CN101823435B - Vehicular automatic driving system convenient for external installation and manual/automatic switching - Google Patents
Vehicular automatic driving system convenient for external installation and manual/automatic switching Download PDFInfo
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- CN101823435B CN101823435B CN 200910037540 CN200910037540A CN101823435B CN 101823435 B CN101823435 B CN 101823435B CN 200910037540 CN200910037540 CN 200910037540 CN 200910037540 A CN200910037540 A CN 200910037540A CN 101823435 B CN101823435 B CN 101823435B
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Abstract
The invention relates to a vehicular automatic driving system which is convenient for external installation and manual/automatic switching. No automatic driving system which is suitable for external installation on common vehicles and convenient to switch is provided in the prior art. Therefore, the vehicular automatic driving system comprises a switching device and an automatic driving system. The automatic driving and the manual driving of a vehicle can be switched by manipulating a switching device after the automatic driving system is installed on the vehicle. The vehicular automatic driving system is characterized in that the switching device comprises a control circuit with a plurality of contact switches which are arranged on a gripping part on a steering wheel, buttons of all contact switches are not pressed, and the switching device is switched into the vehicle into the automatic driving state; and the switching device can be triggered to switch into the manual driving state by pressing the button of any contact switch. The invention has the advantages of convenient switching, simple structure, convenient installation and low cost and can be widely suitable for long-distance passenger cars, long-distance freight cars, private cars and other landway motor-driven vehicles.
Description
Technical field
The present invention relates to a kind of Vehicular automatic driving system of being convenient to external installation, being convenient to manual switching.
Background technology
Automobile is the indispensable vehicle in people's routine life.The also development of the global economy about to a great extent of the ups and downs of huge automotive market.But there is weak point in automobile in the safe driving field: when the driver drives over a long distance, and fatiguability very, and any mistake appears during driver driving, all possibly cause personal casualty and property damage.According to statistical figure, each automobile superpower all has people up to ten thousand to die from traffic accident every year.
Japan Toyota Company has developed a test car " ASV of Toyota " with automatic steering function in nineteen ninety-five, and whole control loop is made up of road surface facility and mobile unit.The road surface facility is that central authorities bury magnet underground by certain intervals on the road surface; Two sides, test car front are equipped with two Magnetic Sensors; The detection of obstacles radar is arranged in the middle of the front car light, and the car body middle part is provided with road white line recognition device, is equipped with electronic guidance appearance, electronic auto-control throttle and electric brake device simultaneously.This vehicle is a special vehicle, and must with the supporting use of the road of burying magnet underground, be not easy to apply.
On June 2nd, 1999, disclosed, publication number was: the Chinese invention patent application of CN 1218355A discloses a kind of automatic vehicle control system; This system adopts the binocular camera shooting system to carry out road conditions identification; Be suitable on the better simply express highway of road conditions, automobile being carried out automatic steering; The people can participate in, but the very important person does not manage.
This automatic vehicle control system technology is to the switching not specified (NS) between manual drive/automatic steering, and on express highway, lets vehicle be in the automatic steering state for a long time, and the driver is absent minded more easily, doze off, and is more dangerous.
Also be not adapted at external installation on the common vehicle in the prior art, and be convenient to the Vehicular automatic driving system that switches between manual drive and automatic steering.
Summary of the invention
The technical matters that the present invention will solve is the above-mentioned defective that how to overcome prior art, and a kind of Vehicular automatic driving system of being convenient to external installation, being convenient to manual switching is provided.
