Braking method and device for drive-by-wire chassis of unmanned vehicle, electronic equipment and storage medium

Abstract

The invention discloses a braking method and device for a drive-by-wire chassis of an unmanned vehicle, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: receiving a target remote control message sent by mobile equipment, determining a first driving speed matched with the target remote control message, and starting timing; a target driving speed is determined according to the first driving speed and the current driving speed of the drive-by-wire chassis of the unmanned vehicle, and a target time threshold value is determined based on the target driving speed; and when timing reaches a target time threshold value, if a next target remote control message issued by the mobile equipment is not received, controlling the drive-by-wire chassis of the unmanned vehicle to enter a braking mode, and sending a braking instruction message to the mobile equipment. According to the scheme, the problem that the drive-by-wire chassis of the unmanned vehicle frequently enters the braking mode is solved, the drive-by-wire chassis of the unmanned vehicle can be quickly and accurately braked, and the safety risk can be reduced while effective operation of the unmanned vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a braking method, device, electronic equipment and storage medium for a wire-controlled chassis of an unmanned vehicle. Background Art

[0002] With the development of wireless communication technology, more and more vehicle control systems have begun to use wireless communication technology to achieve remote control of vehicles. At the same time, with the development of mobile device technology, the functions of mobile devices are becoming more and more powerful, and have become an indispensable tool in people's daily lives. Establishing a communication connection between a mobile device and the unmanned vehicle's wire-controlled chassis to achieve remote control of the unmanned vehicle is a common method at this stage.

[0003] Currently, the problem of low antenna signal transmission power of mobile devices, which causes fluctuations in the communication connection between the mobile device and the unmanned vehicle's wire-controlled chassis, can be solved by timing. However, this method will cause the unmanned vehicle's wire-controlled chassis to frequently enter the braking mode, affecting the operation of the unmanned vehicle and bringing safety risks.

[0004] How to solve the problem of unmanned vehicle's wire-controlled chassis frequently entering braking mode, brake the unmanned vehicle's wire-controlled chassis quickly and accurately, ensure the unmanned vehicle's effective operation, and reduce safety risks is a key issue in the industry's research. Summary of the invention

[0005] The present invention provides a braking method, device, electronic device and storage medium for an unmanned vehicle's wire-controlled chassis to solve the problem that the unmanned vehicle's wire-controlled chassis frequently enters a braking mode. The unmanned vehicle's wire-controlled chassis can be braked quickly and accurately, while ensuring the unmanned vehicle's effective operation, safety risks can also be reduced.

[0006] According to one aspect of the present invention, a braking method for a wire-controlled chassis of an unmanned vehicle is provided, which is applied to a wire-controlled chassis controller, and the method comprises:

[0007] receiving a target remote control message sent by a mobile device, determining a first driving speed matching the target remote control message, and starting timing;

[0008] Determine a target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's controlled-by-wire chassis, and determine a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed;

[0009] When the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device.

[0010] According to another aspect of the present invention, a braking device for a wire-controlled chassis of an unmanned vehicle is provided, which is deployed on a wire-controlled chassis controller, and the device comprises:

[0011] A receiving module, configured to receive a target remote control message sent by a mobile device, determine a first driving speed matching the target remote control message, and start timing;

[0012] a determination module, configured to determine a target driving speed according to the first driving speed and a current driving speed of the unmanned vehicle's control-by-wire chassis, and determine a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed;

[0013] The braking module is used to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking command message to the mobile device when the timing reaches the target time threshold and if the next target remote control message sent by the mobile device is not received.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the braking method of the unmanned vehicle wire-controlled chassis described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking method of the unmanned vehicle wire-controlled chassis described in any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided, including a computer program, which, when executed by a processor, implements the braking method for the unmanned vehicle wire-controlled chassis according to any embodiment of the present invention.

