CN109664846A - A kind of autonomous driving vehicle circuit - Google Patents
A kind of autonomous driving vehicle circuit Download PDFInfo
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- CN109664846A CN109664846A CN201811510997.XA CN201811510997A CN109664846A CN 109664846 A CN109664846 A CN 109664846A CN 201811510997 A CN201811510997 A CN 201811510997A CN 109664846 A CN109664846 A CN 109664846A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of autonomous driving vehicle circuits, comprising: environmental perception module；Vehicle positioning module；Core calculation module, for carrying out information fusion and assignment decisions to each signal received, and for being handled according to speed signal accelerator pedal signal；Line traffic control executes system comprising: the automatically controlled steering system of EPS, for realizing steering-by-wire according to steering decision control signal and feeding back turn signal；EHB electric control hydraulic braking system, for realizing brake-by-wire and regenerative braking signal according to braking decision control signal；Former vehicle ECU unit, for realizing drive-by-wire and feedback speed signal；Throttle-by-wire unit receives for sending accelerator pedal signal to core calculation module and treated that accelerator pedal signal is sent to former vehicle ECU unit by core calculation module feedback；Vehicle-carrying communication module；Vehicle power module can improve orthodox car vehicle circuitry so that it meets the needs of autonomous driving vehicle.
Description
Technical field
The present invention relates to autonomous driving vehicle and intelligent network connection automobile technical field more particularly to a kind of autonomous driving vehicles
Circuit.
Background technique
In autonomous driving vehicle, vehicle circuitry is more important component part.As automobile is to interconnected, electrical
Change, is intelligent, sharedization development, the electric framework of orthodox car vehicle circuitry faces lot of challenges.For example, environment sensing
And information fusion system, intelligent control decision system and the integration problem for controlling this three digest journals of execution system, tradition machinery turn
To the intellectualized reconstruction problem with braking system, the Upgrade Problem of data computing capability and transmission requirement of real-time.The system integration
Specifically include the sensors such as camera, radar and coherent signal processor, V2X network communication equipment, positioning device, signal fused
Processor, intelligent decision controller, vehicle bottom execute control and automatically controlled chassis hardware layout and related software Interface integration
Deng.
The deficiencies in the prior art are: can not improve to orthodox car vehicle circuitry so that it meets automatic Pilot vapour
The demand of vehicle, the position deployment of sensor, chassis control system, interface between software and hardware, communications protocol etc. need to redesign.
Summary of the invention
The present invention in view of the above shortcomings of the prior art, provides a kind of autonomous driving vehicle circuit, comprising:
Environmental perception module, for obtaining the environment sensing information of vehicle；
Vehicle positioning module, for obtaining the posture information of vehicle；
Core calculation module, for the posture information and line traffic control execution system to the environment sensing information, the vehicle
Turn signal, brake signal, speed signal and the accelerator pedal signal of the vehicle of feedback carry out information fusion and assignment decisions, obtain
The accelerator pedal signal is handled to decision control signal, and for signal according to the speed of vehicle；
Line traffic control executes system comprising:
The automatically controlled steering system of EPS, for the steering decision control in the decision control signal according to the core calculation module
Signal processed realizes the steering-by-wire of vehicle, and feeds back the turn signal of vehicle to the core calculation module；
EHB electric control hydraulic braking system, determines for the braking in the decision control signal according to the core calculation module
Plan controls signal and realizes the brake-by-wire of vehicle, and feeds back the brake signal of vehicle to the core calculation module；
Former vehicle ECU unit for realizing the drive-by-wire of vehicle, and feeds back the speed signal of vehicle to the core calculations
Module；
Throttle-by-wire unit is connect, for sending vehicle to the core calculation module with the former vehicle ECU unit communication
Accelerator pedal signal, receive and be sent to the core calculation module accelerator pedal signal that feeds back that treated described
Former vehicle ECU unit, so that the former vehicle ECU unit realizes the drive-by-wire of vehicle；
Vehicle-carrying communication module executes the communication between system and core calculation module for realizing the line traffic control；
Vehicle power module, for being held for the environmental perception module, vehicle positioning module, core calculation module, line traffic control
Row system and vehicle-carrying communication module for power supply.
