A remote control system and method for an autonomous commercial vehicle

Abstract

The present application discloses a remote control system and method for an autonomous commercial vehicle, relating to the field of autonomous driving of new energy commercial vehicles. The system comprises: a remote control, a first rocker assembly comprising a first rocker for controlling steering and a first rocker limit block group; the first rocker limit block group limits the actual voltage output range of the first rocker; a second rocker assembly comprising a second rocker for controlling driving and braking and a second rocker limit block group; the second rocker is used to control the driving and braking of a target vehicle; the second rocker limit block group limits the actual voltage output range of the second rocker; a rocker fault detection module, configured to: collect the rocker output voltage of a target rocker; perform fault judgment on the target rocker according to the rocker output voltage of the target rocker to obtain a fault judgment result of the target rocker; and control the rocker opening of the target rocker according to the fault judgment result of the target rocker. The present application performs fault judgment and processing on the remote control stick in the remote control system, thereby ensuring the reliability of the remote control system itself.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving of new energy commercial vehicles, and in particular to a remote control system and method for autonomous driving commercial vehicles. Background Art

[0002] Remote control driving refers to a driving mode in which a user controls the forward, reverse, and steering of a vehicle from a certain distance outside the vehicle by operating a remote control device. Since the driver is typically outside the vehicle during remote control driving, they are unable to exert immediate control from inside. In the event of a conventional brake failure, they are unable to stop the vehicle by depressing the brake pedal. This can easily lead to uncontrollable accidents if problems with the vehicle's control system, particularly the braking and parking systems, occur during remote control driving.

[0003] In the existing control method for remote control driving of electric vehicles, the failure state of the vehicle's brake components in the remote control driving state is taken into consideration, and the vehicle is stopped when the vehicle's brake components fail.

[0004] However, existing remote control solutions for electric vehicles fail to address the following issues: fault diagnosis and handling of the remote control stick, and the inability to guarantee the reliability of the remote control system itself. Therefore, a remote control system and method for autonomous commercial vehicles that can ensure the reliability of the remote control system itself is urgently needed. Summary of the Invention

[0005] The purpose of this application is to provide a remote control system and method for an autonomous commercial vehicle, which can diagnose and handle faults of the remote control stick in the remote control system, thereby ensuring the reliability of the remote control system itself.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a remote control system for an autonomous commercial vehicle, comprising a remote control and a joystick fault detection module; the remote control comprises a first joystick assembly and a second joystick assembly.

[0008] The first rocker assembly includes a first rocker and a first rocker limit block group; the first rocker is used to control the steering of the target vehicle; the first rocker limit block group is used to limit the actual voltage output range of the first rocker; the first rocker moves between the two rocker limit blocks of the first rocker limit block group; the second rocker assembly includes a second rocker and a second rocker limit block group; the second rocker is used to control the driving and braking of the target vehicle; the second rocker limit block group is used to limit the actual voltage output range of the second rocker; the second rocker moves between the two rocker limit blocks of the second rocker limit block group.

[0009] The rocker fault detection module is configured to: collect a rocker output voltage of a target rocker; perform fault diagnosis on the target rocker based on the rocker output voltage to obtain a fault diagnosis result of the target rocker; and control a rocker opening of the target rocker based on the fault diagnosis result of the target rocker; the target rocker being the first rocker or the second rocker.

[0010] Optionally, the rocker failure detection module includes a rocker failure detection unit; the rocker failure detection unit is configured to:

[0011] Determine whether the joystick output voltage of the target joystick is greater than a voltage limit lower limit value and less than a voltage limit upper limit value, to obtain a first judgment result; the voltage limit lower limit value and the voltage limit upper limit value constitute a voltage limit output range limited by the joystick limit block group corresponding to the target joystick;

[0012] If the first judgment result is yes, determining whether the joystick output voltage of the target joystick is less than the intermediate voltage setting value to obtain a second judgment result;

[0013] If the second judgment result is yes, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault; the intermediate voltage setting value is half of the original upper limit value of the original voltage output range of the target rocker; the original voltage output range includes the voltage limit output range;

[0014] If the second judgment result is no, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault;

[0015] If the first judgment result is negative, determining whether the joystick output voltage of the target joystick is greater than the first voltage setting value and not greater than the original voltage upper limit value, or not less than 0 and less than the second voltage setting value, to obtain a third judgment result; the first voltage setting value is determined by the voltage limit upper limit value; the second voltage setting value is determined by the voltage limit lower limit value; the original voltage upper limit value and the original voltage upper limit value constitute the original voltage output range corresponding to the target joystick;

[0016] If the third judgment result is yes, the fault judgment result of the target joystick is that the emergency stop flag is triggered, the joystick short circuit fault occurs, and the joystick fault level is level four; the joystick fault level four indicates a joystick parking fault, and the vehicle is stopped;

[0017] If the third judgment result is no, the fault judgment result of the target joystick is that the emergency stop flag is not set, the joystick is out of bounds, and the joystick fault level is level 2; the joystick fault level of level 2 indicates a joystick power failure, and the vehicle power is limited.

