CN108919797A - A kind of automated driving system of electronic minibus - Google Patents
A kind of automated driving system of electronic minibus Download PDFInfo
- Publication number
- CN108919797A CN108919797A CN201810575344.3A CN201810575344A CN108919797A CN 108919797 A CN108919797 A CN 108919797A CN 201810575344 A CN201810575344 A CN 201810575344A CN 108919797 A CN108919797 A CN 108919797A
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- upper layer
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- 230000008447 perception Effects 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 27
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of automated driving systems of electronic minibus, the system includes sensor module, upper layer computing unit and upper layer control unit for vehicle, and the sensor module is transmitted to upper layer computing unit by the driving-environment information of the electronic minibus of perception and from truck position posture information；Information carries out environmental situation analysis and decision to the upper layer computing unit based on the received, and issues decision instruction information to upper layer control unit for vehicle；The information of the sensor module of the upper layer control unit for vehicle upper layer computing unit issues based on the received decision instruction information and acquisition generates vehicle control amount and is sent to vehicle VCU, and sends control instruction to each controller actuator.Compared with prior art, the present invention realizes the automatic Pilot of electronic minibus.
Description
Technical field
The present invention relates to automatic Pilot fields, more particularly, to a kind of automated driving system of electronic minibus.
Background technique
With the increase of China's automobile volume of holding, road traffic congestion phenomenon is increasingly severe, etesian traffic thing
Therefore also constantly rising, in order to preferably solve the problems, such as this, research and development automatic vehicle control system is necessary.
By retrieval, China Patent Publication No. is that CN207264194U discloses a kind of container truck automatic Pilot system
System, including：Remote monitoring device, it is raw for the map using harbour where preset Container Transport plan and container
At transport task and transit route；The vehicle-mounted servomechanism being mounted on container truck, for receiving the distal end
The transport task and the transit route that monitoring device issues control the container truck row based on the transit route
Into completing the transport task.Such scheme had not only needed to carry out large-scale redevelopment to infrastructure such as quay surfaces, but also can
Solve the problems, such as that conevying efficiency caused by pilot steering container truck is low, operational reliability is poor.But what the utility model was directed to
It is the automatic Pilot of container truck, route sheet one, by remotely controlling, independence is not strong.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of electronic minibus from
Dynamic control loop and its application.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of automated driving system of electronic minibus, the system include sensor module, upper layer computing unit and upper deck
Control unit, the sensor module is by the driving-environment information of the electronic minibus of perception and from truck position posture information
It is transmitted to upper layer computing unit；Information carries out environmental situation analysis and decision to the upper layer computing unit based on the received, and
Decision instruction information is issued to upper layer control unit for vehicle；Upper layer calculates list to the upper layer control unit for vehicle based on the received
The information of the sensor module of decision instruction information and acquisition that member issues generates vehicle control amount and is sent to vehicle VCU, and
Control instruction is sent to each controller actuator.
Preferably, the sensor module includes that external environment perceives class sensor, senses from truck position gesture recognition
The communication classes equipment such as device and V2X, the external environment perception class sensor includes camera, laser radar and millimeter wave thunder
It reaches；It is described from truck position gesture recognition sensor include GNSS/INS omniselector.
Preferably, the sensor module is counted by Ethernet, serial communication and/or CAN communication mode and upper layer
Calculate unit connection.
Preferably, the top level control unit is connect by CAN bus communication mode with upper layer computing unit, described
Top level control unit is connect by vehicle CAN bus communication network with vehicle VCU, and passes through rigid line connection type and non-CAN
Each controller actuator and onboard sensor of bus communication mode connect.
Preferably, each controller actuator includes preceding to headlight, turn signal and rain brush.
Preferably, the onboard sensor includes gas pedal jaw opening sensor and brake pedal jaw opening sensor.
Compared with prior art, the present invention has the following advantages that：
The present invention realizes longitudinally controlled (including Throttle Opening Control, brake control to electronic minibus by installing upper controller additional
System, gear control) with crosswise joint (course changing control) realize turn signal and by upper controller, headlight, rain brush from
Dynamic control.Realize the automatic Pilot of electronic minibus.
Detailed description of the invention
Fig. 1 is control loop and each portion's connection schematic diagram of vehicle of the invention.
