CN101377675A - Automobile auxiliary control and driving system based on self-adapting sensor network - Google Patents
Automobile auxiliary control and driving system based on self-adapting sensor network Download PDFInfo
- Publication number
- CN101377675A CN101377675A CNA2007101484134A CN200710148413A CN101377675A CN 101377675 A CN101377675 A CN 101377675A CN A2007101484134 A CNA2007101484134 A CN A2007101484134A CN 200710148413 A CN200710148413 A CN 200710148413A CN 101377675 A CN101377675 A CN 101377675A
- Authority
- CN
- China
- Prior art keywords
- network
- sensing
- data
- self
- node
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention relates to a novel vehicle auxiliary driving system, in particular to a vehicle auxiliary driving security system which adopts a self-adaptive sensor network control method. The vehicle driving security system has the advantages of self adaptation, self judgment, self treatment and high reliability based on the changes of the vehicle driving environment. The system comprises a sensing resource module, a sensing application node module, a sensing data storage module and a sensing data communication module. And the system adopts the realization technology of the genetic electronic hardware and the realization technology of the evolution of the genetic software, and can automatically treat in the unsafe condition. The present invention can self adapt to the 'automatic reduced parameter transmission' way of information exchange between the sensor nodes in the sensor network. And the present invention can be widely used in the auxiliary secure driving aspect of various automobiles, electric automobiles and other road motor vehicles.
Description
Technical field
The present invention relates to the automobile assistant driving security system that a kind of new automobile DAS (Driver Assistant System) promptly adopts the self-adapted sensor network control mode.But relate to specifically one based on to the variation self-adaptation of car steering environment, can be from a highly reliable car steering security system of judging, handling certainly.
Background technology
The world today, automobile (gasoline engine and diesel engine) with the internal combustion type working method, since 19 world inventions, went through for twoth century, update through scientist, slip-stick artist, to the today in 21 worlds, unlikely have a big improvement, and the raising of the big thermal efficiency and advanced working method also can not have been arranged.Moreover, particularly based on automobile, the motor vehicle of this internal combustion working method, because its complex structure, the course of work is loaded down with trivial details, pays equipment and device too much, therefore causes this automobile and internal combustion engine motor-car production cost higher, maintenance, maintenance is complicated, flow process is too much, and use cost is higher.Particularly this diesel locomotive is in travels down, because the said structure complexity, flow process is loaded down with trivial details, operation is difficult, there is mishap to cause a serious accident slightly, so comprise domestic and abroad All Countries in the world today has a headache to this very much, the annual people's up to a million in the whole world life loses, up to ten million people's actual bodily harm, and the traffic administration cost is very big, each national national product and national life are brought about great losses
In order to change this malignant tumor in this development of world economy, global scientist and engineers have found a kind of mode preferably finally, with the automobile assistant driving security system auxiliary help down to the prompting and controlling automatically of relevant safety factor in the vehicle traveling process, thereby the operating conditions of improving the driver lessens fatigue the driver to be in spiritual kilter for a long time and to change the severe easily situation of present this ride safety of automobile.
But, it is desirable not enough that the automobile assistant driving security system is suitable for effect at present, because the employed automobile assistant driving security system of countries in the world automaker is owing to complex structure, inconvenient maintenance at present, installation is loaded down with trivial details, cost is higher, effect is not good enough, make troubles to the user.This reason that causes above situation is that this is because the limitation of the local control bus of the CAN that adopts and other network control buses causes because at present the automobile assistant driving security system adopts traditional control method, self-adaptation, network communication mode not ideal enough more.All make great efforts in order to change the global slip-stick artist of present this situation, in many ways research, there are not to find better advanced system architecture mode and network communication structure, the driver assistance security system is taken a step forward on present basis, make those ignore the existence of life, on road, gulp down the automobile of the body of chewing people, can become clever and rational, for following automobile must have a brand-new safety adaptive automatically, have biological feature, can partly replace or all replace driver's hand, the automatic driving and the security system of the heart.Promote security, reliability and standardization that electric automobile is driven greatly.
Based on above-mentioned technology reality, therefore the present invention, has designed this embedded-type security with biological nature based on self-adapted sensor network and has driven network system in order to realize above-mentioned this objective demand.
