智能清扫车远程驾驶云控控制器设计  

Design of Cloud Control Controller for Remote Driving of Intelligent Sweeper

作　　者：杨朝阳[1] 曹坤泽 周奎[1] 戈小中 Yang Zhaoyang;Cao Kunze;Zhou Kui;Ge Xiaozhong(Hubei University of Automotive Technology,Shiyan 442002,China;Dongfeng Yuexiang Technology Corporation,Wuhan 430056,China)

机构地区：[1]湖北汽车工业学院,湖北十堰442002 [2]东风悦享科技有限公司,湖北武汉430056

出　　处：《湖北汽车工业学院学报》2022年第4期38-42,共5页Journal of Hubei University Of Automotive Technology

摘　　要：为了方便园区清洁人员的清洁工作,提高工作效率,提出了某智能清扫车的远程驾驶系统架构,并对车端云控控制器环境感知、远程通信及控车系统进行了设计。车端云控控制器基于恩智浦的i.MX8 QM开发,采用四路鱼眼摄像头对车辆周围进行环境感知,实现了摄像头视频采集、硬编码与RTP实时推流;远程通信基于HTTPS协议实现数据交互的加密解密;车端控车系统接收驾驶舱远程控车指令,通过CAN总线实现车辆控制。实车测试结果表明,系统能够安全可靠地实现清扫车远程驾驶功能。To facilitate the cleaning work of cleaners in the park and improve the work efficiency,a remote driving system architecture for an intelligent sweeper was proposed,and design for the environ⁃ment perception,remote communication and vehicle control system of the cloud control controller was carried out at the vehicle end.The terminal cloud controller was developed based on NXP’s i.MX8 QM.The four-channel fish-eye camera was used to sense the environment around the vehicle.And the vid⁃eo collection,hard coding and RTP real-time push stream were realized.The encryption and decryption of data interaction based on HTTPS protocol was realized in remote communication.The command of cockpit remote control was received by the vehicle end control system and vehicle was controlled through CAN bus.The test results show that the remote driving function of sweeper can be realized by the system safely and reliably.

关 键 词：远程驾驶 RTP V4L2 HTTPS 

分 类 号：U469.6[机械工程—车辆工程]