In one embodiment, the environmental perception module includes:
Single line laser radar, for detect vehicle in the front-back direction obstacle information to realize that short distance is kept away before and after vehicle
Barrier；
64 line laser radars, it is long with vehicle periphery for detecting the obstacle information in vehicle periphery long range radiation scope
The barrier avoidance in radiation scope；
Millimetre-wave radar, for detect vehicle redundancy in the front-back direction laser radar information to realize vehicle redundancy front and back
To laser radar detection；
Forward sight camera is realized for acquiring vehicle periphery image, and according to the analysis result of the vehicle periphery image
Speed prompting, lane departure warning and front and back barrier early warning.
In one embodiment, the millimetre-wave radar includes growing in 3 short distance millimetre-wave radars and 1 away from millimeter wave thunder
It reaches.
In one embodiment, the core calculation module is to the single line laser radar, 64 line laser radars and millimeter
The information that wave radar detection is arrived carries out distributed fusion.
In one embodiment, the vehicle positioning module includes antenna, GPS before GPS movement station, GPS aft antenna, GPS
Radio antenna and IMU inertial navigation unit；
Wherein, the GPS movement station receives the antenna data of antenna and GPS radio antenna before the GPS aft antenna, GPS,
And the IMU inertial navigation unit is sent by the antenna data；The inertia that the IMU inertial navigation unit obtains itself is led
Boat data, and the inertial navigation data and the antenna data are subjected to data fusion, it is parsed according to predetermined protocol, and
The posture information of vehicle is exported according to the fused data of parsing.
In one embodiment, the core calculation module is industrial control computer.
In one embodiment, the vehicle-carrying communication module includes:
First CAN turns ether net unit, and one end connects the core calculation module, and the other end is separately connected the EPS
Automatically controlled steering system and EHB electric control hydraulic braking system, for believing the steering decision control signal and braking Decision Control
Number it is converted into CAN data format from Ethernet data format, and is sent respectively to the automatically controlled steering system of the EPS and EHB is automatically controlled
Brake fluid system, and by the turn signal and brake signal from CAN Data Format Transform at Ethernet data format, and
Feed back to the core calculation module；
2nd CAN turns ether net unit, and one end connects the core calculation module, the other end connection former vehicle ECU
Unit is used for the speed signal from CAN Data Format Transform into Ethernet data format, and feeds back to the core calculations
Module；
ADDA converting unit, one end connect the core calculation module, and the other end connects the throttle-by-wire unit, use
In the accelerator pedal signal is converted into digital signal from voltage signal, and it is sent to the core calculation module, and will
Treated the accelerator pedal signal is converted into voltage signal from digital signal, and feeds back to the throttle-by-wire unit.
In one embodiment, the automatically controlled steering system of the EPS includes steering controller, rotary angle transmitter, torque sensing
Device, steering motor, motor-drive circuit and mechanical transmission structure；
Wherein, the steering controller be used to obtain the steering wheel for vehicle of rotary angle transmitter acquisition angular signal,
The dtc signal of steering wheel for vehicle and the diverted current signal of the steering motor of the torque sensor acquisition are simultaneously located
Reason, and steering controling signal is exported according to processing result；The motor-drive circuit is for carrying out the steering controling signal
Amplification is to drive the steering motor, to realize the control of the mechanical transmission structure.
In one embodiment, the EHB electric control hydraulic braking system is connected on after former car owner's cylinder, for receiving
The brake pedal signal of original car owner's cylinder, obtains the system converted by the brake pedal signal by EHB software interface module
Dynamic signal, and brake pressure is established, according to the brake signal by the brake pressure distribution to wheel cylinder, to complete to brake.
In one embodiment, the vehicle power module includes 12V power supply, 220V power supply, vehicle-mounted inverter and vehicle electricity
Safety box power supply；
Wherein, the vehicle-mounted inverter is used to the 12V power supply being converted to the 220V power supply；The 220V power supply is
The core calculation module and vehicle-carrying communication module for power supply；The 12V power supply is the section components in the environmental perception module
With vehicle positioning module for power supply；The vehicle electricity safety box power supply is that the line traffic control executes system power supply.
