponding controller is out of order to the first controller, that is, the main controller, so as to stop sending the high-voltage power-on signal to the second controller and control the unmanned vehicle to enter the power-off process when the first controller determines that the other controllers are not powered on normally.

[0110] In the embodiment, the wake-up flags that need to be fed back by the intelligent insurance box and the controllers can timely exclude the failure that the unmanned vehicle cannot be woken up in the remote starting, and provide safety guarantee for the remote starting of the unmanned vehicle.

[0111] In some embodiments, the MCU in the intelligent insurance box collects the current of each controller by using the current collection module, compares the current of the controller with the set threshold, and controls the corresponding MOS tube to be closed if the current of the controller is greater than or equal to the set threshold, so as to play an overcurrent protection role for the power supply circuit. If the current of the controller is less than the set threshold, it indicates that the controller does not exist power supply failure, and the MCU feeds back the power-on success flag of the intelligent insurance box end to the first controller. In the embodiment, the intelligent insurance box plays an overcurrent protection role for the power supply circuit, improves the power supply safety of the unmanned vehicle, and further improves the reliability of the remote starting of the unmanned vehicle.

[0112] Further, after the MCU in the intelligent insurance box feeds back the intelligent insurance box end power-on success flag to the first controller, the first controller can determine that the unmanned vehicle has no power supply failure, and the first controller can detect whether the mechanical emergency brake switch is pulled up through a hard line. If the mechanical emergency brake switch is pulled up, the mechanical emergency brake switch needs to be released before the unmanned vehicle is further controlled to be powered on.

[0113] In an example embodiment, the safe state includes: the vehicle speed is 0, the engine speed is less than or equal to a set speed, the accelerator pedal opening degree is 0, the unmanned vehicle gear is in N gear, and the electronic parking brake switch is in an open state; the lifting value is 0; and the unmanned vehicle has no failure.

[0114] Specifically, the accelerator pedal opening degree of 0 can represent that the unmanned vehicle is in a state of no one stepping on the accelerator. In the safe state, the engine speed needs to be less than or equal to the set speed. For example, the set speed can be 10 rpm. N gear is the neutral gear in the unmanned vehicle.

[0115] In implementation, the first controller will further send a high-voltage power-on signal to the second controller only when it is ensured that the unmanned vehicle is in the safe state, and the second controller controls the unmanned vehicle to perform high-voltage power-on. After the high-voltage power-on of the unmanned vehicle is completed, the related task can be started to be executed.

[0116] In this embodiment, by ensuring that the unmanned vehicle is in the safe state before power-on, the safety of the power-on of the unmanned vehicle can be improved.

[0117] In some embodiments, after the unmanned vehicle completes the task, the cloud platform sends a remote power-off signal to the unmanned vehicle, and the TBOX receives the remote power-off signal and forwards the remote power-off signal to the first controller. When the first controller receives the remote power-off signal sent by the cloud platform forwarded by the TBOX, the first controller controls the unmanned vehicle to start entering the safe state; after determining that the unmanned vehicle is in the safe state, the first controller sends a high-voltage power-off signal to the second controller.

[0118] In this embodiment, by ensuring that the unmanned vehicle is in the safe state before power-off, the safety of the power-off of the unmanned vehicle can be improved.

[0119] In an example embodiment, controlling the intelligent insurance box to perform low-voltage power-off includes:

[0120] sending a first power-off signal to the intelligent insurance box; the first power-off signal is used to make the intelligent insurance box control other controllers except the first controller in the N controllers to be powered off;

[0121] After receiving the first power-down sign of the smart insurance box feedback, the first controller sends a second power-down signal to the smart insurance box; the second power-down signal is used to make the smart insurance box control the first controller and the smart insurance box to power down.