[0020] According to the technical solution of the embodiment of the present invention, the wire-controlled chassis controller determines a first driving speed that matches the target remote control message by receiving a target remote control message sent by a mobile device, and starts timing; determines a target driving speed according to the first driving speed and the current driving speed of the wire-controlled chassis of the unmanned vehicle, and determines a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; when the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the wire-controlled chassis of the unmanned vehicle is controlled to enter a braking mode, and a braking command message is sent to the mobile device, which solves the problem of the unmanned vehicle's wire-controlled chassis frequently entering a braking mode, and can quickly and accurately brake the unmanned vehicle's wire-controlled chassis, while ensuring the effective operation of the unmanned vehicle and reducing safety risks.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a schematic diagram of a connection relationship between a wire-controlled chassis controller and a mobile device provided according to the first embodiment of the present invention;

[0025] Figure 3 is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to a second embodiment of the present invention;

[0026] Figure 4 is a structural schematic diagram of a braking device for a wire-controlled chassis of an unmanned vehicle provided according to a third embodiment of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an electronic device for implementing a braking method for a wire-controlled chassis of an unmanned vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention 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 thereof 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.

[0030] Embodiment 1

[0031] Figure 1 This is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to an embodiment of the present invention. This embodiment can be applied to braking the wire-controlled chassis of an unmanned vehicle through a wire-controlled chassis controller. The method can be executed by a braking device of the wire-controlled chassis of the unmanned vehicle. The braking device of the wire-controlled chassis of the unmanned vehicle can be implemented in the form of hardware and / or software. The braking device of the wire-controlled chassis of the unmanned vehicle can be configured in an electronic device such as a computer, server or tablet computer deployed with a wire-controlled chassis controller.

[0032] Before specifically introducing the steps of the braking method of the unmanned vehicle's wire-controlled chassis involved in this embodiment, it is also necessary to explain that, in this embodiment, the mobile device and the wire-controlled chassis controller can communicate through a CAN (Controller Area Network) bus converter; Figure 2 is a schematic diagram of a connection relationship between a wire-controlled chassis controller and a mobile device according to a first embodiment of the present invention, such as Figure 2As shown, the CAN bus converter can receive WiFi (Wireless Fidelity) network messages sent from the mobile device, convert the WiFi network messages into CAN bus messages, and send them to the wire-controlled chassis controller; it can also receive CAN bus messages sent from the wire-controlled chassis controller, convert the CAN bus messages into WiFi network messages, and send them to the wire-controlled chassis controller. It should be noted that in this embodiment, the target application installed in the mobile device can send WiFi network messages to the wire-controlled chassis controller, such as braking messages or steering messages, which are not limited in this embodiment.

[0033] Specifically, refer to Figure 1 , the method comprising:

[0034] Step 110: Receive a target remote control message sent by a mobile device, determine a first driving speed that matches the target remote control message, and start timing.

[0035] Among them, the mobile device can be a smart phone, a tablet computer or a smart wearable device, etc., which is not limited in this embodiment; the target remote control message can be any remote control message, which may include remote control instructions. For example, the remote control instructions can be: forward at a speed of 5km / h, backward at a speed of 2km / h or braking, etc., which is not limited in this embodiment; it can be understood that the wire-controlled chassis controller can control the chassis movement of the unmanned vehicle according to the received target remote control message.

[0036] Optionally, in this embodiment, after receiving the target remote control message sent by the mobile device, the wire-controlled chassis controller can parse the target remote control message, determine the remote control instruction that matches the target remote control message, and determine the first driving speed in the remote control instruction. For example, in the examples listed above, the first driving speeds can be: 5km / h, 2km / h and 0 respectively; further, the wire-controlled chassis controller can control the movement of the wire-controlled chassis of the unmanned vehicle based on the remote control instruction that matches the target remote control message; at the same time, after receiving the target remote control message, the timing starts until the next target remote control message is received or the timing reaches the set time threshold. The set time threshold in this embodiment is not fixed, and its specific value needs to be determined through subsequent steps.

[0037] It should be noted that, in this embodiment, the by-wire chassis controller starts timing immediately after receiving the target remote control message sent by the mobile device, rather than starting timing after parsing the target remote control message.

[0038] Step 120: determine a target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's controlled-by-wire chassis, and determine a target time threshold based on the target driving speed.

[0039] Among them, the target time threshold is negatively correlated with the target driving speed, that is, when the target driving speed increases, the target time threshold will decrease; for example, every time the target driving speed increases by 1km / h, the corresponding target time threshold can be reduced by 20ms, 30ms or 50ms, etc.

