CN104991580A - Control system of unmanned vehicle and control method thereof - Google Patents
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Abstract
The invention relates to the technical field of automobile active safety and especially relates to a control system of an unmanned vehicle. The control system comprises an ECU controller, a braking unit, a steering unit, an electronic throttle unit, a vehicle speed sensor and a turning angle sensor; the ECU controller receives a control command of a vehicle speed, and, after dynamic PID closed-loop control is performed according to an actual vehicle speed signal, outputs a speed control instruction so as to achieve control of the vehicle speed; and the ECU controller also receives control commands of a vehicle angle and an angle speed, and achieves control of a vehicle direction after dynamic PID closed-loop control of the angle and the angle speed is performed according to an actual turning angle signal. The invention discloses a control method of the system. In order to independently control vehicle steering and the vehicle speed, the system enables decision-making control part to be independent, flexibility and practicality of the system are improved, and the system can be suitable for different vehicles; and the adopted closed-loop control can guarantee accuracy of the control process.
Description
Technical field
The present invention relates to automobile active safety technical field, particularly a kind of control system of automatic driving vehicle and control method thereof.
Background technology
Safety is the principal element pulling automatic driving car demand growth.Every year, the negligence of drivers all can cause many accidents.Since driver error is numerous, automobile manufacturers will concentrate one's energy to design the system guaranteeing automotive safety certainly." unmanned " drives the new expectation becoming people.Pilotless automobile is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line also controls the intelligent automobile that vehicle arrives intended target.Specifically, utilize onboard sensor to carry out perception vehicle-periphery exactly, and according to road, vehicle location and obstacle information that perception obtains, control turning to and speed of vehicle, thus vehicle is travelled safely, reliably on road.Turning to and the control of speed vehicle realizes unpiloted important step.But current a lot of unmanned control system is all the system of integration, does not have good dirigibility and practicality, can not intelligent driving function various with other system integration realization.
Summary of the invention
Primary and foremost purpose of the present invention is to provide a kind of control system with the automatic driving vehicle of very strong dirigibility and practicality.
For realizing above object, the technical solution used in the present invention is: a kind of control system of automatic driving vehicle, comprises ECU controller, brake unit, steering unit, E-Gas unit, vehicle speed sensor and rotary angle transmitter; ECU controller receive car speed control command and after carrying out dynamic PID closed-loop control according to the actual vehicle speed signal that vehicle speed sensor detects output speed steering order realize the control of car speed to brake unit and E-Gas unit; ECU controller also receive vehicle angles and angular velocity control command and carry out the dynamic PID closed-loop control of angle and angular velocity according to the actual rotational angle signal that rotary angle transmitter detects after outbound course steering order to steering unit realize the control of direction of traffic.
Compared with prior art, there is following technique effect in the present invention: native system is independent controlling accurately Vehicular turn and speed, Decision Control this part is independently gone out, improve dirigibility and the practicality of system, different vehicle can be applicable to, the closed-loop control simultaneously adopted, can ensure the degree of accuracy of control procedure.
Another object of the present invention is to provide a kind of control method with the control system of the automatic driving vehicle of very strong dirigibility and practicality.
For realizing above object, the technical solution used in the present invention is: a kind of control method of control system of automatic driving vehicle, comprise the steps: that (A) opens unmanned pattern, system carries out initialization, namely be zero by the speed of brake unit, E-Gas unit controls vehicle, control bearing circle by steering unit and be in centre position; (B) in time receiving speed-up command, ECU controller evaluating objects speed and acceleration magnitude are carried out control system and are accelerated to target speed value, and coordinate brake unit and E-Gas unit enforcement acceleration control according to the actual vehicle speed signal dynamics of vehicle speed sensor feedback; (C) in time receiving deceleration command, ECU controller evaluating objects speed and retarded velocity size are carried out control system and are decelerated to target speed value, and coordinate brake unit and E-Gas unit enforcement deceleration control according to the actual vehicle speed signal dynamics of vehicle speed sensor feedback; (D) in time receiving diversion order, ECU controller evaluating objects angle and angular velocity size are carried out control system and are redirect to angle on target, and implement or turn right to control according to the actual angle signal dynamic conditioning steering unit of rotary angle transmitter feedback.
Compared with prior art, there is following technique effect in the present invention: native system is independent controlling accurately Vehicular turn and speed, Decision Control this part is independently gone out, improve dirigibility and the practicality of system, different vehicle can be applicable to, the closed-loop control simultaneously adopted, can ensure the degree of accuracy of control procedure.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention.
Embodiment
Below in conjunction with Fig. 1, the present invention is described in further detail.
