A mobile terminal-based unmanned vehicle debugging system and method
By integrating a mobile terminal into the unmanned vehicle debugging system and method, the inefficiency caused by switching between multiple devices and systems in the existing technology has been solved. It enables portable, vehicle-mounted debugging in the mining area, improving the debugging efficiency and flexibility of unmanned mining trucks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XUZHOU XCMG HEAVY VEHICLE CO
- Filing Date
- 2026-03-25
- Publication Date
- 2026-06-30
AI Technical Summary
The existing unmanned vehicle debugging process is complex, has high collaboration costs, and uses bulky debugging equipment, making it unsuitable for clustered mining environments. There is also a lack of mature solutions that simultaneously support physical CAN and wireless CAN access.
The system adopts a mobile terminal-based unmanned vehicle debugging system. By integrating the mobile terminal with the vehicle communication interface module, the vehicle communication network and the vehicle controller, it realizes wired and wireless debugging modes, supports multiple communication methods, and integrates drive-by-wire function debugging, VCU firmware flashing and real-time diagnosis.
It enables portable, vehicle-mounted debugging at the mining site, improving debugging efficiency and flexibility, simplifying the debugging process, reducing multi-party collaboration costs, and ensuring the real-time nature and safety of debugging.
Smart Images
Figure CN122308325A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of vehicle technology and relates to a debugging system and method for unmanned vehicles based on a mobile terminal. Background Technology
[0002] Existing debugging processes often require autonomous driving developers to collaboratively send specific CAN commands, making the process complex and costly to coordinate (involving multiple parties online simultaneously, switching driving modes, etc.).
[0003] Furthermore, different functions are typically implemented by different types of systems: terminals are mostly used for vehicle status display or basic diagnostics, ECU management systems or OTA platforms are mainly used for firmware download, upgrades, or remote maintenance, and drive-by-wire debugging functions usually rely on a PC or dedicated debugging tools. Because drive-by-wire debugging has high requirements for real-time performance and control continuity, firmware flashing involves secure sessions, data integrity, and rollback mechanisms, and real-time diagnostics requires high-frequency status acquisition and visual feedback. Since these functions are handled by different hardware and software platforms in existing systems, it is difficult to complete and coordinate them simultaneously on a single terminal, and there is a lack of mature and publicly available solutions that simultaneously support physical CAN and wireless CAN access.
[0004] Moreover, the debugging equipment is bulky, inconvenient to carry, and unsuitable for clustered mining environments. Summary of the Invention
[0005] Objective: In view of at least one of the above technical problems, this application provides a mobile terminal-based unmanned vehicle debugging system and method.
[0006] Technical solution: To solve the above-mentioned technical problems, the technical solution adopted in this application is as follows:
[0007] In the first aspect, a mobile terminal-based unmanned vehicle debugging system is provided, including a mobile terminal, a vehicle communication interface module, and an unmanned vehicle including a vehicle OBD interface module, an on-board communication receiver, an on-board communication network, and a vehicle controller.
[0008] The mobile terminal stores a debugging, control, and diagnostic software program for unmanned vehicles.
[0009] In wired debugging mode, one end of the vehicle communication interface module is connected to the mobile terminal and the other end is connected to the vehicle OBD interface module. The vehicle OBD interface module is connected to the vehicle controller through the vehicle communication network.
[0010] In wireless debugging mode, the mobile terminal communicates with the vehicle communication receiver via a wireless network, and the vehicle communication receiver connects to the vehicle controller via the vehicle communication network.
[0011] In some embodiments, the mobile terminal has the following functions:
[0012] Used to generate vehicle control commands;
[0013] Used to display the debugging interface;
[0014] Used to monitor vehicle operating status;
[0015] Used to read fault information;
[0016] Used for recording and analyzing debugging data.
[0017] In some embodiments, the mobile terminal generates vehicle control commands via a touch interface.
[0018] In some embodiments, the wired debugging mode is applicable to: vehicle development phase, bench testing, and on-site vehicle maintenance and debugging.
[0019] In some embodiments, the wireless debugging mode is suitable for: remote debugging of unmanned vehicles, testing of autonomous driving functions, remote control, and remote data monitoring.