For solving the problems of the technologies described above, the present invention is convenient to external installation, is convenient to the Vehicular automatic driving system of manual switching, comprises shifter and personal vehicle system; After being installed on the vehicle; Through handling shifter, can realize making vehicle between automatic steering and manual drive, to switch, it is characterized in that: shifter comprises the control circuit with a plurality of contact switchs; Above-mentioned contact switch is arranged on the position of shaking hands on the bearing circle; The button of (behind the vehicle launch) institute contact switch is pressurized not all, and then shifter changes vehicle over to the automatic steering state; The button pressurized of any one contact switch; All can trigger shifter and change vehicle over to the manual drive state; Said shifter also comprises three automatic/hand power-transfer clutchs, and above-mentioned power-transfer clutch is separately positioned in the moment of torsion transmission mechanism of bearing circle, throttle and brake of vehicle, and under contact switch control synchronization action; When three automatic/hand power-transfer clutchs meshed simultaneously, vehicle was in the automatic steering state; When three automatic/hand power-transfer clutchs separated simultaneously, vehicle was in the manual drive state.
So design, vehicle is under the automatic steering state, when being in an emergency; The driver also can remove to hold bearing circle by instinct at once, is pressed in the button of contact switch, starts shifter; Vehicle changes manual drive over to from automatic steering, and blocked operation is convenient, timely, and safer at once.
So design is convenient to be installed on the common vehicle with external form, can realize convenient and reliable linking with the bearing circle, throttle and the brake that have vehicle now.
If the switch of shifter is being installed on automobile instrument panel or its position separately, driver's blocked operation is loaded down with trivial details not to be said, in emergency circumstances long because of driver's processing time probably, or forgets switching, and causes the accident.
As optimization, institute's contact switch is a normal open switch, and after parallel with one another, the Access Control circuit through connecting control circuit, triggers shifter and changes vehicle over to the manual drive state.So design is simple in structure.
As optimization, institute's contact switch is a normally closed switch, and control circuit is gone in common series connection, through cutting off control circuit, triggers shifter and changes vehicle over to the manual drive state.So design is simple in structure, easy for installation.
As optimization; Said personal vehicle system comprises the binocular vision computer system; This binocular vision computer system comprises binocular camera shooting device, controlling computer and corresponding software, and the same time of binocular camera shooting device photographs in the left and right image: can overlapping characteristic be regarded as road surface characteristic, and in road surface characteristic; Belong to a certain type of monochromatic banded color lump, be regarded as roadmarking.
Can not overlapping characteristic be regarded as characteristic on the road in the left and right image; And the color lump that on the way belongs to similar monochrome in the characteristic is regarded as one and follows the tracks of thing; Then, according to bidimensional or 3D vision principle, calculate the spacing and the relative speed of a motor vehicle of following the tracks of thing; At last by controlling computer according in advance preassigned parameter and pattern, decision maintain safe distance follow the tracks of go, or lane change is overtaken other vehicles, still be to continue along road straight-line travelling at the uniform velocity.
The master mode of automatic steering can comprise: control fast mode, control apart from pattern and tracking pattern:
The control fast mode: when being meant automatic steering, if during the accessible vehicles of the place ahead, then this personal vehicle system to preset vehicle speed, at the uniform velocity goes speed of a motor vehicle speed governing along roadmarking; The obstacle vehicle is arranged on the moving traffic lane of the place ahead, and accessible vehicles on the passing track, then lane change is overtaken other vehicles, and then goes back to moving traffic lane, continues at the uniform velocity to go; The obstacle vehicle is all arranged on the place ahead moving traffic lane and the passing track, then temporarily change control over to, treat on the passing track to transfer the control fast mode to behind the accessible vehicles apart from pattern.
Control is apart from pattern: when being meant automatic steering; Nearest in the past vehicle is a monitored object; Distance (hereinafter to be referred as safe distance between vehicles) with itself and this car should be greater than N braking distance (N is greater than 1) doubly; This braking distance be at this car in speed at that time, at that time under the road conditions, during sudden stop, the required distance that slides.Generally speaking, the speed of a motor vehicle is high more, road is sliding more, and the brake road is from big more.Under this pattern, can set overspeed alarming and low speed respectively and report to the police, in case the speed of a motor vehicle is too high or too low.
The tracking pattern: when being meant automatic steering, at first select a certain vehicle in the place ahead as tracing object, and keep certain spacing scope with this tracing object, this spacing should be more than or equal to safe distance between vehicles, and spacing reduces, and then this car slows down, and spacing increases, then this car acceleration.