Compared with prior art, one or more embodiments of the invention can have following advantage:
1) present invention has redesigned the vehicle circuitry structure of automobile, increases on the basis of orthodox car vehicle circuitry
Environmental perception module, vehicle positioning module, core calculation module, vehicle-carrying communication module and power module, and line is devised again
Execution system is controlled, these modules are integrated together, has built an intelligence based on wire control technology and the net electronic vapour of connectionization
Vehicle vehicle platform can improve orthodox car vehicle circuitry so that it meets the needs of autonomous driving vehicle.
2) present invention by being turned to tradition machinery, the intellectualized reconstruction of braking system and data computing capability and biography
The promotion of defeated requirement of real-time may be implemented avoidance, follow the bus, meeting, the Function for Automatic Pilot such as overtake other vehicles, meet autonomous driving vehicle
Demand.
Other features and advantages of the present invention will be illustrated in the following description, and partly becomes from specification
It is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by wanting in specification, right
Specifically noted structure is sought in book and attached drawing to be achieved and obtained.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the autonomous driving vehicle circuit diagram of the embodiment of the present invention；
Fig. 2 is the module composition schematic diagram of the autonomous driving vehicle circuit of the embodiment of the present invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Embodiment
It is described in detail below with reference to structure of the Fig. 1 and Fig. 2 to the autonomous driving vehicle circuit of the embodiment of the present invention.
As shown in Fig. 2, the autonomous driving vehicle circuit of the present embodiment includes environmental perception module 10, vehicle positioning module
20, core calculation module 30, line traffic control execute system 40, vehicle-carrying communication module 50 and vehicle power module (being not shown in Fig. 2).
In order to obtain the environment sensing information of vehicle, the autonomous driving vehicle circuit of the present embodiment orthodox car (also at
Former vehicle) environmental perception module 10 is increased on the basis of vehicle circuitry.Environmental perception module 10 is obtained according to sensor agreement and is passed
The initial data of sensor acquisition, and data processing is carried out, build environment perception information.Specifically, environmental perception module 10 includes
Single line laser radar 101,64 line laser radars 102, millimetre-wave radar 103 and forward sight camera 104.
In order to detect the barrier (such as: vehicle or object) for being located at peripheral vehicle, in the front of autonomous driving vehicle
Single line laser radar 101 is installed, automobile may be implemented in 101 probe vehicle of single line laser radar obstacle information in the front-back direction
Front and back short distance avoidance；Car roof installation 64 102,64 line laser radar of line laser radar, 102 probe vehicle around grow away from
From the obstacle information in radiation scope, barrier avoidance in motor vehicle environment long range radiation scope may be implemented；Such as Fig. 1 institute
Show, the millimetre-wave radar 103 in the present embodiment there are 4, grows in respectively 3 short distance millimetre-wave radars and 1 away from millimeter wave thunder
It reaches, is mounted on automobile surrounding, 103 probe vehicle redundancy of millimetre-wave radar laser radar information in the front-back direction may be implemented
Laser radar detection before and after Automobile redundant.
In order to detect the velocity information, deviation information and front and back barrier of autonomous driving vehicle, in automatic Pilot vapour
Forward sight camera 104 is installed, forward sight camera 104 acquires motor vehicle environment image, and according to motor vehicle environment below the rearview mirror of vehicle
The analysis result of image realizes speed prompting, lane departure warning and front and back barrier early warning.
In order to carry out effective position to automobile, the autonomous driving vehicle circuit of the present embodiment is in orthodox car vehicle circuitry
On the basis of increase vehicle positioning module 20.The vehicle positioning module 20 of the present embodiment by antenna data and inertial navigation data into
Row data fusion, is parsed according to predetermined protocol, and the posture information of vehicle is exported according to the fused data of parsing.Specifically
Ground, vehicle positioning module 20 include antenna 203,204 and of GPS radio antenna before GPS movement station 201, GPS aft antenna 202, GPS
IMU inertial navigation unit 205.
