Vehicle unmanned driving and remote driving integrated control system and motor sweeper

Abstract

The utility model discloses a vehicle unmanned driving and remote driving integrated control system and a motor sweeper. The vehicle unmanned driving and remote driving integrated control system comprises a VCU control module, a remote driving controller, an automatic driving control module and a sensing module. The VCU control module is used for controlling the unmanned vehicle to execute a vehicle execution instruction issued by the remote driving controller or the automatic driving control module. The remote driving controller is used for receiving the sensing data acquired by the sensing module and sending the sensing data to the remote control end; and the automatic driving control module is used for sending a vehicle execution instruction to the VCU control module when the unmanned vehicle is in an automatic driving mode so as to control the operation of the unmanned vehicle. According to the utility model, a remote driving mode or an automatic driving mode can be selected according to actual requirements, the unmanned vehicle is ensured to be in a high-efficiency operation state, and the action effect is good.

Description

Technical Field

[0001] The utility model relates to the field of unmanned driving, in particular to a vehicle unmanned driving and remote driving integrated control system and a sweeper. Background Art

[0002] An unmanned road sweeper is a type of road sweeper that can automatically clean roads and dump garbage, and is in an unmanned state. Therefore, it has the advantages of high degree of automation, easy operation, and high operating efficiency.

[0003] Existing unmanned road sweepers are generally controlled by setting up an automatic driving control module inside them for automatic driving. However, they are unable to respond to some emergencies in a timely manner and can only send relevant issues to the management personnel of the control background through alarms, etc., resulting in problems such as untimely operation and affecting the operation effect.

[0004] In addition, there is only one control method. When the automatic driving control module fails, the unmanned sweeper cannot continue to work, affecting normal operations.

[0005] In the existing technology, vehicles can also be remotely driven, but relying solely on remote driving has a low degree of automation, low operating efficiency, and high investment costs.

[0006] Therefore, the existing technology has defects and needs to be improved. Utility Model Content

[0007] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide an integrated control system for unmanned and remote driving of vehicles and a sweeper, so as to solve the problem in the existing technology that unmanned vehicles are controlled by automatic driving control modules, and when they fail or encounter emergencies, they cannot be adjusted in time, resulting in inability to operate normally, affecting the working effect and efficiency.

[0008] The technical solution of the present invention is as follows: A vehicle unmanned driving and remote driving integrated control system, including: a VCU control module, a remote driving controller and an automatic driving control module electrically connected to the VCU control module, and a perception module electrically connected to the remote driving controller.

[0009] The VCU control module is used to control the unmanned vehicle to execute the vehicle execution instructions issued by the remote driving controller or the automatic driving control module. After receiving the vehicle execution instructions, the unmanned vehicle is controlled to perform corresponding actions to control the operation and operation of the unmanned vehicle.

[0010] The remote driving controller is used to receive the perception data collected by the perception module and send it to the remote control terminal. It is also used to receive the vehicle execution instructions sent by the remote control terminal and send them to the VCU control module. The perception data collected by the perception module is data of the external environment of the unmanned vehicle, which can directly reflect the situation of the environment around the unmanned vehicle, so as to facilitate remote and real-time viewing of the external environment during the operation of the unmanned vehicle. In addition, it should be noted that the remote driving controller is connected to the remote control terminal, which is generally composed of a server, a simulated cockpit, a data processing module, a data display screen, etc. For details, please refer to the structure of the existing remote driving terminal. Therefore, after selecting the remote driving mode, the remote control terminal will be used for control.

[0011] The automatic driving control module is used to send vehicle execution instructions to the VCU control module when the unmanned vehicle is in automatic driving mode, so as to control the operation of the unmanned vehicle. Generally, when the automatic driving control module fails or an emergency occurs, the remote driving mode can be turned on to control the operation of the unmanned vehicle through the remote driving controller, while under normal circumstances, the operation of the unmanned vehicle is generally controlled by the automatic driving control module. Obviously, the present invention can select different driving modes according to the specific environment in which the unmanned vehicle is located, so as to ensure that the unmanned vehicle is in the optimal control mode state, and ensure that the unmanned vehicle can still drive and operate normally in an emergency state, while ensuring that its operation efficiency is high and the effect is good.