Summary of the invention
In order to realize above-mentioned purpose of the present invention, the present invention proposes following technical proposal
Scheme system architecture and principle;
This automobile assistant driving is based on self-adapted sensor network, its system architecture: be under a concrete network environment, the SOC on-chip system chip of network communicating function is a core devices to have by force, auxilliary rib configuration peripheral components, form the sensor network nodes processing module with this, as the elementary cell node, be connected to tie with multiple physical medium connection and multi-protocol communication software logic, foundation is with shared sensor Internet resources between sensor network nodes, the sensor network collaborative process is the center, sensor network nodes module localization application program is treated to the basis, embedded type sensor network operating system inner core and multi-protocols sensor network communication software are operation platform, form one simple in structure, use transparent, standard open, cheap, the local processing, network connects, resource sharing, collaborative calculating, equipment is embedded, and sensing control is carried out the control and treatment structuring platform of one.In this architecture, have with the SOC on-chip system chip is the sensor network application node module of core texture, sensor network resource and configuration node module, sensor network storage node module, the sensor node module, sensor network communication node administration module ... Deng, all be solidified with in these sensor network nodes modules oneself the software activation program, drive engine, more than as the basic structural unit of sensing network operation.This just one " microminiature Control Network " control platform, in " Control Network " of this small sensing and execution one, can accomplish that resource sharing, software are shared, storage is shared, Internet resources are shared, control data is shared and each sensing node processing unit is collaborative carries out computing, thereby improved the sensing resource utilization greatly, improve the robustness of reliability, security and the sensing of sensing, thereby make sensor-based system that better excellent comprehensive performance be arranged, form " micro sensing network " computation schema of sensor-based system advanced person of future generation.
Based on above-mentioned structure and principle a kind of automobile assistant driving system based on self-adapted sensor network has been proposed.But relate to specifically one based on to the environmental change self-adaptation, can be from highly reliable car steering judging, handle certainly and system
Described based on self-adapted sensor network automobile assistant driving system.Comprise sensing resource module, Application in Sensing node module, sensing data memory module, sensing data communication module, it is characterized in that:
Described resource management module, it is a complete independently network processes computer system, it has the complete hardware system of oneself, complete software executive routine is also arranged, the network of oneself connects and communication structure, and corresponding network communication program module software system, be a whole network system handles important node.
Described resource management module, the effect that it plays is a management, control, configuration center effect, it not only has but all other sensing network node modules is managed function with the online programming of resource distribution, and also have the network data of the necessity of oneself to store carrier, the assembly that capacity is bigger, component resource storehouse (promptly loading function of application member, assembly, the program module of injecting in advance) and storage carrier thereof, and the program pointer counter of its in addition own working procedure, and sensing network management operating flow process pointer own.
Described resource management module, also have all hardware sensing node resource that it manages, sensing network resource addresses stack, (ID, IP, physics, logic) simultaneously by flow processing, Interrupt Process, message response, just can select the space of required address in these address stacks to conduct interviews, just can carry out access to netwoks to sensing network address all logics, physics, control, configuration, " with the network is the way to manage of " center ", plays the effect of this embedding of management sensing network system control in embodiment.
Described Application in Sensing node module is the data acquisition and the local computer system of carrying out function in self-adapted sensor network automobile assistant driving security system.
Described sensing communication module is the internal and external exchanges data of finishing in self-adapted sensor network automobile assistant driving security system.Computer system with simple routing function.
Described sensing data memory module be in self-adapted sensor network automobile assistant driving security system to each sensor node, the data of being gathered are concentrated and are preserved and a data warehouse of transmitting.It also has the various management functions of oneself, also is a complete data management computer system.
Described based on self-adapted sensor network automobile assistant driving security system.It is characterized in that:
This each node of adaptive sensing network system and relay point aggregation node all have oneself ID address and IP address, and they all have oneself unique physical address and logical address on (IPV6) Internet network of future generation
Described based on self-adapted sensor network automobile assistant driving security system.It is characterized in that: the dynamic data list injects: IEEE1451.X sensor network normal data is the key point of this technical standard, the content of this technical standard is the data storer of inside and outside affix at each sensor, the title of sensor itself, character, measurement range, precision, repeatability index, environmental parameter, produce and produce house, the model standard, produce sequence number ... etc. data storage among a data version, this data structure is exactly sensing data list (TEDS), moreover, more senior data form can also be the measurement functions of sensor application, the metric data that adjustment is relevant with other with calibration data, inject wherein, each sensor node of system can both be installed easily, setting reaches plug and play, but these data are a kind of fixing one-time write data in present based on network general sensor, be the data of read-only character, can not on-the-spot online modification, perhaps enrich, therefore this has just limited the range of application of a sensor network nodes itself, on hardware and software, improving of this project sensor network novelty, can be implemented in the on-the-spot operational process realize changing sensing node this in character, measurement range, precision ... etc. performance index, realize the long-range adjustment setting of sensor node itself, realize the repeatability utilization of sensor node, the dirigibility utilization.In the sensor network field, all adopt single static list technology basically at present, the dirigibility of sensor network and adaptivity are poor like this.
Described based on self-adapted sensor network automobile assistant driving security system.It is characterized in that:
Described self-adapted sensor network automobile assistant driving security system has can hereditary electronic hardware realization technology; Can evolve can hereditary software realization technology; And heritable systemic-function realization technology of can evolving is under the non-safe state and can handles automatically at automobile.
