An APP and cloud platform control method, system and storage medium for autonomous vehicles

Abstract

The present invention relates to a control method, system and storage medium for an autonomous vehicle APP and a cloud platform. The method includes: N1. Based on the vehicle chassis gateway, obtaining vehicle status data information and vehicle ID information; N2. Based on the vehicle status data information, according to the vehicle status prediction function, obtaining vehicle prediction matrix data information, and then substituting the vehicle prediction matrix data information into the vehicle status output function to output first vehicle control data information; N3. Based on the vehicle ID information, obtaining the vehicle control data information of the mobile terminal, processing the vehicle control data information of the mobile terminal, and outputting second vehicle control data information; N4. According to the first vehicle control data information and the second vehicle control data information, using the optimal fusion control algorithm to output the optimal vehicle control data information. The present invention can not only ensure that the vehicle travels along the optimal route, but also improve the safety of the vehicle by the mobile terminal controlling the vehicle in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and particularly to a control method, system and storage medium for an autonomous driving vehicle APP and a cloud platform. Background Art

[0002] During the development and use of autonomous driving vehicles, manual operation is often required in vehicle debugging and scheduling. For vehicles without control hardware such as a steering wheel, manual control is often carried out by means of a handle or a remote bench. In this case, it is necessary to purchase or use a handle and a remote bench for access and adaptation, which will incur additional cost during use. Moreover, the functions of convenient remote control by the handle at close range and one-to-many control by the bench need to be completed separately, and it is impossible to achieve both at the same time. In this design and development, an autonomous driving vehicle will be enabled to use a mobile phone APP and a cloud platform service together to complete the remote control function of the vehicle, and it is possible to use the APP control software on one's own mobile phone to complete the demand for manual control of one or more autonomous driving vehicles at close range after the vehicle is connected to the cloud platform. Summary of the Invention

[0003] In view of the above problems, the present invention provides a control method, system and storage medium for an autonomous driving vehicle APP and a cloud platform, which can not only ensure that the vehicle travels along the optimal route, but also improve the safety of the vehicle by controlling the vehicle in real time through the mobile terminal.

[0004] In order to achieve the above object and other related objects, the technical solutions provided by the present invention are as follows:

[0005] A control method for an autonomous driving vehicle APP and a cloud platform, the method comprising:

[0006] N1. Obtaining vehicle status data information and vehicle ID information based on the vehicle chassis gateway;

[0007] N2. Based on the vehicle status data information, obtaining vehicle prediction matrix data information according to the vehicle status prediction function, and then substituting the vehicle prediction matrix data information into the vehicle status output function to output first vehicle control data information;

[0008] N3. Obtaining vehicle control data information of the mobile terminal based on the vehicle ID information, processing the vehicle control data information of the mobile terminal, and outputting second vehicle control data information;

[0009] N4. According to the first vehicle control data information and the second vehicle control data information, adopting an optimal fusion control algorithm to output optimal vehicle control data information.

[0010] Further, in step N2, the vehicle state prediction function is as follows:

[0011]

[0012] where A is an n×n constant coefficient matrix, B is an n×r constant coefficient matrix, x(t) is the current vehicle state variable, u(t) is the current vehicle behavior variable, is the vehicle state variable at the next moment, and t is the time variable.

[0013] Further, in step N2, the vehicle state output function is as follows:

[0014]

[0015] where C is an m×n constant coefficient matrix, D is an m×r constant coefficient matrix, q(t) is the system error variable, y(t) is the vehicle output state variable, is the vehicle state variable at the next moment.

[0016] Further, in step N3, the vehicle control data information of the mobile terminal is processed to parse and confirm the content of the control instruction issued by the mobile terminal, and each instruction is input into the feature variable matrix to obtain the second vehicle control data information.

[0017] Further, in step N4, the optimal fusion control algorithm includes:

[0018] N41. Obtain the first vehicle control data information and the second vehicle control data information;

[0019] N42. Substitute the first vehicle control data information and the second vehicle control data information into the optimal fusion control function J,

[0020]

[0021] where y(t) is the vehicle output state variable of the first vehicle control data information, a(t) is the mobile terminal feature variable matrix of the second vehicle control data information, Q is a semi-positive definite state weighting matrix, and R is a positive definite control weighting matrix;

[0022] N43. Based on the optimal fusion control function J, obtain the vehicle optimal control data information.