[0122] In some embodiments, after the first controller sends a high-voltage power-down signal to the second controller, the second controller controls the unmanned vehicle to power down at high voltage, and after the unmanned vehicle powers down at high voltage successfully, the second controller sends a high-voltage power-down sign to the first controller, and the first controller controls the ON and ACC gears to be disconnected after receiving the high-voltage power-down sign of the second controller feedback; after both the ON and ACC gears are successfully disconnected, the first controller controls the smart insurance box to power down at low voltage, first, the first controller sends a first power-down signal to the smart insurance box, and the smart insurance box controls the other controllers except the first controller in the N controllers to power down and feeds back a first power-down sign to the first controller after receiving the first power-down signal; secondly, the first controller sends a second power-down signal to the smart insurance box after receiving the first power-down sign of the smart insurance box feedback, and the smart insurance box controls the first controller and the smart insurance box to power down after receiving the second power-down signal.

[0123] In this embodiment, during the power-down process of the unmanned vehicle, the N controllers are controlled by the first controller and the smart insurance box to power down in batches, first, the first controller controls the smart insurance box to ensure that the other controllers except the first controller in the N controllers power down safely, and then, after determining that the other controllers except the first controller in the N controllers power down safely, the first controller further controls the smart insurance box to control itself and the smart insurance box to power down, thereby ensuring the safety of the power-down of the unmanned vehicle.

[0124] The following will be described in combination with Figure 3 and Figure 4 In a specific embodiment, the unmanned vehicle control method is specifically described, in this embodiment, the first controller as the main controller can be VCU, and the second controller can be SYMC, Figures 3 to 4 , and the vehicle in the above is the unmanned vehicle.

[0125] As shown in Figure 3 , when the vehicle needs to be started remotely, the cloud platform sends a remote power-up signal to the TBOX, the TBOX has a timing start function, receives the remote start signal when the TBOX is in the state of self-starting, and then the TBOX sends a wake-up signal to the smart insurance box, the smart insurance box sends a power supply wake-up signal to the VCU and the other controllers except the VCU in the N controllers after successfully waking up itself, and controls the N controllers including the VCU to power up at the same time.

[0126] As shown in Figure 4As shown, after the VCU self-waking up succeeds, the power-on enters the working mode, the VCU receives the power-on information of other controllers except the VCU in the N controllers fed back by the intelligent fuse box end, judges whether the power-on of other controllers except the VCU in the N controllers of the intelligent fuse box end succeeds, if there is any power-on abnormality in the other controllers, it represents that there is power-on abnormality in the intelligent fuse box end, at this time, the VCU controls the vehicle to enter the power-off process;

[0127] If the power-on of the intelligent fuse box end succeeds, the VCU detects whether the mechanical emergency brake switch is pulled up through the hard line, if the mechanical emergency brake switch is pulled up, the VCU controls the vehicle to enter the power-off process, and then the mechanical emergency brake switch needs to be released;

[0128] If the mechanical emergency brake switch is not pulled up, the VCU controls the ON gear closure of the vehicle end through the hard line, if the ON gear closure is abnormal, the VCU controls the vehicle to enter the power-off process;

[0129] If the VCU determines that the ON gear closure succeeds, the VCU further controls the ST gear closure of the vehicle end, if the ST gear closure is abnormal, the VCU controls the vehicle to enter the power-off process;

[0130] If the VCU determines that the ST gear closure succeeds, the VCU continues to detect whether the vehicle is in the safe state, if the vehicle is not in the safe state, the VCU controls the vehicle to enter the power-off process;

[0131] If the vehicle is in the safe state, the VCU sends the high-voltage power-on signal to the SYMC, after receiving the high-voltage power-on signal, the SYMC controls the vehicle high-voltage power-on to start, the vehicle enters the driving mode, and the SYMC feeds back the high-voltage power-on success flag, that is, the start success flag to the VCU;

[0132] If the VCU does not receive the start success flag within 3s, it represents that the remote ST gear start is timed out, and the VCU controls the vehicle to enter the power-off process;

[0133] If the VCU receives the start success flag within 3s, the VCU controls the flashing light to light up, double flashes 4 times, and honks once, representing that the remote start of the unmanned vehicle is completed.

[0134] In the following Figure 5 and Figure 6 , in a specific embodiment, the unmanned vehicle control method is specifically described, in this embodiment, the first controller as the master controller can be the VCU, the second controller can be the SYMC, Figures 5 to 6 , the vehicle in the above is the unmanned vehicle.