Message exchange between described self-adapted sensor network sensor node " reduced parameter transmits automatically " mode.Be meant all kinds of controlled variable are encapsulated in respectively in the succinct packet that has the packet header signature separately that be convenient to identification, classification sends.
Described system uses self-adapted sensor network to realize network communication between each node of automobile assistant driving security system, is to use the network authentication data based on IEEE1451 sensor network standard to transmit the anti-interference wireless connection that realizes each node of automobile assistant driving security system.
3, the technology of the present invention and present existing automobile assistant driving system are at technical elements relatively.
Present existing automobile assistant driving system.Mainly be to use CAN office cloth control bus, the CAN bus is an apparatus interconnection bus-type Control Network.Can articulate nearly 110 device nodes on the CAN bus, each equipment room can independently intercom mutually, but the facility information layer can't directly arrive information management layer.
The CAN bus has only local and simple communication mechanism, and node does not have the whole network configuration.
The CAN bus does not have the node data storage, and it is a simple communication network.
The CAN bus does not have the resource management node.
Each node on the CAN bus can not be to the direct communication of outer network.
Each node on the CAN bus can not be provided with control oneself ID physical address and IP logical address on the INTERNET internet.
Each node on the CAN bus does not all have adaptation function.
Each node data on the CAN bus can not directly exchange with extranets.
Based on limitation, deficiency and the number of drawbacks of above CAN bus, therefore present existing automobile assistant driving system.Also have above-mentioned various limitation, deficiency and number of drawbacks.
And the automobile assistant driving system that the technology of the present invention realized owing to adopted novel sensor network system, therefore has the characteristics of following technical elements:
Self-adapted sensor network has the whole network feature, and network function is fairly perfect, and the network function of the overall situation and more perfect communication mechanism are arranged.Intra-node has the whole network configuration.
Be provided with the data storage function module in the self-adapted sensor network, form a complete sensing data and gather the warehouse.
Message exchange between the self-adapted sensor network sensor node " reduced parameter transmits automatically " mode.
Be provided with the resource management node in the self-adapted sensor network, the program run pointer of this resource management intra-node also has independently flow through a network counting pointer, i.e. network management operational scheme pointer is managed all node hardware resource and software resource.
Be provided with the communication node module in the self-adapted sensor network, form the communication routing function of system, each node module can both be to the direct communication of outer network in the system thereby make.
Each node of self-adapted sensor network all has adaptation function, and complete self-adaptive computer program is arranged.
Each node all may be provided with control oneself ID physical address and IP logical address in the self-adapted sensor network on the INTERNET internet.The node of system disposes in design.
In the self-adapted sensor network each node data all may with the direct swap data of extranets.
Description of drawings
Fig. 1 is the structural representation that the present invention is based on the automobile assistant driving system of self-adapted sensor network
Fig. 2 is the sensing network resource management module structural representation set according to the present invention
Fig. 3 is according to a kind of sensing network application node modular structure synoptic diagram of the present invention
Fig. 4 is that sensing network resource management module and sensing network application node building block technique require a kind of SOC System on Chip/SoC inner structure synoptic diagram that will design according to the present invention.
Embodiment
Project technic relization scheme of the present invention is as follows:
The system architecture principle:
This automobile assistant driving system is based on self-adaptation sensor network, its system architecture, be under a concrete network environment, the SOC on-chip system chip of network communicating function is a core devices to have by force, auxilliary rib configuration peripheral components, form the sensor network nodes processing module with this, as the elementary cell node, be connected to tie with multiple physical medium connection and multi-protocol communication software logic, foundation is with shared sensor Internet resources between sensor network nodes, the sensor network collaborative process is the center, and sensor network nodes module localization application program is treated to the basis, and embedded type sensor network operating system inner core and multi-protocols sensor network communication software are operation platform, form one simple in structure, use transparent, standard open, cheap, the local processing, network connects, resource sharing, collaborative calculating, equipment is embedded, and sensing control is carried out the control and treatment structuring platform of one.In this architecture, have with the SOC on-chip system chip is the sensor network application node module of core texture, sensor network resource and configuration node module, sensor network storage node module, the sensor node module, sensor network communication node administration module ... Deng, all be solidified with in these sensor network nodes modules oneself the software activation program, drive engine, more than as the basic structural unit of sensing network operation.This just one " microminiature Control Network " control platform, in " Control Network " of this small sensing and execution one, can accomplish that resource sharing, software are shared, storage is shared, Internet resources are shared, control data is shared and each sensing node processing unit is collaborative carries out computing, thereby improved the sensing resource utilization greatly, improve the robustness of reliability, peaceful property and the sensing of sensing, thereby make sensor-based system that better excellent comprehensive performance be arranged, form " micro sensing network " computation schema of sensor-based system advanced person of future generation.
The contrast accompanying drawing further describes explanation the technology of the present invention below.