[0018] Optionally, the rocker failure detection module further includes a rocker opening control unit; the rocker opening control unit is configured to:

[0019] When the second judgment result is yes, according to Calculating the rocker output opening of the target rocker; wherein, is the target stick output opening, is the target joystick output voltage, 0.3 is the lower voltage limit, and 1.65 is the middle voltage setting value;

[0020] When the second judgment result is no, Calculate the rocker output opening of the target rocker; wherein 3 is the voltage limit upper limit value;

[0021] When the third judgment result is yes, the rocker output opening of the target rocker is zero;

[0022] When the third judgment result is no, or Calculate the rocker output opening of the target rocker.

[0023] Optionally, the remote control system of the autonomous commercial vehicle further includes a gear shift toggle switch; the gear shift toggle switch is divided into a front gear, a middle gear, and a rear gear;

[0024] The forward gear position indicates the remote control system forward gear request;

[0025] The neutral position indicates a neutral request from the remote control system;

[0026] Rear gear indicates a remote control system reverse gear request.

[0027] Optionally, the remote control system of the autonomous commercial vehicle further includes an emergency stop module; the emergency stop module is configured to:

[0028] Determine whether either the emergency stop flag or the emergency stop signal is valid, and obtain a fourth determination result;

[0029] If the fourth judgment result is yes, determining whether the driving model of the target vehicle is a manual driving mode to obtain a fifth judgment result; if the fifth judgment result is no, determining whether the current speed of the target vehicle is greater than a set speed to obtain a sixth judgment result; if the sixth judgment result is yes, calculating the output braking deceleration based on the current speed of the target vehicle and setting the output opening of the second joystick to zero; after a set time has passed, setting the braking deceleration to zero and controlling the target vehicle to switch to a parking state;

[0030] If the sixth judgment result is no, the braking deceleration is set to the initial deceleration, and the rocker output opening of the second rocker is set to zero; after the set time, the braking deceleration is set to zero, and the target vehicle is controlled to switch to the parking state.

[0031] Optionally, the remote control system of the autonomous commercial vehicle further includes a remote control power monitoring module, and the remote control power monitoring module is used to monitor the power of the remote control and obtain real-time power monitoring results.

[0032] Optionally, the remote control system of the autonomous commercial vehicle further includes a communication quality monitoring module; the communication quality monitoring module is used to monitor the communication quality of the remote control and obtain real-time communication quality monitoring results.

[0033] Optionally, the remote control system of the autonomous commercial vehicle further includes a power on / off / ignition button; the power on / off / ignition button is used to control the power on / off or ignition of the target vehicle.

[0034] Optionally, the remote control system of the autonomous commercial vehicle further includes a driving mode switching button; the driving mode switching button is used to switch the driving mode of the target vehicle.

[0035] In a second aspect, the present application provides a remote control method for an autonomous commercial vehicle based on the remote control system for the autonomous commercial vehicle described in the first aspect, comprising:

[0036] collecting a joystick output voltage of a target joystick; the target joystick is the first joystick or the second joystick;

[0037] Performing fault judgment on the target rocker according to the rocker output voltage of the target rocker to obtain a fault judgment result of the target rocker;

[0038] The rocker opening of the target rocker is controlled according to the fault judgment result of the target rocker.

[0039] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0040] The present application provides a remote control system and method for an autonomous commercial vehicle. By adding joystick limit blocks, a first joystick limit block group limits the actual voltage output range of the first joystick, and a second joystick limit block group limits the actual voltage output range of the second joystick, the joystick output voltage of a target joystick is collected; a fault judgment is performed on the target joystick based on the joystick output voltage of the target joystick to obtain a fault judgment result of the target joystick; and the joystick opening of the target joystick is controlled based on the fault judgment result of the target joystick. Fault judgment and processing of the joystick in the remote control system can be performed, thereby ensuring the reliability of the remote control system itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a schematic structural diagram of a remote control system for an autonomous commercial vehicle in one embodiment of the present application;

[0043] Figure 2 A schematic diagram of the rocker limit block principle provided in one embodiment of the present application; wherein, Figure 2 (a) is a schematic diagram of the original voltage output range of the joystick before adding the joystick limit block; Figure 2 (b) is a schematic diagram of the voltage limit output range of the joystick after adding the joystick limit block;

[0044] Figure 3 A schematic diagram of the relationship between the rocker opening and the proportional coefficient provided in one embodiment of the present application; wherein, Figure 3 (a) is a schematic diagram showing the relationship between the first rocker opening and the proportional coefficient; Figure 3 (b) is a schematic diagram of the relationship between the second rocker opening and the proportional coefficient;

[0045] Figure 4 A schematic diagram of a joystick fault detection process according to an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the control flow of the emergency stop button provided in one embodiment of the present application;

[0047] Figure 6 A schematic diagram of the fault level display definition provided in an embodiment of the present application;

[0048] Figure 7 A flowchart of a remote control method for an autonomous commercial vehicle provided in accordance with one embodiment of the present application.

