Control method and control device of unmanned vehicle, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses an unmanned vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: responding to a received starting control signal sent by a mobile terminal, and waking up a controller system of a target vehicle; parameter information of the target vehicle is obtained from the controller system, and whether the target vehicle meets control conditions or not is judged according to the parameter information; in response to the condition that the target vehicle meets the control condition, generating an enable signal, and feeding back the enable signal to the mobile terminal; wherein the enable signal is used for unlocking a control function of the mobile terminal; and in response to the received vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal. According to the method, longitudinal, transverse and vertical control of the vehicle can be achieved, a user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, wrong operation caused by the limited sight line and the view blind area is avoided, and the user can better enjoy the pleasure of driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method of an unmanned vehicle, a control device of an unmanned vehicle, an electronic device and a computer readable storage medium. BACKGROUND

[0002] With the rapid development of intelligent and electric technologies, the automobile industry is accelerating the transformation towards "scenario-based experience" and "deep user interaction".

[0003] In a complex driving environment, such as mud, rocks, sand, etc., the driver may need to get in and out of the vehicle frequently to observe the terrain to ensure the safe passage of the vehicle. However, when the driver is observing the terrain outside the vehicle, he cannot control the vehicle at the same time, which reduces the efficiency of human-vehicle cooperation and the operability of the vehicle. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, a first object of the present application is to provide a control method of an unmanned vehicle, which can solve the problems of frequent getting in and out of the vehicle to observe the environment, low-speed obstacle crossing, insufficient control accuracy, low human-vehicle cooperation efficiency, etc. in a complex driving environment, and realize the control of the longitudinal, lateral and vertical directions of the vehicle. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid erroneous operation due to limited vision and blind area, increase entertainment and interactivity, and enable the user to better enjoy the pleasure of driving.

[0005] A second object of the present application is to provide a control device of an unmanned vehicle.

[0006] A third object of the present application is to provide an electronic device.

[0007] A fourth object of the present application is to provide a computer readable storage medium.

[0008] To achieve the above objects, a control method of an unmanned vehicle according to a first aspect of the present application comprises: in response to receiving a start control signal sent by a mobile terminal, waking up a controller system of a target vehicle; obtaining parameter information of the target vehicle from the controller system, and determining whether the target vehicle meets a control condition according to the parameter information; in response to the target vehicle meeting the control condition, generating an enable signal and feeding back the enable signal to the mobile terminal; wherein the enable signal is used to unlock the control function of the mobile terminal; in response to receiving a vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal.

[0009] In addition, the control method of an unmanned vehicle according to the above embodiments of the present application can also have the following additional technical features:

[0010] According to some embodiments of the present application, the controller system comprises at least one of a drive motor controller, a steering controller, a throttle / brake controller, an IMU (Inertial Measurement Unit) controller, and an active suspension controller of the target vehicle.

[0011] According to some embodiments of the present application, the parameter information of the target vehicle comprises a vehicle wake-up signal, a vehicle mode signal, a vehicle gear signal, a steering angle signal, a throttle / brake signal, a three-axis acceleration signal, a pitch angle signal, a roll angle signal, a yaw angle signal, and a suspension height signal; obtaining the parameter information of the target vehicle from the controller system, and determining whether the target vehicle meets the control condition according to the parameter information comprises: obtaining the vehicle wake-up signal, the vehicle mode signal, and the vehicle gear signal from the drive motor controller, obtaining the steering angle signal from the steering controller, obtaining the throttle / brake signal from the throttle / brake controller, obtaining the three-axis acceleration signal, the pitch angle signal, the roll angle signal, and the yaw angle signal from the IMU controller, and obtaining the suspension height signal from the active suspension controller; determining whether the speed of the target vehicle is lower than a preset speed threshold and whether the attitude of the target vehicle meets a preset attitude according to the parameter information; and determining that the target vehicle meets the control condition in response to the speed of the target vehicle being lower than the preset speed threshold and the attitude of the target vehicle meeting the preset attitude.

[0012] According to some embodiments of the present application, the vehicle control signal comprises a drive control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal comprises: in response to receiving the drive control signal sent by the mobile terminal, adjusting the driving mode and the vehicle gear of the target vehicle according to the drive control signal.

[0013] According to some embodiments of the present application, the vehicle control signal comprises a steering control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal comprises: in response to receiving the steering control signal sent by the mobile terminal, controlling the target vehicle to steer at a target angle according to the steering control signal.

[0014] According to some embodiments of the present application, the vehicle control signal comprises a brake control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal comprises: in response to receiving the brake control signal sent by the mobile terminal, controlling the target vehicle to brake at a target torque according to the brake control signal.

[0015] According to some embodiments of the present application, the vehicle control signal comprises a suspension control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, the method comprises: in response to receiving the suspension control signal sent by the mobile terminal, controlling a target suspension area corresponding to at least one target wheel of the target vehicle according to the suspension control signal to raise or lower the single-wheel height of the target wheel.

[0016] According to the control method of the unmanned vehicle, the controller system of the target vehicle is woken up in response to receiving the start control signal sent by the mobile terminal; parameter information of the target vehicle is obtained from the controller system, and it is determined whether the target vehicle meets a control condition according to the parameter information; an enable signal is generated and fed back to the mobile terminal in response to the target vehicle meeting the control condition; the enable signal is used to unlock the control function of the mobile terminal; and the attitude of the target vehicle is controlled according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal. Thus, the method can solve the problems that a user needs to frequently get on and off a vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, and low efficiency of human-vehicle cooperation in a complex driving environment, and realize the control of the longitudinal, lateral and vertical directions of the vehicle. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid erroneous operation caused by limited vision and blind area, increase the entertainment and interactivity, and enable the user to better enjoy the driving pleasure.