The present invention is based on the automobile assistant driving system of self-adapted sensor network, and Fig. 1 is a structural representation
As shown in Figure 1: this self-adapted sensor network is under a concrete network environment, with the sensing network node processing module is elementary cell, with IEEE1451 sensor electronic spreadsheet formatted data is the standard message base unit, couple together with the tangible transmission medium radio magnetic wave of Physical layer transmission medium communication medias such as (radio frequency, infrared, microwaves), and on this, set up MAC link layer and corresponding link layer ID address, carry out the Ether frame communication of this layer, and the exchange of network layer IP packet.And on this, with the converging of communication node module, exchange, routing function, set up the transmission of internet long-range nothing connection IP communications packets, packet switch between the microcontroller network (grid), and then send, set up on the IP network layer communication basis connection-oriented bag transmission, packet switch, the bag route of firm TCP at IP bag, set up firm transport layer communication link.
The component members resources bank module that also has sensing resource management node and storage administration node that need stress, the flow through a network module.The system design of this automobile assistant driving component members resources bank module, be integrated in resource management node and storage administration intranodal, mainly be to embody this automobile assistant driving system control platform " Internet resources that are the " center " processing mode are shared; the real distributed collaboration calculation features of each node is innovated this automobile assistant driving system implementation to some extent with the network.Because resource component has been arranged, component base and resource database (control function), each Application in Sensing node just can be as much as possible shared resource to greatest extent, make the memory space that self needs reduce to minimum, it is maximum that cost savings reach, volume-diminished is " embedding " equipment extremely arbitrarily, it is satisfied that degree of flexibility reaches " client ", and maximum P/C than promoting is: owing to disposed the resource component storehouse and the resource database of big memory capacity, this automobile assistant driving system just can flexible expansion, expand, the brick pattern stack, purchase construction cost with less hardware, realize a lot of at present system and control function that need expensive large-scale control system to realize, thus system overhead conserved, reduced the overall application cost.Only can realize substituting the function of expensive full-sized car DAS (Driver Assistant System) with the automobile assistant driving system of succinct sensor network.
In Fig. 1, the network communication node module in addition that needs explanation, it be one simple and easy, that simplifies can act in certain network range, a communication that is used for the sensing purposes, exchange, the routing node unit, it plays contact and message exchange between this automobile assistant driving system sensing node, sensor network is controlled connection outward, the control information exchange, the INTERNET visit, the Long-distance Control visit, network information route switching effects such as teledata exchange, the automobile assistant driving system can smoothly be expanded, the brick pattern stack, an integral body of formation, large-scale, collaborative calculating, the built-in sensing network control system of shared resource, thereby to complicated, large-scale automobile control task also can be competent at.It also is the crucial important node of this automobile assistant driving system, is a network service control information convergence processing, the message center node of distribution.
2, the set sensing network resource management module structural representation according to the present invention
As shown in Figure 2: the SOC System on Chip/SoC of the high-performance CPU of this node processing module employing high integration is as core, operation built-in network operating system nucleus software, sensing network flow process and counting pointer are set, the storage of IEEE1451.X format sensor data electronic spreadsheet, sensing resource database FLASH storage, configuration and parameter F LASH storage, communication protocol stack FLASH expanding storage space, configuration and parameter spread F LASH memory space, dynamic resource is downloaded spread F LASH memory space, program run expansion RAM running space, more than form local application core processing structure, carry out local each basic function of handling.
This module is provided with external sensor input conversion interface, control output executive's interface, and network communication interface (can be to carrying out communication between the application node module in this " self-adapted sensor network ", also can carry out remote access and communication to other network node modules beyond this automobile assistant driving system simultaneously, these remote accesses and communication are to be undertaken by the network communication node module.)
As shown in Figure 2: this node also is provided with the independently power management conversion module of self, and as the internal power source voltage conversion, it is superfluous in backup (promptly having designed two mutually redundant network communication interfaces) to be provided with network communication interface simultaneously.
3, Fig. 3 is according to a kind of sensing network application node modular structure synoptic diagram of the present invention
As shown in Figure 3: it also is to be core with highly integrated System on Chip/SoC SOC, core system around design configurations the spread F LASH module of an integral body, in this module, include the local communication protocol stack spread F LASH space of handling of operating system, configuration and parameter spread F LASH space, and spread F LASH memory space after the system dynamics resource downloading, the expansion RAM of setting program operation simultaneously space, the characteristics of this node module maximum, designed integrated implantation body sensors and compound sensor on the module (multiple heat transfer agent signal output) this just a typical dedicated node module integrated and that implant the body sensors system (be that sensor body and module body are integrated on the node module, the repeating of minimizing information and data flowed, avoid interference and error of transmission, and local the application handled, function treatment is accomplished better stability and reliability.Reach succinct, convenient, stable, control nearby reliably, near control, implant and install, make control and sensing binding, control and input one, control and output bundle one.
This module is provided with IEEE1451.X form electronic spreadsheet data processing and storage unit, the direct and communications protocol elements exchange data in this unit.