[0049] Reference numerals:

[0050] Joystick limit block - 1, power switch - 2, display screen - 3, indicator light - 4, first status indicator light 4a, second status indicator light 4b, third status indicator light 4c, emergency stop button - 5, first joystick - 6, standby switch - 7, charging port - 8, joystick box - 9, standby function button - 10, double flash button - 11, driving mode switch button - 12, power on / off / ignition button - 13, parking button - 14, gear shift toggle switch - 15, second joystick - 16. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] The existing remote control scheme for electric vehicles does not take into account the following issues: fault management of the remote control system's power and communication quality; the adaptability of the remote control system, and the lack of spare switches and function buttons makes subsequent function upgrades impossible.

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0054] In an exemplary embodiment, Figure 1 As shown, a remote control system for an autonomous commercial vehicle is provided, including a first rocker assembly, a second rocker assembly, and a rocker fault detection module. A rocker limit block 1, a power switch 2, a display screen 3, an indicator light 4, a first status indicator light 4a, a second status indicator light 4b, a third status indicator light 4c, an emergency stop button 5, a first rocker 6, a standby switch 7, a charging port 8, a standby function button 10, a double flash button 11, a driving mode switch button 12, a power on / off / ignition button 13, a parking button 14, a gear shift toggle switch 15, and a second rocker 16 are all disposed on a remote sensor housing 9. The power switch 2 is used to control the remote control's startup and shutdown. The remote control is charged at the charging port 8.

[0055] The first rocker assembly includes a first rocker 6 and a first rocker limit block group; the first rocker 6 is used to control the steering of the target vehicle; the first rocker limit block group is used to limit the actual voltage output range of the first rocker 6; the first rocker 6 moves between the two rocker limit blocks 1 of the first rocker limit block group; the second rocker assembly includes a second rocker 16 and a second rocker limit block group; the second rocker 16 is used to control the driving and braking of the target vehicle; the second rocker limit block group is used to limit the actual voltage output range of the second rocker 16; the second rocker 16 moves between the two rocker limit blocks 1 of the second rocker limit block group.

[0056] The rocker fault detection module is used to: collect the rocker output voltage of the target rocker; perform fault diagnosis on the target rocker based on the rocker output voltage of the target rocker to obtain a fault diagnosis result of the target rocker; and control the rocker opening of the target rocker based on the fault diagnosis result of the target rocker; the target rocker is the first rocker 6 or the second rocker 16.

[0057] In another exemplary embodiment of the present application, the remote control is equipped with two single-axis self-resetting resistance-type joysticks. The first joystick 6 is responsible for controlling the steering function of the vehicle. It is defined that pushing the joystick to the left controls the vehicle's front wheels to deflect to the left, and pushing it to the right controls the vehicle's front wheels to deflect to the right. Taking into account the actual operating conditions of the vehicle: when the joystick is opened at a small angle, the steering sensitivity is expected to be low, which is convenient for fine-tuning the direction of the vehicle at high speeds; when the opening is medium, the steering sensitivity is expected to be moderate; when the opening is large, a higher steering sensitivity is expected to meet the vehicle's turning and parking needs. Therefore, three different sensitivity slopes K are calibrated according to the opening of the first joystick 6, including K1, K2, and K3, such as Figure 3 As shown, by looking up the table (the table refers to Figure 3 The proportional coefficient can be determined by (a) , the proportional coefficient By multiplying the left and right limit deflection angles of the target vehicle's front wheels, the requested front wheel steering angle at the current joystick opening can be calculated, thereby meeting the operator's different steering needs. The second joystick 16 is responsible for controlling the vehicle's driving and braking functions. It is defined that when the second joystick 16 is pushed forward, the driving function is executed, and when it is pushed backward, the braking function is executed. In this embodiment, according to the actual operating conditions of the vehicle, the opening of the second joystick 16 can only be calibrated with one sensitivity slope K. By looking up the table (the table refers to Figure 3 (b) in the figure can determine the corresponding proportional coefficient Finally, the corresponding torque value or deceleration value can be output through calculation.