[0012] Furthermore, the aforementioned integrated control system for unmanned driving and remote driving of a vehicle also includes: a communication connection module for realizing communication between the VCU control module, the remote driving controller, the automatic driving control module and the remote control terminal. After being connected to the remote control terminal, the relevant control instruction messages sent by the remote control terminal can be accepted. In addition, it should be noted that the remote driving controller mainly interacts with the remote control terminal, and sends the relevant control instructions issued by the remote control terminal to the VCU control module, while the VCU control module and the automatic driving control module can both communicate with the remote control terminal through the communication connection module and directly receive relevant operation instructions. Of course, there are differences in the types of instructions that each module can receive.

[0013] Furthermore, the communication connection module is electrically connected to the VCU control module, the remote driving controller and the automatic driving control module.

[0014] Furthermore, the VCU control module is also used to receive control instructions sent by the remote control terminal through the communication connection module.

[0015] Furthermore, the perception module includes at least four cameras, which are installed on the unmanned vehicle. The four cameras are installed at different positions on the body of the unmanned vehicle to collect video image data of the environment around the unmanned vehicle.

[0016] Furthermore, the camera is communicatively connected to the remote driving controller via a GMSL interface.

[0017] Furthermore, the communication connection module is a T-Box or a 4G / 5G network module.

[0018] Furthermore, the automatic driving control module is an ADCU module.

[0019] The utility model also provides a sweeper, comprising the above-mentioned vehicle unmanned driving and remote driving integrated control system.

[0020] By adopting the above scheme, the utility model provides an integrated control system for unmanned driving and remote driving of a vehicle and a sweeper, which has the following beneficial effects:

[0021] Compatible with two different driving modes, users can choose different operating modes according to actual needs, effectively improving the user experience and being highly practical;

[0022] When the automatic driving mode fails or an emergency occurs, the remote driving mode can be selected. When the automatic driving mode is normal, automatic driving can be performed to ensure that the unmanned vehicle is in an efficient operating state and has a good effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a principle block diagram of the utility model;

[0024] Figure 2 This is the electrical control principle diagram of the utility model;

[0025] Figure 3 This is the electrical control schematic diagram of the VCU control module of the present utility model;

[0026] Figure 4 This is the electrical control principle diagram of the remote driving controller of the utility model;

[0027] Figure 5 This is the electrical control schematic diagram of the automatic driving control module of the present utility model;

[0028] Figure 6 This is the electrical control principle diagram of the communication connection module of the present utility model.

[0029] Among them: VCU control module 1, remote driving controller 2, automatic driving control module 3, perception module 4, communication connection module 5. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Please refer to Figures 1-6 The present invention provides an integrated control system for unmanned driving and remote driving of a vehicle, which can select different driving modes according to the specific environment in which the unmanned vehicle is located, so as to ensure that the unmanned vehicle is in the optimal control mode and can still drive and operate normally in an emergency state. Specifically, it includes: a VCU control module 1, a remote driving controller 2, an automatic driving control module 3, and a communication connection module 5 provided on the unmanned vehicle, and a perception module 4 provided on the outer cover of the unmanned vehicle. The remote driving controller 2 and the automatic driving control module 3 are electrically connected to the VCU control module 1, the remote driving controller 2 is electrically connected to the perception module 4, and the communication connection module 5 is electrically connected to the VCU control module 1, the remote driving controller 2, and the automatic driving control module 3.