[0017] A second object of the present application is to provide a control device of an unmanned vehicle, which can solve the problems that a user needs to frequently get on and off a vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, and low efficiency of human-vehicle cooperation in a complex driving environment, realize the control of the longitudinal, lateral and vertical directions of the vehicle, the user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid erroneous operation caused by limited vision and blind area, increase the entertainment and interactivity, and enable the user to better enjoy the driving pleasure.

[0018] To achieve the above object, the second aspect of the present application provides a control device of an unmanned vehicle, which comprises: a wake-up module configured to wake up the controller system of the target vehicle in response to receiving the start control signal sent by the mobile terminal; a judgment module configured to obtain parameter information of the target vehicle from the controller system, and determine whether the target vehicle meets a control condition according to the parameter information; a feedback module configured to generate an enable signal and feed back the enable signal to the mobile terminal in response to the target vehicle meeting the control condition; the enable signal is used to unlock the control function of the mobile terminal; and a control module configured to control the attitude of the target vehicle according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal.

[0019] The control device of the unmanned vehicle according to the embodiment of the present application comprises: a wake-up module configured to wake up a controller system of a target vehicle in response to receiving a start control signal sent by a mobile terminal; a judgment module configured to acquire parameter information of the target vehicle from the controller system, and judge whether the target vehicle meets a control condition according to the parameter information; a feedback module configured to generate an enable signal and feed back the enable signal to the mobile terminal in response to the target vehicle meeting the control condition; wherein the enable signal is used to unlock a control function of the mobile terminal; and a control module configured to control a posture of the target vehicle according to a vehicle control signal sent by the mobile terminal in response to receiving the vehicle control signal. Thus, the present device can solve the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, low efficiency of man-vehicle cooperation, and the like in a complex driving environment, and realize the control of the vehicle in the longitudinal, lateral and vertical directions. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid the wrong operation caused by the limited line of sight and the blind area of the field of view, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0020] To achieve the above object, the third aspect of the present application provides an electronic device, comprising: a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the control method of the unmanned vehicle.

[0021] According to the electronic device of the embodiment of the present application, by executing the control method of the unmanned vehicle, the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, low efficiency of man-vehicle cooperation, and the like in a complex driving environment can be solved, and the control of the vehicle in the longitudinal, lateral and vertical directions can be realized. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid the wrong operation caused by the limited line of sight and the blind area of the field of view, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0022] To achieve the above object, the fourth aspect of the present application provides a computer readable storage medium, and the program or instructions are stored on the readable storage medium and executed by the processor to implement the steps of the control method of the unmanned vehicle.

[0023] According to the computer readable storage medium of the embodiment of the present application, by executing the control method of the unmanned vehicle, the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, low efficiency of man-vehicle cooperation, and the like in a complex driving environment can be solved, and the control of the vehicle in the longitudinal, lateral and vertical directions can be realized. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid the wrong operation caused by the limited line of sight and the blind area of the field of view, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0024] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Flow chart of a control method for an unmanned vehicle according to some embodiments of the present application;

[0026] Figure 2 Schematic diagram of a control framework for an unmanned vehicle according to some embodiments of the present application;

[0027] Figure 3 Flow chart of a control method for an unmanned vehicle according to further embodiments of the present application;

[0028] Figure 4 Schematic diagram of a control device for an unmanned vehicle according to some embodiments of the present application;

[0029] Figure 5 Block schematic diagram of an electronic device according to some embodiments of the present application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the present application with reference to the embodiments and the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application should be understood as their common meanings to those skilled in the art to which the present application pertains. The terms “first”, “second” and similar terms used in the embodiments of the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms “include” or “contain” and similar terms mean that the components or objects before the terms encompass the components or objects listed after the terms and their equivalents, without excluding other components or objects. The terms “connect” or “connected” and similar terms do not mean physical or mechanical connection, but can include electrical connection, whether direct or indirect. The terms “upper”, “lower”, “left”, “right” and the like only represent relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0032] As described in the background section, with the rapid development of intelligent and electric technologies, the automobile industry is accelerating the transformation towards “scenario-based experience” and “deep user interaction”.

[0033] The applicant finds in the process of implementing the present application that in a complex driving environment (off-road environment) such as mud, rock, sand, etc., the driver may need to get in and out of the vehicle frequently to observe the terrain to ensure the safe passage of the vehicle, but when the driver is outside the vehicle to observe the terrain, the driver cannot control the vehicle at the same time, which reduces the efficiency of man-machine cooperation and the operability of the vehicle.

[0034] Therefore, the present application can solve the problems of the user needing to get in and out of the vehicle frequently to observe the environment, insufficient control accuracy, low efficiency of man-machine cooperation, etc. in a complex driving environment, and realize the control of the longitudinal, lateral and vertical directions of the vehicle. The user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid erroneous operation caused by limited vision and blind area, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0035] The control method of the unmanned vehicle, the control device of the unmanned vehicle, the electronic device and the computer readable storage medium according to the embodiments of the present application are described below with reference to the accompanying drawings.

[0036] Reference Figure 1 The flowchart of the control method of the unmanned vehicle according to some embodiments of the present application is shown in FIG. 1.