[0058] The rocker failure detection module includes a rocker failure detection unit; the rocker failure detection unit is used to:

[0059] Determine whether the joystick output voltage of the target joystick is greater than a voltage limit lower limit value and less than a voltage limit upper limit value, to obtain a first judgment result; the voltage limit lower limit value and the voltage limit upper limit value constitute a voltage limit output range limited by the joystick limit block group corresponding to the target joystick;

[0060] If the first judgment result is yes, determining whether the joystick output voltage of the target joystick is less than the intermediate voltage setting value to obtain a second judgment result;

[0061] If the second judgment result is yes, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault; the intermediate voltage setting value is half of the original upper limit value of the original voltage output range of the target rocker; the original voltage output range includes the voltage limit output range;

[0062] If the second judgment result is no, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault;

[0063] If the first judgment result is negative, determining whether the joystick output voltage of the target joystick is greater than the first voltage setting value and not greater than the original voltage upper limit value, or not less than 0 and less than the second voltage setting value, to obtain a third judgment result; the first voltage setting value is determined by the voltage limit upper limit value; the second voltage setting value is determined by the voltage limit lower limit value; the original voltage upper limit value and the original voltage upper limit value constitute the original voltage output range corresponding to the target joystick;

[0064] If the third judgment result is yes, the fault judgment result of the target joystick is that the emergency stop flag is triggered, the joystick short circuit fault occurs, and the joystick fault level is level four; the joystick fault level four indicates a joystick parking fault, and the vehicle is stopped;

[0065] If the third judgment result is no, the fault judgment result of the target joystick is that the emergency stop flag is not set, the joystick is out of bounds, and the joystick fault level is level 2; the joystick fault level of level 2 indicates a joystick power failure, and the vehicle power is limited.

[0066] The rocker failure detection module also includes a rocker opening control unit; Figure 4 As shown, the rocker opening control unit is used to:

[0067] When the second judgment result is yes, according to Calculating the rocker output opening of the target rocker; wherein, is the target stick output opening, The target joystick output voltage is in V. 0.3 is the lower voltage limit, and 1.65 is the middle voltage setting value.

[0068] When the second judgment result is no, Calculate the rocker output opening of the target rocker; wherein 3 is the voltage limit upper limit value;

[0069] When the third judgment result is yes, the rocker output opening of the target rocker is zero;

[0070] When the third judgment result is no, or Calculate the rocker output opening of the target rocker.

[0071] The joystick itself does not have a fault diagnosis function. Therefore, in order to improve the reliability of the remote control itself, key components have been optimized and a joystick limit block 1 has been added to limit the actual voltage output range of the joystick. The limiting principle is as follows: Figure 2As shown, the actual range of the joystick after limiting has changed from 0-3.3V to 0.3-3V. When the joystick has the following faults, the main control unit of the remote control can identify the type of joystick fault by sampling the voltage value: The first is when the output signal line of the joystick is short-circuited to the ground or to the power supply, the joystick will output 0V or 3.3V, which is called a short-circuit fault; the second is when the joystick is used for a long time, due to increased wear, the resistance drifts, causing the voltage value output by the joystick to cross the limit, that is, the voltage value output by the joystick is not within the range of 0.3V-3V, which is called an out-of-bounds fault and is defined as a level 2 fault. In addition, the joystick output voltage value is defined as greater than 3V or less than 5% of the 0.3V boundary value as a joystick signal line short-circuit fault to the ground or to the power supply. The actual processing process is as follows Figure 4 As shown in the figure, when the joystick is judged to be short-circuited, the emergency stop flag is triggered and the joystick opening output after the remote control is 0, which is defined as a system level 4 fault; when an out-of-bounds fault occurs, the emergency stop flag is not set, the joystick output opening is half of the actual calculated opening, and it is defined as a system level 2 fault. In order to convert the joystick voltage signal into a 0 to 100% opening signal, the voltage value collected by the joystick is processed as follows Figure 4 As shown, a single joystick is used as an illustrative example in this application, and the voltage signal processing method of the other joystick is the same. Figure 4 Middle: Flag indicates the emergency stop flag, which is valid in high level. That is, Flag=1 indicates that the emergency stop flag is triggered and valid, and Flag=0 indicates that the emergency stop flag is not set. FS indicates the remote control fault status. FS=0 indicates no fault, FS=1 indicates an out-of-bounds fault, and FS=2 indicates a short-circuit fault. FL indicates the remote control fault level. FL=0 indicates no fault, FL=1 indicates a level 1 fault, and no action is taken for a level 1 fault. FL=2 indicates a level 2 fault, and the vehicle is subject to power limitation. FL=3 indicates a level 3 fault, and the vehicle is subject to power and speed limitation. FL=4 indicates a level 4 fault, and the vehicle is stopped for a level 4 fault.

[0072] The remote control system for the autonomous commercial vehicle also includes a gear shift toggle switch 15. To prevent misoperation, the remote control's gear shift function incorporates the vehicle's power status (HPSts), brake lever position (Brk_Var), and vehicle fault level (VFL). The gear shift toggle switch 15 has three states: forward, mid, and reverse. These states are defined as follows: forward represents the remote control system's forward (Drive) request, or D; mid represents the remote control system's neutral (N) request; and reverse represents the remote control system's reverse (R) request. In the initial state, the gear shift toggle switch 15 is in the N gear state, the vehicle has no level 4 fault, is in the power-on / ignition state and the vehicle speed is less than 3 km / h. If the remote control is in remote control mode and the brake opening of the second joystick 16 is greater than 10%, when the gear shift toggle switch 15 is switched from the N gear position to the D gear or R gear position, the gear position SG requested by the remote control operation is valid and the gear position request is sent to the vehicle end. In remote control mode, if the requested gear position SG is sent to the vehicle end and the current gear position CG fed back by the vehicle end does not change for more than 2 seconds, the fault level FL on the remote control end is set to level 2. After the fault disappears, the fault level is set to 0. Among them, the gear position SG represents: the remote control sends the requested gear position to the vehicle end; the gear position CG represents: the actual gear position fed back by the vehicle end to the remote control.