Wherein, GPS movement station 201 receives the antenna of antenna 203 and GPS radio antenna 204 before GPS aft antenna 202, GPS
Data, and IMU inertial navigation unit 205 is sent by antenna data.The inertia that IMU inertial navigation unit 205 obtains itself is led
Boat data, and inertial navigation data and antenna data are subjected to data fusion, it is parsed according to predetermined protocol, and according to parsing
Fused data output vehicle posture information.
Core calculation module 30 is the kernel control module of autonomous driving vehicle circuit.Preferably, core calculation module 30
For industrial control computer 301, the requirement for promoting data computing capability and transmitting real-time can satisfy.Core calculation module 30
It is communicated to connect with environmental perception module 10 and vehicle positioning module 20.Core calculation module 30 is from environmental perception module 10 and vehicle-mounted
Locating module 20 obtains the posture information of environment sensing information and vehicle respectively, receives the vehicle that line traffic control execution system 40 is fed back
Turn signal, brake signal, speed signal and accelerator pedal signal, and information is carried out by blending algorithm to the information of acquisition and is melted
Conjunction and assignment decisions, assign decision control signal after decision.Speed signal pair of the core calculation module 30 also according to vehicle
Accelerator pedal signal is handled.Core calculation module 30 is also to single line laser radar 101,64 line laser radars 102 and millimeter
The information that wave radar 103 detects carries out distributed fusion.The information of the core calculation module 30 of the present embodiment merges and task
The algorithm of decision is similar with existing autonomous driving vehicle, and therefore not to repeat here.
Line traffic control executes the executing agency that system 40 is autonomous driving vehicle circuit, and avoidance may be implemented, follow the bus, meeting, surpass
The Function for Automatic Pilot such as vehicle, meet the needs of autonomous driving vehicle.Line traffic control executes the determining according to core calculation module 30 of system 40
Plan controls signal and realizes steering-by-wire, brake-by-wire and the drive-by-wire of automobile, and feeds back the turn signal of automobile, braking letter
Number, speed signal and accelerator pedal signal be to core calculation module 30.Specifically, it includes automatically controlled turn of EPS that line traffic control, which executes system 40,
To system 401, EHB electric control hydraulic braking system 402, original vehicle ECU unit 403 and throttle-by-wire unit 404.Wherein, EPS is automatically controlled
Steering system 401, EHB electric control hydraulic braking system 402 and original vehicle ECU unit 403 assign respectively corner parameter, brake parameters and
Throttle parameter executes instruction actuator to respective controller, by the transmission of respective controller, to realize steering-by-wire, brake-by-wire
And drive-by-wire.
The present embodiment has carried out Intelligent improvement to tradition machinery steering system, is realized using the automatically controlled steering system 401 of EPS
The steering-by-wire of automobile.The automatically controlled steering system 401 of EPS is according to the steering decision in the decision control signal of core calculation module 30
It controls signal and realizes the steering-by-wire of automobile, and feed back the turn signal of automobile to core calculation module 30.Specifically, EPS electricity
Controlling steering system 401 includes steering controller, rotary angle transmitter, torque sensor, steering motor, motor-drive circuit and machinery
Drive mechanism.Wherein, angular signal, the torque sensor that steering controller obtains the vehicle steering wheel of rotary angle transmitter acquisition are adopted
The dtc signal of the vehicle steering wheel of collection and the diverted current signal of steering motor are simultaneously handled, and are exported according to processing result
Steering controling signal.Motor-drive circuit amplifies steering controling signal to drive steering motor, to realize mechanical biography
The control of dynamic structure.