Binocular vision system of the present invention; The speed of a motor vehicle can be provided simultaneously; The integrated information of track and spacing, its electromechanicsization bearing circle can combine with common vehicle with electromechanicsization pedal (containing throttle pedal and brake pedal) easily, is a kind of external vehicle DAS (Driver Assistant System) easy for installation.
The present invention is adapted at using on the comparatively simple one way only of road conditions such as express highway, and its advantage is: the one, and compatibility manually cruise driving and manual easy switching; Two, simple in structure, easy for installation, cost is low; Three, the integrated maintenance speed of a motor vehicle keeps the track and maintains safe distance three big functions.Adaptable across the public passenger transport car, long distance haulage car, private car and other land route power actuated vehicle.The adapted vehicle there is not specific (special) requirements.
Description of drawings
Below in conjunction with accompanying drawing the present invention is described further:
Fig. 1 is the structural representation of originally being convenient to external installation, being convenient to Vehicular automatic driving system embodiment one control circuit of manual switching;
Fig. 2 is the distribution schematic diagram of contact switch on bearing circle of originally being convenient to external installation, being convenient to the Vehicular automatic driving system embodiment one of manual switching;
Fig. 3 is the structural representation of originally being convenient to external installation, being convenient to Vehicular automatic driving system embodiment two control circuits of manual switching;
Fig. 4 is the distribution schematic diagram of contact switch on bearing circle of originally being convenient to external installation, being convenient to the Vehicular automatic driving system embodiment two of manual switching.
Among the figure: 1 be contact switch, 2 for the button of contact switch, 3 for break back contact, 4 for retracing spring, 5 for movable contact spring.
The specific embodiment
Embodiment one: like Fig. 1, shown in 2; Originally be convenient to external installation, be convenient to manual switching and comprise shifter and personal vehicle system; After being installed on the vehicle,, can realize making vehicle between automatic steering and manual drive, to switch through handling shifter; It is characterized in that: shifter comprises the control circuit with a plurality of contact switchs 1; Above-mentioned contact switch 1 is arranged on the position of shaking hands on the bearing circle, and the button 2 of institute's contact switch 1 is pressurized not all, and then shifter changes vehicle over to the automatic steering state; Button 2 pressurizeds of any one contact switch 1 all can trigger shifter and change vehicle over to the manual drive state.
Institute's contact switch 1 is a normally closed switch, and control circuit is gone in common series connection, through cutting off control circuit, triggers shifter and changes vehicle over to the manual drive state.
Said shifter also comprises three automatic/hand power-transfer clutchs; Above-mentioned power-transfer clutch is separately positioned on the moment of torsion of bearing circle, throttle and the brake of vehicle and passes in the mechanism; And under contact switch control synchronization action, when three automatic/hand power-transfer clutchs meshed simultaneously, vehicle was in the automatic steering state; When three automatic/hand power-transfer clutchs separated simultaneously, vehicle was in the manual drive state.
Said personal vehicle system comprises the binocular vision computer system; This binocular vision computer system comprises binocular camera shooting device, controlling computer and corresponding software; The same time of binocular camera shooting device photographs in the left and right image: can overlapping characteristic be regarded as road surface characteristic; And in road surface characteristic, belong to a certain type of monochromatic banded color lump, be regarded as roadmarking;
Can not overlapping characteristic be regarded as characteristic on the road in the left and right image; And the color lump that on the way belongs to similar monochrome in the characteristic is regarded as one and follows the tracks of thing; Then; According to bidimensional or 3D vision principle, calculate the spacing of following the tracks of thing and the speed of a motor vehicle relatively, at last by controlling computer according to set in advance decision maintain safe distance follow the tracks of go, or lane change is overtaken other vehicles, still be to continue along road straight-line travelling at the uniform velocity.
Embodiment two: like Fig. 3, shown in 4: institute's contact switch 1 is a normal open switch; And after parallel with one another, the Access Control circuit is through connecting control circuit; Trigger shifter and change vehicle over to the manual drive state, remaining part and structure such as enforcement mode one are said.