Consult Fig. 1, a kind of control system of automatic driving vehicle, comprise ECU controller 10, brake unit 20, steering unit 30, E-Gas unit 40, vehicle speed sensor 50 and rotary angle transmitter 60; ECU controller 10 receive car speed control command and after carrying out dynamic PID closed-loop control according to the actual vehicle speed signal that vehicle speed sensor 50 detects output speed steering order realize the control of car speed to brake unit 20 and E-Gas unit 40; ECU controller 10 also receive vehicle angles and angular velocity control command and carry out the dynamic PID closed-loop control of angle and angular velocity according to the actual rotational angle signal that rotary angle transmitter 60 detects after outbound course steering order realize the control of direction of traffic to steering unit 30.This control system only for realize turn to when receiving, acceleration and deceleration order time, how vehicle is controlled, scheme is specifically described in the patent " automatically with truck system and control method thereof " that our company applies on the same day, processing module in the control command " automatically with truck system and control method thereof " of the control command of the car speed that noted earlier and ECU controller 10 receives, vehicle angles and angular velocity sent, main points of the present invention are to control, and are not therefore described in detail with regard to processing module.PID and proportional-integral derivative controller, be backfeed loop parts common in Industry Control Application, be made up of proportional unit P, integral unit I and differentiation element D.It is that the key element of feedback theory comprises three parts: measure, compare and perform based on the concept fed back to reduce uncertainty.Measure it is of concern that the actual value of controlled variable, compared with expectation value, carry out the response of correcting system by this deviation, perform regulable control.
Here, the real-time speed of a motor vehicle can be got by arranging vehicle speed sensor 50, ECU controller 10, then carry out PID closed-loop control with received car speed control command, accuracy and the precision of control can be ensured.In like manner, the control command for vehicle angles and angular velocity also adopts closed-loop control.The control system of independent automatic driving vehicle is provided in the present embodiment, by unpiloted Logic judgment and execution module separately, like this, just can with other logic judgment module carry out with the use of, solve the unmanned control problem of vehicle, applicability is very wide.
Preferably, described brake unit 20 comprises the first power driving circuit 21, first motor 22 and electric brake 23, the rate control instruction that ECU controller 10 exports comprises deceleration instruction, first power driving circuit 21 receives deceleration instruction and exports corresponding drive singal to the first motor 22, first motor 22 according to this instruction and rotates and drive electric brake 23 action to realize the deceleration of vehicle; The rate control instruction that ECU controller 10 exports also comprises assisted instruction, and E-Gas unit 40 controls E-Gas size after receiving assisted instruction realizes the acceleration of vehicle.Carry out vehicle deceleration by the first motor 22 and electric brake 23, control more stable.The concrete structure of electric brake 23 is at patent of invention " brake control method of automobile line control brake system and electric brake " (application number: 201110310980.1; Publication date: on 04 18th, 2012) in open, the electric brake 23 of other similar structures can certainly be adopted, concrete restriction do not done, as long as it can realize braking function to the shape of electric brake 23 and structure here.
Preferably, described steering unit 30 comprises the second power driving circuit 31, second motor 32 and steering box 33, ECU controller 10 outbound course steering order to the second power driving circuit 31, export corresponding drive singal to the second motor 32, second motor 32 after second power driving circuit 31 receives this instruction rotate and drive steering box 33 action to realize the control of direction of traffic.What steering unit 30 adopted is pipe column type power-assisted mode, and by driving the left-right rotation of the second motor 32 on tubing string, drive reducing gear to pull steering box to implement left and right turn, the second motor 32 in the present embodiment comprises motor body and subsidiary reducing gear thereof.
As preferred version of the present invention, native system also comprises man-machine interaction unit 70, power supply unit 80, described man-machine interaction unit 70 comprises button and display, and user is opened by button or closing control system, and display is used for the failure message of display control program; Power supply unit 80 is powered for ECU controller 10.In speed, direction controlling link, system Real-time and Dynamic Detection fault, outwards sends failure message to the fault occurred in the mode of CAN, after arranging man-machine interaction unit 70, can show fault; Further, by man-machine interaction unit 70, user can On/Off native system at any time, uses very convenient.
Preferably, described ECU controller 10 receives the control command of car speed, angle and angular velocity by CAN networking, the failure message of control system is exported by CAN network.Carry out data transmission by CAN network, transfer rate and accuracy can be ensured.