[0073] The first status indicator light 4a is a red, green and yellow light. When CG is in D gear, the first status indicator light 4a lights up green; when CG is in R gear, the first status indicator light 4a lights up yellow; when CG is in N gear, the first status indicator light 4a lights up red. When using the remote control outdoors in the sun, it is more convenient to observe the gear information using the indicator light. In addition, the specific gear value will also be displayed on the display screen 3.

[0074] In another exemplary embodiment of the present application, the remote control system for the autonomous commercial vehicle further includes an emergency stop module; the emergency stop module is configured to:

[0075] Determine whether either the emergency stop flag or the emergency stop signal is valid, and obtain a fourth determination result;

[0076] If the fourth judgment result is yes, determining whether the driving model of the target vehicle is a manual driving mode to obtain a fifth judgment result; if the fifth judgment result is no, determining whether the current speed of the target vehicle is greater than a set speed to obtain a sixth judgment result; if the sixth judgment result is yes, calculating the output braking deceleration based on the current speed of the target vehicle and setting the output opening of the second joystick to zero; after a set time has passed, setting the braking deceleration to zero and controlling the target vehicle to switch to a parking state;

[0077] If the sixth judgment result is no, the braking deceleration is set to the initial deceleration, and the rocker output opening of the second rocker is set to zero; after the set time, the braking deceleration is set to zero, and the target vehicle is controlled to switch to the parking state.

[0078] Considering that certain emergency situations may occur during the remote control operation of the vehicle, this embodiment defines an emergency stop button 5 in the program design, and the control logic of the emergency stop is as follows: Figure 5 As shown in the figure, the vehicle speed V, emergency stop flag Flag, emergency stop signal Stop, driving state Sts, calibration coefficient K, initial deceleration b, braking deceleration Bke, parking state P, and remote control fault level FL are introduced. P=1 indicates that the vehicle switches to parking state and automatically parks. The unit of vehicle speed V is km / h. Sts=0 indicates manual driving mode, Sts=1 indicates remote control mode, Sts=2 indicates automatic driving mode, and Sts=3 indicates idle mode.

[0079] When either the emergency stop flag or the emergency stop signal is valid (Flag = 1 or Stop = 1), the vehicle is determined to be in non-manual driving mode. If this condition is true, the braking deceleration Bke is calculated based on the current vehicle speed and the opening value of the second rocker 16 is reset until the vehicle stops. After a delay of 1 second, the vehicle's forward momentum is fully released, the braking deceleration is cleared, and the vehicle is automatically parked. At this point, the emergency stop process is complete. To improve system compatibility, the initial braking deceleration b and calibration coefficient K can be calibrated for different vehicle models.

[0080] In another exemplary embodiment of the present application, the remote control system of the autonomous commercial vehicle further includes a remote control power monitoring module, and the remote control power monitoring module is used to monitor the power of the remote control and obtain real-time power monitoring results.

[0081] In another exemplary embodiment of the present application, the remote control system of the autonomous commercial vehicle also includes a communication quality monitoring module; the communication quality monitoring module is used to: monitor the communication quality of the remote control and obtain real-time communication quality monitoring results.

[0082] The battery level of the remote control and the quality of communication with the vehicle have a very important impact on safe use. The current power percentage of the remote control and the wireless communication quality are known. The communication quality is defined as three levels: good communication CF, poor communication quality CB, and communication loss CL. Good communication defines the remote control fault level as level 0, poor communication quality defines the fault level as level 2, and communication loss is defined as level 4. Battery power fault management only defines the level of power below 10%. The power level between 10%-6% is defined as a level 1 remote control fault, the power level between 6%-4% is defined as a level 2 fault, the power level between 4%-2% is defined as a level 3 fault, and the power level less than 2% is defined as a level 4 fault.

[0083] The fault indication function of the status indicator is designed. The second status indicator 4b and the third status indicator 4c are both red, yellow and green three-color indicators. The second status indicator 4b is defined to display the remote control fault level FL, and the third status indicator 4c is defined to display the vehicle fault level VFL. This information is reported by the vehicle end to the remote control. The fault display definition is as follows Figure 6 As shown, when there is no fault in the vehicle or remote control, the second status indicator light 4b and the third status indicator light 4c are green, a level 1 fault lights up and flashes yellow, a level 2 fault lights up and remains yellow, a level 3 fault lights up and flashes red, and a level 4 fault lights up and remains red. Figure 6 The dashed circle indicates a flashing indicator light, while the solid circle indicates a constant indicator light. By displaying different colored lights to indicate the fault level, the operator can be alerted immediately when a fault occurs, especially when used outdoors in bright sunlight. Compared to smaller screen displays, this is more intuitive and eye-catching. Furthermore, when a remote control or vehicle malfunctions, Display 3 can display specific information about the fault type. This combination of indicator lights and Display 3 significantly improves the efficiency and legibility of fault indication.