[0037] As Figure 1 shown, the control method of the unmanned vehicle according to the embodiments of the present application can include the following steps:

[0038] S101, in response to receiving the start control signal sent by the mobile terminal, waking up the controller system of the target vehicle.

[0039] Specifically, the mobile terminal sends a start control signal to the vehicle-end signal transceiver device, wherein the vehicle-end signal transceiver device is connected to the mobile terminal in communication through Bluetooth, wireless or other communication protocols. The vehicle-end signal transceiver device receives the start control signal sent by the mobile terminal, and forwards the received start control signal sent by the mobile terminal to the VMC (Vehicle Motion Control System, vehicle motion control system). When the VMC receives the start control signal sent by the mobile terminal forwarded by the vehicle-end signal transceiver device, the VMC wakes up the controller system of the target vehicle. The mobile terminal can be a smart phone, a tablet computer, a notebook computer, a wearable device, etc. The controller system can include a drive motor controller, a throttle controller, a brake controller, a steering controller, an IMU controller, an active suspension controller, a fuel cell controller, etc.

[0040] In some embodiments, before the VMC receives the start control signal sent by the mobile terminal and forwarded by the vehicle-side transceiver, the controller system of the target vehicle can be in a state of always starting, a state of hibernation or a state of not starting, after the VMC receives the start control signal sent by the mobile terminal and forwarded by the vehicle-side transceiver, the controller system of the target vehicle is woken up, that is, the controller system of the target vehicle can continue to maintain the state of starting from the state of always starting, the controller system of the target vehicle can be converted from the state of hibernation to the state of starting, or the controller system of the target vehicle can be converted from the state of not starting to the state of starting.

[0041] S102, obtaining parameter information of the target vehicle from the controller system, and determining whether the target vehicle meets the control condition according to the parameter information.

[0042] Specifically, after the controller system of the target vehicle is woken up, the controller system can obtain the parameter information of the target vehicle, and after obtaining the parameter information of the target vehicle from the controller system, it is determined whether the target vehicle meets the control condition according to the parameter information of the target vehicle, so as to determine whether the attitude of the target vehicle is a safe attitude, which can be further understood as whether the slope and balance state of the target vehicle are within a set range.

[0043] S103, in response to the target vehicle meeting the control condition, generating an enable signal and feeding back the enable signal to the mobile terminal; wherein the enable signal is used to unlock the control function of the mobile terminal.

[0044] Specifically, when the target vehicle meets the control condition, the VMC generates an enable signal, and the VMC feeds back the enable signal to the mobile terminal through the vehicle-side transceiver. When the mobile terminal receives the enable signal sent by the VMC through the vehicle-side transceiver, the mobile terminal can unlock its control function, such as "forward", "backward", "left turn" and "right turn". When the target vehicle does not meet the control condition, the VMC cannot generate an enable signal, and the mobile terminal cannot unlock its control function, that is, it cannot control the attitude of the target vehicle according to the vehicle control signal.

[0045] S104, in response to receiving the vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal.

[0046] Specifically, the mobile terminal sends the vehicle control signal to the VMC through the vehicle end signal transceiver, and when the VMC receives the vehicle control signal sent by the mobile terminal through the vehicle end signal transceiver, the VMC controls the attitude of the target vehicle according to the received vehicle control signal, such as making the target vehicle "go forward", "go backward", "turn left", "turn right", etc. Thus, the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control accuracy, low human-vehicle cooperation efficiency, etc. in a complex driving environment can be solved, the longitudinal, lateral and vertical control of the vehicle can be realized, the user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, the error operation caused by limited vision and blind area can be avoided, the entertainment and interactivity can be increased, and the user can better enjoy the fun of driving.

[0047] In summary, based on the remote control cooperation control technology of the VMC, the execution mechanisms such as driving, braking, steering and fully active suspension are cross-domain fused, the mobile terminal remote control interactive control is combined, the longitudinal, lateral and vertical control of the vehicle is realized, the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing control accuracy, low human-vehicle cooperation efficiency, etc. in the traditional scene are solved, and for special scenes such as mud pits and water pits which are inconvenient to get on the vehicle, the vehicle control is performed through remote control, and the vehicle is endowed with the function of "playable and controllable".

[0048] In some embodiments of the present application, the controller system includes at least one of a driving motor controller, a steering controller, a throttle / brake controller, an IMU controller and an active suspension controller of the target vehicle.

[0049] Further, in some embodiments of the present application, the parameter information of the target vehicle includes a vehicle wake-up signal, a vehicle mode signal, a vehicle gear signal, a steering angle signal, a throttle / brake signal, a three-axis acceleration signal, a pitch angle signal, a tilt angle signal, a yaw angle signal and a suspension height signal; the parameter information of the target vehicle is obtained from the controller system, and whether the target vehicle meets the control condition is determined according to the parameter information, including: the vehicle wake-up signal, the vehicle mode signal and the vehicle gear signal are obtained from the driving motor controller, the steering angle signal is obtained from the steering controller, the throttle / brake signal is obtained from the throttle / brake controller, the three-axis acceleration signal, the pitch angle signal, the tilt angle signal and the yaw angle signal are obtained from the IMU controller, and the suspension height signal is obtained from the active suspension controller; whether the speed of the target vehicle is lower than a preset speed threshold and whether the attitude of the target vehicle meets a preset attitude are determined according to the parameter information; in response to the speed of the target vehicle being lower than the preset speed threshold and the attitude of the target vehicle meeting the preset attitude, it is determined that the target vehicle meets the control condition. The preset speed threshold and the preset attitude can be calibrated according to the actual situation, and the preset attitude can be an attitude that enables the target vehicle to remain safe.