EHB electric control hydraulic braking system 402 is according to the braking decision control in the decision control signal of core calculation module 30
Signal processed realizes the brake-by-wire of automobile, and feeds back the brake signal of automobile to core calculation module 30.Specifically, EHB is automatically controlled
Brake fluid system 402 includes hydraulic electric control unit, speed probe, brake-pedal-travel sensor and hydraulic module etc..This
Embodiment has carried out Intelligent improvement to the braking system of former vehicle, EHB electric control hydraulic braking system 402 be connected on former car owner's cylinder it
Afterwards, the brake pedal signal for directly receiving former car owner's cylinder, is obtained by EHB software interface module and is turned by brake pedal signal
The brake signal changed, and brake pressure is established, according to brake signal directly by the brake pressure distribution to wheel cylinder, to complete
Braking.
The present embodiment improves the function of former vehicle ECU unit, and former vehicle ECU unit 403 realizes that the line traffic control of automobile is driven
It is dynamic, and the speed signal of automobile is fed back to core calculation module 30.Throttle-by-wire unit 404 and 403 communication link of original vehicle ECU unit
It connects, in the case where automobile is in pilot steering state, the accelerator pedal signal of automobile is sent to former vehicle ECU unit 403, for
Former vehicle ECU unit 403 realizes the drive-by-wire of automobile；In the case where automobile is in automatic Pilot state, to core calculations mould
Block 30 sends the accelerator pedal signal of automobile, and receives the feedback of core calculation module 30 treated accelerator pedal signal, will
Treated, and accelerator pedal signal is sent to former vehicle ECU unit 403, so that former vehicle ECU unit 403 realizes that the line traffic control of automobile is driven
It is dynamic.
Vehicle-carrying communication module 50 and core calculation module 30 and line traffic control execute system 40 and communicate to connect, and line traffic control may be implemented and hold
Communication between row system 40 and core calculation module 30.Specifically, vehicle-carrying communication module 50 includes that the first CAN turns Ethernet list
The 501, the 2nd CAN of member turns ether net unit 502 and ADDA converting unit 503.First CAN turns ether net unit 501 and the 2nd CAN
Turning ether net unit 502 is that CAN turns ethernet controller.
Wherein, the first CAN turns one end connection core calculation module 30 of ether net unit 501, and the other end is separately connected EPS
Automatically controlled steering system 401 and EHB electric control hydraulic braking system 402 will turn to decision control signal and braking decision control signal
It is converted into CAN data format from Ethernet data format, and is sent respectively to the automatically controlled steering system 401 of EPS and EHB electric-controlled hydraulic
Braking system 402, and by turn signal and brake signal from CAN Data Format Transform at Ethernet data format, and feed back
To core calculation module 30.
2nd CAN turns one end connection core calculation module 30 of ether net unit 502, and the other end connects former vehicle ECU unit
403, by the speed signal from CAN Data Format Transform at Ethernet data format, and feed back to core calculation module 30.
One end of ADDA converting unit 503 connects core calculation module 30, and the other end connects throttle-by-wire unit 404, will
The accelerator pedal signal is converted into digital signal from voltage signal, and is sent to core calculation module 30, and by the place
Accelerator pedal signal after reason is converted into voltage signal from digital signal, and feeds back to throttle-by-wire unit 404, to control oil
Door pedal travel, and then control vehicle driving.
The communications protocol of the present embodiment includes CAN communication agreement, serial communication protocol and ethernet communication protocol.CAN is logical
Believe that agreement is applied between millimetre-wave radar 103 and industrial control computer 301, the automatically controlled steering system 401 of EPS and EHB are automatically controlled
Brake fluid system 402 and the first CAN turn between ether net unit 501, and former vehicle ECU unit 403 and the 2nd CAN turn Ethernet list
Between member 502.Serial communication protocol is applied between GPS movement station 201 and IMU inertial navigation unit 205.Ethernet communication association
View is applied to single line laser radar 101,64 line laser radars 102, forward sight camera 104, IMU inertial navigation unit 205, first
CAN turns ether net unit 501 and the 2nd CAN turns between ether net unit 502 and industrial control computer 301.
Vehicle power module is environmental perception module 10, vehicle positioning module 20, core calculation module 30, line traffic control execute system
System 40 and vehicle-carrying communication module 50 are powered.Specifically, vehicle power module include 12V power supply, 220V power supply, vehicle-mounted inverter and
Vehicle electricity safety box power supply.Wherein, vehicle-mounted inverter is used to 12V power supply being converted to 220V power supply.