[0084] The parking button 14 is a reset button, and the remote control defines the release and release of the parking brake as the trigger edge detected by the button. During the functional design, considering that applying the parking brake during high-speed driving may cause the vehicle to drift, the vehicle speed signal V, the second rocker lever 16 opening value Brk_Var, and the driving status signal Sts are incorporated. In remote control mode, when the vehicle speed is less than 5km / h, press the parking button 14, the parking command is valid and sent to the vehicle end. If the parking button 14 is pressed when the vehicle is at high speed, the remote control does not respond to the button request; when the operator needs to release the parking, push the second rocker 16 to an opening greater than 15%, and then press the parking button 14. At this time, the parking release command is valid; if the parking button 14 is pressed first, the remote control does not respond to the parking release request of the button, and then when the opening of the second rocker 16 is greater than 15%, the parking release request is valid; when the gear position of the remote control is consistent with that of the vehicle and both are in neutral, after the remote control has no operation for 3S, the remote control sends a parking command to realize automatic parking. To release automatic parking, you can push the second rocker 16 to engage the drive gear, or push the second rocker 16 and press the parking button 14.

[0085] In another exemplary embodiment of the present application, the remote control system of the autonomous commercial vehicle further includes a power on / off / ignition button 13; the power on / off / ignition button 13 is used to control the power on / off or ignition of the target vehicle. The power on / off / ignition button 13 is a reset button, and its functional definition is not affected by the vehicle driving mode. The remote control detects the transition edge request of the button. The vehicle-side fault level VFL and the remote control fault level FL signals are introduced. When the values ​​of the vehicle-side fault level VFL and the remote control fault level FL are both less than level 4, that is, and the current state of the target vehicle is a low-voltage state or a low-voltage shutdown state, pressing the power on / off / ignition button 13 requests the vehicle to power on / start, and the instruction is valid and sent to the vehicle side. If the current state of the target vehicle is a high-voltage state or an engine-running state, pressing the power on / off / ignition button 13 requests the target vehicle to lower the high voltage / shut down, and the instruction is valid and sent to the vehicle side.

[0086] The double flash button 11 is a reset button, and its function is to define the button's transition edge signal to trigger the double flash lights to turn on and off. In the remote control driving mode, the vehicle fault level VFL, the remote control fault level FL, the emergency stop button signal, and the vehicle's double flash light status feedback signal HFS are introduced. When the remote control is powered on, assuming that the current remote control double flash signal is invalid and the HFS signal is off, when either the VFL or FL signal is 4 or triggers an emergency stop of the vehicle, the remote control sends a double flash valid signal to light up the vehicle's double flash lights. If the fault is eliminated at this time or the double flash button 11 has a transition signal output, the remote control sends a double flash invalid signal and the vehicle's double flash lights are turned off. In other cases, the vehicle's double flash lights can be turned on and off by pressing the double flash button 11.

[0087] In another exemplary embodiment of the present application, the remote control system of the autonomous commercial vehicle further includes a driving mode switching button 12; the driving mode switching button 12 is used to switch the driving mode of the target vehicle.

[0088] The driving mode switch button 12 is a self-locking button. Its function defines that a falling edge level remote control mode request is valid, while a rising edge level request is invalid. It introduces the vehicle driving status signal Sts, the vehicle speed signal V, the vehicle power on / off status signal HPSts, the vehicle fault level VFL, and the remote control fault level FL. Sts has four states: manual driving mode, remote control driving mode, automatic driving mode, and idle state. The idle state refers to the state when the vehicle is not under manual or control operation and the gear selector is in neutral. The above four modes are ranked in descending priority. When the vehicle is in idle state, the vehicle speed is less than 3 km / h, the vehicle fault level and the remote control fault level are less than level 4, and the vehicle is in high voltage / engine working state, the driving mode switch button 12 is pressed, and the remote control mode request is valid, otherwise the vehicle maintains the current state; when the vehicle is in automatic driving state, the vehicle speed is less than 15 km / h, the vehicle fault level and the remote control fault level are less than level 4, and the vehicle is in high voltage / engine working state, the driving mode switch button 12 is pressed, and the remote control mode request is valid, otherwise the vehicle maintains the current driving state; when the vehicle is in manual driving mode, the driving mode switch button 12 is pressed, and the remote control mode request is invalid, and the vehicle maintains the current driving state. When the driving mode switch button 12 is released, if the current driving mode is remote control driving mode, the remote control mode request is invalidated, and an idle state instruction is sent to the vehicle end; if the current driving mode is non-remote control driving mode, the remote control mode request is invalidated.