[0050] Specifically, as the controller system comprises at least one of a drive motor controller, a steering controller, a throttle / brake controller, an IMU controller and an active suspension controller of the target vehicle, the parameter information of the target vehicle comprises a vehicle wake-up signal, a vehicle mode signal, a vehicle gear signal, a steering angle signal, a throttle / brake signal, a three-axis acceleration signal, a pitch angle signal, a roll angle signal, a yaw angle signal and a suspension height signal. Therefore, the vehicle wake-up signal, the vehicle mode signal and the vehicle gear signal can be acquired from the drive motor controller, the steering angle signal can be acquired from the steering controller, the throttle / brake signal can be acquired from the throttle / brake controller, the three-axis acceleration signal (X / Y / Z-axis acceleration signal), the pitch angle signal, the roll angle signal and the yaw angle signal can be acquired from the IMU controller, and the suspension height signal can be acquired from the active suspension controller, wherein the vehicle wake-up signal represents whether all the controllers of the vehicle have been woken up, the vehicle mode signal represents the mode in which the vehicle is currently located, and the vehicle gear signal represents the gear state of the vehicle. The speed of the target vehicle can be detected by a speed sensor arranged on the target vehicle, and the attitude of the target vehicle can be detected by an attitude sensor arranged on the target vehicle. After the speed of the target vehicle and the attitude of the target vehicle are acquired, the speed of the target vehicle is compared with a preset speed threshold, and the attitude of the target vehicle is compared with a preset attitude. According to the parameter information, it is determined whether the speed of the target vehicle is lower than the preset speed threshold, and whether the attitude of the target vehicle satisfies the preset attitude. When the speed of the target vehicle is lower than the preset speed threshold and the attitude of the target vehicle satisfies the preset attitude, it can be indicated that the speed of the target vehicle is 0 (the target vehicle is in a static state) or is relatively small, and the attitude of the target vehicle is in a horizontal state. At this time, it is indicated that the target vehicle satisfies the control condition.

[0051] In some embodiments, according to the parameter information, it is determined whether the battery power of the target vehicle is lower than a preset battery power threshold. In response to the battery power of the target vehicle not being lower than the preset battery power threshold, it is determined that the target vehicle satisfies the control condition.

[0052] In some embodiments of the present application, the vehicle control signal comprises a drive control signal. In response to receiving the vehicle control signal sent by the mobile terminal, the attitude of the target vehicle is controlled according to the vehicle control signal, which comprises: in response to receiving the drive control signal sent by the mobile terminal, the driving mode of the target vehicle and the vehicle gear are adjusted according to the drive control signal.

[0053] Specifically, when the VMC receives the drive control signal sent by the mobile terminal and transmitted by the vehicle terminal signal transceiver, the VMC determines whether the drive motor controller is in a wake-up state according to the drive control signal, selects the driving mode of the target vehicle and adjusts the vehicle gear.

[0054] In some embodiments of the present application, the vehicle control signal comprises a steering control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, the attitude of the target vehicle is controlled according to the vehicle control signal, which comprises: in response to receiving the steering control signal sent by the mobile terminal, the target vehicle is controlled to steer at a target angle according to the steering control signal.

[0055] Specifically, when the VMC receives the steering control signal sent by the mobile terminal and transmitted by the vehicle-end signal transceiver, the VMC controls the target vehicle to steer at a target angle according to the steering control signal.

[0056] In some embodiments, a touch component of different angles (such as 15°, 20°, 30°, 45°, etc.) is popped up on the display screen of the mobile terminal, and the user selects the touch component of a corresponding angle according to the target angle so as to control the target vehicle to steer at the target angle according to the steering control signal.

[0057] Alternatively, an input component is popped up on the display screen of the mobile terminal, and a corresponding angle is input in the input component according to the target angle required by the target vehicle.

[0058] Alternatively, when the mobile terminal is a joystick, the target angle required by the target vehicle is selected by "flicking" the angle of the joystick.

[0059] In some embodiments of the present application, the vehicle control signal comprises a braking control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, the attitude of the target vehicle is controlled according to the vehicle control signal, which comprises: in response to receiving the braking control signal sent by the mobile terminal, the target vehicle is controlled to brake at a target torque according to the braking control signal.

[0060] Specifically, when the VMC receives the braking control signal sent by the mobile terminal and transmitted by the vehicle-end signal transceiver, the VMC controls the target vehicle to brake at a target torque according to the braking control signal, and the greater the target torque is, the faster the target vehicle stops; and the smaller the target torque is, the slower the target vehicle stops.

[0061] In some embodiments of the present application, the vehicle control signal comprises a suspension control signal; and in response to receiving the vehicle control signal sent by the mobile terminal, the attitude of the target vehicle is controlled according to the vehicle control signal, which comprises: in response to receiving the suspension control signal sent by the mobile terminal, a target suspension area corresponding to at least one target wheel of the target vehicle is controlled according to the suspension control signal so as to lift or lower the single-wheel height of the target wheel.