[0032] Specifically, in this embodiment, the VCU control module 1 is used to control the unmanned vehicle to execute vehicle execution commands issued by the remote driving controller 2 or the automatic driving control module 3. Specifically, vehicle execution commands include: switching between remote driving mode and automatic driving mode, switching between soft emergency stop mode and automatic driving mode, driving control (target vehicle speed + desired acceleration / deceleration), steering control (vehicle steering angle), braking control (target braking percentage or braking force), turning lights on or off (including turn signals, hazard lights, reverse lights, headlights, etc.), audio control (horn, prompt tone, etc.), turning charging or watering on / off, cleaning operation on / off, and dumping operation on / off. Of course, these commands can be adjusted according to actual needs. Therefore, upon receiving the corresponding vehicle execution command, the VCU control module 1 can control the unmanned vehicle to perform corresponding actions to control the operation and operation of the unmanned vehicle. Therefore, in any of the above control modes, the normal operation of the unmanned vehicle can be guaranteed.

[0033] Specifically, in this embodiment, the remote driving controller 2 is used to receive the perception data of the external environment of the unmanned vehicle collected by the perception module 4 and send it to the remote control terminal. It is also used to receive the vehicle execution command sent by the remote control terminal and send it to the VCU control module 1. The perception data is video image data, that is, streaming media data. Specifically, in this embodiment, the remote driving controller 2 can encapsulate the received perception data into streaming data, and the delay should be <200ms. In addition, it should be noted that the data range and data volume of the perception data of the external environment of the unmanned vehicle collected by the perception module 4 are determined by the data collection range of the perception component (such as a camera) used in the perception module 4 and the position where it is installed on the vehicle. Generally, after the perception module 4 is debugged and installed, the data range that it can collect is determined.

[0034] Specifically, in this embodiment, the autonomous driving control module 3 is configured to send vehicle execution instructions to the VCU control module 1 when the unmanned vehicle is in autonomous driving mode, thereby controlling the operation of the unmanned vehicle. Clearly, using the autonomous driving control module 3 to control vehicle operation offers advantages such as a high degree of automation, reduced labor costs, and high efficiency. Therefore, under normal circumstances, the operation of the unmanned vehicle is generally controlled by the autonomous driving control module 3. However, if the autonomous driving control module 3 malfunctions or encounters an emergency, the remote control terminal, upon detecting the relevant situation through sensor data transmitted by the remote driving controller 2, selects to activate remote driving mode, thereby controlling the normal operation of the unmanned vehicle through the remote driving controller 2. Furthermore, the autonomous driving control module 3 is configured to receive autonomous driving obstacle / status information (obstacle data, vehicle autonomous driving status data), remote driving takeover instructions, and other information transmitted by the remote control terminal via the communication connection module 5.

[0035] Specifically, in this embodiment, the communication connection module 5 is used to establish communication connections between the VCU control module 1, remote driving controller 2, and autonomous driving control module 3, and the remote control terminal. Once connected to the remote control terminal, it can receive relevant control command messages sent by the remote control terminal. Furthermore, it should be noted that the remote driving controller 2 primarily interacts with the remote control terminal, sending corresponding commands to the VCU control module 1 based on the commands issued by the remote control terminal. Furthermore, it is used to receive vehicle status information from the VCU and transmit this information to the remote control terminal. Upon receiving this information, the remote control terminal of the remote driving system can read the vehicle status in real time. Specifically, this vehicle status information includes: vehicle speed, braking percentage, steering angular velocity, gear position, battery level, water level, garbage level, fan enable status (enabled / disabled), cleaning system status (cleaning determination conditions, switching determination conditions, etc.), dumping system status (dumping determination conditions, reset determination conditions, etc.), and other relevant data related to the operating status of the unmanned vehicle. Of course, before the remote driving control mode is needed or before exiting the remote driving mode, the remote control terminal will send an instruction to the remote driving controller 2 requesting remote driving of the vehicle or exiting remote driving of the vehicle.

[0036] Specifically, in this embodiment, the VCU control module 1 is further configured to receive a control instruction sent by a remote control terminal through the communication connection module 5. The control instruction is a vehicle remote power-on instruction.