[0040] Optionally, in this embodiment, after determining the first driving speed that matches the target remote control message, the current driving speed of the unmanned vehicle's wire-controlled chassis can be obtained; further, the target driving speed can be determined based on the current driving speed and the first driving speed.

[0041] In an optional implementation of this embodiment, the average value of the first driving speed and the current driving speed can be determined, and the average value can be determined as the target driving speed; in another optional implementation of this embodiment, the larger speed value between the first driving speed and the current driving speed can be determined, and the larger speed value can be determined as the target driving speed.

[0042] Optionally, in the present embodiment, after the target driving speed is determined, the target time threshold can be further determined according to the target driving speed; illustratively, in the present embodiment, the target time threshold can be determined according to the matching relationship between the target driving speed and the time threshold; the matching relationship between the target driving speed and the time threshold can be a linear relationship or a non-linear relationship, which is not limited in the present embodiment; in the present embodiment, the target time threshold that matches the target driving speed can also be found in a comparison table of predetermined target driving speeds and time thresholds; wherein the comparison table of target driving speeds and time thresholds contains target time thresholds corresponding to each driving speed, for example, a driving speed of 1 km / h corresponds to a time threshold of 900 ms, a driving speed of 3 km / h corresponds to a time threshold of 720 ms, a driving speed of 7 km / h corresponds to a time threshold of 500 ms, etc., which is not limited in the present embodiment.

[0043] The solution of this embodiment can prevent the unmanned vehicle's wire-controlled chassis from repeatedly entering the braking mode and affecting the operation of the unmanned vehicle's wire-controlled chassis by setting a larger time threshold when the unmanned vehicle's wire-controlled chassis is traveling at a low speed, thereby preventing the unmanned vehicle's wire-controlled chassis from repeatedly entering the braking mode and affecting the operation of the unmanned vehicle's wire-controlled chassis. Since the unmanned vehicle's wire-controlled chassis is traveling at a low speed at this time, the unmanned vehicle's driving safety will not be affected if it travels for a period of time without receiving a remote control signal.

[0044] Step 130: When the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device.

[0045] In another optional implementation of this embodiment, when the wire-controlled chassis controller timing reaches the target time threshold, if the next target remote control message sent by the mobile device has not been received, the wire-controlled chassis of the unmanned vehicle is controlled to enter the braking mode. Furthermore, a braking command message can be generated and the generated braking command message is forwarded to the mobile device through the CAN bus converter.

[0046] It can be understood that in this embodiment, if the wire-controlled chassis controller does not receive the target remote control message sent by the mobile device for a long time, it means that the network of the mobile device is unstable and the signal delay is high, making it difficult to remotely control the unmanned vehicle's wire-controlled chassis in real time.

[0047] It can be understood that in this embodiment, after the unmanned vehicle's controlled-by-wire chassis enters the braking mode, the controlled-by-wire chassis controller no longer responds to messages other than the braking message sent by the mobile device.

[0048] It should be noted that, in this embodiment, the wire-controlled chassis can periodically send a message identifying the current state of the vehicle to the CAN bus converter. For example, a message identifying the current state of the unmanned vehicle's wire-controlled chassis can be sent to the CAN bus converter every 100 ms; specifically, when the vehicle is not in braking mode, the value of the braking bit in the sent message is non-1; when the unmanned vehicle's wire-controlled chassis enters braking mode, the value of the braking bit in the sent message is 1.

[0049] Optionally, in this embodiment, after receiving the target remote control message with the remote control instruction to move forward at a speed of 7 km / h, the chassis controller of the wire control can control the chassis of the unmanned vehicle to move forward at a speed of 7 km / h, and start timing from 0. When the timing reaches 500ms (the target time threshold is 500ms) and the next target remote control message has not been received, the chassis controller of the wire control controls the chassis of the unmanned vehicle to stop moving forward immediately and enter the braking mode, that is, brake immediately. The advantage of this setting is that it can prevent the unmanned vehicle from continuing to move forward and causing accidents such as collisions that affect the safety of the unmanned vehicle.