[0062] Specifically, when the VMC receives the suspension control signal sent by the mobile terminal through the vehicle-end signal transceiver, the VMC controls the target suspension area corresponding to at least one target wheel of the target vehicle according to the suspension control signal to lift or lower the single-wheel height of the target wheel, wherein the four wheels of the target vehicle can be controlled respectively to lift or lower the single-wheel height of the target wheel.

[0063] In some embodiments, a graphical interface of "selecting the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the target vehicle" is first popped up on the display screen of the mobile terminal, and the user selects the corresponding wheel of the target vehicle according to the target wheel. After the user selects the target wheel, a graphical interface of "lifting or lowering the single-wheel height of the target wheel" is popped up again on the display screen of the mobile terminal. For example, after the user selects the graphical interface of "lifting the single-wheel height of the target wheel", an input component is also popped up on the display screen of the mobile terminal, and the user inputs the target height in the input component. After the target height is input, a graphical interface of "whether to confirm sending" is finally popped up on the display screen of the mobile terminal. After the user selects "yes", the mobile terminal sends the corresponding suspension control signal through the vehicle-end signal transceiver.

[0064] In some embodiments, when the VMC receives the drive control signal and the steering control signal sent by the mobile terminal through the vehicle-end signal transceiver, the VMC determines whether the drive motor controller is in the wake-up state according to the drive control signal and the steering control signal, selects the driving mode of the target vehicle, adjusts the gear of the vehicle, and controls the target vehicle to turn at a target angle.

[0065] Thus, for the existence of visual field blind area and uncertain road conditions, a remote control function is proposed and developed, that is, the user remotely controls the vehicle outside the vehicle through the mobile terminal to realize the longitudinal, lateral and vertical control of the vehicle, and combines with the hardware such as the full active suspension to realize the scene control such as lifting the wheel when encountering a pit, controlling the wheel to be lifted by the front protrusion of the wheel, and realizes the function of remotely controlling the vehicle. The mobile terminal control vehicle interface includes vehicle front and rear control, front and rear wheel independent lifting / descending control, left and right steering control, far and near light control, horn control, turtle mode and gravity control vehicle mode, etc. The mobile terminal remote control and the vehicle-end link are connected, the control command delay is <300 ms, and the video return delay is <500 ms; the cabin domain controller synchronously calls the surround view camera + chassis sensor data, generates a 3D dynamic model and projects it to the mobile terminal interface to assist the user in observing the tire track and obstacle distance. After receiving the vehicle control signal sent by the mobile terminal, through the collaborative control algorithm, the multi-dimensional data of the power domain (drive / brake), the chassis domain (steering / suspension) and the intelligent driving domain (environment perception) are fused to realize the "vehicle-ground-person" dynamic balance control in the low-speed scene.

[0066] As a specific embodiment, reference is made toFigure 2 Fig. 1 is a schematic diagram of a control framework of an unmanned vehicle according to some embodiments of the present application.

[0067] The control framework of the unmanned vehicle of the present application can include a mobile terminal control interface 201, a vehicle terminal signal transceiver 202, a VMC 203, a drive motor controller 204, a steering controller 205, a throttle / brake controller 206, an IMU controller 207, and an active suspension controller 208.

[0068] The VMC 203 can include a plurality of software packages that communicate with each other, for example, an A software package (real-time operation function software package), an X software package (path generation function software package), and a remote control function software package, which communicate with each other to enable the controller system to control the attitude of the target vehicle.

[0069] As a specific embodiment, as shown in Fig. 2, the flowchart of the control method of the unmanned vehicle of the present application can include the following steps: Figure 3

[0070] S301, inputting a start control signal through a mobile terminal control interface.

[0071] S302, receiving and forwarding the start control signal through a vehicle terminal signal transceiver.

[0072] S303, receiving the start control signal forwarded by the vehicle terminal signal transceiver by the VMC.

[0073] S304, obtaining a vehicle wake-up signal.

[0074] S305, obtaining a vehicle mode signal.

[0075] S306, obtaining a vehicle gear signal.

[0076] S307, obtaining a three-axis acceleration signal.

[0077] S308, obtaining a pitch angle signal, a roll angle signal, and a yaw angle signal.

[0078] S309, obtaining a suspension height signal.

[0079] S310, obtaining a steering angle signal.

[0080] S311, obtaining a throttle / brake signal.

[0081] S312, controlling the drive motor controller.

[0082] S313, controlling the steering controller.

[0083] S314, controlling the throttle / brake controller.​

[0084] S315, controlling the active suspension controller.

[0085] S316, executing the driving force or the towing force.

[0086] S317, executing the steering angle.

[0087] S318, executing the braking force.

[0088] S319, executing the wheel height.

[0089] S320, the remote control vehicle action execution is completed.