[0020] In some embodiments, the mobile terminal includes a tablet PC, an industrial tablet PC, a laptop computer, a smartphone, or a mobile touch terminal.
[0021] In some embodiments, the vehicle communication interface module includes a USB-to-CAN communication module, a Bluetooth-CAN communication module, a WiFi-CAN communication module, an Ethernet-to-CAN communication module, a PCIe-CAN communication module, and a Type-C-to-CAN communication module;
[0022] In some embodiments, the vehicle communication network includes a CAN communication network, a CAN FD communication network, a vehicle Ethernet communication network, a FlexRay communication network, and a LIN communication network;
[0023] In some embodiments, the vehicle communication receiver includes a 4G communication receiver, a 5G communication receiver, a WiFi communication receiver, a wireless data transmission receiver, a LoRa wireless communication receiver, and a Bluetooth communication receiver;
[0024] In some embodiments, the vehicle controller includes a vehicle VCU controller, an autonomous driving domain controller, a chassis controller, a drive-by-wire chassis controller, and a vehicle central controller.
[0025] In this embodiment, the mobile terminal is a tablet, the vehicle communication interface module is a USB to CAN communication module 3, the vehicle communication network is a CAN communication network, the vehicle communication receiver is a 4G communication receiver, and the vehicle controller is a vehicle VCU controller.
[0026] Secondly, a method for debugging autonomous vehicles based on a mobile terminal is provided. Based on the aforementioned mobile terminal-based autonomous vehicle debugging system, the method includes:
[0027] The mobile terminal runs vehicle debugging and control software programs and generates vehicle control commands through a touch interface;
[0028] When a communication connection is established between the mobile terminal and the vehicle communication network, the mobile terminal sends the vehicle control command to the vehicle communication network.
[0029] The vehicle controller parses the vehicle control commands transmitted through the vehicle communication network and controls the autonomous vehicle to perform corresponding control actions according to the parsed vehicle control commands.
[0030] In some embodiments, the autonomous vehicle debugging method further includes:
[0031] Vehicle operating status data is fed back to the mobile terminal via the vehicle communication network;
[0032] The mobile terminal parses the received vehicle operating status data and displays the data in real time on the debugging interface, enabling vehicle operating status monitoring and fault diagnosis.
[0033] Furthermore, the vehicle operating status data includes vehicle speed, steering angle, braking status, and system fault information.
[0034] In some embodiments, vehicle control commands include steering control commands, braking control commands, drive torque control commands, and autonomous driving debugging control commands;
[0035] The control actions include steering control, braking control, drive torque control, and autonomous driving debugging control.
[0036] Beneficial effects: The unmanned vehicle debugging system and method based on a mobile terminal provided in this application have the following advantages:
[0037] 1. Using mobile terminals (tablets) as the main human-computer interaction and control carrier reduces the reliance on traditional PC host computers and complex external devices, enabling commissioning personnel to move with the vehicle, quickly access and debug on-site in the mining area, thereby improving the commissioning efficiency of unmanned mining trucks in clustered operation environments.
[0038] 2. Integrate wired control function debugging, VCU firmware flashing and rollback, and real-time diagnostics and status verification functions on a single mobile terminal (tablet) to form a comprehensive debugging platform for engineering sites, avoiding the inefficiency caused by switching between multiple devices and systems in existing technologies.
[0039] 3. It supports multiple communication methods, including physical CAN access and wireless CAN access, while ensuring the real-time performance, reliability and security required for wired debugging, thereby improving the flexibility and applicability of the debugging platform and meeting the engineering needs of different debugging scenarios.
[0040] 4. By constructing a debugging and control channel independent of the autonomous driving controller, the debugging terminal can complete the control, testing and verification of the VCU and chassis drive-by-wire actuators without the need for deep collaboration with the autonomous driving system, thereby simplifying the debugging process and reducing the cost of multi-party collaboration. Attached Figure Description
[0041] Figure 1 This is a schematic diagram of a mobile terminal and vehicle communication interface module according to an embodiment of this application;
[0042] Figure 2 This is a schematic diagram of a mobile terminal-based unmanned vehicle debugging system according to an embodiment of this application. Detailed Implementation
[0043] The present application will be further described below with reference to the accompanying drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and should not be used to limit the scope of protection of the present application.