Wherein, 220V power supply is powered for core calculation module 30 and vehicle-carrying communication module 50, such as: industrial control computer
301, ADDA converting unit 503 (namely capture card shown in FIG. 1), the first CAN turn ether net unit 501 and the 2nd CAN turn with
Too net unit 502.
12V power supply be environmental perception module 10 in section components and vehicle positioning module 20 power, such as: 64 line lasers
Radar 102, millimetre-wave radar 103, GPS movement station 201, IMU inertial navigation unit 205 and vehicle-mounted inverter etc..
Vehicle electricity safety box power supply is that another part component that line traffic control executes in system 40 and environmental perception module 10 is powered, example
Such as: the automatically controlled steering system 401 of EPS, EHB electric control hydraulic braking system 402 and forward sight camera 104.
In conclusion the present embodiment has redesigned the vehicle circuitry structure of automobile, in the base of orthodox car vehicle circuitry
Environmental perception module, vehicle positioning module, core calculation module, vehicle-carrying communication module and power module are increased on plinth, are laid equal stress on
It newly devises line traffic control and executes system, these modules are integrated together, an intelligence and net based on wire control technology have been built
Connectionization electric automobile whole platform can improve orthodox car vehicle circuitry so that its need for meeting autonomous driving vehicle
It asks.
Further, the present embodiment by being turned to tradition machinery, the intellectualized reconstruction of braking system and data calculate
Avoidance, follow the bus, meeting, the Function for Automatic Pilot such as overtake other vehicles may be implemented in the promotion of ability and transmission requirement of real-time, meet automatic
The demand of driving.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But protection scope of the present invention still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of autonomous driving vehicle circuit characterized by comprising
Environmental perception module, for obtaining the environment sensing information of vehicle；
Vehicle positioning module, for obtaining the posture information of vehicle；
Core calculation module, for the posture information and line traffic control execution system feedback to the environment sensing information, the vehicle
The turn signal of vehicle, brake signal, speed signal and accelerator pedal signal carry out information fusion and assignment decisions, determined
Plan controls signal, and handles for signal according to the speed of vehicle the accelerator pedal signal；
Line traffic control executes system comprising:
The automatically controlled steering system of EPS, for the steering Decision Control letter in the decision control signal according to the core calculation module
The steering-by-wire of number realization vehicle, and the turn signal of vehicle is fed back to the core calculation module；
EHB electric control hydraulic braking system, for the braking decision control in the decision control signal according to the core calculation module
Signal processed realizes the brake-by-wire of vehicle, and feeds back the brake signal of vehicle to the core calculation module；
Former vehicle ECU unit for realizing the drive-by-wire of vehicle, and feeds back the speed signal of vehicle to the core calculations mould
Block；
Throttle-by-wire unit is connect, for sending vehicle to the core calculation module with the former vehicle ECU unit communication
Accelerator pedal signal receives and the core calculation module is fed back that treated accelerator pedal signal is sent to the former vehicle
ECU unit, so that the former vehicle ECU unit realizes the drive-by-wire of vehicle；
Vehicle-carrying communication module executes the communication between system and core calculation module for realizing the line traffic control；
Vehicle power module, for executing system for the environmental perception module, vehicle positioning module, core calculation module, line traffic control
System and vehicle-carrying communication module for power supply.
2. autonomous driving vehicle circuit according to claim 1, which is characterized in that the environmental perception module includes:
Single line laser radar, for detect vehicle in the front-back direction obstacle information to realize short distance avoidance before and after vehicle；
64 line laser radars, for detecting the obstacle information in vehicle periphery long range radiation scope to realize that vehicle periphery is long
The barrier avoidance in radiation scope；
Millimetre-wave radar, for detect vehicle redundancy in the front-back direction laser radar information to realize vehicle redundancy in the front-back direction
Laser radar detection；
Forward sight camera realizes speed for acquiring vehicle periphery image, and according to the analysis result of the vehicle periphery image
Prompting, lane departure warning and front and back barrier early warning.
