Unmanned vehicle moving control method, chassis domain controller, unmanned vehicle and medium

Abstract

The invention provides a vehicle moving control method of an unmanned vehicle, a chassis domain controller, the unmanned vehicle and a medium, and relates to the field of unmanned control. The method comprises the following steps: in response to a parking releasing button trigger signal sent by a parking system, obtaining a system message sent by each system of a chassis domain; according to the system message sent by each system of the chassis domain, the whole vehicle fault type is determined, and the whole vehicle fault type comprises a power system fault and a power battery fault; and according to the whole vehicle fault type and the received remote control vehicle moving signal, carrying out vehicle moving control on the unmanned vehicle. According to the method, the convenience and operability of moving the unmanned vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of unmanned control technology, and in particular to a method for controlling the movement of an unmanned vehicle, a chassis domain controller, an unmanned vehicle, and a medium. Background Art

[0002] In the current fields of unmanned logistics, unmanned cleaning, etc., unmanned vehicles are playing an increasingly critical role.

[0003] During daily use, unmanned vehicles will inevitably encounter abnormalities or failures that may cause the vehicle to be unable to power on or drive normally, and temporary manual vehicle movement is required. If temporary vehicle movement is required, the operator can push the vehicle after releasing the parking and braking functions. However, since unmanned vehicles have no cockpit, that is, no steering wheel configuration, if you need to turn the vehicle when pushing it, you need to manually turn the wheel to turn the steering wheel to a certain angle, which is difficult and inconvenient to operate, and the operator needs a lot of strength to complete the vehicle moving operation.

[0004] Therefore, there is a need for a control solution for unmanned vehicle maneuvering that can improve the convenience and operability of maneuvering the vehicle. Summary of the invention

[0005] The embodiments of the present application provide an unmanned vehicle moving control method, a chassis domain controller, an unmanned vehicle and a medium, which can improve the convenience and operability of the unmanned vehicle moving.

[0006] In a first aspect, an embodiment of the present application provides a method, comprising:

[0007] In response to a release parking button trigger signal sent by the parking system, obtaining a system message sent by each system in the chassis domain;

[0008] Determine the type of vehicle fault according to the system messages sent by each system in the chassis domain, where the type of vehicle fault includes a power system fault and a power battery fault;

[0009] The unmanned vehicle is controlled to move according to the vehicle fault type and the received remote control vehicle moving signal.

[0010] In a possible implementation manner, determining the vehicle fault type according to the system messages sent by each system in the chassis domain includes:

[0011] According to the system message sent by the battery system, determine whether the battery system fails;

[0012] If the battery system fails, the vehicle fault type is determined to be a power battery failure;

[0013] If the battery system is not faulty, then determine whether the steering system is faulty based on the system message sent by the steering system. If the steering system is not faulty, then determine that the vehicle fault type is a power system fault.

[0014] In a possible implementation manner, when the vehicle fault type is a power system fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal includes:

[0015] In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system;

[0016] Determine a corresponding steering control instruction according to the remote control vehicle moving signal;

[0017] The steering system is controlled to operate according to the steering control instruction to achieve steering control during the maneuvering process of the unmanned vehicle.

[0018] In a possible implementation manner, when the vehicle fault type is a power system fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal further includes:

[0019] In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system;

[0020] According to the system message sent by the braking system, determine whether the braking system has a fault;

[0021] If there is no fault in the brake system, the brake system control is restored;

[0022] Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal;

[0023] The braking system is controlled to operate according to the braking control instruction, and the steering system is controlled to operate according to the steering control instruction, so as to control the unmanned vehicle to move.

[0024] In a possible implementation, when the vehicle fault type is a power battery fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal includes:

[0025] Controlling the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system;

[0026] In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system;

[0027] Determine a corresponding steering control instruction according to the remote control vehicle moving signal;

[0028] The steering system is controlled to operate according to the steering control instruction to achieve steering control during the maneuvering process of the unmanned vehicle.

[0029] In a possible implementation manner, when the vehicle fault type is a power battery fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal further includes:

[0030] Controlling the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system and the braking system;

[0031] In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system;

[0032] According to the system message sent by the braking system, determine whether the braking system has a fault;

[0033] If there is no fault in the brake system, the brake system control is restored;

[0034] Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal;

[0035] The braking system is controlled to operate according to the braking control instruction, and the steering system is controlled to operate according to the steering control instruction, so as to control the unmanned vehicle to move.