[0044] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0045] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0046] This embodiment provides a mobile terminal-based unmanned vehicle debugging system, including a mobile terminal and a vehicle communication interface module. The unmanned vehicle includes a vehicle OBD interface module, an on-board communication receiver, an on-board communication network, and a vehicle controller.
[0047] The mobile terminal stores a debugging, control, and diagnostic software program for unmanned vehicles.
[0048] In wired debugging mode, one end of the vehicle communication interface module is connected to the mobile terminal and the other end is connected to the vehicle OBD interface module. The vehicle OBD interface module is connected to the vehicle controller through the vehicle communication network.
[0049] In wireless debugging mode, the mobile terminal communicates with the vehicle communication receiver via a wireless network, and the vehicle communication receiver connects to the vehicle controller via the vehicle communication network.
[0050] The mobile terminal described in this application stores an autonomous vehicle debugging, control, and diagnostic software program, which is used to generate vehicle control commands by triggering the autonomous vehicle debugging, control, and diagnostic software program, and send them to the vehicle communication network through the established communication connection, so that the vehicle controller can parse and execute them.
[0051] In some embodiments, the mobile terminal has the following functions:
[0052] Used to generate vehicle control commands;
[0053] Used to display the debugging interface;
[0054] Used to monitor vehicle operating status;
[0055] Used to read fault information;
[0056] Used for recording and analyzing debugging data.
[0057] In some embodiments, the mobile terminal generates vehicle control commands via a touch interface, including steering control commands, braking control commands, drive torque control commands, and autonomous driving debugging control commands.
[0058] In some embodiments, the wired debugging mode can be applied to: vehicle development phase, bench testing, and on-site vehicle maintenance and debugging.
[0059] In some embodiments, the wireless debugging mode can be applied to: remote debugging of unmanned vehicles, testing of autonomous driving functions, remote control, and remote data monitoring.
[0060] In some embodiments, the mobile terminal includes a tablet PC, an industrial tablet PC, a laptop computer, a smartphone, or a mobile touch terminal.
[0061] In some embodiments, the vehicle communication interface module includes a USB-to-CAN communication module, a Bluetooth-CAN communication module, a WiFi-CAN communication module, an Ethernet-to-CAN communication module, a PCIe-CAN communication module, and a Type-C-to-CAN communication module.
[0062] In some embodiments, the vehicle communication network includes a CAN communication network, a CAN FD communication network, a vehicle Ethernet communication network, a FlexRay communication network, and a LIN communication network.
[0063] In some embodiments, the vehicle communication receiver includes a 4G communication receiver, a 5G communication receiver, a WiFi communication receiver, a wireless data transmission receiver, a LoRa wireless communication receiver, and a Bluetooth communication receiver.
[0064] In some embodiments, the vehicle controller includes a vehicle VCU controller, an autonomous driving domain controller, a chassis controller, a drive-by-wire chassis controller, and a vehicle central controller.
[0065] In this embodiment, as Figure 1 , Figure 2 As shown, the mobile terminal is a tablet PAD, which stores the debugging, control, and diagnostic software program for the unmanned vehicle. During operation, it has a touch-sensitive debugging interface 1. The vehicle communication interface module uses a USB-to-CAN communication module 3, the vehicle communication network uses a CAN communication network, the vehicle communication receiver uses a 4G communication receiver, and the vehicle controller uses a vehicle VCU controller.
[0066] In wired debugging mode, one end of the USB to CAN module is connected to the tablet PAD via a USB interface, and the other end is connected to the vehicle OBD interface module via a CAN interface. This converts the control commands issued by the tablet into standard CAN messages and sends them to the CAN communication network, where they are parsed and executed by the vehicle VCU controller.