[0050] According to the technical solution of this embodiment, the control-by-wire chassis controller determines a first driving speed that matches the target remote control message by receiving a target remote control message sent by a mobile device, and starts timing; determines a target driving speed according to the first driving speed and the current driving speed of the control-by-wire chassis of the unmanned vehicle, and determines a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; when the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the control-by-wire chassis of the unmanned vehicle is controlled to enter a braking mode, and a braking command message is sent to the mobile device, which solves the problem of the control-by-wire chassis of the unmanned vehicle frequently entering a braking mode, and can brake the control-by-wire chassis of the unmanned vehicle quickly and accurately, while ensuring the effective operation of the unmanned vehicle, it can also reduce safety risks.

[0051] Embodiment 2

[0052] Figure 3 1 is a flow chart of a braking method for a wire-controlled chassis of an unmanned vehicle provided according to the second embodiment of the present invention. This embodiment is a further refinement of the above technical solution. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes:

[0053] Step 310: Receive a target remote control message sent by a mobile device, determine a first driving speed that matches the target remote control message, and start timing.

[0054] Step 320: determine a target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's controlled-by-wire chassis, and determine a target time threshold based on the target driving speed.

[0055] In this embodiment, after the first driving speed is determined, the target driving speed can be further determined based on the first driving speed and the target driving speed; further, the target time threshold can be determined based on the target driving speed.

[0056] Optionally, in this embodiment, determining the target driving speed based on the first driving speed and the current driving speed of the unmanned vehicle's wire-controlled chassis may include: comparing the first driving speed with the current driving speed; if the first driving speed is greater than the current driving speed, determining the first driving speed as the target driving speed; otherwise, determining the current driving speed as the target driving speed.

[0057] In an optional implementation of the present embodiment, after determining the first driving speed and the current driving speed of the unmanned vehicle's wire-controlled chassis, the first driving speed and the current driving speed can be further compared. If it is determined that the first driving speed is greater than the current driving speed, the first driving speed can be determined as the target driving speed; if it is determined that the first driving speed is less than the current driving speed, the current driving speed can be determined as the target driving speed; if it is determined that the first driving speed is equal to the current driving speed as expected, then either the current driving speed or the target driving speed can be determined as the target driving speed.

[0058] In another optional implementation of this embodiment, after determining the first driving speed and the current driving speed of the unmanned vehicle's wire-controlled chassis, the average driving speed of the first driving speed and the current driving speed can be further determined, and the average driving speed can be determined as the target driving speed.

[0059] Optionally, in this embodiment, determining the target time threshold based on the target driving speed may include: determining a target speed interval corresponding to the target driving speed, and determining the time threshold corresponding to the target speed interval as the target time threshold.

[0060] In an optional implementation of this embodiment, after the target driving speed is determined, the target time threshold can be further determined based on the target driving speed; in this embodiment, the target speed interval corresponding to the target driving speed can be determined, and the time threshold corresponding to the target speed interval can be determined as the target time threshold.

[0061] In this embodiment, the driving speed of the unmanned vehicle's wire-controlled chassis can be divided into different speed intervals. For example, the divided speed intervals can be: (0, 1.2], (1.2, 2.4], (2.4, 3.6], (3.6, 4.8], (4.8, 6], (6, maximum speed], where the maximum speed is the maximum driving speed of the unmanned vehicle's wire-controlled chassis.

[0062] Optionally, in this embodiment, the target driving speed is matched with each predetermined speed interval to determine a first speed interval including the target driving speed; the first speed interval is determined as the target speed interval; wherein each speed interval corresponds one-to-one to each time threshold, and the smaller the speed included in the speed interval, the larger the time threshold.

[0063] It should be noted that, in the present embodiment, each speed interval corresponds to a time threshold. For example, in the above example, the time threshold corresponding to the speed interval (0, 1.2] may be 800ms, the time threshold corresponding to the speed interval (1.2, 2.4] may be 740ms, the time threshold corresponding to the speed interval (2.4, 3.6] may be 680ms, the time threshold corresponding to the speed interval (3.6, 4.8] may be 620ms, the time threshold corresponding to the speed interval (4.8, 6] may be 560ms, and the time threshold corresponding to the speed interval (6, maximum speed] may be 500ms.