[0023] To achieve the above object and other related objects, the present invention also provides an autonomous driving vehicle APP and cloud platform control system, and the system includes:

[0024] A vehicle chassis gateway for obtaining vehicle state data information and vehicle ID data information;

[0025] A controller, connected to the vehicle chassis gateway, is used to transmit vehicle status data information and vehicle ID information and send down vehicle control data information.

[0026] A cloud platform, connected to the controller, is used to process vehicle status data information and send down vehicle control data information.

[0027] A mobile terminal, connected to the cloud platform, is used to obtain vehicle status data information and vehicle ID data information, perform vehicle control, and feedback vehicle control data information to the cloud platform.

[0028] Furthermore, the cloud platform includes a vehicle status prediction module, a vehicle status output module, and a vehicle optimal fusion control module. The vehicle optimal control module is connected to the vehicle status output module, and the vehicle status output module is connected to the vehicle status prediction module.

[0029] Furthermore, the vehicle status prediction module obtains vehicle prediction matrix data information according to a vehicle status prediction function, and the vehicle status output module is used to receive the vehicle prediction matrix data information and obtain first vehicle control data information according to a vehicle status output function.

[0030] Furthermore, the mobile terminal is any one of a mobile phone or a tablet computer.

[0031] To achieve the above object and other related objects, the present invention also provides a computer-readable storage medium, on which a computer program is stored that is programmed or configured to execute any one of the control methods of the autonomous driving vehicle APP and the cloud platform.

[0032] The present invention has the following positive effects:

[0033] 1. The real-time communication connection among the vehicle chassis gateway, the cloud platform, and the mobile terminal of the present invention can not only perform real-time control on the vehicle, but also improve the safety and comfort of vehicle driving.

[0034] 2. According to the vehicle status data information provided by the vehicle chassis gateway, the present invention uses a vehicle status prediction algorithm and a vehicle optimal fusion control algorithm to control the vehicle, making the vehicle driving smoother and the control more precise.

[0035] 3. The present invention performs real-time control on the vehicle through the mobile terminal, and controls different vehicles according to different vehicle ID data information, achieving a one-to-many control effect, reducing the number of safety officers, thereby reducing the labor cost, and making it more convenient to control the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1Schematic diagram of the method flow of the present invention;

[0037] Figure 2 Schematic diagram of the system framework of the present invention. Detailed implementation manners

[0038] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0039] Embodiment 1: As Figure 1 shown, a method for controlling an autonomous vehicle APP and a cloud platform, the method comprising:

[0040] N1. Based on the vehicle chassis gateway, obtain vehicle status data information and vehicle ID information;

[0041] N2. Based on the vehicle status data information, according to the vehicle status prediction function, obtain vehicle prediction matrix data information, and then substitute the vehicle prediction matrix data information into the vehicle status output function to output first vehicle control data information;

[0042] N3. Based on the vehicle ID information, obtain vehicle control data information of the mobile terminal, process the vehicle control data information of the mobile terminal, and output second vehicle control data information;

[0043] N4. According to the first vehicle control data information and the second vehicle control data information, adopt an optimal fusion control algorithm to output vehicle optimal control data information.

[0044] In this embodiment, in step N2, the vehicle status prediction function is:

[0045]

[0046] where A is an n×n constant coefficient matrix, B is an n×r constant coefficient matrix, x(t) is the current state variable of the vehicle, u(t) is the current behavior variable of the vehicle, is the state variable of the vehicle at the next moment, and t is the time variable.

[0047] In the embodiment, in step N2, the vehicle status output function is:

[0048]

[0049] Among them, C is a constant coefficient matrix of order m*n, D is a constant coefficient matrix of order m*r, q(t) is a system error variable, y(t) is a vehicle output state variable, and is the state variable of the vehicle at the next moment.

[0050] In this embodiment, in step N3, the vehicle control data information of the mobile terminal is processed to parse and confirm the content of the control instruction issued by the mobile terminal, and each instruction is input into the feature variable matrix to obtain the second vehicle control data information.