[0090] Thus, the control interface of the mobile terminal is the peripheral device interface of the remote control vehicle, and the display of the on / off remote control function button and the button for controlling the vehicle related actuators is one of the necessary conditions for the remote control function. The vehicle end signal transceiver device is the key equipment for the mobile terminal to establish contact and information communication with the vehicle, and is connected and communicated through Bluetooth, wifi or other communication protocols. The VMC is the judgment, calculation and arbitration center in this system, which can handshake and calculate the signals transmitted by the vehicle end signal transceiver device, and at the same time, according to the feedback state of the driving motor controller, the steering controller, the throttle / brake controller, the IMU controller and the active suspension controller, it can be determined whether to enter the remote control function; the vehicle wake-up signal represents whether the controllers of the vehicle have all been awakened, and is transmitted to the VMC; the vehicle mode signal represents the current mode of the vehicle, and is transmitted to the VMC; the vehicle gear signal represents the gear state of the vehicle, and is transmitted to the VMC; the three-axis (X / Y / Z-axis) acceleration signal detects and senses the six-degree-of-freedom acceleration signal of the vehicle in real time, and is transmitted to the VMC; the pitch angle / tilt angle / yaw angle detects the attitude of the vehicle in real time, and is transmitted to the VMC; the suspension height signal detects the height and position of each wheel of the vehicle in real time, and is transmitted to the VMC; the steering angle signal detects the wheel angle of the vehicle in real time, and is transmitted to the VMC; the throttle / brake signal detects the power torque and brake torque of the vehicle in real time, and is transmitted to the VMC; the driving motor controller detects the power system state in real time and sends it to the VMC, while executing the power torque request sent by the VMC; the steering controller detects the steering system state in real time and sends it to the VMC, while executing the steering angle request sent by the VMC; the throttle / brake controller detects the brake system state in real time and sends it to the VMC, while executing the brake torque request sent by the VMC; the active suspension controller detects the suspension system state in real time and sends it to the VMC, while executing the suspension height request sent by the VMC.

[0091] After the mobile terminal enters and starts the remote control function, the corresponding controller is woken up through the vehicle terminal signal transceiver, the controller sends state information and function handshake information to the VMC, and after the VMC judges that the remote control function can be entered, the actuator control button and the corresponding function button on the control interface of the mobile terminal are lit; the mobile terminal starts to operate the control button, the signal is sent to the VMC through the vehicle terminal signal transceiver, the VMC sends a control request to the power / steering / suspension / brake controller and starts to be executed by the corresponding actuator, and at the same time in the execution process, the VMC calculates the motion state of the whole vehicle according to the three-axis (X / Y / Z-axis) acceleration signal, the pitch angle / roll angle / yaw angle signal, the suspension height signal and the steering angle signal, judges the safety state and corrects in time, and in the case of ensuring the safety and controllability of the vehicle, the remote control completes the corresponding action of the vehicle. According to the surrounding terrain where the vehicle is located, the user controls the control button on the control interface of the mobile terminal, such as clicking the suspension control button to lift the height of a single wheel, clicking the steering control button to turn the wheel angle, clicking the vehicle forward / backward button to control the vehicle to move forward or backward, and clicking the gravity control vehicle mode to control the vehicle attitude by swinging the mobile phone, and the control signal of the mobile terminal is transmitted to the VMC through the vehicle terminal signal transceiver, the VMC calculates and arbitrates, and in the case of confirming the safety of the vehicle, sends the suspension height adjustment instruction to the active suspension controller, the wheel angle instruction to the steering controller, and the power torque instruction to the drive motor controller, and then the corresponding instructions are executed by the actuators, and thus a remote control cycle is completed, and at the same time the corresponding signals of the whole vehicle are transmitted to the VMC to prepare for the next round of remote control. Repeat the above steps until the corresponding working conditions and special scenes of the whole vehicle are safely completed.

[0092] In summary, the control method of the unmanned vehicle according to the embodiment of the present application comprises: in response to receiving the start control signal sent by the mobile terminal, waking up the controller system of the target vehicle; obtaining parameter information of the target vehicle from the controller system, and judging whether the target vehicle meets the control condition according to the parameter information; in response to the target vehicle meeting the control condition, generating an enable signal and feeding back the enable signal to the mobile terminal; wherein the enable signal is used to unlock the control function of the mobile terminal; in response to receiving the vehicle control signal sent by the mobile terminal, controlling the attitude of the target vehicle according to the vehicle control signal. Thus, the present method can solve the problems of users needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control precision, low efficiency of human-vehicle cooperation and the like in complex driving environments, realize the control of the longitudinal, lateral and vertical directions of the vehicle, the user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid erroneous operation caused by limited vision and blind area, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0093] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server, etc. The method of the embodiments can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the above method.

[0094] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0095] Corresponding to the above embodiments, the present application also proposes a control device of an unmanned vehicle.

[0096] As shown in Figure 4 The control device of the unmanned vehicle of the embodiments of the present application comprises a wake-up module 410, a judgment module 420, a feedback module 430 and a control module 440.

[0097] The wake-up module 410 is configured to wake up the controller system of the target vehicle in response to receiving the start control signal sent by the mobile terminal; the judgment module 420 is configured to obtain the parameter information of the target vehicle from the controller system, and judge whether the target vehicle meets the control condition according to the parameter information; the feedback module 430 is configured to generate an enable signal in response to the target vehicle meeting the control condition, and feed back the enable signal to the mobile terminal; wherein the enable signal is used to unlock the control function of the mobile terminal; and the control module 440 is configured to control the attitude of the target vehicle according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal.

[0098] In some embodiments of the present application, the controller system comprises at least one of a drive motor controller, a steering controller, a throttle / brake controller, an IMU controller and an active suspension controller of the target vehicle.