[0064] In an optional implementation of this embodiment, after the target driving speed is determined, the target driving speed can be further matched with each speed interval to determine a first speed interval including the target driving speed, and the first speed interval can be determined as the target speed interval; further, a time threshold corresponding to the target speed interval can be determined as the target time threshold.

[0065] In an example of this embodiment, if the target driving speed is 2.1 km / h, and the first speed interval including 2.1 km / h is (1.2, 2.4], then 680 ms can be further determined as the target time threshold.

[0066] Step 330: before the timing reaches the set target time threshold, if a next target remote control message sent by the mobile device is received, a first driving speed matching the next target remote control message is determined, and the timing is restarted.

[0067] Optionally, in this embodiment, timing starts immediately after the target remote control message is received. If the next target remote control message sent by the mobile device is received before the timing reaches the target time threshold, the first driving speed matching the next target remote control message can be determined and the timing can be restarted.

[0068] In an example of this embodiment, after receiving a target remote control message with a remote control instruction to move at a speed of 5 km / h, the wire-controlled chassis controller can control the chassis of the unmanned vehicle to move at a speed of 5 km / h and start timing from 0. When the timing reaches 200ms (the target time threshold is 400ms), the next target remote control message sent by the mobile device to move at a speed of 6 km / h is received. The chassis of the unmanned vehicle can continue to be controlled to move at a speed of 6 km / h, and the timing can be restarted from 0, and the target time threshold can be re-determined.

[0069] Step 340: When the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device.

[0070] Step 350: In response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued.

[0071] Among them, the braking value in the first remote control message is 1, that is, the first remote control message is a braking message; the braking value in the second remote control message is 0, that is, the second remote control message is a non-braking message. It can be understood that in this embodiment, the braking value in each remote control message can be any value between 0 and 1; when the braking value is 0, it means that the unmanned vehicle's wire-controlled chassis is not subject to any braking control; when the braking value is 1, it means that the unmanned vehicle's wire-controlled chassis is completely locked and cannot move forward.

[0072] Optionally, in this embodiment, when the timing reaches the target time threshold, the control-by-wire chassis controller has not received the next target remote control message sent by the mobile device, causing the control-by-wire chassis to enter the braking mode and send a braking instruction message to the mobile device. If the first remote control message and the second remote control message sent by the mobile device are received consecutively, the control-by-wire chassis can release the braking mode, continue to receive the target remote control messages sent by the mobile device, and respond to the target remote control messages.

[0073] Optionally, in this embodiment, in response to continuous reception instructions of the first remote control message and the second remote control message, releasing the braking mode may include: parsing the first remote control message to determine the braking value of the first remote control message; when it is determined that the braking value of the first remote control message is 1, continuing to parse the second remote control message to determine the braking value of the second remote control message; when it is determined that the braking value of the second remote control message is 0, releasing the brakes on the unmanned vehicle's wire-controlled chassis.

[0074] It should be noted that, in this embodiment, between receiving the first remote control message and the second remote control message, other subsequent remote control messages may be received, and the braking value of each subsequent remote control message may be any value between 0 and 1.

[0075] In an example of this embodiment, after the unmanned vehicle's wire-controlled chassis enters the braking mode, it receives the first remote control message with a braking value of 1, and then successively receives the third remote control message and the fourth remote control message; wherein, the braking value of the third remote control message is 0.9, and the braking value of the fourth remote control message is 0.8; finally, the second remote control message with a braking value of 0 is received, at which time, the wire-controlled chassis controller controls the unmanned vehicle's wire-controlled chassis to release the braking mode.

[0076] In an optional implementation of the present embodiment, after the wire-controlled chassis controller enters the braking mode and receives the first remote control message, it can parse the first remote control message, determine the braking value in the first remote control message according to the analysis result, and further determine whether the braking value is 1; after determining that the first braking value is 1, it can further obtain the second remote control message, parse the second remote control message, determine the braking value in the second remote control message according to the analysis result, and further determine whether the braking value is 0; after determining that the braking value is 0, the unmanned vehicle wire-controlled chassis can be further controlled to release the braking mode, so that the wire-controlled chassis enters the normal working mode.