A kind of control method of control system of automatic driving vehicle is also disclosed in the present invention, comprise the steps: that (A) opens unmanned pattern, system carries out initialization, namely the speed controlling vehicle by brake unit 20, E-Gas unit 40 is zero, controls bearing circle be in centre position by steering unit 30; (B) in time receiving speed-up command, ECU controller 10 evaluating objects speed and acceleration magnitude are carried out control system and are accelerated to target speed value, and coordinate brake unit 20 and E-Gas unit 40 enforcement acceleration control according to the actual vehicle speed signal dynamics that vehicle speed sensor 50 is fed back; (C) in time receiving deceleration command, ECU controller 10 evaluating objects speed and retarded velocity size are carried out control system and are decelerated to target speed value, and coordinate brake unit 20 and E-Gas unit 40 enforcement deceleration control according to the actual vehicle speed signal dynamics that vehicle speed sensor 50 is fed back; (D) in time receiving diversion order, ECU controller 10 evaluating objects angle and angular velocity size are carried out control system and are redirect to angle on target, and implement or turn right to control according to the actual angle signal dynamic conditioning steering unit 30 that rotary angle transmitter 60 feeds back.In described step D, ECU controller 10 drives the left-right rotation of the second motor 32 by driving second power driving circuit 31, drives reducing gear to pull steering box 33 to implement or turn right and controls.By the method, effectively can realize the unmanned of vehicle and control, comprise acceleration, deceleration, left steering and right turn.
Claims (7)
1. a control system for automatic driving vehicle, is characterized in that: comprise ECU controller (10), brake unit (20), steering unit (30), E-Gas unit (40), vehicle speed sensor (50) and rotary angle transmitter (60); ECU controller (10) receive car speed control command and after carrying out dynamic PID closed-loop control according to the actual vehicle speed signal that vehicle speed sensor (50) detects output speed steering order realize the control of car speed to brake unit (20) and E-Gas unit (40); ECU controller (10) also receive vehicle angles and angular velocity control command and after carrying out the dynamic PID closed-loop control of angle and angular velocity according to the actual rotational angle signal that rotary angle transmitter (60) detects outbound course steering order realize the control of direction of traffic to steering unit (30).
2. the control system of automatic driving vehicle as claimed in claim 1, it is characterized in that: described brake unit (20) comprises the first power driving circuit (21), the first motor (22) and electric brake (23), the rate control instruction that ECU controller (10) exports comprises deceleration instruction, first power driving circuit (21) receives deceleration instruction and exports corresponding drive singal to the first motor (22) according to this instruction, and the first motor (22) rotates and drives electric brake (23) action to realize the deceleration of vehicle; The rate control instruction that ECU controller (10) exports also comprises assisted instruction, and the size controlling E-Gas after E-Gas unit (40) reception assisted instruction realizes the acceleration of vehicle.
3. the control system of automatic driving vehicle as claimed in claim 1, it is characterized in that: described steering unit (30) comprises the second power driving circuit (31), the second motor (32) and steering box (33), ECU controller (10) outbound course steering order to the second power driving circuit (31), export corresponding drive singal to the second motor (32) after second power driving circuit (31) receives this instruction, the second motor (32) rotates and drives steering box (33) action to realize the control of direction of traffic.
4. the control system of automatic driving vehicle as claimed in claim 1, it is characterized in that: also comprise man-machine interaction unit (70), power supply unit (80), described man-machine interaction unit (70) comprises button and display, user is opened by button or closing control system, and display is used for the failure message of display control program; Power supply unit (80) is ECU controller (10) power supply.
5. the control system of automatic driving vehicle as claimed in claim 4, it is characterized in that: described ECU controller (10) receives the control command of car speed, angle and angular velocity by CAN networking, and the failure message of control system is exported by CAN network.
6. a control method for the control system of automatic driving vehicle, comprises the steps:
(A) unmanned pattern is opened, system carries out initialization, namely controlling the speed of vehicle by brake unit (20), E-Gas unit (40) is zero, controls bearing circle be in centre position by steering unit (30);
(B) in time receiving speed-up command, ECU controller (10) evaluating objects speed and acceleration magnitude are carried out control system and are accelerated to target speed value, and coordinate brake unit (20) and E-Gas unit (40) enforcement acceleration control according to the actual vehicle speed signal dynamics that vehicle speed sensor (50) is fed back;
(C) in time receiving deceleration command, ECU controller (10) evaluating objects speed and retarded velocity size are carried out control system and are decelerated to target speed value, and coordinate brake unit (20) and E-Gas unit (40) enforcement deceleration control according to the actual vehicle speed signal dynamics that vehicle speed sensor (50) is fed back;
(D) in time receiving diversion order, ECU controller (10) evaluating objects angle and angular velocity size are carried out control system and are redirect to angle on target, and implement or turn right to control according to the actual angle signal dynamic conditioning steering unit (30) that rotary angle transmitter (60) feeds back.
7. the control method of the control system of automatic driving vehicle as claimed in claim 6, it is characterized in that: in described step D, ECU controller (10) drives the left-right rotation of the second motor (32) by driving second power driving circuit (31), drives reducing gear to pull steering box (33) to implement or turn right and controls.