[0036] In a possible implementation, it further includes:

[0037] In response to the release parking button trigger signal sent by the parking system, the drive motor is disconnected, the brake pressure of the brake system is released, and the steering motor of the steering system is disconnected.

[0038] In a second aspect, an embodiment of the present application provides a chassis domain controller, including:

[0039] An acquisition module, used for acquiring system messages sent by various systems in the chassis domain in response to a release parking button trigger signal sent by the parking system;

[0040] The processing module is used to determine the vehicle fault type according to the system messages sent by each system in the chassis domain, and the vehicle fault type includes power system fault and power battery fault; according to the vehicle fault type and the received remote control vehicle moving signal, the unmanned vehicle is controlled to move.

[0041] In a third aspect, an embodiment of the present application provides an unmanned vehicle, including: a chassis domain controller;

[0042] The chassis domain controller comprises:

[0043] A processor, and a memory communicatively connected to the processor;

[0044] Memory is used to store computer executable instructions;

[0045] The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the above-mentioned first aspect and / or various possible implementations of the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0047] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0048] The embodiment of the present application provides a method for controlling the movement of an unmanned vehicle, a chassis domain controller, an unmanned vehicle, and a medium. After receiving a release button trigger signal sent by a parking system, that is, determining that the unmanned vehicle needs to be temporarily moved, the fault type of the entire vehicle can be determined according to the system message sent by each system in the chassis domain, and the unmanned vehicle can be controlled to move according to the fault type of the entire vehicle and the received remote control moving signal. Through such a setting, when an unmanned vehicle fails and the entire vehicle cannot be powered on or cannot drive normally, the vehicle can be moved remotely according to the specific fault type, realizing the function of remote control assisting the unmanned vehicle to move the vehicle, and the user does not need to move the vehicle manually, which greatly improves the convenience and operability of the unmanned vehicle moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] Figure 1 A system architecture diagram of an embodiment of the present application;

[0051] Figure 2 A flow chart of a method for controlling the movement of an unmanned vehicle according to an embodiment of the present application;

[0052] Figure 3 This is a schematic diagram of the structure of a chassis domain controller according to an embodiment of the present application;

[0053] Figure 4 This is a schematic diagram of the structure of a chassis domain controller according to another embodiment of the present application.

[0054] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0058] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0059] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0060] The unmanned vehicle moving control method, chassis domain controller, unmanned vehicle and medium of the present application can be used in the field of unmanned control technology, and can also be used in any field except the field of unmanned control technology, such as unmanned logistics, unmanned cleaning, etc. The application field of the unmanned vehicle moving control method, chassis domain controller, unmanned vehicle and medium of the present application is not limited.

[0061] The unmanned vehicle moving control method, chassis domain controller, unmanned vehicle and medium of the present application can be applied to scenarios where the unmanned vehicle cannot be powered on or cannot drive normally due to a malfunction and needs to be temporarily moved. Any related scenarios involving the temporary movement of an unmanned vehicle without a cockpit can be applied to the unmanned vehicle moving control method, chassis domain controller, unmanned vehicle and medium of the present application.

[0062] First, the terms involved in this application are explained:

[0063] The parking system, referred to as the Electronic Parking Brake (EPB), is a modern parking brake system that activates the brakes via an electronic button instead of the traditional handbrake lever. The EPB usually integrates an automatic release function, which automatically releases the brakes when the vehicle starts moving. The release button is usually associated with the Electronic Parking Brake (EPB) system. In vehicles equipped with EPB, the release button is used to release the parking brake, allowing the vehicle to move.

[0064] The Chassis Domain Controller (CDC) is an integrated electronic control unit used to manage and coordinate various subsystems related to the vehicle chassis. The chassis domain controller integrates multiple chassis-related systems (such as the braking system, steering system, suspension system, and drive system) into one control unit. This integration helps improve the coordination and response speed between systems.

[0065] In the current fields of unmanned logistics, unmanned cleaning, etc., unmanned vehicles are playing an increasingly critical role.

[0066] In daily use, unmanned vehicles will inevitably encounter abnormalities or failures, which may cause the vehicle to be unable to power on or drive normally, and temporary manual movement of the vehicle is required. If temporary movement of the vehicle is required, the operator can push the vehicle after releasing the parking and braking functions.

[0067] However, since the unmanned vehicle has no cockpit, that is, no steering wheel, if you need to turn when pushing the vehicle, you need to manually turn the wheel to a certain angle. The operation is difficult and inconvenient, and the operator needs a lot of strength to complete the vehicle moving operation.