[0037] Specifically, in this embodiment, the perception module 4 includes: at least four cameras, which are installed on the unmanned vehicle; the cameras are connected to the remote driving controller 2 through the GMSL interface. The four cameras are installed at different positions on the vehicle body to collect image data of the environment around the unmanned vehicle. In addition, it should be noted that the four cameras installed need to meet the requirements of the cameras for remote driver observation and surround stitching functions in the remote driving mode. Specifically, it should be ensured that the blind spot around the vehicle body in the surround stitching picture is less than 30cm, the horizontal visibility in the front is greater than 20m, the horizontal visibility in the left, right and rear directions is greater than 10m, and the vertical visibility is greater than 1.5m. The specific data is set according to the specific size of the vehicle. Of course, other sensing components are also installed on the body of the unmanned vehicle to meet the requirements of the unmanned vehicle in the automatic driving mode, such as the edge.

[0038] Specifically, in this embodiment, the communication connection module 5 is a T-Box or a 4G / 5G network module. Any T-Box or 4G / 5G network module in the prior art that can realize the functions of the communication connection module 5 in the present invention can be applied to the present invention to realize its functions.

[0039] Specifically, in this embodiment, the autonomous driving control module 3 is an ADCU module. Any ADCU module in the prior art that can achieve the above-mentioned functions can be applied to the present invention to achieve its functions. In this embodiment, the autonomous driving control module 3 is also connected to a restart relay, which is electrically connected to a restart switch, and the restart switch is also electrically connected to the VCU control module 1.

[0040] Therefore, the integrated control system for unmanned driving and remote driving of a vehicle in the present invention can realize automatic driving and remote driving of an unmanned vehicle. It can realize remote driving when a failure or emergency occurs in the automatic driving mode, and can perform automatic driving when the automatic driving mode is normal to ensure the efficient operation of the unmanned vehicle. In addition, the present invention is compatible with two different driving modes, and users can choose different operating modes according to actual needs, which effectively improves the user experience and is highly practical.

[0041] The present invention also provides a road sweeper, including the above-mentioned vehicle unmanned driving and remote driving integrated control system. Obviously, the road sweeper can realize two driving modes of unmanned driving and remote driving, which can meet different usage needs and is more practical.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle unmanned driving and remote driving integrated control system, characterized in that: It includes: a VCU control module, a remote driving controller and an automatic driving control module electrically connected to the VCU control module, and a perception module electrically connected to the remote driving controller; The VCU control module is used to control the unmanned vehicle to execute the vehicle execution instructions issued by the remote driving controller or the automatic driving control module; The remote driving controller is used to receive the perception data collected by the perception module and send it to the remote control terminal, and is also used to receive the vehicle execution command sent by the remote control terminal and send it to the VCU control module; The automatic driving control module is used to send a vehicle execution instruction to the VCU control module when the unmanned vehicle is in the automatic driving mode, so as to control the operation of the unmanned vehicle.

2. The vehicle unmanned driving and remote driving integrated control system according to claim 1 is characterized in that: It also includes: a communication connection module for realizing communication between the VCU control module, the remote driving controller, the automatic driving control module and the remote control terminal.

3. The vehicle unmanned driving and remote driving integrated control system according to claim 2 is characterized in that: The communication connection module is electrically connected to the VCU control module, the remote driving controller and the automatic driving control module.

4. The integrated control system for unmanned driving and remote driving of a vehicle according to claim 3, characterized in that: The VCU control module is also used to receive control instructions sent by the remote control terminal through the communication connection module.

5. The vehicle unmanned driving and remote driving integrated control system according to claim 1 is characterized in that: The perception module includes: at least four cameras, and the cameras are installed on the unmanned vehicle.

6. The integrated control system for unmanned driving and remote driving of a vehicle according to claim 5, characterized in that: The camera is communicatively connected to the remote driving controller via a GMSL interface.

7. The integrated control system for unmanned driving and remote driving of a vehicle according to claim 2, characterized in that: The communication connection module is a T-Box or a 4G / 5G network module.

8. The vehicle unmanned driving and remote driving integrated control system according to claim 1 is characterized in that: The automatic driving control module is an ADCU module.

9. A sweeper, characterized in that: A vehicle unmanned driving and remote driving integrated control system comprising any one of claims 1-8.

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