Specific embodiment
Below technical solution in the embodiment of the present invention is carried out clear being to be fully described by, it is clear that described reality
Applying example is a part of the embodiments of the present invention, rather than whole embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work all should belong to what the present invention protected
Range.
Automatic Pilot based on electronic minibus reequips solution, and application is electronic minibus, by installing upper layer control additional
Device processed is realized and (is turned to longitudinally controlled (including the Throttle Opening Control, brake control, gear control) of electronic minibus with crosswise joint
Control), and by upper controller, realize turn signal, headlight, the automatic control of rain brush.Realize driving automatically for electronic minibus
Sailing.
As shown in Figure 1, a kind of automated driving system of electronic minibus, which includes sensor module, upper layer calculating list
Member and upper layer control unit for vehicle, the sensor module is by the driving-environment information of the electronic minibus of perception and from parking stall
It sets posture information and is transmitted to upper layer computing unit；Information carries out environmental situation analysis to the upper layer computing unit based on the received
And decision, and decision instruction information is issued to upper layer control unit for vehicle；The upper layer control unit for vehicle is based on the received
The information of the onboard sensor of decision instruction information and acquisition that upper layer computing unit issues, generation vehicle control amount are sent to whole
Vehicle VCU, and control instruction is sent to each controller actuator.
The sensor module includes external environment perception class sensor, from truck position gesture recognition sensor and V2X
Equal communication classes equipment, the external environment perception class sensor includes camera, laser radar and millimetre-wave radar；Described
From truck position, gesture recognition sensor includes GNSS/INS omniselector.The sensor module leads to by Ethernet, serially
Letter and/or CAN communication mode are connect with upper layer computing unit.The top level control unit by CAN bus communication mode with
The connection of upper layer computing unit, the top level control unit are connect by vehicle CAN bus communication network with vehicle VCU, and
It is connect by rigid line connection type with each controller actuator and onboard sensor of non-CAN bus communication mode.Described is each
Controller actuator includes preceding to headlight, turn signal and rain brush, and the onboard sensor includes gas pedal aperture sensing
Device and brake pedal jaw opening sensor.
Each component is described in detail as follows：
Sensor：Sensor by include camera, laser radar, the external environments such as millimetre-wave radar perceive class sensor and
GNSS/INS etc. is constituted from the communication classes equipment such as truck position gesture recognition sensor and V2X.By Ethernet, serial communication,
The communications such as CAN communication are connect with upper layer computing unit, and implement to issue relevant information.
Upper layer computing unit (computing unit A)：By Ethernet, serial communication, the communications such as CAN communication are real
When obtain the relevant information of sensor acquisition, and carry out environmental situation analysis and decision according to relevant information, issue relevant Decision
Information is to upper layer control unit for vehicle.
Upper layer control unit for vehicle (controller A)：Vehicle CAN bus communication network is connected by CAN bus communication mode,
Vehicle relevant information needed for acquiring automatic Pilot, and control instruction is sent to being connected to the CAN bus network segment by the network
Each controller.Non- CAN bus communication mode is linked to (by exporting analog signal, digital signal etc. by rigid line connection type
Mode is controlled) each controller actuator (such as forward direction headlight, turn signal, rain brush), onboard sensor (such as open by gas pedal
Degree, brake pedal aperture), vehicle relevant information needed for acquiring automatic Pilot, and control instruction is sent to connection by the network
In each controller of the network segment.
Computing unit (computing unit A) is connected by way of CAN bus, is obtained the decision that computing unit issues in real time and is referred to
(traveling plan) is enabled, and according to the instruction, calculates and issues corresponding vehicle control amount to vehicle VCU.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (6)
1. a kind of automated driving system of electronic minibus, which is characterized in that the system includes sensor module, upper layer computing unit
With upper layer control unit for vehicle, the sensor module is by the driving-environment information of the electronic minibus of perception and from truck position
Posture information is transmitted to upper layer computing unit；The upper layer computing unit based on the received information carry out environmental situation analysis and
Decision, and decision instruction information is issued to upper layer control unit for vehicle；The upper layer control unit for vehicle based on the received on
The information of the sensor module of decision instruction information and acquisition that layer computing unit issues generates vehicle control amount and is sent to vehicle
VCU, and control instruction is sent to each controller actuator.