Simultaneously for making this node module not only have special-purpose characteristic, and has versatility, so also designed outside sensing input conversion interface.Control output drives adjunct circuit, communication network interface (the same with the node module of Fig. 2, as to have disposed redundant mutually redundant network communication interface, to increase the stable and safety of reliability and module whole communication).
4, Fig. 4 is that sensing network resource management module and sensing network application node building block technique require a kind of SOC System on Chip/SoC inner structure synoptic diagram that will design according to the present invention.
As shown in Figure 4: SOC System on Chip/SoC inside is a typical microcomputer disposal system, includes high-performance central processor unit CPU, as core system, and operation built-in network operating system " kernel ＂ software.Storage system partly has: the local processing protocol stack of operating system FLASH module, the local RAM running space of handling, memory space in ROM and the EPROM module, compositing chip.Wherein the FLASH memory has two parts, is respectively: 1, operating system is local handles and communication protocol stack FLASH memory space: 2, the resource component module is downloaded back FLASH memory space.The ROM module is for starting and initialize routine storage and running space, and EPROM is configuration and parameter memory space.RAM is operating system and local handling procedure and protocol stack program run space.
Around CPU, configuration designs necessary control device, storage access controller, communications access controller, system break controller, display controller etc. simultaneously.
This SOC System on Chip/SoC has the design configurations of dual mode, promptly arranges two kinds of configurations in System on Chip/SoC, and is a kind of for not being with FLASH memory space after the resource downloading in inside.This kind chip can only be as the core component part of general application node module, self-organizing system separately.Another kind is that indoor design is integrated with FLASH module after the resource downloading; This SOC chip can independently use as system-on-a-chip, and the periphery does not need to dispose any other attached chip, only needs to increase on module the power device of various driving forces, and the integrated device with sensing input conditioning conversion.
Embodiment:
Project implementation example of the present invention is chosen as high-grade luxury travel automobile as this automobile assistant driving system specific embodiment.High-grade luxury travel automobile is to require the running status function admirable in the automobile family, fabulous and the costly a kind of vehicle of security performance, be typically all will surpass general vehicle, even surpass preferably the most high-grade general dolly, the technical standard luxury car of car security system, control system, executive system standard-required.Present this vehicle is producer at home and abroad, adopting with the CAN local bus mostly is the function that the basic structure control system realizes the automobile assistant driving system, this CAN office cloth bus structure, show many shortcoming and defect at present, and cost an arm and a leg, and this automobile assistant driving is because the employing self-adapted sensor network is a basic structure, can solve present existing automobile assistant driving system deficiency, overcome the shortcoming of above-mentioned automobile assistant driving system, promote the technical indicator of present system, and cheap.
It is complete distributed that this DAS (Driver Assistant System) is based on self-adapted sensor network that high-grade luxury travel car has designed, scheme with best position, thereby make native system can reach best control effect and network sensing, these network sensings have voltage sensor, current sense, the electric motor state sensing, motor action is coordinated sensing, the braking sensing, velocity pick-up, the battery status sensing, wheel rim anti-lock sensing, tire air pressure sensor etc., therefore the high-grade luxury travel car of present embodiment has used the DAS (Driver Assistant System) based on self-adapted sensor network, can promote the central security of driving procedure, stability, reliability, because native system has been gathered high-grade luxury travel car many operational factor in operational process, real-time status to high-grade luxury travel car has more understanding, thereby the system of making and driver more grasp the variation of moment in the running car, in time make right judgement and operation, and more vehicle operating parameter can not be gathered owing to the limitation of system by other automobile assistant driving systems at present.Therefore driving process being crossed the variation of moment can not more effective judgement and operation.
This DAS (Driver Assistant System) for solve high-grade touring car to the quick demand of multiple external information to help the driver at any time to target detection and location, at any time remind the driver to have under latent dangerous factor and the risk potential situation, the driver is vigilant to some extent, in the technical conditions allowed band, hazards are carried out certain adjustment simultaneously.Designed the sensor network automatic reminding function, drawing certain various possibilities after sensor network merges according to sensing data judges, remind the driver according to predefined program, make the driver vigilant to some extent, the basic judgement that these sensing datas merge comes from the essential information of the multiple composite sensing node of this automobile assistant driving system.Thereby effectively solve current people in driving procedure, because equipment and the artificial traffic hazard that mistake caused, and the hazards that potential risk is hidden in the motorcar electric car running process.
Because touring car is the special manned vehicles, its security is extremely important, this car assisted system has increased automotive vehicle collision avoidance warning prompt in the self-adapted sensor network function, be absorbed in important operation and the judgement thinking processes the driver, for having shared to the other side's vehicle, the driver sends the collision avoidance warning message, pass on the trend and the intention of this car,, make the other side driver take certain measure of dodging so that the other side driver understands this car intention.