Claims (4)
1. Vehicular automatic driving system of being convenient to external installation, being convenient to manual switching; Comprise shifter and personal vehicle system; After being installed on the vehicle,, can realize making vehicle between automatic steering and manual drive, to switch through handling shifter; It is characterized in that: shifter comprises the control circuit with a plurality of contact switchs; Above-mentioned contact switch is arranged on the position of shaking hands on the bearing circle, and the button of institute's contact switch is pressurized not all, and then shifter changes vehicle over to the automatic steering state; The button pressurized of any one contact switch; All can trigger shifter and change vehicle over to the manual drive state; Said shifter also comprises three automatic/hand power-transfer clutchs, and above-mentioned power-transfer clutch is separately positioned in the moment of torsion transmission mechanism of bearing circle, throttle and brake of vehicle, and under contact switch control synchronization action; When three automatic/hand power-transfer clutchs meshed simultaneously, vehicle was in the automatic steering state; When three automatic/hand power-transfer clutchs separated simultaneously, vehicle was in the manual drive state.
2. the Vehicular automatic driving system of being convenient to external installation, being convenient to manual switching according to claim 1; It is characterized in that: institute's contact switch is a normal open switch; And after parallel with one another; The Access Control circuit through connecting control circuit, triggers shifter and changes vehicle over to the manual drive state.
3. the Vehicular automatic driving system of being convenient to external installation, being convenient to manual switching according to claim 1; It is characterized in that: institute's contact switch is a normally closed switch; Control circuit is gone in common series connection, through cutting off control circuit, triggers shifter and changes vehicle over to the manual drive state.
4. according to claim 1 or the 2 or 3 described Vehicular automatic driving systems of being convenient to external installation, being convenient to manual switching; It is characterized in that: said personal vehicle system comprises the binocular vision computer system; This binocular vision computer system comprises binocular camera shooting device, controlling computer and corresponding software; The same time of binocular camera shooting device photographs in the left and right image: can overlapping characteristic be regarded as road surface characteristic; And in road surface characteristic, belong to a certain type of monochromatic banded color lump, be regarded as roadmarking;
Can not overlapping characteristic be regarded as characteristic on the road in the left and right image; And the color lump that on the way belongs to similar monochrome in the characteristic is regarded as one and follows the tracks of thing; Then; According to bidimensional or 3D vision principle, calculate the spacing of following the tracks of thing and the speed of a motor vehicle relatively, at last by controlling computer according to set in advance decision maintain safe distance follow the tracks of go, or lane change is overtaken other vehicles, still be to continue along road straight-line travelling at the uniform velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910037540 CN101823435B (en) | 2009-03-03 | 2009-03-03 | Vehicular automatic driving system convenient for external installation and manual/automatic switching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910037540 CN101823435B (en) | 2009-03-03 | 2009-03-03 | Vehicular automatic driving system convenient for external installation and manual/automatic switching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101823435A CN101823435A (en) | 2010-09-08 |
| CN101823435B true CN101823435B (en) | 2012-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200910037540 Expired - Fee Related CN101823435B (en) | 2009-03-03 | 2009-03-03 | Vehicular automatic driving system convenient for external installation and manual/automatic switching |