2. a kind of automated driving system of electronic minibus according to claim 1, which is characterized in that the sensor group
Part includes external environment perception class sensor, from truck position gesture recognition sensor and V2X communication class equipment.
The external environment perception class sensor includes camera, laser radar and millimetre-wave radar；It is described from truck position
Gesture recognition sensor includes GNSS/INS omniselector.
3. a kind of automated driving system of electronic minibus according to claim 1, which is characterized in that the sensor group
Part is connect by Ethernet, serial communication and/or CAN communication mode with upper layer computing unit.
4. a kind of automated driving system of electronic minibus according to claim 1, which is characterized in that the top level control
Unit is connect by CAN bus communication mode with upper layer computing unit, and the top level control unit is logical by vehicle CAN bus
Communication network is connect with vehicle VCU, and by each controller actuator of rigid line connection type and non-CAN bus communication mode and
Onboard sensor connection.
5. a kind of automated driving system of electronic minibus according to claim 1, which is characterized in that each controller
Actuator includes preceding to headlight, turn signal and rain brush.
6. a kind of automated driving system of electronic minibus according to claim 1, which is characterized in that the sensor group
Part includes gas pedal jaw opening sensor and brake pedal jaw opening sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810575344.3A CN108919797A (en) | 2018-06-06 | 2018-06-06 | A kind of automated driving system of electronic minibus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810575344.3A CN108919797A (en) | 2018-06-06 | 2018-06-06 | A kind of automated driving system of electronic minibus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108919797A true CN108919797A (en) | 2018-11-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810575344.3A Pending CN108919797A (en) | 2018-06-06 | 2018-06-06 | A kind of automated driving system of electronic minibus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108919797A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113759870A (en) * | 2021-08-18 | 2021-12-07 | 东科克诺尔商用车制动技术有限公司 | Perception and execution division system framework of motor vehicle |
| CN113954859A (en) * | 2020-11-13 | 2022-01-21 | 王晓磊 | Automatic driving refitting method and device suitable for non-automatic driving vehicle |
| WO2022053040A1 (en) * | 2020-09-14 | 2022-03-17 | 贵州翰凯斯智能技术有限公司 | Control system of self-propelled robot platform and communication method therefor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206532138U (en) * | 2017-03-04 | 2017-09-29 | 上海勤融信息科技有限公司 | A kind of unmanned vehicle automatic Pilot intelligence system |
| CN107291074A (en) * | 2016-09-29 | 2017-10-24 | 中国科学院自动化研究所 | A kind of miniature intelligent vehicle system |
| CN107347083A (en) * | 2016-05-05 | 2017-11-14 | 上汽通用汽车有限公司 | A kind of people's car communication system based on automatic Pilot |
| CN206848802U (en) * | 2017-03-01 | 2018-01-05 | 北京图森未来科技有限公司 | A kind of controller of vehicle |
-
2018
- 2018-06-06 CN CN201810575344.3A patent/CN108919797A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107347083A (en) * | 2016-05-05 | 2017-11-14 | 上汽通用汽车有限公司 | A kind of people's car communication system based on automatic Pilot |
| CN107291074A (en) * | 2016-09-29 | 2017-10-24 | 中国科学院自动化研究所 | A kind of miniature intelligent vehicle system |
| CN206848802U (en) * | 2017-03-01 | 2018-01-05 | 北京图森未来科技有限公司 | A kind of controller of vehicle |
| CN206532138U (en) * | 2017-03-04 | 2017-09-29 | 上海勤融信息科技有限公司 | A kind of unmanned vehicle automatic Pilot intelligence system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022053040A1 (en) * | 2020-09-14 | 2022-03-17 | 贵州翰凯斯智能技术有限公司 | Control system of self-propelled robot platform and communication method therefor |
| CN113954859A (en) * | 2020-11-13 | 2022-01-21 | 王晓磊 | Automatic driving refitting method and device suitable for non-automatic driving vehicle |
| CN113954859B (en) * | 2020-11-13 | 2024-07-09 | 王晓磊 | Automatic driving refitting method and device suitable for non-automatic driving vehicle |
| CN113759870A (en) * | 2021-08-18 | 2021-12-07 | 东科克诺尔商用车制动技术有限公司 | Perception and execution division system framework of motor vehicle |
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Application publication date: 20181130 |