[0099] In some embodiments of the application, the parameter information of the target vehicle includes a vehicle wake-up signal, a vehicle mode signal, a vehicle gear signal, a steering angle signal, a throttle / brake signal, a three-axis acceleration signal, a pitch angle signal, a roll angle signal, a yaw angle signal, and a suspension height signal; the parameter information of the target vehicle is obtained from the controller system, and the determination module 420 determines whether the target vehicle meets the control condition according to the parameter information, specifically for: obtaining the vehicle wake-up signal, the vehicle mode signal, and the vehicle gear signal from the drive motor controller, obtaining the steering angle signal from the steering controller, obtaining the throttle / brake signal from the throttle / brake controller, obtaining the three-axis acceleration signal, the pitch angle signal, the roll angle signal, and the yaw angle signal from the IMU controller, and obtaining the suspension height signal from the active suspension controller; determining whether the speed of the target vehicle is lower than a preset speed threshold and whether the attitude of the target vehicle meets a preset attitude according to the parameter information; and determining that the target vehicle meets the control condition in response to the speed of the target vehicle being lower than the preset speed threshold and the attitude of the target vehicle meeting the preset attitude.

[0100] In some embodiments of the application, the vehicle control signal includes a drive control signal; in response to receiving the vehicle control signal sent by the mobile terminal, the control module 440 controls the attitude of the target vehicle according to the vehicle control signal, specifically for: in response to receiving the drive control signal sent by the mobile terminal, adjusting the driving mode and the vehicle gear of the target vehicle according to the drive control signal.

[0101] In some embodiments of the application, the vehicle control signal includes a steering control signal; in response to receiving the vehicle control signal sent by the mobile terminal, the control module 440 controls the attitude of the target vehicle according to the vehicle control signal, specifically for: in response to receiving the steering control signal sent by the mobile terminal, controlling the target vehicle to steer at a target angle according to the steering control signal.

[0102] In some embodiments of the application, the vehicle control signal includes a brake control signal; in response to receiving the vehicle control signal sent by the mobile terminal, the control module 440 controls the attitude of the target vehicle according to the vehicle control signal, specifically for: in response to receiving the brake control signal sent by the mobile terminal, controlling the target vehicle to brake at a target torque according to the brake control signal.

[0103] In some embodiments of the application, the vehicle control signal includes a suspension control signal; in response to receiving the vehicle control signal sent by the mobile terminal, the control module 440 controls the attitude of the target vehicle according to the vehicle control signal, specifically for: in response to receiving the suspension control signal sent by the mobile terminal, controlling the target suspension area corresponding to at least one target wheel of the target vehicle according to the suspension control signal to raise or lower the single-wheel height of the target wheel.

[0104] It should be noted that details not disclosed in the control device of the unmanned vehicle of the embodiments of the present application are referred to the details disclosed in the control method of the unmanned vehicle of the embodiments of the present application, and will not be described in detail.

[0105] In summary, the control device of the unmanned vehicle according to the embodiments of the present application comprises: a wake-up module configured to wake up the controller system of the target vehicle in response to receiving the start control signal sent by the mobile terminal; a judgment module configured to obtain the parameter information of the target vehicle from the controller system, and determine whether the target vehicle meets the control condition according to the parameter information; a feedback module configured to generate an enable signal and feed back the enable signal to the mobile terminal in response to the target vehicle meeting the control condition; wherein the enable signal is used to unlock the control function of the mobile terminal; and a control module configured to control the attitude of the target vehicle according to the vehicle control signal sent by the mobile terminal in response to receiving the vehicle control signal. Thus, the device can solve the problems of the user needing to frequently get on and off the vehicle to observe the environment, low-speed obstacle crossing, insufficient control accuracy, low efficiency of man-vehicle cooperation, etc. in complex driving environment, realize the control of the longitudinal, lateral and vertical directions of the vehicle, the user can observe the terrain outside the vehicle and accurately control the driving path of the vehicle, avoid the wrong operation caused by limited vision and blind area, increase the entertainment and interactivity, and enable the user to better enjoy the fun of driving.

[0106] For the convenience of description, the above system is described as various modules in terms of functions. Of course, the functions of the modules can be implemented in the same or multiple software and / or hardware when implementing the present application.

[0107] The system of the above embodiments is used to implement the corresponding method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here.

[0108] Corresponding to the above embodiments, the present application also provides an electronic device.

[0109] Reference Figure 5 A block schematic diagram of the electronic device according to some embodiments of the present application is shown, which shows a more specific hardware structure schematic diagram of the electronic device provided by the present embodiment. The device can include a processor 510, a memory 520, an input / output interface 530, a communication interface 540 and a bus 550. The processor 510, the memory 520, the input / output interface 530 and the communication interface 540 are connected to each other through the bus 550 for communication connection within the device.

[0110] The processor 510 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing relevant programs to implement the technical solutions provided by the embodiments of the present specification.

[0111] The memory 520 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 520 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 520 and called and executed by the processor 510.

[0112] The input / output interface 530 is configured to connect input / output modules to implement information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0113] The communication interface 540 is configured to connect a communication module (not shown in the figure) to implement the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0114] The bus 550 includes a path for transmitting information between various components (such as the processor 510, the memory 520, the input / output interface 530, and the communication interface 540) of the device.

[0115] It should be noted that although the above device only shows the processor 510, the memory 520, the input / output interface 530, the communication interface 540, and the bus 550, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include the components necessary to implement the solutions of the embodiments of the present specification, and does not have to include all the components shown in the figure.

[0116] The electronic device of the above embodiments is used to implement the corresponding method in any of the preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0117] Based on the same inventive concept, the present application also provides a computer readable storage medium storing computer instructions for causing a computer to perform the method of any of the above embodiments, corresponding to the method of any of the above embodiments.

[0118] The above computer readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to a magnetic storage (e.g. floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (e.g. CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g. ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state disk (SSD), etc.).