[0051] In this embodiment, in step N4, the optimal fusion control algorithm includes:

[0052] N41. Obtain the first vehicle control data information and the second vehicle control data information;

[0053] N42. Substitute the first vehicle control data information and the second vehicle control data information into the optimal fusion control function J,

[0054]

[0055] where y(t) is the vehicle output state variable of the first vehicle control data information, a(t) is the mobile terminal feature variable matrix of the second vehicle control data information, Q is a semi-positive definite state weighting matrix, and R is a positive definite control weighting matrix;

[0056] N43. Based on the optimal fusion control function J, obtain the optimal vehicle control data information.

[0057] Among them, the functions of the mobile terminal are divided into two parts. One is to send control instructions to the vehicle end. The required control functions of the mobile terminal are set according to the pre-established mobile terminal control protocol, and the application interface is developed by the mobile terminal developers. Through the vehicle control interface on the mobile terminal, the manipulation instructions are sent, and the basic control functions including vehicle steering, throttle, brake, and gear are realized. After touching on the mobile terminal such as a mobile phone or a tablet, the instructions will be uploaded to the cloud platform as field information. The other is to obtain the chassis information transmitted from the vehicle end, including the vehicle number information. According to the different ID information of different vehicles, the identification of each vehicle is completed, and different vehicles are controlled separately. Moreover, the current state of the vehicle can be obtained from the chassis data, whether the vehicle is controllable is judged, and the judgment result is displayed to select to control a certain vehicle.

[0058] Embodiment 2: On the basis of a control method for an autonomous driving vehicle APP and a cloud platform in Embodiment 1, the present invention will be further described and illustrated below.

[0059] Such as Figure 2As described above, the present invention also provides an automatic driving vehicle APP and a cloud platform control system, and the system includes:

[0060] A vehicle chassis gateway for obtaining vehicle status data information and vehicle ID data information;

[0061] A controller, connected to the vehicle chassis gateway, for transmitting vehicle status data information and vehicle ID information and issuing vehicle control data information;

[0062] A cloud platform, connected to the controller, for processing vehicle status data information and issuing vehicle control data information;

[0063] A mobile terminal, connected to the cloud platform, for obtaining vehicle status data information and vehicle ID data information, performing vehicle control, and feeding back vehicle control data information to the cloud platform.

[0064] In this embodiment, the cloud platform includes a vehicle status prediction module, a vehicle status output module, and a vehicle optimal fusion control module. The vehicle optimal control module is connected to the vehicle status output module, and the vehicle status output module is connected to the vehicle status prediction module.

[0065] In this embodiment, the vehicle status prediction module obtains vehicle prediction matrix data information according to a vehicle status prediction function, and the vehicle status output module is used to receive the vehicle prediction matrix data information and obtain first vehicle control data information according to a vehicle status output function.

[0066] In this embodiment, the mobile terminal is any one of a mobile phone or a tablet computer.

[0067] Among them, the mobile terminal, that is, the mobile phone or the tablet, will use the APP for control. The APP will meet two tasks. One is to issue predetermined control instructions according to the control protocol. The basic function controls such as steering, gear, throttle, and brake will be completed through the manipulation functions on the APP interface. Other function requirements such as vehicle lights, parking, and horn can also be completed according to needs. The control instructions will be continuously and stably sent to the cloud platform. At this time, in the fields being sent, the function being controlled will change continuously, while other functions will set default values to ensure control safety. And during the control process, appropriate safety policies will be added to increase the safety during the use of the APP. The second is to receive vehicle information, which mainly includes whether the vehicle is in a controlled state and the current controllable vehicle controller number ID. First, the APP will judge whether the vehicle is in a controlled state, and distinguish all controllable vehicles through different controllers to complete the reception and processing of vehicle information.

[0068] During the use of the mobile device, the APP will receive vehicle information transmitted from the cloud platform, determine whether the vehicle is controllable and the vehicle number ID, list all controllable vehicles for display, and let the user select the vehicle to be controlled. When entering the APP, all controllable vehicles can be seen first. After selecting one vehicle for takeover, the vehicle will be in a controlled state, and a control interface will appear on the APP. The actual vehicle can be moved and controlled through virtual buttons. After the remote control is completed, the control will be exited, and the vehicle will return to the controllable state and appear in the list of controllable vehicles.

[0069] To achieve the above and other related purposes, the present invention also provides a computer-readable storage medium, on which a computer program is stored that is programmed or configured to execute any one of the described control methods for the autonomous vehicle APP and the cloud platform.