[0135] As Figure 5As shown, when the vehicle needs to be remotely powered down, the cloud platform sends a remote power-down signal to the TBOX. After receiving the remote power-down signal, the TBOX forwards the signal to the VCU. After detecting the remote power-down signal, the VCU controls the vehicle to enter a safe state.

[0136] like Figure 6 As shown, after the VCU controls the vehicle to enter a safe state, it needs to determine whether the vehicle is in a safe state. If the vehicle is in a safe state, the VCU sends a high-voltage power-down signal to the SYMC. After receiving the high-voltage power-down signal, the SYMC controls the vehicle to power down, and the vehicle exits the autonomous driving mode. After the high-voltage power-down is successful, the SYMC sends an autonomous driving exit signal back to the VCU. If the vehicle is not in a safe state, the VCU reports the relevant fault information to the cloud platform.

[0137] The VCU detects whether it has received a driverless exit signal. If not, it waits for 30 seconds. If it does not receive a driverless exit signal within 30 seconds, it sends the information that the vehicle cannot exit driverless mode normally to the cloud platform.

[0138] If the VCU receives an autonomous driving exit signal within 30 seconds, it controls the vehicle to disconnect the ON and ACC positions. Then, it checks whether the vehicle's ON and ACC positions are successfully disconnected. If the vehicle's ON and ACC positions are disconnected abnormally, the corresponding abnormal information is fed back to the cloud platform.

[0139] If the ON and ACC positions on the vehicle side are successfully disconnected, the first power-down signal is sent to the smart fuse box, and the smart fuse box controls the power-down of the controllers other than the VCU among the N controllers.

[0140] The VCU detects whether there is a power-down anomaly at the smart fuse box. If there is a power-down anomaly at the smart fuse box, it will send the corresponding anomaly information back to the cloud platform. The sign of a power-down anomaly at the smart fuse box is that any controller other than the VCU among the N controllers fails to power down.

[0141] If the smart fuse box is powered down normally, the VCU sends a second power-down signal to the smart fuse box. After receiving the second power-down signal, the smart fuse box controls itself and the VCU to power down.

[0142] The vehicle power-off process has ended.

[0143] This invention also provides a vehicle, including the unmanned vehicle control device of any of the above embodiments, or for executing the unmanned vehicle control method of any of the above embodiments.

[0144] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As shown, the electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can invoke the logic instructions in the memory 730 to execute the unmanned vehicle control method in any of the above embodiments, which includes: when receiving a remote start signal of a cloud platform in a self-start state, the TBOX sends a wake-up signal to the intelligent insurance box; after being woken up by the wake-up signal, the intelligent insurance box controls N controllers to be powered on; the first controller in the N controllers controls the high-voltage power-on of the unmanned vehicle; when the first controller receives a remote power-off signal sent by the cloud platform forwarded by the TBOX, the first controller controls the high-voltage power-off of the unmanned vehicle and controls the intelligent insurance box to be powered off at low voltage.

[0145] In addition, the logic instructions in the memory 730 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0146] On the other hand, the present application also provides a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, and the computer can execute the unmanned vehicle control method in any of the above embodiments, which includes: when receiving a remote start signal of a cloud platform in a self-start state, the TBOX sends a wake-up signal to the intelligent insurance box; after being woken up by the wake-up signal, the intelligent insurance box controls N controllers to be powered on; the first controller in the N controllers controls the high-voltage power-on of the unmanned vehicle; when the first controller receives a remote power-off signal sent by the cloud platform forwarded by the TBOX, the first controller controls the high-voltage power-off of the unmanned vehicle and controls the intelligent insurance box to be powered off at low voltage.

[0147] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the unmanned vehicle control method in any of the above embodiments. The method comprises: when the TBOX is in a starting state, the TBOX sends a wake-up signal to the intelligent insurance box upon receiving a remote starting signal from the cloud platform; the intelligent insurance box controls the N controllers to be powered on after being woken up by the wake-up signal; the first controller of the N controllers controls the high voltage of the unmanned vehicle to be powered on; and the first controller controls the high voltage of the unmanned vehicle to be powered off and controls the intelligent insurance box to be powered off at low voltage upon receiving the remote powering-off signal sent by the cloud platform and forwarded by the TBOX.