[0067] In wireless debugging mode, the tablet PAD establishes a communication connection with the 4G communication receiver via a wireless network. The tablet PAD sends vehicle control commands, the 4G communication receiver receives the vehicle control commands, and sends them to the vehicle VCU controller via the CAN communication network, where the vehicle VCU controller parses and executes them.
[0068] This application proposes a tablet-based direct-control drive-by-wire debugging architecture independent of the autonomous driving system. By enabling a mobile terminal (such as a tablet) to directly establish a debugging control relationship with the vehicle's VCU or drive-by-wire execution control unit via a CAN communication link, it achieves debugging and verification of drive-by-wire functions such as steering, braking, and driving without relying on the autonomous driving controller. This effectively solves the problems of existing technologies where drive-by-wire chassis debugging must rely on the collaboration of the autonomous driving system, resulting in complex debugging processes and high coordination costs. This application constructs a tablet terminal that integrates drive-by-wire debugging, VCU firmware flashing / rollback, and real-time diagnosis and verification. It unifies and integrates functions that were originally scattered across the PC host computer, ECU management tools, and diagnostic systems, enabling collaborative operation of debugging, program management, and status feedback on the same terminal. This effectively solves the problems of fragmented debugging platform functions, multiple device switching, and low on-site operation efficiency in existing technologies. This application designs a dual-channel debugging communication mechanism that simultaneously supports physical CAN access and wireless CAN access. This allows mobile terminals (such as tablets) to flexibly choose wired or wireless methods to establish communication connections with the vehicle based on site conditions. While meeting the real-time and reliability requirements of drive-by-wire debugging, it improves access flexibility and effectively solves the problems of limited debugging access methods and the inability of wireless solutions to meet the real-time requirements of drive-by-wire debugging in existing technologies. Using mobile terminals (such as tablets) as the core debugging carrier, a lightweight, portable, and vehicle-mounted debugging system suitable for mining environments is constructed. This reduces reliance on traditional PC hosts, external CAN devices, and complex cables, enabling debugging personnel to directly complete debugging operations while the vehicle is running or parked. This effectively solves the problems of bulky debugging equipment, complex wiring, and unsuitability for clustered mining sites in existing technologies. A unified management mechanism for debugging modes and control permissions is introduced into the debugging platform. Permission constraints and status management are implemented for drive-by-wire debugging, flashing operations, and diagnostic behaviors, avoiding control conflicts or misoperations during debugging and effectively improving the safety and controllability of the debugging process for unmanned mining trucks. By uniformly recording and visualizing debugging instructions, vehicle feedback status, and diagnostic results, a complete data link for the debugging process is formed, supporting real-time verification and subsequent analysis of debugging results. This effectively solves the problems of lack of systematic recording and difficulty in tracing results in the existing technology.
[0069] This embodiment provides a mobile terminal-based method for debugging autonomous vehicles. Based on the mobile terminal-based autonomous vehicle debugging system of the above embodiment, the method includes:
[0070] The mobile terminal runs vehicle debugging and control software programs and generates vehicle control commands through a touch interface;
[0071] When a communication connection is established between the mobile terminal and the vehicle communication network, the mobile terminal sends the vehicle control command to the vehicle communication network.
[0072] The vehicle controller parses the vehicle control commands transmitted through the vehicle communication network and controls the autonomous vehicle to perform corresponding control actions according to the parsed vehicle control commands.
[0073] In some embodiments, the mobile terminal-based autonomous vehicle debugging method further includes:
[0074] Vehicle operating status data is fed back to the mobile terminal via the vehicle communication network;
[0075] The mobile terminal parses the received vehicle operating status data and displays the data in real time on the debugging interface, enabling vehicle operating status monitoring and fault diagnosis.
[0076] In some embodiments, the vehicle operating status data includes vehicle speed, steering angle, braking status, and system fault information.
[0077] In some embodiments, vehicle control commands include steering control commands, braking control commands, drive torque control commands, and autonomous driving debugging control commands; correspondingly, control actions include steering control, braking control, drive torque control, and autonomous driving debugging control.
[0078] In some embodiments, the driverless vehicle may be a driverless mining truck.