3. autonomous driving vehicle circuit according to claim 2, which is characterized in that the millimetre-wave radar includes 3 short
Away from long away from millimetre-wave radar in millimetre-wave radar and 1.
4. autonomous driving vehicle circuit according to claim 2, which is characterized in that the core calculation module is to the list
The information that line laser radar, 64 line laser radars and millimetre-wave radar detect carries out distributed fusion.
5. autonomous driving vehicle circuit according to claim 1, which is characterized in that the vehicle positioning module includes GPS
Antenna, GPS radio antenna and IMU inertial navigation unit before movement station, GPS aft antenna, GPS；
Wherein, the GPS movement station receives the antenna data of antenna and GPS radio antenna before the GPS aft antenna, GPS, and will
The antenna data is sent to the IMU inertial navigation unit；The IMU inertial navigation unit obtains the inertial navigation number of itself
According to, and the inertial navigation data and the antenna data are subjected to data fusion, it is parsed according to predetermined protocol, and according to
The posture information of the fused data output vehicle of parsing.
6. autonomous driving vehicle circuit according to claim 1, which is characterized in that the core calculation module is industry control
Computer processed.
7. autonomous driving vehicle circuit according to claim 1, which is characterized in that the vehicle-carrying communication module includes:
First CAN turns ether net unit, and one end connects the core calculation module, and it is automatically controlled that the other end is separately connected the EPS
Steering system and EHB electric control hydraulic braking system, for by the steerings decision control signal and brake decision control signal from
Ethernet data format is converted into CAN data format, and is sent respectively to the automatically controlled steering system of the EPS and EHB electric-controlled hydraulic
Braking system, and by the turn signal and brake signal from CAN Data Format Transform at Ethernet data format, and feed back
To the core calculation module；
2nd CAN turns ether net unit, and one end connects the core calculation module, and the other end connects the former vehicle ECU unit,
For by the speed signal from CAN Data Format Transform at Ethernet data format, and feed back to the core calculation module；
ADDA converting unit, one end connect the core calculation module, and the other end connects the throttle-by-wire unit, and being used for will
The accelerator pedal signal is converted into digital signal from voltage signal, and is sent to the core calculation module, and will be described
Treated accelerator pedal signal is converted into voltage signal from digital signal, and feeds back to the throttle-by-wire unit.
8. autonomous driving vehicle circuit according to claim 1, which is characterized in that the automatically controlled steering system of EPS includes
Steering controller, rotary angle transmitter, torque sensor, steering motor, motor-drive circuit and mechanical transmission structure；
Wherein, the steering controller is used to obtain the angular signal, described of the steering wheel for vehicle of rotary angle transmitter acquisition
The dtc signal of steering wheel for vehicle and the diverted current signal of the steering motor of torque sensor acquisition are simultaneously handled, and
Steering controling signal is exported according to processing result；The motor-drive circuit be used for by the steering controling signal amplify with
The steering motor is driven, to realize the control of the mechanical transmission structure.
9. autonomous driving vehicle circuit according to claim 1, which is characterized in that the EHB electric control hydraulic braking system,
It is connected on after former car owner's cylinder, for receiving the brake pedal signal of former car owner's cylinder, is obtained by EHB software interface module
The brake signal converted by the brake pedal signal is taken, and establishes brake pressure, according to the brake signal by the braking
Pressure is distributed to wheel cylinder, to complete to brake.
10. autonomous driving vehicle circuit according to claim 1, which is characterized in that the vehicle power module includes 12V
Power supply, 220V power supply, vehicle-mounted inverter and vehicle electricity safety box power supply；
Wherein, the vehicle-mounted inverter is used to the 12V power supply being converted to the 220V power supply；The 220V power supply is described
Core calculation module and vehicle-carrying communication module for power supply；The 12V power supply is the section components and vehicle in the environmental perception module
Carry locating module power supply；The vehicle electricity safety box power supply is that the line traffic control executes system power supply.
Priority Applications (1)
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