[0119] The computer instructions stored in the storage medium of the above embodiments are used to cause a computer to perform the method of any of the above exemplary method embodiments, and have the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0120] In addition, although the operations of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in that particular order, or that all of the shown operations must be performed to achieve the desired results. On the contrary, the steps depicted in the flowchart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be divided into multiple steps.

[0121] It should be understood that parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: discrete logic circuit with logic gates for implementing logical functions of data signals, application specific integrated circuit (ASIC) with suitable combination logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0122] It should be noted that the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings understood by those skilled in the art in the field of the present application, unless otherwise defined. The terms "first", "second", and similar words used in the embodiments of the present application do not represent any order, number, or importance, but are only used to distinguish different components. The terms "including", "containing", and similar words mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0123] Although the spirit and principles of the present application have been described with reference to several specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of aspects does not mean that the features in these aspects cannot be combined for benefit, but is only for the convenience of expression. The present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the appended claims. The scope of the appended claims is the broadest interpretation, so as to include all such modifications and equivalent structures and functions.

Claims

1. A control method of an unmanned vehicle, characterized by, The method comprises: in response to receiving a start control signal sent by a mobile terminal, waking up a controller system of a target vehicle; obtaining parameter information of the target vehicle from the controller system, and determining whether the target vehicle meets a control condition according to the parameter information; in response to the target vehicle meeting the control condition, generating an enabling signal and feeding back the enabling signal to the mobile terminal, wherein the enabling signal is used to unlock a control function of the mobile terminal; in response to receiving a vehicle control signal sent by the mobile terminal, controlling a posture of the target vehicle according to the vehicle control signal.

2. The control method of the unmanned vehicle according to claim 1, characterized by, The controller system comprises at least one of a drive motor controller, a steering controller, a throttle / brake controller, an IMU controller and an active suspension controller of the target vehicle.

3. The control method of the unmanned vehicle according to claim 2, characterized by, The parameter information of the target vehicle comprises a vehicle wake-up signal, a vehicle mode signal, a vehicle gear signal, a steering angle signal, a throttle / brake signal, a three-axis acceleration signal, a pitch angle signal, a roll angle signal, a yaw angle signal and a suspension height signal. The method of obtaining the parameter information of the target vehicle from the controller system and determining whether the target vehicle meets the control condition according to the parameter information comprises: obtaining the vehicle wake-up signal, the vehicle mode signal and the vehicle gear signal from the drive motor controller, obtaining the steering angle signal from the steering controller, obtaining the throttle / brake signal from the throttle / brake controller, obtaining the three-axis acceleration signal, the pitch angle signal, the roll angle signal and the yaw angle signal from the IMU controller, and obtaining the suspension height signal from the active suspension controller; determining whether a vehicle speed of the target vehicle is lower than a preset vehicle speed threshold and whether a posture of the target vehicle meets a preset posture according to the parameter information; and in response to the vehicle speed of the target vehicle being lower than the preset vehicle speed threshold and the posture of the target vehicle meeting the preset posture, determining that the target vehicle meets the control condition.

4. The control method of the unmanned vehicle according to claim 3, characterized by, The vehicle control signal comprises a drive control signal. The method of controlling the posture of the target vehicle according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal comprises: in response to receiving the drive control signal sent by the mobile terminal, adjusting a driving mode and a vehicle gear of the target vehicle according to the drive control signal.

5. The control method of the unmanned vehicle according to claim 3, characterized by, The vehicle control signal comprises a steering control signal. The method of controlling the posture of the target vehicle according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal comprises: in response to receiving the steering control signal sent by the mobile terminal, controlling the target vehicle to steer at a target angle according to the steering control signal.

6. The control method of the unmanned vehicle according to claim 3, wherein The vehicle control signal comprises a brake control signal. The method of controlling the posture of the target vehicle according to the vehicle control signal in response to receiving the vehicle control signal sent by the mobile terminal comprises: in response to receiving the brake control signal sent by the mobile terminal, controlling the target vehicle to brake at a target torque according to the brake control signal.

7. The control method of an unmanned vehicle according to claim 3, characterized by, The vehicle control signal comprises a suspension control signal; The response to receiving the mobile terminal sent vehicle control signal, according to the vehicle control signal control posture of the target vehicle, comprising: In response to receiving the mobile terminal sent suspension control signal, according to the suspension control signal control target suspension area corresponding to at least one target wheel of the target vehicle, to lift or lower the single wheel height of the target wheel.

8. A control device of an unmanned vehicle, characterized by, Comprising: Wake up module, configured to respond to receiving the mobile terminal sent start control signal, wake up the controller system of the target vehicle; Judgment module, configured to obtain the parameter information of the target vehicle from the controller system, according to the parameter information to determine whether the target vehicle meets the control condition; Feedback module, configured to respond to the target vehicle meets the control condition, generate enable signal, and feedback the enable signal to the mobile terminal; wherein, the enable signal is used to unlock the control function of the mobile terminal; Control module, configured to respond to receiving the mobile terminal sent vehicle control signal, according to the vehicle control signal control posture of the target vehicle.

9. An electronic device, comprising: Comprising: Processor and memory, the memory stores programs or instructions that can be run on the processor, the programs or instructions are executed by the processor to realize the steps of the control method of the unmanned vehicle as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores programs or instructions, which are executed by the processor to realize the steps of the control method of the unmanned vehicle as claimed in any one of claims 1 to 7.

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