[0089] Reasonable operation process design can effectively avoid human misoperation and improve the overall safety of the remote control. In this embodiment, the initialization status of each functional module after the remote control is powered on is defined as follows: the emergency stop function is invalid and the key signal acquisition status is updated, the rocker calculation output value is set to 0, the gear shift module output is neutral, the parking function module parking is valid, the double flash function module is invalid, the driving mode function module output is idle, and the power on and off / ignition module output is invalid. If the vehicle is in a low voltage / low voltage off state, the vehicle is turned on / off by the power on and off / ignition button 13. When the vehicle is in a high voltage state or the engine is running, the driving mode switch button 12 is used to switch the vehicle driving state to the remote control driving mode. The operator can then operate the vehicle through the remote control. If the vehicle is in a high voltage state or the engine is running, the operator can directly switch the vehicle driving state to the remote control driving mode through the driving mode switch button 12. Then the operator can operate the vehicle through the remote control.

[0090] Commercial vehicle chassis are versatile and highly scalable. A common Class II chassis, combined with various superstructures, can be used to develop specialized vehicles with diverse functional applications. Therefore, the remote control was designed with this in mind, adding a backup switch 7 and backup function buttons 10 to enhance its applicability. This allows for future upgrades to specific vehicle models to meet their functional requirements. The backup switch 7 can be a three-position oscillating switch.

[0091] This application adds a joystick limit block to the remote control system design, combines the characteristics of the joystick itself, proposes the fault detection function of the module, and classifies the faults of the remote control battery and communication quality, and proposes a fault diagnosis system for the remote control. In addition, in response to the needs of vehicle safety, an emergency stop button 5 is added to the remote control panel, and an emergency stop control logic is designed, which also takes into account the emergency stop requirements under the four-level faults caused by different fault causes of the remote control. Finally, the three-color indicator light system is comprehensively managed, and combined with the display screen to achieve better display and reminder effects. At the same time, the parking, power on and off / ignition button functions on the remote control are also designed and managed.

[0092] The remote control system for autonomous commercial vehicles provided by this application has the following advantages:

[0093] 1. Adding fault diagnosis and processing of the remote control stick in the remote control system can ensure the reliability of the remote control system itself.

[0094] 2. Add fault management of remote control system power and communication quality to ensure the control stability of the remote control system.

[0095] 3. Adding a spare three-speed wave switch 7 and a spare function button 10 can improve the applicability of the remote control system.

[0096] Based on the same inventive concept, the present application also provides a method for remotely controlling an autonomous commercial vehicle based on the aforementioned remote control system for the autonomous commercial vehicle. The solution provided by this method is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the remote control method for autonomous commercial vehicles provided below can be found in the aforementioned limitations on the remote control system for autonomous commercial vehicles and will not be further elaborated here.

[0097] In an exemplary embodiment, Figure 7 As shown, a remote control method for an autonomous commercial vehicle is provided, including:

[0098] S1: collecting the joystick output voltage of the target joystick; the target joystick is the first joystick 6 or the second joystick 16.

[0099] S2: performing fault judgment on the target joystick according to the joystick output voltage of the target joystick to obtain a fault judgment result of the target joystick.

[0100] S3: controlling the rocker opening of the target rocker according to the fault judgment result of the target rocker.