[0077] Optionally, in this embodiment, when it is determined that the braking value in the first remote control message is not 1, the second remote control message may not be parsed, and the operation of continuously receiving the first remote control message and the second remote control message may continue.

[0078] The technical solution of this embodiment can quickly determine the time thresholds corresponding to different speeds by determining the target speed interval corresponding to the target driving speed and determining the time threshold corresponding to the target speed interval as the target time threshold, thereby preventing the unmanned vehicle's wire-controlled chassis from repeatedly entering the braking mode and affecting the operation of the unmanned vehicle's wire-controlled chassis, thereby improving the operating efficiency of the unmanned vehicle and reducing safety risks. The solution of this embodiment can reduce the frequency of triggering safety braking due to environmental factors of the remote control of the mobile device in the more commonly used low-speed remote control driving scenario while ensuring safe braking, thereby optimizing the continuity of the user's remote control operation and improving user experience and work efficiency.

[0079] Embodiment 3

[0080] Figure 4 Schematic diagram of the structure of a brake device for a wire-controlled chassis of an unmanned vehicle according to Embodiment 3 of the present invention. Figure 4 As shown, the device can be deployed in a wire-controlled chassis controller, and the device includes: a receiving module 410 , a determining module 420 and a braking module 430 .

[0081] The receiving module 410 is used to receive a target remote control message sent by a mobile device, determine a first driving speed matching the target remote control message, and start timing;

[0082] A determination module 420 is used to determine a target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's control-by-wire chassis, and determine a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed;

[0083] The braking module 430 is used to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking instruction message to the mobile device when the timing reaches the target time threshold and if the next target remote control message sent by the mobile device is not received.

[0084] The solution of this embodiment is to receive the target remote control message sent by the mobile device through the receiving module, determine the first driving speed matching the target remote control message, and start timing; determine the target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's wire-controlled chassis through the determination module, and determine the target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; when the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter the braking mode, and a braking command message is sent to the mobile device, which solves the problem of the unmanned vehicle's wire-controlled chassis frequently entering the braking mode, and can quickly and accurately brake the unmanned vehicle's wire-controlled chassis, while ensuring the effective operation of the unmanned vehicle, it can also reduce safety risks.

[0085] In an optional implementation of this embodiment, the determination module 420 is specifically configured to compare the magnitude relationship between the first driving speed and the current driving speed;

[0086] If the first driving speed is greater than the current driving speed, determining the first driving speed as a target driving speed;

[0087] Otherwise, the current driving speed is determined as the target driving speed.

[0088] In an optional implementation of this embodiment, the determination module 420 is further specifically configured to determine a target speed interval corresponding to the target driving speed, and to determine a time threshold corresponding to the target speed interval as the target time threshold.

[0089] In an optional implementation of this embodiment, the determination module 420 is further specifically configured to match the target driving speed with each predetermined speed interval to determine a first speed interval including the target driving speed;

[0090] determining the first speed interval as a target speed interval;

[0091] Therein, each speed interval corresponds to each time threshold one by one, and the smaller the speed included in the speed interval, the larger the time threshold.

[0092] In an optional implementation of this embodiment, the braking device of the unmanned vehicle's wire-controlled chassis also includes: a second receiving module, which is used to determine the first driving speed that matches the next target remote control message if the next target remote control message sent by the mobile device is received before the timing reaches the set target time threshold, and restart the timing.

[0093] In an optional implementation of this embodiment, the braking device of the unmanned vehicle's wire-controlled chassis also includes: a braking mode release module, which is used to release the braking mode in response to continuous reception instructions of the first remote control message and the second remote control message, and continue to execute the operation of receiving the target remote control message sent by the mobile device.

[0094] In an optional implementation of this embodiment, the braking mode release module is specifically configured to parse the first remote control message to determine the braking value of the first remote control message;

[0095] When it is determined that the braking value of the first remote control message is 1, continue to parse the second remote control message to determine the braking value of the second remote control message;

[0096] When it is determined that the braking value of the second remote control message is 0, the braking of the unmanned vehicle's wire-controlled chassis is released.