On the anti-collision system basis, this automobile assistant driving system further expands to this function the collision avoidance warning prompt aspect of person of outstanding talentization touring car rear end, and the reminder alerting pursuit-type vehicle is avoided knocking into the back.
For realizing the collision avoidance warning prompt, brought into play the advantage of this automobile assistant driving system sensor network, be that install the optimum position that sensor network nodes can be realized, and the good mutual communication function of sensor network nodes, not only intrasystem communication, and with system outside with to trail rut logical, these functions also are unrealized at present in other automobile assistant driving system at present, comprise cloth bus automobile assistant driving system of CAN office, because these systems lack good mutual communication function.
Adopt data composite sensing and online integration technology, and multisensor integrated technique, can improve DAS (Driver Assistant System) reliability of products of the present invention, allow motorcar electric car steering person in driving procedure more reliably, fully, comprehensively, obtain more necessary information in driving procedure, enable to improve the correctness of driving decision-making.Make the unwheeling process stable, safer more.
This automobile assistant driving system for the high-grade luxury travel car of embodiment designed succinctly, efficiently, cheaply but the data acquisition amount big, distributed fully, simple installing type and have the intelligentized self-adapted sensor network node of height of sensing network operating system, realizing more efficient, more succinct, the operation cheaply of high-grade luxury travel car.
At present other automobile assistant driving system is owing to be the realization and the installation of the centralized and complex distributions formula of a kind of control system, so these systems all are difficult to succinctly, realize senior DAS (Driver Assistant System) networking efficiently, cheaply, highly intelligent, the environment of hight coordinate control and built-in sensing on the spot, the embedded node of full branch are installed control.And this automobile assistant driving system can conveniently constitute a micro embedded sensing network system, hight coordinate and the control of reasonable implementation flow process by sensing network operating system and multi-protocol communication network, reach splendid configuration, thereby control reliability, security are guaranteed.Can obtain and control effect preferably, these wherein maximum characteristics are exactly intelligent network sensing and local the processing.Control and treatment on the spot just, thereby save and reduced the invalid transmission of information acquisition data and control data greatly, it is short and small keen-witted and capable to reach the control data bag, help modulation and demodulation, help control data information encryption and deciphering, thereby increase control reliability and stable, security.Improve entire system efficient and high speed processing.
And be widely used in the CAN local bus field control system of orthodox car Comprehensive Control at present, though its advance is arranged, its limitation is also arranged, because this system is a kind of relatively local bus system of sealing, be difficult to realize heterogeneous network platform extension, mutual control, resource sharing, Collaborative Control, Long-distance Control, can not adapt to 1NTERNET preferably.The demand of cybertimes has certain shortcoming and defect.And based on self-adapted sensor network automobile assistant driving system, because it had both had local controlling features, have again " the Long-distance Control feature that network through train ＂ effect is obvious, thereby have the advantage stronger than CAN.
Because this automobile assistant driving system more can relatively adapt to the specific (special) requirements of above-mentioned luxury travel car.Can solve the security of current luxury travel car preferably, reliability, stability, the many designing requirements that propose based on the technical requirement of luxury travel car, solution that can both be satisfactory, realize the processing on the spot of sensing network module controls, self diagnosis, self-adjusting, and redundant configuration, make the sensing network control module in certain condition and range, automatically isolated fault, automatically repair disturbed, program and the flow process destroyed, automatically enter the normal control flow journey, can play the function of intelligent maintenance, ensure that to greatest extent control system is reliable, stable, the long-play of safety.This automobile assistant driving system design scheme, because the advanced feature that its built-in sensing networking modular structure is brought, and the flexibly flexible dynamic-configuration of the real-time embedded componentization modularization of microminiature network operating system software and reduction performance, and flexible flexibly, the dynamic-configuration and reduction performance of the real-time embedded modularization of microminiature, componentization network operating system software, obtain the attention of high-grade luxury travel car designing unit and manufacturer and adopt consideration.