[0079] Through the above methods, this application can realize an integrated operation platform for vehicle control, debugging, data monitoring, and fault diagnosis of unmanned mining trucks using a touch-sensitive mobile terminal (tablet device), thereby improving the development and debugging efficiency of unmanned mining trucks.
[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0083] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A mobile terminal based self-driving vehicle commissioning system, comprising: Includes mobile terminals and vehicle communication interface modules; autonomous vehicles include vehicle OBD interface modules, on-board communication receivers, on-board communication networks, and vehicle controllers. The mobile terminal stores a debugging, control, and diagnostic software program for unmanned vehicles. In wired debugging mode, one end of the vehicle communication interface module is connected to the mobile terminal and the other end is connected to the vehicle OBD interface module. The vehicle OBD interface module is connected to the vehicle controller through the vehicle communication network. In wireless debugging mode, the mobile terminal communicates with the vehicle communication receiver via a wireless network, and the vehicle communication receiver connects to the vehicle controller via the vehicle communication network.
2. The mobile terminal based driverless vehicle commissioning system of claim 1, wherein, The mobile terminal has the following functions: Used to generate vehicle control commands; Used to display the debugging interface; Used to monitor vehicle operating status; Used to read fault information; Used for recording and analyzing debugging data.
3. The mobile terminal based driverless vehicle commissioning system of claim 2, wherein, The mobile terminal generates vehicle control commands via a touch interface.
4. The unmanned vehicle debugging system based on a mobile terminal according to claim 1, characterized in that, The wired debugging mode is applicable to: Vehicle development phase, bench testing, and on-site vehicle maintenance and debugging.
5. The unmanned vehicle debugging system based on a mobile terminal according to claim 1, characterized in that, The wireless debugging mode is suitable for: remote debugging of unmanned vehicles, testing of autonomous driving functions, remote control, and remote data monitoring.
6. The mobile terminal-based unmanned vehicle debugging system according to any one of claims 1-5, characterized in that, The mobile terminal includes tablet PCs, industrial tablet PCs, laptops, smartphones, and mobile touch terminals. And / or, the vehicle communication interface module includes a USB to CAN communication module, a Bluetooth CAN communication module, a WiFi CAN communication module, an Ethernet to CAN communication module, a PCIe CAN communication module, and a Type-C to CAN communication module; And / or, the vehicle communication network includes a CAN communication network, a CAN FD communication network, a vehicle Ethernet communication network, a FlexRay communication network, and a LIN communication network; And / or, the vehicle-mounted communication receiver includes a 4G communication receiver, a 5G communication receiver, a WiFi communication receiver, a wireless data transmission receiver, a LoRa wireless communication receiver, and a Bluetooth communication receiver; And / or, the vehicle controller includes a vehicle VCU controller, an autonomous driving domain controller, a chassis controller, a drive-by-wire chassis controller, and a vehicle central controller.
7. A method for debugging unmanned vehicles based on a mobile terminal, characterized in that, The method of the mobile terminal-based autonomous vehicle debugging system according to any one of claims 1-6 includes: The mobile terminal runs vehicle debugging and control software programs and generates vehicle control commands through a touch interface; When a communication connection is established between the mobile terminal and the vehicle communication network, the mobile terminal sends the vehicle control command to the vehicle communication network. The vehicle controller parses the vehicle control commands transmitted through the vehicle communication network and controls the autonomous vehicle to perform corresponding control actions according to the parsed vehicle control commands.
8. The unmanned vehicle debugging method according to claim 7, characterized in that, Also includes: Vehicle operating status data is fed back to the mobile terminal via the vehicle communication network; The mobile terminal parses the received vehicle operating status data and displays the data in real time on the debugging interface, enabling vehicle operating status monitoring and fault diagnosis.
9. The unmanned vehicle debugging method according to claim 8, characterized in that, The vehicle operating status data includes vehicle speed, steering angle, braking status, and system fault information.
10. The unmanned vehicle debugging method according to claim 7, characterized in that, Vehicle control commands include steering control commands, braking control commands, drive torque control commands, and autonomous driving debugging control commands; The control actions include steering control, braking control, drive torque control, and autonomous driving debugging control.