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| DE102012002305A1 (en) * | 2012-02-06 | 2013-08-22 | Audi Ag | Motor vehicle with a driver assistance device and method for operating a motor vehicle |
| US9150224B2 (en) * | 2013-09-24 | 2015-10-06 | Ford Global Technologies, Llc | Transitioning from autonomous vehicle control to to driver control to responding to driver control |
| DE102013110865A1 (en) * | 2013-10-01 | 2015-04-02 | Volkswagen Aktiengesellschaft | Method for a driver assistance system of a vehicle |
| CN103693038B (en) * | 2013-12-13 | 2016-06-22 | 华为技术有限公司 | Communication tool system control method and control system |
| US9346400B2 (en) * | 2013-12-20 | 2016-05-24 | Ford Global Technologies, Llc | Affective user interface in an autonomous vehicle |
| RU2667796C2 (en) * | 2014-03-26 | 2018-09-24 | Ниссан Мотор Ко., Лтд. | Information presentation device and information presentation method |
| FR3039815B1 (en) * | 2015-08-03 | 2017-07-21 | Peugeot Citroen Automobiles Sa | METHOD FOR OPERATING AN AUTOMATED SYSTEM FOR ASSISTING THE DRIVING OF A MOTOR VEHICLE |
| CN105302125B (en) * | 2015-10-10 | 2018-03-27 | 广东轻工职业技术学院 | Vehicle automatic control method |
| JP6330842B2 (en) * | 2016-03-31 | 2018-05-30 | マツダ株式会社 | Driving assistance device |
| CN106094810A (en) * | 2016-06-02 | 2016-11-09 | 郑州宇通客车股份有限公司 | Man-machine double method for handover control and vehicles driving system on a kind of vehicle |
| US10354157B2 (en) * | 2016-06-27 | 2019-07-16 | Mobileye Vision Technologies Ltd. | Controlling host vehicle based on detection of a one-way road |
| US10007264B2 (en) * | 2016-07-14 | 2018-06-26 | Baidu Usa Llc | Autonomous vehicle human driver takeover mechanism using electrodes |
| JP6380489B2 (en) * | 2016-09-07 | 2018-08-29 | トヨタ自動車株式会社 | Vehicle travel control device |
| US11046332B2 (en) | 2016-11-09 | 2021-06-29 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control system, vehicle control method, and storage medium |
| CN109891473A (en) * | 2016-11-11 | 2019-06-14 | 本田技研工业株式会社 | Controller of vehicle, vehicle control system, control method for vehicle and vehicle control program |
| CN108189709B (en) * | 2018-02-07 | 2021-03-12 | 深圳市布谷鸟科技有限公司 | Control method of electric automobile brake system and electric automobile |
| CN108839651B (en) * | 2018-06-19 | 2020-04-24 | 赵勇 | Intelligent driving system of automobile |
| CN108944934B (en) * | 2018-07-13 | 2020-07-31 | 天津英创汇智汽车技术有限公司 | Man-machine common driving mode switching method and device |
| CN111661018B (en) * | 2019-03-08 | 2021-10-01 | 慧能车电技术整合有限公司 | External hanging type auxiliary driving device |
| US11584339B2 (en) | 2019-03-08 | 2023-02-21 | Savvy Energy Vetronics Technology Integration Co. Ltd. | Plug-type driver assistance device |
| US11662730B2 (en) * | 2019-07-01 | 2023-05-30 | Baidu Usa Llc | Hierarchical path decision system for planning a path for an autonomous driving vehicle |
| CN110481574B (en) * | 2019-07-22 | 2020-11-13 | 河南思维轨道交通技术研究院有限公司 | Locomotive brake controller analogue means |
| FR3122141A1 (en) * | 2021-04-26 | 2022-10-28 | Psa Automobiles Sa | Detection of a prolonged entry to secure the transition to manual piloting mode of a vehicle |
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| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN2321652Y (en) * | 1998-07-09 | 1999-06-02 | 江大建 | Intelligent auxiliary driving device for automobile |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
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- 2009-03-03 CN CN 200910037540 patent/CN101823435B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2321652Y (en) * | 1998-07-09 | 1999-06-02 | 江大建 | Intelligent auxiliary driving device for automobile |
| CN1218355A (en) * | 1998-11-24 | 1999-06-02 | 杨更新 | Automatic driving system of vehicle |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
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| CN101823435A (en) | 2010-09-08 |
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Address after: Room 146, building 36, Yihu Mingju B, No. 333, Jintang Road, Zhuhai City, Guangdong Province Patentee after: Zhuhai iCar Electronics Co., Ltd. Address before: 519000 Guangdong province Zhuhai Jintang Road No. 333 South Bay B-146 Patentee before: Zhuhai iCar Electronics Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20121212 Termination date: 20210303 |