[0101] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A remote control system for an autonomous commercial vehicle, characterized in that: The remote control system of the autonomous commercial vehicle includes a remote control and a joystick fault detection module; the remote control includes a first joystick assembly and a second joystick assembly; The first rocker assembly includes a first rocker and a first rocker limit block group; the first rocker is used to control the steering of the target vehicle; the first rocker limit block group is used to limit the actual voltage output range of the first rocker; the first rocker moves between two rocker limit blocks of the first rocker limit block group; the second rocker assembly includes a second rocker and a second rocker limit block group; the second rocker is used to control the driving and braking of the target vehicle; the second rocker limit block group is used to limit the actual voltage output range of the second rocker; the second rocker moves between the two rocker limit blocks of the second rocker limit block group; The rocker fault detection module is configured to: collect a rocker output voltage of a target rocker; perform a fault diagnosis on the target rocker based on the rocker output voltage of the target rocker to obtain a fault diagnosis result of the target rocker; and control a rocker opening of the target rocker based on the fault diagnosis result of the target rocker; The target rocker is the first rocker or the second rocker; three different sensitivity slopes, including K1, K2, and K3, are calibrated according to the opening of the first rocker. The proportional coefficient α1 is determined by looking up the table. The proportional coefficient α1 is multiplied by the left and right limit deflection angles of the target vehicle's front wheels to calculate the requested front wheel angle at the current rocker opening to meet the operator's different steering requirements; The second rocker opening is calibrated to a sensitivity slope, and the corresponding proportional coefficient α2 is determined by looking up the table, and the corresponding torque value or deceleration value is output by calculation; The rocker failure detection module includes a rocker failure detection unit and a rocker opening control unit; the rocker failure detection unit is used to: Determine whether the joystick output voltage of the target joystick is greater than a voltage limit lower limit value and less than a voltage limit upper limit value, to obtain a first judgment result; the voltage limit lower limit value and the voltage limit upper limit value constitute a voltage limit output range limited by the joystick limit block group corresponding to the target joystick; If the first judgment result is yes, determining whether the joystick output voltage of the target joystick is less than the intermediate voltage setting value to obtain a second judgment result; If the second judgment result is yes, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault; the intermediate voltage setting value is half of the original upper limit value of the original voltage output range of the target rocker; the original voltage output range includes the voltage limit output range; If the second judgment result is no, the fault judgment result of the target rocker is that the emergency stop flag is not set and the rocker has no fault; If the first judgment result is negative, determining whether the joystick output voltage of the target joystick is greater than the first voltage setting value and not greater than the original voltage upper limit value, or not less than 0 and less than the second voltage setting value, to obtain a third judgment result; the first voltage setting value is determined by the voltage limit upper limit value; the second voltage setting value is determined by the voltage limit lower limit value; the original voltage upper limit value and the original voltage upper limit value constitute the original voltage output range corresponding to the target joystick; If the third judgment result is yes, the fault judgment result of the target joystick is that the emergency stop flag is triggered, the joystick is short-circuited, and the fault level of the joystick is level four; If the joystick fault level is level 4, it indicates a joystick parking fault and the vehicle must be stopped. If the third judgment result is no, the fault judgment result of the target joystick is that the emergency stop flag is not set, the joystick is out of bounds, and the joystick fault level is level 2; the joystick fault level of level 2 indicates a joystick power failure, and vehicle power limiting processing is performed; The rocker opening control unit is used to: When the second judgment result is yes, the joystick output opening of the target joystick is calculated according to Out_Var=(RokB_V-0.3) / (1.65-0.3)×100%; wherein Out_Var is the joystick output opening of the target joystick, RokB_V is the joystick output voltage of the target joystick, 0.3 is the voltage limit lower limit, and 1.65 is the intermediate voltage setting value; When the second judgment result is no, the rocker output opening of the target rocker is calculated according to Out_Var=(3-RokB_V) / (3-1.65)×100%; wherein 3 is the voltage limit upper limit; When the third judgment result is yes, the rocker output opening of the target rocker is zero; When the third judgment result is no, the rocker output opening of the target rocker is calculated according to Out_Var=(3-RokB_V) / (3-1.65) / 2×100% or Out_Var=(RokB_V-0.3) / (1.65-0.3) / 2×100%.

2. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle further includes a gear shift toggle switch; the gear shift toggle switch is divided into forward gear, middle gear and rear gear; The forward gear position indicates the remote control system forward gear request; The neutral position indicates a neutral request from the remote control system; Rear gear indicates a remote control system reverse gear request.

3. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle further includes an emergency stop module; the emergency stop module is used to: Determine whether either the emergency stop flag or the emergency stop signal is valid, and obtain a fourth determination result; If the fourth judgment result is yes, then determining whether the driving model of the target vehicle is a manual driving mode to obtain a fifth judgment result; if the fifth judgment result is no, then determining whether the current speed of the target vehicle is greater than the set speed to obtain a sixth judgment result; If the sixth judgment result is yes, the output braking deceleration is calculated according to the current speed of the target vehicle, and the rocker output opening of the second rocker is set to zero; after a set time has passed, the braking deceleration is set to zero, and the target vehicle is controlled to switch to a parking state; If the sixth judgment result is no, the braking deceleration is set to the initial deceleration, and the rocker output opening of the second rocker is set to zero; after the set time, the braking deceleration is set to zero, and the target vehicle is controlled to switch to the parking state.

4. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle also includes a remote control power monitoring module, which is used to monitor the power of the remote control and obtain real-time power monitoring results.

5. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle also includes a communication quality monitoring module; the communication quality monitoring module is used to monitor the communication quality of the remote control and obtain real-time communication quality monitoring results.

6. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle also includes a power on / off / ignition button; the power on / off / ignition button is used to control the power on / off or ignition of the target vehicle.

7. The remote control system for an autonomous commercial vehicle according to claim 1, characterized in that: The remote control system of the autonomous commercial vehicle also includes a driving mode switching button; the driving mode switching button is used to switch the driving mode of the target vehicle.

8. A remote control method for an autonomous commercial vehicle based on the remote control system for an autonomous commercial vehicle according to any one of claims 1 to 7, characterized in that: The remote control method of the autonomous commercial vehicle includes: collecting a joystick output voltage of a target joystick; the target joystick is the first joystick or the second joystick; Performing fault judgment on the target rocker according to the rocker output voltage of the target rocker to obtain a fault judgment result of the target rocker; The rocker opening of the target rocker is controlled according to the fault judgment result of the target rocker.

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