[0068] Based on the above technical problems, the inventive concept of the present application is: how to provide a control solution for unmanned vehicle maneuvering that can improve the convenience and operability of vehicle maneuvering.

[0069] The embodiment of the present application provides a method for controlling the movement of an unmanned vehicle, a chassis domain controller, an unmanned vehicle, and a medium, which can realize the function of remote control-assisted unmanned vehicle movement when the unmanned vehicle fails and the whole vehicle cannot be powered on or cannot drive normally. After the chassis domain controller receives the release button trigger signal sent by the parking system, that is, determines that the unmanned vehicle needs to be temporarily moved, it can determine the type of vehicle fault according to the system message sent by each system in the chassis domain, and control the unmanned vehicle to move according to the type of vehicle fault and the received remote control moving signal. The user does not need to move the vehicle manually, which greatly improves the convenience and operability of the unmanned vehicle movement.

[0070] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0071] Figure 1 This is a system architecture diagram of an embodiment of the present application, such as Figure 1 As shown, the chassis domain controller of the unmanned vehicle communicates with the parking system, steering system, braking system and battery system via CAN, and is electrically connected to the battery system and the chassis low-voltage starting power supply. When a fault occurs in the unmanned vehicle, causing the vehicle to be unable to be powered on or unable to drive normally, and the vehicle needs to be moved temporarily, the operator presses the release button, and the parking system receives the release button signal, releases the parking, and sends a release button trigger signal to the chassis domain controller. The chassis domain controller responds to the release button trigger signal sent by the parking system, obtains the system messages sent by each system in the chassis domain; determines the type of vehicle fault based on the system messages sent by each system in the chassis domain, and the vehicle fault types include power system fault and power battery fault; controls the unmanned vehicle to move based on the vehicle fault type and the received remote control vehicle moving signal.

[0072] Figure 2 This is a flow chart of a method for controlling the movement of an unmanned vehicle according to an embodiment of the present application. This embodiment uses the chassis domain controller as the execution subject to illustrate the method for controlling the movement of an unmanned vehicle. Figure 2 As shown, the unmanned vehicle moving control method may include the following steps:

[0073] S201: In response to a parking release button trigger signal sent by a parking system, a system message sent by each system in a chassis domain is obtained.

[0074] In this embodiment, the unmanned vehicle is equipped with a release button. When a malfunction occurs in the unmanned vehicle and the vehicle cannot be powered on or cannot travel normally, and needs to be moved temporarily, the operator presses the release button to release the parking brake of the vehicle and then the vehicle can be pushed.

[0075] In this embodiment, after the operator presses the unparking button, the parking system will receive the unparking button signal, release the parking, and send an unparking button trigger signal to the chassis domain controller.

[0076] In this embodiment, the chassis domain controller is connected to the steering system, brake system, battery system, suspension system, etc. related to the chassis domain through the CAN bus, and receives various system messages sent by each system through the CAN bus in real time, such as fault messages, etc. When a failure occurs in the unmanned vehicle, causing the vehicle to be unable to power on or unable to drive normally, the chassis domain controller can still communicate with each system through CAN to obtain system messages sent by each system in the chassis domain.

[0077] S202: Determine the fault type of the entire vehicle according to the system messages sent by each system in the chassis domain.

[0078] In this embodiment, the vehicle fault types may include power system fault and power battery fault.

[0079] In this embodiment, if the unmanned vehicle is in a state of normal power-on and normal driving without fault, the unmanned vehicle can run and park normally according to the automatic driving instruction, and does not need to move the vehicle. When the operator presses the release button to move the vehicle, it means that the unmanned vehicle has a fault that causes the vehicle to be unable to power on or drive normally. At this time, the chassis domain controller can determine the specific vehicle fault type based on the system messages sent by each system in the chassis domain, so as to facilitate the subsequent specific vehicle moving control.

[0080] In this embodiment, the system messages sent by each system in the chassis domain include all types of system messages, including fault messages. The chassis domain controller can determine the specific vehicle fault type based on the fault level, fault code and other information in each fault message.

[0081] S203: Control the unmanned vehicle to move according to the type of vehicle fault and the received remote control vehicle moving signal.

[0082] In this embodiment, the remote control vehicle moving signal can be a control signal sent by the operator to the unmanned vehicle through a remote control, or a control signal sent by the operator to the unmanned vehicle through a terminal control device such as a mobile phone. When the remote control is performed through a mobile phone, the mobile phone APP can be used for remote control. The APP has a remote control interface with corresponding handles and buttons and other functions. When the mobile phone is used for remote control, a connection with the unmanned vehicle can be established through WIFI or Bluetooth.