Claims (1)
- A kind of automobile assistant driving system based on self-adapted sensor network has been proposed.But relate to specifically one based on to the environmental change self-adaptation, can be from highly reliable car steering judging, handle certainly and systemDescribed based on self-adapted sensor network automobile assistant driving system.Comprise sensing resource module, Application in Sensing node module, sensing data memory module, sensing data communication module, it is characterized in that:Described resource management module, it is a complete independently network processes computer system, it has the complete hardware system of oneself, complete software executive routine is also arranged, the network of oneself connects and communication structure, and corresponding network communication program module software system, be a whole network system handles important node.Described resource management module, the effect that it plays is a management, control, configuration center effect, it not only has but all other sensing network node modules is managed function with the online programming of resource distribution, and also have the network data of the necessity of oneself to store carrier, the assembly that capacity is bigger, component resource storehouse (promptly loading function of application member, assembly, the program module of injecting in advance) and storage carrier thereof, and the program pointer counter of its in addition own working procedure, and sensing network management operating flow process pointer own.Described resource management module, also have all hardware sensing node resource that it manages, sensing network resource addresses stack, (ID, IP, physics, logic) simultaneously by flow processing, Interrupt Process, message response, just can select the space of required address in these address stacks to conduct interviews, just can carry out access to netwoks to sensing network address all logics, physics, control, configuration, " with the network is the way to manage of " center ", plays the effect of this embedding of management sensing network system control in embodiment.Described Application in Sensing node module is the data acquisition and the local computer system of carrying out function in self-adapted sensor network automobile assistant driving security system.Described sensing communication module is the internal and external exchanges data of finishing in self-adapted sensor network automobile assistant driving security system.Computer system with simple routing function.Described sensing data memory module be in self-adapted sensor network automobile assistant driving security system to each sensor node, the data of being gathered are concentrated and are preserved and a data warehouse of transmitting.It also has the various management functions of oneself, also is a complete data management computer system.Described based on self-adapted sensor network automobile assistant driving security system.It is characterized in that:This each node of adaptive sensing network system and relay point aggregation node all have oneself ID address and IP address, and they all have oneself unique physical address and logical address on (IPV6) Internet network of future generationDescribed based on self-adapted sensor network automobile assistant driving security system.It is characterized in that: the dynamic data list injects: IEEE1451.X sensor network normal data is the key point of this technical standard, the content of this technical standard is the data storer of inside and outside affix at each sensor, the title of sensor itself, character, measurement range, precision, repeatability index, environmental parameter, produce and produce house, the model standard, produce sequence number ... etc. data storage among a data version, this data structure is exactly sensing data list (TEDS), moreover, more senior data form can also be the measurement functions of sensor application, the metric data that adjustment is relevant with other with calibration data, inject wherein, each sensor node of system can both be installed easily, setting reaches plug and play, but these data are a kind of fixing one-time write data in present based on network general sensor, be the data of read-only character, can not on-the-spot online modification, perhaps enrich, therefore this has just limited the range of application of a sensor network nodes itself, on hardware and software, improving of this project sensor network novelty, can be implemented in the on-the-spot operational process realize changing sensing node this in character, measurement range, precision ... etc. performance index, realize the long-range adjustment setting of sensor node itself, realize the repeatability utilization of sensor node, the dirigibility utilization.In the sensor network field, all adopt single static list technology basically at present, the dirigibility of sensor network and adaptivity are poor like this.Described based on self-adapted sensor network automobile assistant driving security system.It is characterized in that:Described self-adapted sensor network automobile assistant driving security system has can hereditary electronic hardware realization technology; Can evolve can hereditary software realization technology; And heritable systemic-function realization technology of can evolving is under the non-safe state and can handles automatically at automobile.Message exchange between described self-adapted sensor network sensor node " reduced parameter transmits automatically " mode.Be meant all kinds of controlled variable are encapsulated in respectively in the succinct packet that has the packet header signature separately that be convenient to identification, classification sends.Described system uses self-adapted sensor network to realize network communication between each node of automobile assistant driving security system, is to use the network authentication data based on IEEE1451 sensor network standard to transmit the anti-interference wireless connection that realizes each node of automobile assistant driving security system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101484134A CN101377675A (en) | 2007-08-28 | 2007-08-28 | Automobile auxiliary control and driving system based on self-adapting sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101484134A CN101377675A (en) | 2007-08-28 | 2007-08-28 | Automobile auxiliary control and driving system based on self-adapting sensor network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101377675A true CN101377675A (en) | 2009-03-04 |