[0148] The device embodiments described above are merely illustrative, wherein the units shown as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0149] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of the various embodiments or some parts of the embodiments.

[0150] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned vehicle control device characterized by comprising: The application relates to an intelligent insurance box and N controllers, wherein the intelligent insurance box is connected with the TBOX and the controllers respectively; the TBOX is used for sending a wake-up signal to the intelligent insurance box when a remote starting signal of a cloud platform is received; and the intelligent insurance box is used for controlling N controllers to be powered on after being woken up by the wake-up signal. The intelligent insurance box comprises an MCU, N MOS tubes corresponding to the N controllers respectively; each MOS tube is connected with the corresponding controller respectively; each MOS tube is also connected with the MCU respectively; the MCU is used for controlling each MOS tube to close and control the corresponding controller to be powered on after being woken up by the wake-up signal. The intelligent insurance box further comprises N current collection modules corresponding to the N controllers respectively; each controller is connected with the corresponding current collection module respectively; each current collection module is also connected with the MCU; the current collection module is used for collecting the current of the corresponding controller and sending the current to the MCU; and the MCU is also used for controlling the MOS tube corresponding to the controller with a fault to be disconnected when the current collected by the current collection module exceeds a set current threshold. The N controllers comprise a first controller and a second controller; the first controller is used for sending a high-voltage power-on signal to the second controller after being powered on; and the second controller is used for controlling the vehicle to be high-voltage powered on when the high-voltage power-on signal is received. The intelligent insurance box further comprises a signal receiving module; the signal receiving module is connected with the first controller and the MCU respectively and is used for receiving a remote power-off signal forwarded by the first controller and sending the remote power-off signal to the MCU; and the MCU is also used for controlling each MOS tube to disconnect and control the corresponding controller to be powered off when the remote power-off signal is received. The application further comprises a storage battery; the intelligent insurance box further comprises a power management chip; the power management chip is connected with the positive electrode of the storage battery; and the storage battery supplies power to the MCU through the power management chip.

2. The unmanned vehicle control device of claim 1, wherein The TBOX sends a wake-up signal to the intelligent insurance box when a remote starting signal of a cloud platform is received in a starting state of the TBOX.

3. A control method of an unmanned vehicle based on the unmanned vehicle control device according to claim 1 or 2, characterized by, The intelligent insurance box controls N controllers to be powered on after being woken up by the wake-up signal. The first controller of the N controllers controls the high-voltage power-on of the unmanned vehicle. The first controller controls the high-voltage power-off of the unmanned vehicle and controls the low-voltage power-off of the intelligent insurance box when receiving the remote power-off signal sent by the cloud platform and forwarded by the TBOX. The first controller of the N controllers controls the high-voltage power-on of the unmanned vehicle, comprising: ​ 4. The unmanned vehicle control method of claim 3, wherein, ​ The first controller detects whether the mechanical emergency brake switch is pulled up through a hard-wire when the unmanned vehicle has no power failure; if the mechanical emergency brake switch is not pulled up, the ON gear is controlled to be closed; after determining that the ON gear is closed, the STR gear is controlled to be closed; after determining that the STR gear is closed, it is detected whether the unmanned vehicle is in a safe state; when the unmanned vehicle is in the safe state, a high-voltage power-on signal is sent to the second controller.

5. The unmanned vehicle control method of claim 3, wherein, The control of the intelligent fuse box to be powered down at low voltage comprises: a first power-down signal is sent to the intelligent fuse box; the first power-down signal is used to make the intelligent fuse box control other controllers except the first controller among the N controllers to be powered down; after receiving a first power-down flag fed back by the intelligent fuse box, a second power-down signal is sent to the intelligent fuse box; the second power-down signal is used to make the intelligent fuse box control the first controller and the intelligent fuse box itself to be powered down.

6. A vehicle characterized by comprising: The unmanned vehicle control device as claimed in claim 1 or 2, or the unmanned vehicle control method as claimed in any one of claims 3 to 5.

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