[0083] For example, when the vehicle needs to be moved, the operator can send a remote control moving signal to the unmanned vehicle through a remote controller, and the remote controller can be a remote controller for controlling a drone. The body control module (BCM) of the unmanned vehicle chassis is provided with a receiver for the remote controller. The remote control moving signal sent by the remote controller can be a PWM wave. After the receiver receives the PWM wave sent by the remote controller, it will send the PWM wave to the BCM. The BCM will perform operations such as parsing the PWM wave to obtain a remote control moving signal that can be recognized by the chassis domain controller, and send the remote control moving signal to the chassis domain controller.

[0084] In this embodiment, after determining the specific vehicle fault type, the chassis domain controller can perform corresponding operations on various systems in the chassis domain according to the vehicle fault type and the received remote control vehicle moving signal, thereby realizing the vehicle moving control of the unmanned vehicle.

[0085] In this embodiment, after receiving the release button trigger signal sent by the parking system, that is, determining that the unmanned vehicle needs to be temporarily moved, the chassis domain controller can determine the type of vehicle fault according to the system messages sent by each system in the chassis domain, and control the unmanned vehicle to move according to the type of vehicle fault and the received remote control moving signal. Through such a setting, when the unmanned vehicle fails and the vehicle cannot be powered on or cannot drive normally, the vehicle can be moved remotely according to the specific fault type, realizing the function of remote control assisting the unmanned vehicle to move, and the user does not need to move the vehicle manually, which greatly improves the convenience and operability of the unmanned vehicle moving.

[0086] In a possible implementation, the method may further include:

[0087] In response to the release parking button trigger signal sent by the parking system, the drive motor is disconnected, the brake pressure of the brake system is released, and the steering motor of the steering system is disconnected.

[0088] In this embodiment, after the drive motor is disconnected and the brake pressure of the brake system is released, the unmanned vehicle can be pushed. After the steering motor of the steering system is disconnected, the steering wheels of the unmanned vehicle can be turned by external force, thereby changing the pushing direction of the unmanned vehicle.

[0089] In this embodiment, after receiving the release button trigger signal sent by the parking system, the chassis domain controller can disconnect the drive motor enable, release the brake pressure of the brake system, and disconnect the steering motor enable of the steering system, so that the vehicle can be pushed and the steering wheels can be turned by external force to facilitate the operator to move the vehicle.

[0090] In a possible implementation, the above step S202 determines the vehicle fault type according to the system messages sent by each system in the chassis domain, which may include:

[0091] S11: Determine whether a battery system failure occurs according to the system message sent by the battery system.

[0092] S12: If a battery system failure occurs, it is determined that the vehicle failure type is a power battery failure.

[0093] S13: If the battery system is not faulty, determine whether the steering system is faulty based on the system message sent by the steering system.

[0094] S14: If the steering system has not failed, it is determined that the vehicle failure type is a power system failure.

[0095] In this embodiment, it is possible to determine whether the battery system has a fault based on the fault message in the system message sent by the battery system. Specifically, if the fault level in the fault message is 0 and there is no fault code, it means that the battery system has not failed; if the fault level in the fault message is not 0, or there is a fault code, it means that the battery system has a fault. When the battery system fails, that is, the vehicle fault type is a power battery failure, the unmanned vehicle cannot be powered on normally, resulting in the inability to drive.

[0096] In this embodiment, it is possible to determine whether the steering system has a fault based on the fault message in the system message sent by the steering system. Specifically, if the fault level in the fault message is 0 and there is no fault code, it means that the steering system has not failed; if the fault level in the fault message is not 0, or there is a fault code, it means that the steering system has a fault. When the steering system fails, that is, the vehicle fault type is a power system fault, the unmanned vehicle is powered on normally, but cannot drive normally.

[0097] In this embodiment, based on the fault message in the system message sent by the battery system / steering system, it is possible to simply and accurately determine whether the battery system / steering system has a fault. In addition, if it is known that the unmanned vehicle needs to be unparked, that is, if a fault occurs and the vehicle needs to be moved, the type of fault of the entire vehicle can be accurately determined based on whether the battery system / steering system has a fault.

[0098] In a possible implementation, when the vehicle fault type is a power system fault, the above step S203 controls the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal, which may include:

[0099] S21: In response to the received remote control vehicle moving signal, the steering motor of the steering system is restored to enable.

[0100] S22: Determine a corresponding steering control instruction according to the remote control vehicle moving signal.