[0070] Any reference to a memory, storage, database, or other medium used in the embodiments provided in this application may include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0071] In summary, the present invention can not only ensure that the vehicle travels along the optimal route, but also improve the safety of the vehicle by the mobile device controlling the vehicle in real time.

[0072] The above specific embodiments do not constitute a limitation to the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A control method for an autonomous vehicle APP and a cloud platform, characterized in that, The method includes: N1. Based on the vehicle chassis gateway, obtain vehicle status data information and vehicle ID information; N2. Based on the vehicle status data information, according to the vehicle status prediction function, obtain vehicle prediction matrix data information, and then substitute the vehicle prediction matrix data information into the vehicle status output function to output the first vehicle control data information; N3. Based on the vehicle ID information, obtain the vehicle control data information of the mobile terminal, process the vehicle control data information of the mobile terminal, and output the second vehicle control data information; N4. According to the first vehicle control data information and the second vehicle control data information, use the optimal fusion control algorithm to output the optimal vehicle control data information.

2. The control method of the autonomous driving vehicle APP and the cloud platform according to claim 1, wherein In step N2, the vehicle status prediction function is: ， where A is an n×n constant coefficient matrix, B is an n×r constant coefficient matrix, x(t) is the current state variable of the vehicle, u(t) is the current behavior variable of the vehicle, is the state variable of the vehicle at the next moment, and t is the time variable.

3. The control method of the autonomous vehicle APP and the cloud platform according to claim 1, characterized in that, In step N2, the vehicle status output function is: ， Among them, C is a constant coefficient matrix of order m*n, D is a constant coefficient matrix of order m*r, q(t) is a system error variable, and y(t) is a vehicle output state variable. It is the state variable of the vehicle at the next moment.

4. The control method of the autonomous driving vehicle APP and the cloud platform according to claim 1, wherein, In step N3, processing the vehicle control data information of the mobile terminal is to parse and confirm the content of the control instructions issued by the mobile terminal, input each instruction into the feature variable matrix, and obtain the second vehicle control data information.

5. The control method of the autonomous vehicle APP and the cloud platform according to claim 1, characterized in that, In step N4, the optimal fusion control algorithm includes: N41. Obtain the first vehicle control data information and the second vehicle control data information; N42. Substitute the first vehicle control data information and the second vehicle control data information into the optimal fusion control function J, ， where y(t) is the vehicle output state variable of the first vehicle control data information, a(t) is the mobile terminal feature variable matrix of the second vehicle control data information, Q is a semi-positive definite state weighting matrix, and R is a positive definite control weighting matrix; N43. Based on the optimal fusion control function J, obtain the optimal vehicle control data information.

6. An APP and cloud platform control system for an autonomous vehicle, characterized in that, A system for implementing the automatic driving vehicle APP and cloud platform control method according to any one of claims 1-5, the system includes: a vehicle chassis gateway for obtaining vehicle status data information and vehicle ID data information; A controller, connected to the vehicle chassis gateway, for transmitting vehicle status data information and vehicle ID information and issuing vehicle control data information; A cloud platform, connected to the controller, for processing vehicle status data information and issuing vehicle control data information; A mobile terminal, connected to the cloud platform, for obtaining vehicle status data information and vehicle ID data information, performing vehicle control, and feeding back the vehicle control data information to the cloud platform.

7. The APP and cloud platform control system for autonomous vehicles according to claim 6, characterized in that: The cloud platform includes a vehicle status prediction module, a vehicle status output module, and a vehicle optimal fusion control module. The vehicle optimal fusion control module is connected to the vehicle status output module, and the vehicle status output module is connected to the vehicle status prediction module.

8. The automatic driving vehicle APP and cloud platform control system according to claim 7, characterized in that: The vehicle status prediction module obtains vehicle prediction matrix data information according to the vehicle status prediction function, and the vehicle status output module is used to receive the vehicle prediction matrix data information and obtain the first vehicle control data information according to the vehicle status output function.

9. The automatic driving vehicle APP and cloud platform control system according to claim 6, characterized in that: The mobile terminal is any one of a mobile phone or a tablet computer.

10. A computer-readable storage medium, characterized in that, A computer program for executing the control method of the autonomous vehicle APP and the cloud platform according to any one of claims 1 to 5 is stored on the computer-readable storage medium, which is programmed or configured.

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