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| CN201510341923.8A CN104991580A (en) | 2015-06-18 | 2015-06-18 | Control system of unmanned vehicle and control method thereof |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346483A (en) * | 2015-11-04 | 2016-02-24 | 常州加美科技有限公司 | Man-machine interactive system for unmanned vehicle |
| CN105719362A (en) * | 2016-01-05 | 2016-06-29 | 常州加美科技有限公司 | Standby computer, vehicular black box and door lock of unmanned vehicle |
| CN106483959A (en) * | 2016-11-10 | 2017-03-08 | 江苏大学 | A kind of set a distance under image space is with car control method |
| CN106864436A (en) * | 2017-03-14 | 2017-06-20 | 长安大学 | A kind of automatic driving vehicle brakes and braking method |
| CN108427344A (en) * | 2018-03-15 | 2018-08-21 | 济南大学 | Caterpillar robot kinetic control system based on dSPACE and control method |
| CN108974004A (en) * | 2018-08-09 | 2018-12-11 | 北京智行者科技有限公司 | A kind of dynamical system control method |
| CN109154820A (en) * | 2016-05-16 | 2019-01-04 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| CN109375502A (en) * | 2018-10-31 | 2019-02-22 | 奇瑞汽车股份有限公司 | Control method, device and the storage medium of intelligent automobile |
| CN109407666A (en) * | 2018-10-11 | 2019-03-01 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of control method of vehicle, device, equipment and storage medium |
| WO2019047576A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Method and system for automatically controlling camera of self-driving vehicle |
| WO2019071505A1 (en) * | 2017-10-12 | 2019-04-18 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for braking control |
| CN105404729B (en) * | 2015-11-04 | 2019-05-03 | 北京联合大学 | Based on the improvement PID method for control speed for driving situation map cluster in intelligent driving |
| CN110209211A (en) * | 2019-08-01 | 2019-09-06 | 奥特酷智能科技(南京)有限公司 | The method for control speed and its system of Kinematics Simulation vehicle |
| CN111785027A (en) * | 2019-09-17 | 2020-10-16 | 上海森首科技股份有限公司 | Automatic driving closed-loop information system |
| CN112947047A (en) * | 2021-01-26 | 2021-06-11 | 重庆长安汽车股份有限公司 | Automatic driving acceleration control method based on self-adaptive PID algorithm |
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| CN105404729B (en) * | 2015-11-04 | 2019-05-03 | 北京联合大学 | Based on the improvement PID method for control speed for driving situation map cluster in intelligent driving |
| CN105346483B (en) * | 2015-11-04 | 2018-07-17 | 常州加美科技有限公司 | A kind of man-machine interactive system of automatic driving vehicle |
| CN105346483A (en) * | 2015-11-04 | 2016-02-24 | 常州加美科技有限公司 | Man-machine interactive system for unmanned vehicle |
| CN105719362A (en) * | 2016-01-05 | 2016-06-29 | 常州加美科技有限公司 | Standby computer, vehicular black box and door lock of unmanned vehicle |
| CN109154820B (en) * | 2016-05-16 | 2021-10-22 | 本田技研工业株式会社 | Vehicle control system, vehicle control method, and storage medium |
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| CN106483959A (en) * | 2016-11-10 | 2017-03-08 | 江苏大学 | A kind of set a distance under image space is with car control method |
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| WO2019047576A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Method and system for automatically controlling camera of self-driving vehicle |
| CN109923489A (en) * | 2017-10-12 | 2019-06-21 | 北京嘀嘀无限科技发展有限公司 | System and method for control for brake |
| WO2019071505A1 (en) * | 2017-10-12 | 2019-04-18 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for braking control |
| CN108427344A (en) * | 2018-03-15 | 2018-08-21 | 济南大学 | Caterpillar robot kinetic control system based on dSPACE and control method |
| CN108974004A (en) * | 2018-08-09 | 2018-12-11 | 北京智行者科技有限公司 | A kind of dynamical system control method |
| CN109407666A (en) * | 2018-10-11 | 2019-03-01 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of control method of vehicle, device, equipment and storage medium |
| CN109375502A (en) * | 2018-10-31 | 2019-02-22 | 奇瑞汽车股份有限公司 | Control method, device and the storage medium of intelligent automobile |
| CN110209211A (en) * | 2019-08-01 | 2019-09-06 | 奥特酷智能科技(南京)有限公司 | The method for control speed and its system of Kinematics Simulation vehicle |
| CN111785027A (en) * | 2019-09-17 | 2020-10-16 | 上海森首科技股份有限公司 | Automatic driving closed-loop information system |
| CN112947047B (en) * | 2021-01-26 | 2022-08-09 | 重庆长安汽车股份有限公司 | Automatic driving acceleration control method based on self-adaptive PID algorithm |
| CN112947047A (en) * | 2021-01-26 | 2021-06-11 | 重庆长安汽车股份有限公司 | Automatic driving acceleration control method based on self-adaptive PID algorithm |
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Application publication date: 20151021 |