[0101] S23: Controlling the operation of the steering system according to the steering control command to achieve steering control during the maneuvering process of the unmanned vehicle.

[0102] For example, when the vehicle needs to be moved, the operator can send a remote control moving signal to the unmanned vehicle through a remote controller, and the remote controller can be a remote controller for controlling a drone. The body control module (BCM) of the unmanned vehicle chassis is provided with a receiver for the remote controller. The remote control moving signal sent by the remote controller can be a PWM wave. After the receiver receives the PWM wave sent by the remote controller, it will send the PWM wave to the BCM. The BCM will perform operations such as parsing the PWM wave to obtain a remote control moving signal that can be recognized by the chassis domain controller, and send the remote control moving signal to the chassis domain controller.

[0103] In this embodiment, the remote control vehicle moving signal is a multi-channel composite signal that can control multiple systems in the chassis domain. Therefore, the remote control vehicle moving signal needs to be parsed and split to obtain the steering control instruction of the steering system so as to control the operation of the steering system according to the specific steering control instruction.

[0104] In this embodiment, when the vehicle fault type is a power system fault, the unmanned vehicle is powered on normally, and the steering system is normal, the operator can send a remote control vehicle moving signal to the chassis domain controller through the remote control to activate the remote control steering function of the chassis domain controller. After receiving the remote control vehicle moving signal, the chassis domain controller will restore the steering motor of the steering system to enable the steering wheel of the unmanned vehicle to be in a controlled state, so that the steering system can be controlled according to the steering control instruction in the future. The operator does not need to turn the steering wheel to steer, and the unmanned vehicle's forward direction can be changed by remote control when moving the vehicle, which greatly improves the convenience and operability of the unmanned vehicle moving.

[0105] In a possible implementation, when the vehicle fault type is a power system fault, the above step S203 controls the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal, and may further include:

[0106] S31: In response to the received remote control vehicle moving signal, the steering motor of the steering system is restored to enable.

[0107] S32: Determine whether a brake system failure occurs according to the system message sent by the brake system.

[0108] S33: If there is no fault in the brake system, the brake system control is restored.

[0109] S34: Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal.

[0110] S35: Controlling the operation of the braking system according to the braking control instruction, and controlling the operation of the steering system according to the steering control instruction, so as to control the unmanned vehicle to move.

[0111] In this embodiment, it is possible to determine whether the brake system has a fault based on the fault message in the system message sent by the brake system. Specifically, if the fault level in the fault message is 0 and there is no fault code, it means that the brake system has not a fault; if the fault level in the fault message is not 0, or there is a fault code, it means that the brake system has a fault.

[0112] In this embodiment, the remote control car moving signal is a multi-channel composite signal that can control multiple systems in the chassis domain. Therefore, the remote control car moving signal needs to be parsed and split to obtain the steering control instructions of the steering system and the braking control instructions of the braking system, respectively, so as to control the operation of the steering system according to specific steering control instructions and control the direction of the unmanned vehicle, and control the operation of the braking system according to specific braking control instructions and control the speed of the unmanned vehicle.

[0113] In this embodiment, when the vehicle fault type is a power system fault, the unmanned vehicle is powered on normally. If the steering system and the braking system are normal, the operator can send a remote control vehicle moving signal to the chassis domain controller through the remote control to activate the remote control steering and braking functions of the chassis domain controller. After receiving the remote control vehicle moving signal, the chassis domain controller will restore the steering motor enable of the steering system to put the steering wheels of the unmanned vehicle in a controlled state, and restore the brake system control enable to put the brake pressure (vehicle speed) of the unmanned vehicle in a controlled state.

[0114] In this embodiment, when controlling the unmanned vehicle to move, in addition to remotely controlling the steering wheel to change the direction of the steering wheel, remote control of the braking system can also be added to ensure the controllability of the speed of the unmanned vehicle during the moving process, avoid the possible dangers of moving the vehicle on a sloping road surface, improve the safety of the unmanned vehicle moving, and enable the unmanned vehicle to be moved safely and conveniently by remote control.

[0115] In a possible implementation, when the vehicle fault type is a power battery fault, the above step S203 controls the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal, which may include:

[0116] S41: Control the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system.

[0117] S42: In response to the received remote control vehicle moving signal, the steering motor of the steering system is restored to enable.

[0118] S43: Determine a corresponding steering control instruction according to the remote control vehicle moving signal.

[0119] S44: Controlling the operation of the steering system according to the steering control command to achieve steering control during the maneuvering process of the unmanned vehicle.