Family
ID=40421249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101484134A Pending CN101377675A (en) | 2007-08-28 | 2007-08-28 | Automobile auxiliary control and driving system based on self-adapting sensor network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101377675A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101442559A (en) * | 2008-12-29 | 2009-05-27 | 南车南京浦镇车辆有限公司 | Collection method for distributed interface of subway train drive simulator |
| CN103223940A (en) * | 2013-05-02 | 2013-07-31 | 北京航空航天大学 | Electric car coordination control system |
| CN104608772A (en) * | 2014-12-25 | 2015-05-13 | 财团法人车辆研究测试中心 | System and method for judging environmental failure of automatic aided driving |
| CN104955055A (en) * | 2014-03-28 | 2015-09-30 | 通用汽车环球科技运作有限责任公司 | Methods and apparatus for determining and planning wireless network demployment sufficiency when utilizing vehicle-based relay nodes |
| WO2015161022A3 (en) * | 2014-04-16 | 2015-12-10 | Texas Instruments Incorporated | Ensuring imaging subsystem integrity in camera based safety systems |
| CN109690346A (en) * | 2016-09-08 | 2019-04-26 | 克诺尔商用车制动系统有限公司 | The device of vehicle environmental is sensed when being installed to vehicle |
| CN112799376A (en) * | 2020-12-25 | 2021-05-14 | 昆易电子科技(上海)有限公司 | Driving assistance system or automatic driving system and real-time data bypass generation device thereof |
| CN113169926A (en) * | 2018-12-06 | 2021-07-23 | 宝马股份公司 | Modular electronic control device for a motor vehicle, motor vehicle having such a control device, and computer module for a control device |
-
2007
- 2007-08-28 CN CNA2007101484134A patent/CN101377675A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101442559A (en) * | 2008-12-29 | 2009-05-27 | 南车南京浦镇车辆有限公司 | Collection method for distributed interface of subway train drive simulator |
| CN103223940A (en) * | 2013-05-02 | 2013-07-31 | 北京航空航天大学 | Electric car coordination control system |
| CN103223940B (en) * | 2013-05-02 | 2015-12-02 | 北京航空航天大学 | A kind of electric car coordination control system |
| CN104955055A (en) * | 2014-03-28 | 2015-09-30 | 通用汽车环球科技运作有限责任公司 | Methods and apparatus for determining and planning wireless network demployment sufficiency when utilizing vehicle-based relay nodes |
| WO2015161022A3 (en) * | 2014-04-16 | 2015-12-10 | Texas Instruments Incorporated | Ensuring imaging subsystem integrity in camera based safety systems |
| US9628787B2 (en) | 2014-04-16 | 2017-04-18 | Texas Instruments Incorporated | Ensuring imaging subsystem integrity in camera based safety systems |
| CN104608772A (en) * | 2014-12-25 | 2015-05-13 | 财团法人车辆研究测试中心 | System and method for judging environmental failure of automatic aided driving |
| CN104608772B (en) * | 2014-12-25 | 2017-04-12 | 财团法人车辆研究测试中心 | System and method for judging environmental failure of automatic aided driving |
| CN109690346A (en) * | 2016-09-08 | 2019-04-26 | 克诺尔商用车制动系统有限公司 | The device of vehicle environmental is sensed when being installed to vehicle |
| CN113169926A (en) * | 2018-12-06 | 2021-07-23 | 宝马股份公司 | Modular electronic control device for a motor vehicle, motor vehicle having such a control device, and computer module for a control device |
| CN113169926B (en) * | 2018-12-06 | 2022-12-13 | 宝马股份公司 | Modular electronic control device for a motor vehicle, motor vehicle having such a control device, and computer module for a control device |
| CN112799376A (en) * | 2020-12-25 | 2021-05-14 | 昆易电子科技(上海)有限公司 | Driving assistance system or automatic driving system and real-time data bypass generation device thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101377675A (en) | Automobile auxiliary control and driving system based on self-adapting sensor network | |
| CN201405922Y (en) | Automobile steer-by-wire system | |
| CN101767542B (en) | Intelligent drive platform for four wheels of electric automobile | |
| CN101498929B (en) | Vehicle remote control system | |
| CN102799166B (en) | Improved network management device and method for electric automobile | |
| CN101947938B (en) | Hybrid power CAN network communication system | |
| TW201725888A (en) | Electric vehicle equipped with a communication network | |
| CN103481798A (en) | CAN (controller area network) bus-based driving-driven distribution type control system of electric vehicle driven by hub motors | |
| CN101659244A (en) | Distributed type four-wheel-driven control system | |
| CN201573608U (en) | Integrated control system of vehicle-mounted controller LAN (Local Area Network)/LIN (Local Internet Network) | |
| CN110641396B (en) | Hybrid network architecture system of new energy commercial vehicle and new energy commercial vehicle | |
| CN206719141U (en) | A kind of electric tractor and communication device with two-way CAN | |
| CN201442527U (en) | Intelligent four-wheel drive platform for electric vehicles | |
| CN202837990U (en) | Automobile network topology structure | |
| CN203381576U (en) | Vehicle control network | |
| CN106697038A (en) | Electric power steering control system for automobile | |
| CN106274552B (en) | Automotive control system | |
| CN202433757U (en) | Novel vehicle body control network system | |
| CN201989733U (en) | Network topology structure for intelligent control of automobile as well as automobile | |
| CN107240240A (en) | A kind of vehicle wireless data acquisition system suitable for vehicle | |
| CN102890500A (en) | Network communication system of new energy passenger vehicle | |
| CN210405350U (en) | Network system for commercial vehicle | |
| CN201566574U (en) | Full-vehicle CAN bus network device | |
| CN202694134U (en) | Improved electric automobile network management apparatus | |
| CN109698780A (en) | A kind of automatic driving vehicle communication system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Liu Hengchun Document name: Notice of application for publication of patent for invention and entry into the substantive examination procedure |
|
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Liu Hengchun Document name: Notice of application for publication of patent for invention and entry into the substantive examination procedure |
|
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Liu Hengchun Document name: the First Notification of an Office Action |
|
| DD01 | Delivery of document by public notice |
Addressee: Liu Hengchun Document name: Notification that Application Deemed to be Withdrawn |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090304 |