[0097] The braking device of the unmanned vehicle's wire-controlled chassis provided in the embodiment of the present invention can execute the braking method of the unmanned vehicle's wire-controlled chassis provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0098] Embodiment 4

[0099] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0100] like Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0101] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0102] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as a braking method for an unmanned vehicle's wire-controlled chassis, the method comprising: receiving a target remote control message sent by a mobile device through a wire-controlled chassis controller, determining a first driving speed that matches the target remote control message, and starting timing; determining a target driving speed based on the first driving speed and the current driving speed of the unmanned vehicle's wire-controlled chassis, and determining a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; when the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking instruction message is sent to the mobile device.

[0103] In some embodiments, the braking method of the unmanned vehicle's wire-controlled chassis may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the braking method of the unmanned vehicle's wire-controlled chassis described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the braking method of the unmanned vehicle's wire-controlled chassis in any other appropriate manner (e.g., by means of firmware).

[0104] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0106] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0109] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0110] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A braking method for a wire-controlled chassis of an unmanned vehicle, applied to a wire-controlled chassis controller, characterized in that: The method comprises: receiving a target remote control message sent by a mobile device, determining a first driving speed matching the target remote control message, and starting timing; Determine a target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's controlled-by-wire chassis, and determine a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; When the timing reaches the target time threshold, if the next target remote control message sent by the mobile device is not received, the unmanned vehicle's wire-controlled chassis is controlled to enter a braking mode, and a braking command message is sent to the mobile device.

2. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: The determining the target driving speed according to the first driving speed and the current driving speed of the unmanned vehicle's controlled-by-wire chassis includes: comparing the first driving speed with the current driving speed; If the first driving speed is greater than the current driving speed, determining the first driving speed as a target driving speed; Otherwise, the current driving speed is determined as the target driving speed.

3. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: The step of determining a target time threshold based on the target driving speed comprises: A target speed interval corresponding to the target driving speed is determined, and a time threshold corresponding to the target speed interval is determined as the target time threshold.

4. The braking method of the unmanned vehicle controlled by wire chassis according to claim 3, characterized in that: The determining of a target speed interval corresponding to the target driving speed includes: Matching the target driving speed with each predetermined speed interval to determine a first speed interval including the target driving speed; determining the first speed interval as a target speed interval; Therein, each speed interval corresponds to each time threshold one by one, and the smaller the speed included in the speed interval, the larger the time threshold.

5. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: The method further comprises: Before the timing reaches the set target time threshold, if a next target remote control message sent by the mobile device is received, a first driving speed matching the next target remote control message is determined, and the timing is restarted.

6. The braking method of the unmanned vehicle by-wire chassis according to claim 1, characterized in that: After controlling the unmanned vehicle's wire-controlled chassis to enter the braking mode, it also includes: In response to the continuous reception instructions of the first remote control message and the second remote control message, the braking mode is released, and the operation of receiving the target remote control message sent by the mobile device is continued.

7. The braking method of the unmanned vehicle by-wire chassis according to claim 6, characterized in that: The step of releasing the braking mode in response to the continuous reception instructions of the first remote control message and the second remote control message comprises: parsing the first remote control message to determine a braking value of the first remote control message; When it is determined that the braking value of the first remote control message is 1, continue to parse the second remote control message to determine the braking value of the second remote control message; When it is determined that the braking value of the second remote control message is 0, the braking of the unmanned vehicle's wire-controlled chassis is released.

8. A braking device for a wire-controlled chassis of an unmanned vehicle, deployed on a wire-controlled chassis controller, characterized in that: include: A receiving module, configured to receive a target remote control message sent by a mobile device, determine a first driving speed matching the target remote control message, and start timing; a determination module, configured to determine a target driving speed according to the first driving speed and a current driving speed of the unmanned vehicle's control-by-wire chassis, and determine a target time threshold based on the target driving speed; wherein the target time threshold is negatively correlated with the target driving speed; The braking module is used to control the unmanned vehicle's wire-controlled chassis to enter a braking mode and send a braking command message to the mobile device when the timing reaches the target time threshold and if the next target remote control message sent by the mobile device is not received.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the braking method for the unmanned vehicle wire-controlled chassis according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking method of the unmanned vehicle wire-controlled chassis according to any one of claims 1 to 7 when executed.

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