[0120] In this embodiment, when the vehicle fault type is a power battery fault, the unmanned vehicle cannot be powered on normally. When the operator presses the release button, the parking system will receive the release button signal, release the parking, and send a release button trigger signal to the chassis domain controller through a CAN message to wake up the chassis domain controller. When the chassis domain controller determines that the vehicle fault type is a power battery fault based on the system message sent by the battery system, it will control the chassis low-voltage starting power supply to turn on and supply power to the steering system.

[0121] In this embodiment, after the chassis low-voltage starting power supply is controlled to start to power the steering system, the specific implementation method of controlling the unmanned vehicle to move is the same as the above steps S21-S23, which will not be repeated here.

[0122] In this embodiment, since the autonomous driving of the unmanned vehicle requires power from a high-voltage power battery, even if the chassis low-voltage starting power supply is turned on, the unmanned vehicle still cannot perform normal autonomous driving control. The chassis low-voltage starting power supply only powers the steering system during the remote control vehicle moving process to realize the remote control steering function.

[0123] In this embodiment, when the power battery fails and the vehicle cannot be powered on normally, the chassis domain controller can first control the chassis low-voltage starting power supply to turn on, so that the chassis low-voltage starting power supply can power the steering system. After receiving the remote control vehicle moving signal, the chassis domain controller will restore the steering motor of the steering system to enable the steering wheel of the unmanned vehicle to be in a controlled state, so that the steering system can be controlled according to the steering control instruction in the future. The operator does not need to turn the steering wheel to turn, and the forward direction of the unmanned vehicle can be changed by remote control when moving the vehicle, which greatly improves the convenience and operability of the unmanned vehicle moving.

[0124] In a possible implementation, when the vehicle fault type is a power battery fault, the above step S203 controls the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal, and may further include:

[0125] S51: Control the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system and the braking system.

[0126] S52: In response to the received remote control vehicle moving signal, the steering motor of the steering system is restored to enable.

[0127] S53: judging whether a brake system failure occurs according to the system message sent by the brake system;

[0128] S54: If there is no fault in the brake system, the brake system control is restored.

[0129] S55: Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal.

[0130] S56: Controlling the operation of the braking system according to the braking control instruction, and controlling the operation of the steering system according to the steering control instruction, so as to control the unmanned vehicle to move.

[0131] In this embodiment, when the chassis domain controller determines that the vehicle fault type is a power battery fault based on the system message sent by the battery system, it will control the chassis low-voltage starting power supply to turn on to supply power to the steering system and the braking system.

[0132] In this embodiment, after the chassis low-voltage starting power supply is controlled to start to power the steering system and the braking system, the specific implementation method of controlling the unmanned vehicle to move is the same as the above steps S31-S35, which will not be repeated here.

[0133] In this embodiment, since the automatic driving of the unmanned vehicle requires power from a high-voltage power battery, even if the chassis low-voltage starting power supply is turned on, the unmanned vehicle still cannot perform normal automatic driving control. The chassis low-voltage starting power supply only powers the steering system and braking system during the remote control vehicle moving process, thereby realizing the remote control steering function and the remote control braking function.

[0134] In this embodiment, when the unmanned vehicle is in a power-off state and needs to be controlled to move the unmanned vehicle, the chassis domain controller can first control the chassis low-voltage starting power supply to turn on, so that the chassis low-voltage starting power supply can power the steering system and the braking system. The operator can send a remote control moving vehicle signal to the chassis domain controller through a remote controller to activate the remote control steering and braking functions of the chassis domain controller. After the chassis domain controller receives the remote control moving vehicle signal, it will restore the steering motor enable of the steering system to put the steering wheels of the unmanned vehicle in a controlled state, and restore the braking system control enable to put the brake pressure of the unmanned vehicle in a controlled state. Through such a setting, the controllability of the direction and speed of the unmanned vehicle during the moving process can be ensured. While facilitating steering, it also avoids the possible dangers of moving the vehicle on a sloping road surface, thereby improving the convenience, operability and safety of the unmanned vehicle moving.

[0135] The following is an explanation of the unmanned vehicle maneuvering control method of the present application with reference to a specific embodiment.

[0136] In a specific embodiment, an unmanned delivery vehicle of a courier company breaks down during the automatic delivery process and stops at a certain location and cannot move. In order not to affect the driving of other vehicles, the operator uses a remote control to move the unmanned delivery vehicle to another location. The specific vehicle moving control process is as follows:

[0137] In the first step, the operator presses the release button, and the parking system receives the release button signal, releases the parking, and sends a release button trigger signal to the chassis domain controller.

[0138] In the second step, after the chassis domain controller receives the trigger signal of the release parking button, it disconnects the drive motor enable, releases the brake pressure of the brake system, and disconnects the steering motor enable of the steering system.

[0139] In the third step, the chassis domain controller obtains the system messages sent by each system in the chassis domain, and determines that the power battery has a fault based on the fault message in the system message. The fault type of the entire vehicle is a power battery fault.

[0140] In the fourth step, the chassis domain controller controls the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system.

[0141] In the fifth step, the operator controls the vehicle to move by remote control. After receiving the remote control vehicle moving signal, the chassis domain controller restores the steering motor enable of the steering system, determines that there is no fault in the braking system based on the system message sent by the braking system, and restores the braking system control enable.

[0142] In the sixth step, the chassis domain controller determines the corresponding steering control instructions and braking control instructions based on the remote control vehicle moving signal; controls the operation of the braking system according to the braking control instructions, and controls the operation of the steering system according to the steering control instructions to control the moving of the unmanned vehicle.

[0143] Figure 3 This is a schematic diagram of the structure of a chassis domain controller according to an embodiment of the present application. Figure 3 As shown, the chassis domain controller includes: an acquisition module 31, which is used to respond to the release parking button trigger signal sent by the parking system and acquire the system message sent by each system in the chassis domain; a processing module 32, which is used to determine the vehicle fault type according to the system message sent by each system in the chassis domain, and the vehicle fault type includes power system fault and power battery fault; according to the vehicle fault type and the received remote control vehicle moving signal, the unmanned vehicle is controlled to move.

[0144] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0145] In a possible implementation, the processing module 32 may also be used to:

[0146] According to the system message sent by the battery system, determine whether the battery system fails;

[0147] If the battery system fails, the vehicle fault type is determined to be a power battery failure;

[0148] If the battery system is not faulty, then determine whether the steering system is faulty based on the system message sent by the steering system. If the steering system is not faulty, then determine that the vehicle fault type is a power system fault.

[0149] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0150] In a possible implementation, the processing module 32 may also be used to:

[0151] In response to the received remote control vehicle moving signal, resuming the steering motor enabling of the steering system;

[0152] Determine the corresponding steering control command according to the remote control vehicle moving signal;

[0153] The steering system is controlled according to the steering control instructions to realize the steering control of the unmanned vehicle during the moving process.

[0154] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0155] In a possible implementation, the processing module 32 may also be used to:

[0156] In response to the received remote control vehicle moving signal, resuming the steering motor enabling of the steering system;

[0157] According to the system message sent by the braking system, determine whether the braking system has a fault;

[0158] If there is no fault in the brake system, the brake system control is restored;

[0159] According to the remote control vehicle moving signal, the corresponding steering control command and braking control command are determined;

[0160] The operation of the braking system is controlled according to the braking control command, and the operation of the steering system is controlled according to the steering control command, so as to control the maneuvering of the unmanned vehicle.

[0161] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0162] In a possible implementation, the processing module 32 may also be used to:

[0163] Control the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply can supply power to the steering system;

[0164] In response to the received remote control vehicle moving signal, resuming the steering motor enabling of the steering system;

[0165] Determine the corresponding steering control command according to the remote control vehicle moving signal;

[0166] The steering system is controlled according to the steering control instructions to realize the steering control of the unmanned vehicle during the moving process.

[0167] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0168] In a possible implementation, the processing module 32 may also be used to:

[0169] Control the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply can supply power to the steering system and the braking system;

[0170] In response to the received remote control vehicle moving signal, resuming the steering motor enabling of the steering system;

[0171] According to the system message sent by the braking system, determine whether the braking system has a fault;

[0172] If there is no fault in the brake system, the brake system control is restored;

[0173] According to the remote control vehicle moving signal, the corresponding steering control command and braking control command are determined;

[0174] The operation of the braking system is controlled according to the braking control command, and the operation of the steering system is controlled according to the steering control command, so as to control the maneuvering of the unmanned vehicle.

[0175] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0176] In a possible implementation, the processing module 32 may also be used to:

[0177] In response to the release parking button trigger signal sent by the parking system, the drive motor is disconnected, the brake pressure of the brake system is released, and the steering motor of the steering system is disconnected.

[0178] The chassis domain controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0179] Figure 4 This is a schematic diagram of the structure of a chassis domain controller according to an embodiment of the present application. Figure 4 As shown, the chassis domain controller includes: a processor 401, and a memory 402 that is communicatively connected to the processor 401; the memory 402 stores computer execution instructions; the processor 401 executes the computer execution instructions stored in the memory 402 to implement the steps of the unmanned vehicle moving control method in the above-mentioned method embodiments.

[0180] In the above-mentioned chassis domain controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0181] The memory 402 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0182] The processor 401 may be an integrated circuit chip having the ability to process signals. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0183] An embodiment of the present application further provides an unmanned vehicle, which may include: Figure 4 Chassis domain controller shown.

[0184] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0185] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0186] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0187] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0188] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0189] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not 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.

[0191] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0192] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling the movement of an unmanned vehicle, characterized in that: include: In response to a release parking button trigger signal sent by the parking system, obtaining a system message sent by each system in the chassis domain; Determine the type of vehicle fault according to the system messages sent by each system in the chassis domain, where the type of vehicle fault includes a power system fault and a power battery fault; The unmanned vehicle is controlled to move according to the vehicle fault type and the received remote control vehicle moving signal.

2. The method for controlling the maneuvering of an unmanned vehicle according to claim 1, characterized in that: The determining the vehicle fault type according to the system messages sent by each system in the chassis domain includes: According to the system message sent by the battery system, determine whether the battery system fails; If the battery system fails, the vehicle fault type is determined to be a power battery failure; If the battery system is not faulty, then determine whether the steering system is faulty based on the system message sent by the steering system. If the steering system is not faulty, then determine that the vehicle fault type is a power system fault.

3. The method for controlling the movement of an unmanned vehicle according to claim 2, characterized in that: When the vehicle fault type is a power system fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal includes: In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system; Determine a corresponding steering control instruction according to the remote control vehicle moving signal; The steering system is controlled to operate according to the steering control instruction to achieve steering control during the maneuvering process of the unmanned vehicle.

4. The method for controlling the movement of an unmanned vehicle according to claim 2, characterized in that: When the vehicle fault type is a power system fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal further includes: In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system; According to the system message sent by the braking system, determine whether the braking system has a fault; If there is no fault in the brake system, the brake system control is restored; Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal; The braking system is controlled to operate according to the braking control instruction, and the steering system is controlled to operate according to the steering control instruction, so as to control the unmanned vehicle to move.

5. The method for controlling the maneuvering of an unmanned vehicle according to any one of claims 1 to 4, characterized in that: When the vehicle fault type is a power battery fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal includes: Controlling the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system; In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system; Determine a corresponding steering control instruction according to the remote control vehicle moving signal; The steering system is controlled to operate according to the steering control instruction to achieve steering control during the maneuvering process of the unmanned vehicle.

6. The method for controlling the maneuvering of an unmanned vehicle according to any one of claims 1 to 4, characterized in that: When the vehicle fault type is a power battery fault, controlling the unmanned vehicle to move according to the vehicle fault type and the received remote control vehicle moving signal further includes: Controlling the chassis low-voltage starting power supply to start, so that the chassis low-voltage starting power supply supplies power to the steering system and the braking system; In response to the received remote control vehicle moving signal, resuming the enabling of the steering motor of the steering system; According to the system message sent by the braking system, determine whether the braking system has a fault; If there is no fault in the brake system, the brake system control is restored; Determine corresponding steering control instructions and braking control instructions according to the remote control vehicle moving signal; The braking system is controlled to operate according to the braking control instruction, and the steering system is controlled to operate according to the steering control instruction, so as to control the unmanned vehicle to move.

7. The method for controlling the maneuvering of an unmanned vehicle according to any one of claims 1 to 4, characterized in that: Also includes: In response to the release parking button trigger signal sent by the parking system, the drive motor is disconnected, the brake pressure of the brake system is released, and the steering motor of the steering system is disconnected.

8. A chassis domain controller, characterized in that: include: An acquisition module, used for acquiring system messages sent by various systems in the chassis domain in response to a release parking button trigger signal sent by the parking system; The processing module is used to determine the vehicle fault type according to the system messages sent by each system in the chassis domain, and the vehicle fault type includes power system fault and power battery fault; according to the vehicle fault type and the received remote control vehicle moving signal, the unmanned vehicle is controlled to move.

9. An unmanned vehicle, characterized in that: include: Chassis domain controller; The chassis domain controller comprises: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the unmanned vehicle moving control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the unmanned vehicle moving control method according to any one of claims 1 to 7.

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